WO2023082504A1 - Radar-based distance measurement method and apparatus, computer device, system, and medium - Google Patents

Abstract

A radar-based distance measurement method and apparatus, a computer device, a system, and a medium. The method comprises: when an elevator car moves from the top portion of a hoistway to the bottom portion of the hoistway, processing an echo signal to obtain a first spectrogram (S110), the echo signal comprising a signal reflected by a primary corner reflector and a secondary corner reflector after receiving an electromagnetic wave emitted by a radar; matching a peak value of a target echo signal on the first spectrogram according to a preset matching means (S120); and using the distance value corresponding to the peak value of the target echo signal on the first spectrogram as the distance between the radar and the top portion of the hoistway (S130).

Description

Radar-based ranging method, device, computer equipment, system and medium

This application claims priority to a Chinese patent application with application number 202111335359.0 filed with the China Patent Office on November 11, 2021, the entire contents of which are incorporated herein by reference.

technical field

The embodiments of the present application relate to the technical field of ranging, for example, a radar-based ranging method, device, computer equipment, system, and medium.

Background technique

When the elevator is running in the shaft, it is necessary to know the location of the elevator in real time to ensure the normal operation of the elevator. The traditional solution is to indirectly obtain the position of the elevator car by combining the information of the leveling sensor on each floor with the encoder signal of the elevator traction machine, that is, the relative position detection solution. The relative position detection scheme is prone to the risk of problems such as misalignment, jumping to the top, and squatting at the bottom. Therefore, the absolute position detection scheme that uses radar to obtain the elevator position has become one of the hot research directions.

The schemes of using radar to measure the position of the elevator car are realized by using single or multiple corner reflectors placed on the top of the hoistway. Limited by the space structure, the size of the corner reflector cannot be too large, and its effective reflection area (Radar Cross-Section, RCS) will also be limited. When the distance between the radar and the corner reflector is short, the corner reflector The intensity of the reflected echo signal is the strongest. When the radar is powered on again at a short distance from the corner reflector, the peak signal with the strongest signal strength in the spectrogram is the echo signal reflected by the corner reflector. But , as the elevator car descends, the distance between the radar and the corner reflector increases, the echo signal reflected by the radar receiving corner reflector becomes weaker, and the intensity of the echo signal reflected by the corner reflector will be smaller than that of the non-angle reflector in the hoistway The intensity of the echo signal reflected by the reflector. If the radar is powered on again at a distance from the corner reflector, it will not be possible to confirm which peak signal in the spectrum is the echo signal reflected by the corner reflector, resulting in the inability to confirm the radar and the corner reflector. The distance from the top of the shaft.

Contents of the invention

Embodiments of the present application provide a radar-based ranging method, device, computer equipment, system, and medium, capable of accurately measuring the distance between the radar and the top of the hoistway.

The embodiment of the present application provides a radar-based ranging method, including:

During the process of the elevator car moving from the top of the hoistway to the bottom of the hoistway, the echo signal is processed to obtain the first frequency spectrum. Signal;

Matching the peak value of the target echo signal on the first spectrum diagram according to a preset matching method;

The distance value corresponding to the peak value of the target echo signal on the first spectrum diagram is used as the distance between the radar and the shaft top.

The embodiment of the present application also provides a radar-based ranging device, including:

The processing module is configured to process the echo signal to obtain the first frequency spectrum when the elevator car moves from the top of the hoistway to the bottom of the hoistway. The signal reflected after the electromagnetic wave;

A matching module, configured to match the peak value of the target echo signal on the first spectrum diagram according to a preset matching method;

The determining module is configured to use the distance value corresponding to the peak value of the target echo signal on the first frequency spectrum as the distance between the radar and the top of the hoistway.

The embodiment of the present application also provides a computer device, including:

at least one processor;

a storage device configured to store at least one program;

The at least one program is executed by the at least one processor, so that the at least one processor implements the radar-based ranging method described in any embodiment of the present application.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the radar-based ranging method provided in any embodiment of the present application is implemented.

Description of drawings

FIG. 1 is a schematic flowchart of a radar-based ranging method provided in Embodiment 1 of the present application;

FIG. 2a is a first schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application;

FIG. 2b is a second schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application;

FIG. 2c is a third schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application;

FIG. 2d is a fourth schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application;

FIG. 2e is a fifth schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application;

FIG. 3a is a schematic flowchart of a radar-based ranging method provided in an exemplary embodiment of the present application;

FIG. 3b is a schematic flowchart of another radar-based ranging method provided by an exemplary embodiment of the present application;

FIG. 4 is a schematic flowchart of a radar-based ranging method provided in Embodiment 2 of the present application;

FIG. 5 is a schematic diagram of the position of the target point provided in Embodiment 2 of the present application;

FIG. 6 is a schematic flowchart of a radar-based ranging method provided in Embodiment 3 of the present application;

FIG. 7 is a schematic structural diagram of a radar-based ranging device provided in Embodiment 4 of the present application;

FIG. 8 is a schematic structural diagram of a radar-based ranging system provided in Embodiment 5 of the present application;

FIG. 9 is an exemplary schematic diagram of a radar-based ranging system provided in Embodiment 5 of the present application;

FIG. 10 is a schematic structural diagram of a computer device provided in Embodiment 6 of the present application.

Detailed ways

Embodiments of the present application will be described below with reference to the drawings. As used herein, the term "comprise" and its variations are open-ended, ie "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 further embodiment"; the term "some embodiments" means "at least some embodiments." Relevant definitions of other terms will be given in the description below.

It should be noted that concepts such as "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the sequence of functions performed by these devices, modules or units or interdependence.

It should be noted that the modifications of "one" and "multiple" mentioned in this application are illustrative and not restrictive. Those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more" multiple".

The names of messages or information exchanged between multiple devices in the embodiments of the present application are used for illustrative purposes only, and are not used to limit the scope of these messages or information.

The embodiments provided in the present application are applicable to the situation where the relative position of the elevator car and the top of the hoistway is determined in real time after the worker takes the elevator car in the hoistway and enters the hoistway. Optionally, the radar can be installed on the top outer wall of the elevator car, the leading reflector is arranged on the top of the shaft, and the leading reflector is located above the radar, and the secondary reflector is arranged on the side wall of the shaft. By determining the distance between the radar and the top of the shaft, the The relative position of the elevator car to the top of the hoistway can be determined.

Embodiment one

Figure 1 is a schematic flow chart of a radar-based ranging method provided in Embodiment 1 of the present application. This method is applicable to the situation of determining the relative position between the elevator car and the top of the hoistway. This method can be determined by radar-based ranging device, wherein the device may be implemented by software and/or hardware, and integrated on a computer device.

As shown in Figure 1, a radar-based ranging method provided in Embodiment 1 of the present application includes the following steps:

S110. During the process of the elevator car moving from the top of the hoistway to the bottom of the hoistway, process the echo signal to obtain the first frequency spectrum, the echo signal includes the electromagnetic wave emitted by the radar after the main reflector and the auxiliary corner reflector receive reflected signal.

In this embodiment, during the movement of the elevator car from the top of the hoistway to the bottom of the hoistway, the radar installed on the top outer wall of the elevator car can emit electromagnetic waves. The echo signal, after the radar antenna receives the echo signal, can send the echo signal to the computer device, so that the computer device performs signal processing on the echo signal to obtain the first frequency spectrum.

Exemplarily, the period for the radar to emit electromagnetic waves may be set according to the distance from the top of the hoistway to the bottom of the hoistway. When the elevator car moves from the top of the well to the bottom of the well, the radar emits electromagnetic waves according to the set cycle. In each cycle, the radar antenna sends the received echo signal to the computer equipment so that the computer equipment can detect the radar received. The echo signal is processed to obtain a first spectrogram.

Exemplarily, when the elevator car moves from the top of the hoistway to the bottom of the hoistway, a plurality of first frequency spectrum diagrams may be obtained.

