CN102887403A - Construction hoist integrated controller - Google Patents

Abstract

The invention provides a construction hoist integrated controller, comprising a first processing unit, a floor data storing unit, a motion control unit, an altitude detecting unit and a load detecting unit, wherein the floor data storing unit is used for storing a target floor altitude absolute value data and providing for the first processing unit to collect the data; the motion control unit is used for receiving a control signal from the first processing unit and adjusting the moving direction and accelerated speed state of the hoist; the altitude detecting unit