A plurality of echo signal peaks may be displayed in the first spectrum diagram, the abscissa in the first spectrum diagram represents the distance between the reflector and the radar, and the ordinate in the first spectrum diagram represents the amplitude of the signal reflected by the reflector. The reflector may be a main corner reflector, a secondary corner reflector or other reflectors.

S120. Match the peak value of the target echo signal on the first spectrum diagram according to a preset matching manner.

Firstly, the wave peaks displayed in the first spectrum diagram during the process of the elevator car moving from the top of the hoistway to the bottom of the hoistway are introduced. Fig. 2a is the first schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application. As shown in Fig. 2a, when the elevator car is at the top of the hoistway, the echo signal reflected by the main reflector is included in the first spectrum diagram The peak value of and the peak value of the harmonic signal of the echo signal do not include the peak value of the echo signal reflected by the sub-corner reflector, and there is a multiple relationship between the corresponding distance values of the harmonic signal on the first spectrogram. Fig. 2b is the second schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application. As shown in Fig. 2b, as the elevator car moves downward, the return of the secondary corner reflector begins to appear on the first spectrum diagram. wave signal. Fig. 2c is the third schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application. As shown in Fig. 2c, as the elevator car continues to move downward, the intensity of the echo signal returned by the auxiliary corner reflector becomes sufficient Strong, while the strength of the echo signal returned by the main reflector gradually weakens. Figure 2d is the fourth schematic diagram of the first spectrum diagram provided by Embodiment 1 of the present application. As shown in Figure 2d, when the elevator car moves downward beyond a certain distance, the harmonic signal disappears, and the secondary corner reflector returns The signal strength of the echo signal is greater than the signal strength of the echo signal returned by the main reflector. Fig. 2e is the fifth schematic diagram of the first frequency spectrum diagram provided by Embodiment 1 of the present application. As shown in Fig. 2e, when the elevator car moves downwards far enough, the returns of the main corner reflector and the secondary corner reflector The signal strength of the wave signal drops to the same as, or even weaker than, the signal strength of the interfering signal.

It should be noted that the main reflection signal marked in Figure 2a to Figure 2e represents the echo signal returned by the main reflector, the harmonic signal of the main reflection signal represents the harmonic signal of the echo signal returned by the main reflector, and the secondary reflection signal represents The echo signal returned by the auxiliary corner reflector. Figure 2a shows the frequency spectrum corresponding to the position where the elevator car is at the top of the well, and the radar is about 1.2 meters away from the leading reflector; Figure 2b shows the frequency spectrum corresponding to the radar being about 3 meters away from the leading reflector; Figure 2c shows the The corresponding frequency spectrum at a distance of about 4.5 meters from the radar to the main reflector; Figure 2d shows the corresponding spectrum at a distance of about 10.5 meters from the radar to the main reflector, and Figure 2e shows the corresponding frequency spectrum at a distance of 22 meters from the radar to the main reflector .

According to Figures 2a to 2c, when the radar is relatively close to the leading reflector, there are echo signals returned by the leading reflector and harmonic signals of the echo signals returned by the leading reflector on the first spectrum diagram, which can be obtained by Harmonic distance matching is used to determine the distance between the elevator car and the top of the hoistway; when the echo signal returned by the auxiliary corner reflector appears on the first frequency spectrum and the signal strength of the echo signal is strong, the echo returned by the main reflector The signal and its harmonic signals still have a certain strength. At this time, the distance between the elevator car and the top of the shaft can be determined by matching the harmonic distance or the distance between the main and auxiliary angle reflectors; when the radar and the main and auxiliary angle reflectors When the reflector is far away, no harmonic signal is displayed on the first spectrogram. At this time, the distance between the elevator car and the top of the hoistway can be determined by matching the distance between the main and auxiliary angle reflectors.

It can be seen that, in one embodiment, the preset matching methods may include two methods. The first method includes first matching the distance between the main and auxiliary corner reflectors and then the harmonic distance matching, and the second method includes first performing the harmonic distance matching and then performing the harmonic distance matching. Primary and secondary corner reflectors are spaced to match.

In the embodiment of the present application, the spacing matching of the main and auxiliary corner reflectors includes rough matching on the first spectrogram, that is, judging whether at least one peak pair can be determined on the first spectrogram, and each peak pair in at least one peak pair The difference between the distance values corresponding to the two peaks in the first spectrogram is within the first distance range, if the at least one peak pair can be determined on the first spectrogram, then at least one matched peak Fine matching is carried out, wherein the first distance range is the calculated distance between the radar and the main reflector and the distance between the radar and the auxiliary corner reflector when the elevator car moves to the second target point in the hoistway The difference is obtained. The second target point is located within the first preset distance below the main reflector; the harmonic distance matching includes matching multiple peaks whose distance ratio is a preset value on the first spectrogram, and the preset value can be set according to specific conditions , Exemplarily, the preset values may include 1, 2, 3, that is, match three peaks with a distance ratio of 1:2:3 on the first spectrogram, and match the distance ratio on the first spectrogram to be preset After multiple peaks of the value, the peak corresponding to the smallest distance value on the first spectrogram among the multiple peaks may be used as the peak value of the target echo signal.

The second target point is the starting point at which the radar can receive the echo signal reflected by the auxiliary corner reflector or the target point below the starting point during the movement of the elevator car from the top of the hoistway to the bottom of the hoistway.

The fine matching includes: for each peak pair, judging the difference between the distance values corresponding to the two peaks in the first spectrogram in the peak pair and the distance between the radar and the main reflector and the distance between the radar and the auxiliary reflector calculated by using the preset formula. Whether the difference between the distances between the corner reflectors is equal, the preset formula is determined by the computer equipment in the learning stage, that is, the distance between the radar and the corner reflector corresponding to the elevator car at different target points in the hoistway and Formula for the difference in distance between the radar and the secondary corner reflector. After determining that there is a peak pair, the difference between the distance values corresponding to the two peaks in the first spectrogram and the distance between the radar and the main reflector and the distance between the radar and the secondary corner reflector calculated by using the preset formula When the differences are equal, the difference between the first determined two peaks in the first spectrogram corresponding to the distance value and the distance between the radar and the main reflector calculated by using the preset formula and the distance between the radar and The peaks with the same distance difference between the secondary corner reflectors are aligned, and the peak with a larger amplitude is taken as the peak value of the target echo signal.

Exemplarily, the difference between the distance between the radar and the main reflector and the distance between the radar and the secondary corner reflector calculated by using the preset formula can be the first position of the elevator car in the hoistway obtained by using the preset formula. In the case of a target point corresponding to a spectrogram, the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector.

The difference between the distance between the radar and the main reflector and the distance between the radar and the secondary reflector calculated by the above preset formula means that the elevator car is at the target point corresponding to the first spectrum diagram in the hoistway. In the case of , the difference between the distance between the radar at the top outer wall of the elevator car and the main corner reflector and the straight-line distance between the radar and the secondary corner reflector.

Exemplarily, if a peak pair is matched in the first spectrogram, it is judged that the difference between the distance values corresponding to the two peaks in the first spectrogram and the radar and protagonist reflection calculated by using the preset formula The difference between the distance between the radar and the secondary corner reflector and the distance between the radar and the secondary corner reflector is equal. The preset formula here is determined in the learning stage. If the corresponding distance between the two peaks in the first frequency spectrum The value difference is equal to the difference between the distance between the radar and the main reflector and the distance between the radar and the secondary corner reflector calculated by using the preset formula, then the peak with the larger amplitude in the peak pair is taken as the target The peak value of the echo signal; if multiple peak pairs are matched in the first spectrogram, first judge the difference between the distance values corresponding to the two peaks in the first peak pair in the first spectrogram and the value calculated by using the preset formula Whether the difference between the distance between the radar and the main reflector and the distance between the radar and the sub-angle reflector is equal, if the difference between the distance values corresponding to the two peaks in the first spectrum in the first peak pair is equal to The difference between the distance between the radar and the main reflector calculated by the preset formula and the distance between the radar and the sub-angle reflector is equal, then the peak with a larger amplitude in the first peak pair is taken as the target echo signal peak, and do not judge other peak pairs, if the difference between the distance values corresponding to the two peaks in the first spectrogram in the first peak pair and the distance between the radar and the main reflector calculated by the preset formula and the distance between the radar and If the distance difference between the auxiliary corner reflectors is not equal, continue to judge the difference between the distance values corresponding to the two peaks in the first spectrum in the second peak pair and the distance between the radar and the main reflector calculated by the preset formula. Whether the difference between the distance between the radar and the secondary corner reflector is equal, and so on, until all peak pairs are judged.

In the case of obtaining multiple first spectrograms, the above-mentioned matching of the target echo signal peak value on the first spectrogram according to the preset matching method can be performed sequentially on the obtained multiple first spectrograms. If the peak value of the target echo signal is matched, then the above-mentioned matching of the peak value of the target echo signal on the first spectrogram according to the preset matching method is not performed on the remaining first spectrogram.

S130. Use the distance value corresponding to the peak value of the target echo signal on the first frequency spectrum as the distance between the radar and the top of the hoistway.

In this embodiment, after the peak value of the target echo signal is determined, the distance value corresponding to the peak value of the target echo signal can be searched on the first frequency spectrum, which is the distance between the radar installed on the top outer wall of the elevator car and the top of the hoistway. The distance between the elevator car and the top of the hoistway.

In the radar-based ranging method provided in Embodiment 1 of the present application, when the elevator car moves from the top of the hoistway to the bottom of the hoistway, the echo signal is processed to obtain the first spectrum diagram, and the echo signal is mainly The reflector and the sub-reflector receive the reflected signal after the electromagnetic wave emitted by the radar; match the peak value of the target echo signal on the first frequency spectrum according to the preset matching method; A corresponding distance value on a frequency spectrum is used as a distance between the radar and the top of the hoistway. In the above method, the peak value of the target echo signal is matched on the first frequency spectrum by a preset matching method, and the distance between the radar and the top of the hoistway can be accurately measured according to the peak value of the target echo signal.

The embodiment of the present application provides a specific implementation manner on the basis of the technical solutions of the foregoing embodiments. Fig. 3a is a schematic flow diagram of a radar-based ranging method provided in an example embodiment of the present application. As shown in Fig. 3a, the method includes the following flow:

Obtain the distance-amplitude spectrogram, that is, the first spectrogram, use the distance range D to perform rough matching to obtain the number of matching pairs N, that is, use the first distance range to match on the first spectrogram to obtain the number of peak pairs that match successfully, according to ( The format of the main angle reflector distance S1 and the secondary corner reflector distance S2) records the corresponding distance value of the two peaks in the first spectrogram of each peak pair; judge whether N is equal to 0, if N is equal to 0, then in the first Search for three peaks with a distance ratio of 1:2:3 in the spectrogram, that is, perform harmonic spacing matching, and judge whether there are three peaks with a distance ratio of this ratio on the first spectrogram. If the distance ratio is the three peaks of the proportional relationship, the peak corresponding to the minimum distance value in the first spectrogram among the three peaks is used as the peak value of the target echo signal, and the peak value of the target echo signal is placed in the first spectrogram The corresponding distance value above is used as the distance between the radar and the top of the hoistway. If there is no peak of the distance ratio on the first frequency spectrum, the position matching is wrong, and a fault prompt will be given. If N is not equal to 0, select a pair of peak pairs from all matched peak pairs, and calculate the distance between the radar and the main reflector and the difference Δd1 between the distance between the radar and the secondary corner reflector according to the preset formula , and calculate the difference Δd2 between S1 and S2, judge whether Δd1 is equal to Δd2, that is, perform fine matching, if Δd1 is equal to Δd2, then use S1 as the distance between the radar and the top of the hoistway, if Δd1 is not equal to Δd2, continue to select the next peak to calculate.

Fig. 3b is a schematic flowchart of another radar-based ranging method provided in an exemplary embodiment of the present application. As shown in Fig. 3b, the method includes the following procedures:

Obtain the distance-amplitude spectrogram, that is, the first spectrogram, search for three peaks with a distance ratio of 1:2:3 in the first spectrogram, that is, perform harmonic spacing matching, and judge whether there is a distance ratio in the first spectrogram are the three peaks of the proportional relationship, if there are three peaks whose distance ratio is the proportional relationship in the first spectrogram, the peak corresponding to the smallest distance value on the first spectrogram among the three peaks is taken as the target echo For the signal peak value, the corresponding distance value of the target echo signal peak value on the first spectrogram is used as the distance between the radar and the top of the hoistway, if there is no peak value whose distance ratio is the proportional relationship in the first spectrogram, then the distance range D( The first distance range) to perform rough matching to obtain the number of matching pairs N, that is, to perform the distance matching of the main and auxiliary corner reflectors; record the two peaks in each peak pair according to the format of (the distance of the main corner reflector S1 and the distance of the auxiliary corner reflector S2) Corresponding distance value in the first spectrogram; judge whether N is equal to 0, if N is equal to 0, the position matching is wrong, and a fault prompt is given; if N is not equal to 0, select a pair of peaks from all matched peak pairs Yes, calculate the difference Δd1 between the distance between the radar and the main reflector and the distance between the radar and the secondary corner reflector according to the preset formula, and calculate the difference Δd2 between S1 and S2, and judge whether Δd1 is equal to Δd2, that is, proceed For fine matching, if Δd1 is equal to Δd2, then use S1 as the distance between the radar and the top of the shaft, if Δd1 is not equal to Δd2, continue to select the next peak pair for calculation.

In the embodiment of the present application, the echo signal peak value and the peak value have the same meaning.

Embodiment two

FIG. 4 is a schematic flowchart of a radar-based ranging method provided in Embodiment 2 of the present application. Embodiment 2 is described on the basis of the foregoing embodiments. In this embodiment, matching the peak value of the target echo signal on the first spectrogram according to a preset matching method includes: matching the distance between the main and auxiliary corner reflectors, and determining the number of matched peak pairs; if the If the quantity is equal to 0, then perform harmonic distance matching to determine whether the harmonic distance matching is successful; peak. Please refer to Embodiment 1 for the content that is not exhaustive in this embodiment.

As shown in Figure 4, a radar-based ranging method provided in Embodiment 2 of the present application includes the following steps:

S210. During the process of the elevator car moving from the top of the hoistway to the bottom of the hoistway, process the echo signal to obtain a first frequency spectrum.

S220. Perform spacing matching of the main and auxiliary corner reflectors, and determine the number of matched peak pairs.

The main and auxiliary corner reflector spacing matching includes matching at least one pair of peaks on the first spectrum diagram, and the corresponding distance values of the two echo signal peaks in each peak pair on the first spectrum diagram are within the first Within the distance range, the first distance range is the difference between the distance between the radar and the main reflector and the distance between the radar and the auxiliary corner reflector calculated based on the elevator car moving to the second target point in the hoistway worth it. The first target point is located within a first preset distance below the protagonist reflector.

The second target point is on a vertical line with the main reflector. The second target point is the starting point at which the radar can receive the echo signal reflected by the auxiliary corner reflector or the target point below the starting point during the movement of the elevator car from the top of the hoistway to the bottom of the hoistway.

In this embodiment, the calculation process of the first distance range may include: using a preset distance to match two peaks on the second spectrogram, and using the difference of the distance values corresponding to the two peaks on the second spectrogram as the first distance, and obtain the first distance range according to the first distance.

For example, the first distance range is obtained by floating the first distance up and down by a preset value.

The preset distance is the vertical distance between the main corner reflector and the secondary corner reflector obtained by manual measurement in advance.

In the learning stage, as shown in Figure 5, the main reflector is located at point A, the auxiliary corner reflector is located at point B, and the radar is located below the main reflector and on the same vertical line as the main reflector. Assume that the point vertically below the main angle reflector and at the same horizontal position as the auxiliary angle reflector is the first target point, as shown in Figure 5 at point C, then the vertical distance and horizontal distance between the main angle reflector and the auxiliary angle reflector They can be expressed as straight line length AC and straight line length BC respectively.

Exemplarily, in the learning phase, when the elevator car moves from the top of the hoistway to the bottom of the hoistway, the radar emits electromagnetic waves according to a set cycle, and in each cycle, the radar antenna sends the received echo signal to the computer The device enables the computer device to process the echo signal received by the radar to obtain a second frequency spectrum.

Exemplarily, when the elevator car moves from the top of the hoistway to the bottom of the hoistway, a plurality of second frequency spectrum diagrams may be obtained.

Two peaks whose corresponding distance value difference on the second spectrograms are within a preset distance range are matched sequentially on the plurality of second spectrograms. Exemplarily, the preset distance range is a range obtained by floating the preset distance up and down by a preset value.

Since the radar can receive the echo signal returned by the secondary corner reflector when it is at the starting point and below the starting point, when a second spectrogram is a spectrogram obtained when it is above the starting point, in the first The two peaks whose corresponding distance difference on the second spectrogram is within the preset distance range cannot be matched on the second spectrogram, and the spectrum obtained when a second spectrogram is at the starting point and below the starting point When the graph is displayed, two peaks whose distances corresponding to the two peaks on the second frequency spectrum are within a preset distance range can be matched on the second frequency spectrum.

Based on the above-mentioned matching method, the first matched second spectrogram in the second spectrogram where the difference of the corresponding distance value on the second spectrogram is within the preset distance range is located as the second spectrogram. The second frequency spectrum corresponding to the two target points (or referred to as the second frequency spectrum obtained at the second target point in the elevator car in the hoistway), the second frequency spectrum corresponding to the second target point will be The distance values corresponding to the two peaks matched on the figure on the second spectrogram corresponding to the second target point are used as the first distance between the main corner reflector and the second target point, and the distance between the secondary corner reflector and the second target point. For the second distance between the second target points, the difference between the first distance and the second distance is taken as the first distance.

In this embodiment, two peaks whose distance is within a preset distance range are obtained by matching on the second frequency spectrum obtained by the elevator car at the second target point (M point) in the hoistway, and the second target point is located at the In the first preset distance below the above-mentioned leading role reflector; The corresponding distance values on the second spectrogram obtained at the second target point (M point) of the elevator car in the hoistway are respectively used as the leading role reflector and the corresponding distance value The first spacing MA between the second target points, and the second spacing MB between the secondary corner reflector and the second target point; the difference between the first spacing and the second spacing is taken as the first distance.

The second spectrogram may be a spectrogram obtained by the computer after signal processing the echo signals returned by the main reflector and the auxiliary corner reflector during the learning phase when the elevator car moves from the top of the shaft to the bottom of the shaft.

It is understandable that when the elevator car is at the top floor of the well, the radar is powered on. Since the radar is relatively close to the main reflector at this time, and the angle of the radar antenna is small, the electromagnetic waves emitted by the radar can only irradiate the main reflector. As the elevator car moves down, the electromagnetic wave emitted by the radar begins to irradiate the auxiliary angle reflector. Before the electromagnetic wave emitted by the radar irradiates the auxiliary angle reflector, the peak corresponding to the smallest distance value on the second spectrum diagram is always the main character. The peak value of the echo signal returned by the reflector.

S230. If the number is equal to 0, perform harmonic distance matching, and determine whether the harmonic distance matching is successful.

The harmonic distance matching includes matching a plurality of peaks whose distance ratio is a preset value on the first spectrum graph.

In this embodiment, the number equal to 0 indicates that the pitch matching of the main and auxiliary corner reflectors fails, and the distance between the elevator car and the top of the hoistway needs to be determined through harmonic distance matching.

Exemplarily, the harmonic distance matching includes matching three peaks with a distance ratio of 1:2:3 on the first frequency spectrum.

S240. If the harmonic spacing is matched successfully, use the peak corresponding to the smallest distance value on the first frequency spectrum among the multiple peaks as the peak value of the target echo signal.

If the harmonic spacing is successfully matched, the peak corresponding to the minimum distance value on the first spectrogram among the multiple peaks is used as the peak value of the target echo signal, and the distance value corresponding to the peak value of the target echo signal on the first spectrogram is used as The distance between the elevator car and the top of the hoistway.

On the basis of the above steps, it also includes: if the number is greater than 0, then determine whether there is a peak pair in all the matched peak pairs, and the two peaks in the one peak pair are on the first spectrogram The difference between the distance values is equal to the set distance calculated by the pre-formula, and the set distance is calculated when the elevator car is at the target point corresponding to the first spectrum diagram in the hoistway. The obtained difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector, the preset formula is used to calculate the distance between the elevator car at a target point in the shaft In the case of , the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector. In this embodiment, if the number is greater than 0, it means that the pitch matching of the main and auxiliary corner reflectors is successful, and then fine matching can be performed, and the fine matching includes determining whether there is a peak pair in all peak pairs and two peaks in the first spectrogram The difference between the distance values is equal to the set distance calculated by the preset formula, and in response to the determination result that the one peak pair exists in the all peak pairs, the echo signal with a larger amplitude in the one peak pair The peak value is used as the peak value of the target echo signal.

With the elevator car at a target point in the shaft, the difference between the distance between the radar and the leading corner reflector and the distance between the radar and the secondary corner reflector is calculated as follows: During the learning phase, at The elevator car is matched on the second frequency spectrum obtained at the second target point in the shaft to obtain two peaks whose distance is within a preset distance range; The corresponding distance values of the two peaks obtained by matching on the second spectrogram obtained at the second target point on the second spectrogram obtained at the second target point of the elevator car in the hoistway are respectively used as the a first distance between the main corner reflector and the second target point, and a second distance between the secondary corner reflector and the second target point; when the elevator car is in the hoistway On the second spectrogram obtained at the third target point, two peaks whose distance is within the preset distance range are obtained by matching, and the third target point is located below the second target point; The corresponding distance value on the second spectrum diagram obtained by the elevator car at the third target point in the hoistway is used as the third distance between the main corner reflector and the third target point, and the distance between the auxiliary corner reflector and the first target point. The fourth spacing between the three target points; using the difference between the third spacing and the first spacing as the first vertical distance between the third target point and the second target point; according to the The first vertical distance, the fourth distance, the second distance and the law of cosines determine the angle of the included angle, the included angle is the angle formed by the first connecting line and the second connecting line, and the first connecting line is the connection line between the second target point and the third target point, and the second connection line is the connection line between the third target point and the secondary corner reflector; based on the clip The angle of the corner, the fourth distance and the third distance determine the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector when the elevator car is at the one target point. The difference in the distance between .

Exemplarily, after obtaining the second spectrogram corresponding to the second target point, you can continue to match the remaining second spectrograms with two peaks whose corresponding distance values on the second spectrogram are within a preset distance range , after matching two peaks on a second spectrogram with the difference of the corresponding distance values on the second spectrogram within the preset distance range, use the second spectrogram as the second spectrum corresponding to the third target point Figure (or be referred to as the second spectrogram obtained by the elevator car at the third target point in the hoistway), the corresponding distance value on the second spectrogram corresponding to the third target point is used as the main reflector and the first spectrogram A third spacing between the three target points, and a fourth spacing between the secondary corner reflector and said third target point.

Exemplarily, as shown in FIG. 5 , on the spectrogram corresponding to point M (the second target point) and the second spectrogram corresponding to point N (the third target point), a distance within the first distance range is matched. Two peaks, the distance value corresponding to the two peaks on the second spectrogram corresponding to point M can represent the first interval MA and the second interval MB, and the corresponding distance value on the second spectrogram corresponding to point N can represent The third distance is NA and the fourth distance is NB.

Wherein, MN=NA-MA, MN represents the first vertical distance, NA represents the third distance, and MA represents the first distance.

In the triangle MNB, the angle formed by the first connecting line and the second connecting line is ∠MNB, and the degree of ∠MNB can be calculated according to the law of cosines:

The angle based on the included angle, the fourth distance and the third distance determine the distance between the radar and the main reflector and the distance between the radar and the main reflector when the elevator car is at the one target point. The difference of the distance between the secondary corner reflectors includes: multiplying the fourth distance by the sine value of the angle of the included angle to obtain the horizontal distance between the leading role reflector and the secondary corner reflector; The fourth distance is multiplied by the cosine of the included angle to obtain the second vertical distance between the first target point and the one target point, the first target point is located above the second target point and connected to the secondary reflector Located on the same horizontal plane; using the difference between the third distance and the second vertical distance as the vertical distance between the main corner reflector and the secondary corner reflector; based on the distance between the one target point and the main corner reflector The distance of , the horizontal distance and the vertical distance determine the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector when the elevator car is at the one target point difference.

As shown in Figure 5, for example, the horizontal distance BC=NB*sin∠MNB between the main angle reflector and the auxiliary angle reflector; the vertical distance between the main angle reflector and the auxiliary angle reflector is the second vertical The distance AC=NA-NC=NA-NB*cos∠MNB.

When the elevator car is determined to be at the one target point based on the distance between the one target point and the lead reflector, the horizontal distance and the vertical distance, the distance between the radar and the lead reflector The difference between the distance and the distance between the radar and the secondary corner reflector, including: making a difference between the distance between the one target point and the main corner reflector and the vertical distance to obtain the distance difference; The corresponding result is obtained after taking the square sum of the distance and the distance difference; the difference between the distance between the one target point and the main reflector and the corresponding result is obtained to obtain the In the case of a target point, the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector.

As shown in Figure 5, for example, when the elevator car is at a target point K, the difference Δd between the distance between the radar and the main reflector and the distance between the radar and the secondary reflector is given by the following formula calculation, the formula is the preset formula:

Among them, KA-AC represents the distance difference,

represents the corresponding result, and Δd represents the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector when the elevator car is at the one target point K.

The above-mentioned target point K can be any target point. In the case that the elevator car is at the target point corresponding to the first frequency spectrum calculated by the above-mentioned preset formula, the distance between the radar and the main reflector and the distance between the radar and the auxiliary angle In the case of the distance difference Δd between the reflectors, when fine matching is performed, for determining the difference between the distance values of two echo signal peaks in a peak pair on the first spectrogram and the difference by the preset formula Whether the calculated set distances are equal, the target point K corresponding to the first spectrogram can be obtained from the corresponding two distance values of the two peaks in the pair of peaks on the first spectrogram on the first spectrogram The distance KA between the main reflector and the above preset formula and the values of KA, BC, and AC are calculated to obtain the target point corresponding to the first frequency spectrum in the elevator car in the hoistway In this case, the difference between the distance between the radar and the main reflector and the distance between the radar and the secondary corner reflector, and then determine the distance between the peak value of the two echo signal peaks of the peak pair on the first spectrogram Whether the difference is equal to Δd, and if they are equal, the peak with a larger amplitude in the pair of peaks is determined as the peak value of the target echo signal.

S250. Use the distance value corresponding to the peak value of the target echo signal on the first frequency spectrum as the distance between the radar and the shaft top.

The radar-based ranging method provided in Embodiment 2 of the present application describes the process of matching the peak value of the target echo signal on the first spectrum diagram according to a preset matching method. Using this method, the peak value of the target echo signal can be accurately matched by first matching the distance between the main and auxiliary corner reflectors and then matching the harmonic distance.

Embodiment three

FIG. 6 is a schematic flowchart of a radar-based ranging method provided in Embodiment 3 of the present application, and Embodiment 3 is described on the basis of the foregoing embodiments. In this embodiment, matching the peak value of the target echo signal on the first spectrogram according to a preset matching method includes: performing harmonic distance matching to determine whether the matching of the harmonic distance is successful; if the harmonic distance matching If successful, the peak corresponding to the minimum distance value on the first spectrogram among the multiple peaks in the harmonic distance matching is used as the peak value of the target echo signal; if the harmonic distance matching fails, the main and auxiliary angle reflector Spacing matching, determine the number of matched peak pairs; if the number is greater than 0, determine whether there is a peak pair among all the matched peak pairs, and the two echo signals of each peak pair in the one peak pair The difference between the distance values of the peaks on the first spectrogram is equal to the set distance calculated by the preset formula; wave signal peak. Please refer to Embodiment 1 for the content that is not exhaustive in this embodiment.

As shown in Figure 6, a radar-based ranging method provided in Embodiment 3 of the present application includes the following steps:

S310. During the process of the elevator car moving from the top of the hoistway to the bottom of the hoistway, process the echo signal to obtain a first frequency spectrum.

S320. Perform harmonic distance matching to determine whether the matching is successful.

For the specific process of harmonic distance matching, reference may be made to the relevant descriptions in Embodiment 1 and Embodiment 2 of the present application, and details are not repeated here.

S330. If the matching is successful, use the peak corresponding to the smallest distance value on the first spectrogram among the multiple peaks as the peak value of the target echo signal; if the matching fails, perform spacing matching between the main and auxiliary corner reflectors to determine The number of matched peak pairs.

For the specific process of pitch matching between the main and auxiliary corner reflectors, reference may be made to the relevant descriptions in Embodiment 1 and Embodiment 2 of the present application, and details are not repeated here.

S340. If the number is greater than 0, determine whether there is a peak pair among all the matched peak pairs, and the distance between the two peaks of each peak pair in the one peak pair is between the distance values on the first spectrogram The difference is equal to the set distance calculated by the preset formula.

In this embodiment, if the number is equal to 0, it means that the matching fails, and a fault prompt is given.

If the number is greater than 0, fine matching can be continued, that is, it is determined whether there is a peak pair in all peak pairs, and the difference between the distance values of the two echo signal peaks in the first spectrogram in the peak pair is equal to The set distance calculated by the preset formula is equal. For the process of determining whether there is a peak pair among all the peak pairs, reference may be made to the relevant descriptions in Embodiment 1 and Embodiment 2, and details are not repeated here.

S350. If there is one peak pair among all the peak pairs, use the echo signal peak with a larger amplitude among the first determined peak pair as the target echo signal peak. In this embodiment, if the one peak pair does not exist in the first interval, it indicates that the matching fails, and a fault prompt is given.

S360. Use the distance value corresponding to the peak value of the target echo signal on the first frequency spectrum as the distance between the radar and the shaft top.

The radar-based ranging method provided in Embodiment 3 of the present application embodies the specific process of matching the peak value of the target echo signal on the first spectrum diagram according to a preset matching method. The method can accurately determine the peak value of the target echo signal by performing harmonic distance matching first and then matching the distance between the main and auxiliary angle reflectors.

Embodiment four

Fig. 7 is a schematic structural diagram of a radar-based ranging device provided in Embodiment 4 of the present application, which is applicable to the scene of determining the relative position between the elevator car and the top of the hoistway, wherein the device can be controlled by software and/or Hardware implementation and integration on computer equipment.

As shown in FIG. 7 , the device includes: a processing module 110 , a matching module 120 and a determining module 130 .

The processing module 110 is configured to process the echo signal to obtain a first frequency spectrum when the elevator car moves from the top of the hoistway to the bottom of the hoistway. The signal reflected after the electromagnetic wave; the matching module 120 is configured to match the peak value of the target echo signal on the first spectrum diagram according to a preset matching method; the determination module 130 is configured to set the peak value of the target echo signal at the specified The corresponding distance value on the first spectrum diagram is used as the distance between the radar and the top of the hoistway.

In this embodiment, the device uses the processing module 110 to process the echo signal to obtain the first frequency spectrum when the elevator car moves from the top of the hoistway to the bottom of the hoistway. The reflector receives the reflected signal of the electromagnetic wave emitted by the radar; the target echo signal peak value is matched on the first frequency spectrum by the matching module 120 according to the preset matching method; the target echo signal peak value is matched by the determination module 130 The corresponding distance value on the first spectrum diagram is used as the distance between the radar and the top of the hoistway.

This embodiment provides a radar-based ranging device, which can accurately measure the distance between the radar and the top of the hoistway.

The preset matching method includes first matching the pitch of the main and auxiliary corner reflectors and then matching the harmonic distance. The matching of the distance between the main and auxiliary corner reflectors includes matching at least one pair of peaks on the first spectrum diagram, and the difference between the corresponding distance values of the two echo signal peaks in each peak pair on the first spectrum diagram Within the first distance range, the first distance range is the calculated distance between the radar and the main reflector and the distance between the radar and the auxiliary angle when the elevator car moves to the second target point in the hoistway. The difference between the distances between the reflectors is obtained, and the second target point is located within the first preset distance below the main reflector; if the number is equal to 0, the harmonic distance matching is performed to determine whether the matching is successful, The harmonic distance matching includes matching a plurality of peaks whose distance ratio is a preset value on the first spectrogram; if the matching is successful, the corresponding distances of the multiple peaks on the first spectrogram The peak value with the smallest value is taken as the peak value of the target echo signal.

On the basis of the above-mentioned embodiments, the matching module 120 is further configured to: if the number is greater than 0, determine whether there is a peak pair in all peak pairs, and the two echo signal peaks in the one peak pair are in the The difference between the distance values on the first spectrogram is equal to the set distance calculated by the preset formula, and the set distance is the distance corresponding to the first spectrogram when the elevator car is in the hoistway In the case of the target point, the calculated distance between the radar and the main reflector and the difference between the distance between the radar and the secondary corner reflector, the preset formula is used to calculate the distance between the elevator car at the In the case of a target point in the shaft, the difference between the distance between the radar and the main reflector and the distance between the radar and the secondary corner reflector; if there is a pair of peaks, the first one will be determined The peak value of the echo signal with a larger amplitude in the peak pair is taken as the peak value of the target echo signal.

The calculation process of the first distance range includes: in the learning phase, matching the second frequency spectrum obtained by the elevator car at the second target point in the hoistway to obtain the distance between the elevator car at the second target point Two peaks of the difference of the corresponding distance values on the second frequency spectrum obtained at the second target point in the hoistway within the preset distance range; The corresponding distance value on the second frequency spectrum obtained at the second target point in the shaft is used as the first distance between the main corner reflector and the second target point, and the distance between the secondary corner reflector and the second target point. a second distance between the target points; taking the difference between the first distance and the second distance as the first distance; determining the first distance range according to the first distance.

With the elevator car in the hoistway at the one target point, the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector is calculated as follows: In the learning phase, the second target point of the elevator car in the hoistway is obtained by matching on the second spectrogram obtained at the second target point of the elevator car in the hoistway The corresponding distance value on the second spectrogram obtained at the two echo signal peaks within the preset distance range; the second target point obtained at the elevator car in the shaft The corresponding distance values on the second frequency spectrum obtained from the two echo signal peaks obtained by matching on the frequency spectrum at the second target point of the elevator car in the hoistway respectively serve as the main characters a first distance between the reflector and the second target point, and a second distance between the secondary corner reflector and the second target point; a third distance between the elevator car and the hoistway Matching on the second spectrum diagram obtained at the target point obtains the difference of the corresponding distance values on the second spectrum diagram obtained at the third target point of the elevator car in the hoistway. Assuming two peaks in the distance range, the third target point is located below the second target point; the second frequency spectrum obtained at the third target point of the elevator car in the shaft The distance values corresponding to the two peaks obtained by matching the two peaks on the second frequency spectrum obtained by the elevator car at the third target point in the hoistway are used as the main reflector and the first a third distance between the three target points, and a fourth distance between the secondary corner reflector and the third target point; using the difference between the third distance and the first distance as the second target The first vertical distance between the point and the third target point; according to the first vertical distance, the fourth distance, the second distance and the law of cosines to determine the angle of the angle, the angle is the first The angle formed by a connection line and a second connection line, the first connection line is the connection line between the second target point and the third target point, and the second connection line is the third target point A line between the target point and the secondary corner reflector; based on the angle of the included angle, the fourth distance and the third distance to determine that the elevator car is at the one target point, The difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector.

The angle based on the included angle, the fourth distance and the third distance determine the distance between the radar and the main reflector and the distance between the radar and the main reflector when the elevator car is at the one target point. The difference of the distance between the secondary corner reflectors includes: multiplying the fourth distance by the sine value of the angle of the included angle to obtain the horizontal distance between the leading role reflector and the secondary corner reflector; The fourth spacing is multiplied by the cosine of the angle of the included angle to obtain the second vertical distance between the first target point and the one target point; the third spacing and the second vertical distance difference as the vertical distance between the main corner reflector and the secondary corner reflector; in the case where the elevator car is determined to be at the one target point based on the third spacing, the horizontal distance and the vertical distance, The difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector.

The distance between the radar and the main reflector is determined based on the distance between the one target point and the main reflector, the horizontal distance, and the vertical distance when the elevator car is at the one target point. The difference between the distance between the radar and the secondary corner reflector, including: making a difference between the distance between the one target point and the main corner reflector and the vertical distance to obtain the distance difference; The corresponding result is obtained after taking the square root of the square sum of the horizontal distance and the distance difference; making a difference between the distance between the one target point and the main reflector and the corresponding result to obtain the elevator car in the In the case of one target point, the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector.

The preset matching method includes first performing harmonic distance matching and then performing main and auxiliary angle reflector spacing matching. Correspondingly, the matching module 120 is also configured to: perform harmonic distance matching to determine whether the matching is successful; if the matching is successful, Then use the peak corresponding to the smallest distance value on the first spectrogram among the multiple peaks as the peak value of the target echo signal; if the matching fails, perform spacing matching between the main and auxiliary corner reflectors, and determine the matched peak value the number of pairs; if the number is greater than 0, it is determined whether there is a peak pair in all peak pairs, and the difference between the distance values of the two echo signal peaks in the first spectrogram is equal to The set distances calculated by the preset formula are equal; if there is the one peak pair in all the peak pairs, the echo signal peak with a larger amplitude among the first determined peak pair is taken as the target echo signal peak.

The radar-based ranging device described above can execute the radar-based ranging method provided in any embodiment of the present application, and has corresponding functional modules for executing the method.

Embodiment five

FIG. 8 is a schematic structural diagram of a radar-based ranging system provided in Embodiment 5 of the present application. As shown in FIG. The computer equipment 14 described above.

The radar 11 is installed on the top outer wall of the elevator car, the main role reflector 12 is installed on the top of the well where the elevator car is located, and is located above the radar 11, and the auxiliary corner reflector 13 is installed on the track or fixed on the side wall of the well. The reflector 12 is located above the secondary corner reflector 13 .

The radar 11 is configured to transmit electromagnetic waves to the main reflector 12 and the auxiliary corner reflector 13 and receive echo signals returned by the main reflector 12 and the auxiliary corner reflector 13 .

The main reflector 12 is configured to receive electromagnetic waves emitted by the radar 11 and return echo signals to the radar 11 .

The auxiliary corner reflector 13 is configured to receive electromagnetic waves emitted by the radar 11 and return echo signals to the radar 11 .

The computer equipment is arranged to determine the distance of the radar 11 from the top of said hoistway.

In the embodiment of the present application, the main reflector 12 may be installed on the top of the shaft where the elevator car is located and directly above the radar, so as to receive electromagnetic waves emitted by the radar.

Optionally, the auxiliary corner reflector 13 can be fixed on the guide rail through a bracket, which can refer to the method of an elevator magnetic isolation board, or the auxiliary corner reflector 13 can be fixed on the side wall of the hoistway. The main angle reflector 12 and the auxiliary angle reflector 13 can be installed on the same side of the well wall or on both sides of the well wall. Exemplarily, the main angle reflector 12 and the auxiliary angle reflector 13 can be installed on the right side of the well wall. It is also possible to install the main angle reflector 12 on the right side of the well, and the secondary corner reflector 13 on the left side of the well.

Fig. 9 is an exemplary schematic diagram of a radar-based ranging system provided in Embodiment 5 of the present application. As shown in Fig. 9, the radar is set on the outer wall of the elevator car top, and the main reflection is set on the right side of the shaft wall and is located at the front of the radar. Above, the auxiliary angle reflector and the main angle reflector are set on the same side of the shaft wall, the auxiliary angle reflector is fixed on the right side of the shaft wall, the main angle reflector is fixed directly above the radar through pulleys, and the main angle reflector and the auxiliary angle reflector exist horizontally poor distance.

In this embodiment, during the downward movement of the elevator car from the top of the hoistway, the radar 11 can be set to emit electromagnetic waves to the main reflector 12 and the auxiliary corner reflector 13, and the main reflector 12 can be set to receive the radar 11. electromagnetic wave and return the echo signal to the radar 11, the auxiliary angle reflector 13 can be set to receive the electromagnetic wave emitted by the radar 11 and return the echo signal to the radar 11, the radar 11 is also set to receive the main role reflector 12 and the auxiliary angle reflector 13 return the echo signal, and send the echo signal to the computer device 14, and the computer device 14 is configured to process the echo signal to obtain a spectrogram, and determine the distance between the elevator car and the top of the hoistway based on the spectrogram.

Wherein, the computer device 14 may use the radar-based ranging method described in any embodiment of the present application to determine the distance between the elevator car and the top of the hoistway. The specific content of the method will not be repeated here, and reference may be made to Embodiment 1 to Embodiment 3.

The radar-based ranging system provided in Embodiment 5 of the present application can accurately measure the distance between the radar and the top of the hoistway by arranging a main angle reflector and a secondary corner reflector in the hoistway.

Embodiment six

FIG. 10 is a schematic structural diagram of a computer device provided in Embodiment 6 of the present application. As shown in FIG. 10 , the computer device provided by Embodiment 6 of the present application includes: at least one processor 41 and a storage device 42; there may be one or more processors 41 in the computer device, and one processor 41 is used in FIG. 10 For example; the storage device 42 is set to store at least one program; the at least one program is executed by the at least one processor 41, so that the at least one processor 41 realizes radar-based measurement as in any embodiment of the present application distance method.

The computer device may further include: an input device 43 and an output device 44 .

The processor 41, the storage device 42, the input device 43 and the output device 44 in the computer equipment may be connected through a bus or other methods, and the connection through a bus is taken as an example in FIG. 10 .

The storage device 42 in the computer equipment, as a computer-readable storage medium, can be used to store at least one program, and the program can be a software program, a computer-executable program and a module, as described in Embodiment 1 or 2 or 3 of the present application. Provided program instructions/modules corresponding to the radar-based ranging method (for example, the modules in the radar-based ranging device shown in FIG. 7 , including: processing module 110, matching module 120 and determining module 130). The processor 41 implements various functional applications and data processing of the computer equipment by running software programs, instructions and modules stored in the storage device 42, that is, implements the radar-based ranging method in the above-mentioned method embodiments.

The storage device 42 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the computer equipment, and the like. In addition, the storage device 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some examples, the storage device 42 may further include memories that are remotely located relative to the processor 41, and these remote memories may be connected to the device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 43 can be configured to receive input numbers or character information, and generate key signal input related to user settings and function control of the computer equipment. 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 equipment are executed by the one or more processors 41, the programs perform the following operations: during the movement of the elevator car from the top of the hoistway to the bottom of the hoistway, the echo signal Process to obtain the first frequency spectrum, the echo signal includes the signal reflected by the main reflector and the auxiliary corner reflector after receiving the electromagnetic wave emitted by the radar; match the target echo on the first frequency spectrum according to the preset matching method wave signal peak value; the distance value corresponding to the target echo signal peak value on the first frequency spectrum diagram is used as the distance between the radar and the shaft top.

Embodiment six

Embodiment 6 of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it is used to perform a radar-based ranging method. The method includes: In the process of moving to the bottom of the hoistway, the echo signal is processed to obtain the first frequency spectrum, and the echo signal includes the signal reflected by the main reflector and the auxiliary corner reflector after receiving the electromagnetic wave emitted by the radar; according to the preset matching method Matching the peak value of the target echo signal on the first spectrum diagram; using the distance value corresponding to the peak value of the target echo signal on the first spectrum diagram as the distance between the radar and the top of the hoistway.

Optionally, when the program is executed by the processor, it may also be used to execute the radar-based ranging method provided in any embodiment of the present application.

The computer storage medium of the embodiment of the present application may adopt any combination of one or more computer-readable mediums. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more conductors, portable computer disks, hard disks, Random Access Memory (RAM), read-only memory (Read Only Memory, ROM), Erasable Programmable Read Only Memory (EPROM), flash memory, optical fiber, portable CD-ROM (Compact Disc Read-Only Memory, CD-ROM), optical storage components, magnetic storage devices, or any suitable combination of the above. A computer readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction 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, wires, optical cables, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

Computer program codes for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional A procedural programming language, such as the "C" language or similar programming language. 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 cases involving 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 it may be connected to an external computer such as use an Internet service provider to connect via the Internet).

Claims (12)

1. A radar-based ranging method comprising:

   During the process of the elevator car moving from the top of the hoistway to the bottom of the hoistway, the echo signal is processed to obtain the first frequency spectrum. Signal;

   Matching the peak value of the target echo signal on the first spectrum diagram according to a preset matching method;

   The distance value corresponding to the peak value of the target echo signal on the first spectrum diagram is used as the distance between the radar and the shaft top.
2. The method according to claim 1, wherein the preset matching method includes first matching the pitch of the main and auxiliary corner reflectors, and then matching the harmonic distance;

   The matching the target echo signal peak value on the first spectrum diagram according to the preset matching method includes:

   performing pitch matching of the main and auxiliary corner reflectors, and determining the number of matched peak pairs, the matching of the pitch of the main and auxiliary corner reflectors includes matching at least one pair of peak pairs on the first spectrum diagram, and the at least one peak pair The difference between the distance values corresponding to the two echo signal peaks in each peak pair on the first spectrogram is within a first distance range, and the first distance range is based on the movement of the elevator car In the case of reaching the second target point in the hoistway, the calculated difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector is obtained, and the second target point is located at the main corner reflector. within a first predetermined distance below the reflector;

   In the case where the number is equal to 0, perform harmonic distance matching to determine whether the harmonic distance matching is successful, and the harmonic distance matching includes matching a distance greater than a preset value on the first spectrogram echo signal peak value;

   If the harmonic distance matching is successful, the echo signal peak corresponding to the smallest distance value on the first frequency spectrum among the plurality of echo signal peaks is used as the target echo signal peak.
3. According to the method according to claim 2, after said performing the pitch matching of the main and auxiliary corner reflectors and determining the number of matched peak pairs, further comprising:

   In the case where the number is greater than 0, it is determined whether there is a peak pair in all peak pairs, and the difference between the distance values corresponding to the two echo signal peaks in the first spectrogram on the first spectrogram is the same as that passed through The set distances calculated by the preset formulas are equal, and the set distances are the radar and the protagonists calculated when the elevator car is at the target point corresponding to the first frequency spectrum in the hoistway. The distance between the reflectors and the difference between the distance between the radar and the sub-corner reflector, the preset formula is used to calculate the radar in the case that the elevator car is at a target point in the hoistway. the difference between the distance from the main corner reflector and the distance between the radar and the secondary corner reflector;

   In response to the determination result that the one peak pair exists among all the peak pairs, the echo signal peak with a larger amplitude among the first determined peak pair among the at least one peak pair is used as the target echo signal peak value .
4. The method according to claim 3, wherein the calculating process of the first distance range comprises: during a learning phase, a second spectrogram of the elevator car obtained at the second target point in the hoistway Two echo signal peaks are obtained by matching, and the distance values corresponding to the two echo signal peaks obtained by the matching on the second frequency spectrum obtained by the elevator car at the second target point in the hoistway The difference is within the preset distance range;

   The distance values corresponding to the two echo signal peaks obtained by matching on the second spectrum diagram obtained by the elevator car at the second target point in the hoistway are used as the distance values between the main reflector and the second target point. a first distance between two target points, and a second distance between the secondary corner reflector and said second target point;

   taking the difference between the first distance and the second distance as the first distance;

   The first distance range is determined according to the first distance.
5. The method of claim 3 , wherein the ratio of the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector with the elevator car at a target point within the hoistway is The steps to calculate the difference are as follows:

   In the learning phase, two echo signal peaks are obtained by matching on the second frequency spectrum obtained by the elevator car at the second target point in the hoistway, and the two echo signal peaks obtained by matching The difference between the corresponding distance values on the second frequency spectrum obtained by the elevator car at the second target point in the hoistway is within a preset distance range;

   The corresponding distance values of the two echo signal peaks obtained by matching on the second frequency spectrum obtained at the second target point on the second frequency spectrum obtained at the second target point are respectively used as the a first spacing between the main corner reflector and the second target point, and a second spacing between the secondary corner reflector and the second target point;

   Two echo signal peaks are obtained by matching on the second frequency spectrum obtained by the elevator car at the third target point in the shaft, and the second frequency spectrum obtained at the third target point in the shaft The difference between the corresponding distance values on the second spectrogram obtained at the third target point in the hoistway of the two echo signal peaks obtained by the above matching is within the preset distance range, and the third target point located below said second target point;

   The distance values corresponding to the two echo signal peaks obtained by matching on the second spectrum diagram obtained at the third target point on the second spectrum diagram obtained at the third target point are respectively used as the a third spacing between the main corner reflector and the third target point, and a fourth spacing between the secondary corner reflector and the third target point;

   using the difference between the third distance and the first distance as the first vertical distance between the third target point and the second target point;

   Determine the angle of the included angle according to the first vertical distance, the fourth spacing, the second spacing and the law of cosines, the included angle is the angle formed by the first connecting line and the second connecting line, the first The connection line is a connection line between the third target point and the second target point, and the second connection line is a connection line between the third target point and the secondary corner reflector;

   Determine the distance between the radar and the main reflector and the radar and the auxiliary angle when the elevator car is at the one target point based on the angle of the included angle, the fourth distance and the third distance The difference in distance between reflectors.
6. The method of claim 5, wherein said determining the condition of said elevator car at said one target point based on said included angle, said fourth distance, and said third distance , the difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector, including:

   multiplying the fourth distance by the sine of the included angle to obtain the horizontal distance between the main corner reflector and the secondary corner reflector;

   multiplying the fourth distance by the cosine of the included angle to obtain a second vertical distance between the first target point and the one target point, the first target point being located at the second target point above and on the same level as the secondary corner reflector;

   using the difference between the third distance and the second vertical distance as the vertical distance between the main corner reflector and the secondary corner reflector;

   When the elevator car is determined to be at the one target point based on the distance between the one target point and the lead reflector, the horizontal distance and the vertical distance, the distance between the radar and the lead reflector and the difference in the distance between the radar and the sub-corner reflector.
7. The method of claim 6, wherein said determination of said elevator car at said one target point is based on the distance between said one target point and said lead reflector, said horizontal distance, and said vertical distance. The difference between the distance between the radar and the main corner reflector and the distance between the radar and the secondary corner reflector in the case of the point, including:

   Making a difference between the distance between the one target point and the main reflector and the vertical distance to obtain a distance difference;

   The corresponding result is obtained after the square sum of the horizontal distance and the distance difference is squared;

   Making a difference between the distance between the one target point and the main role reflector and the corresponding result to obtain the distance between the main role reflector and the auxiliary angle when the elevator car is at the one target point The distance between reflectors.
8. The method according to claim 1, wherein the preset matching method includes performing harmonic distance matching first and then performing pitch matching between main and auxiliary angle reflectors;

   The matching the target echo signal peak value on the first spectrum diagram according to the preset matching method includes:

   Perform harmonic distance matching to determine whether the harmonic distance matching is successful; the harmonic distance matching includes matching multiple echo signal peaks with a distance ratio of a preset value on the first spectrogram;

   In response to the determination result that the harmonic distance matching is successful, use the peak corresponding to the smallest distance value on the first spectrogram among the plurality of echo signal peaks as the target echo signal peak;

   In response to the determination result that the harmonic distance matching fails, perform spacing matching of the main and auxiliary angle reflectors, and determine the number of matched peak pairs; the matching of the main and auxiliary angle reflector spacing includes matching at least A pair of peak values, the distance value between the two echo signal peaks in each peak pair is within the first distance range, and the first distance range is based on the movement of the elevator car to the second target point in the hoistway In the case of , the calculated difference between the distance between the radar and the main reflector and the distance between the radar and the secondary reflector, the second target point is located at the first preset position below the main reflector within distance;

   In the case where the number is greater than 0, it is determined whether there is a peak pair in all peak pairs, and the difference between the distance values of the two echo signal peaks in the first spectrogram and the Let the set distance calculated by the formula be equal, and the set distance is the calculated distance between the radar and the main reflector under the condition that the elevator car is in the hoistway and the one target point and the difference in the distance between the radar and the secondary corner reflector, the preset formula is used to calculate the distance between the radar and the leading corner reflector when the elevator car is at a target point in the hoistway and the difference in the distance between the radar and the secondary corner reflector;

   In response to the determination result that the one peak pair exists among all the peak pairs, the echo signal peak with a larger amplitude among the first determined peak pair among the at least one peak pair is used as the target echo signal peak value .
9. A radar-based ranging device comprising:

   The processing module is configured to process the echo signal to obtain the first frequency spectrum when the elevator car moves from the top of the hoistway to the bottom of the hoistway. The signal reflected after the electromagnetic wave;

   A matching module, configured to match the peak value of the target echo signal on the first spectrum diagram according to a preset matching method;

   The determining module is configured to use the distance value corresponding to the peak value of the target echo signal on the first frequency spectrum as the distance between the radar and the top of the hoistway.
10. A computer device comprising:

    at least one processor;

    a storage device configured to store at least one program;

    The at least one program is executed by the at least one processor, so that the at least one processor implements the radar-based ranging method according to any one of claims 1-8.
11. A radar based ranging system comprising a radar, a leading corner reflector, a secondary corner reflector and a computer device as claimed in claim 10;

    The radar is installed on the top outer wall of the elevator car, the main reflector is installed on the top of the shaft where the elevator car is located above the radar, and the auxiliary corner reflector is installed on the track or fixed on the side of the shaft On the wall, the main corner reflector is located above the secondary corner reflector;

    The radar is configured to transmit electromagnetic waves to the main role reflector and the secondary corner reflector, and receive echo signals returned by the main role reflector and the secondary corner reflector;

    The main reflector is configured to receive electromagnetic waves emitted by the radar and return echo signals to the radar;

    The secondary corner reflector is configured to receive electromagnetic waves emitted by the radar and return echo signals to the radar;

    The computer device is arranged to determine the distance of the radar from the top of the hoistway.
12. A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the radar-based ranging method according to any one of claims 1-8 is realized.

Images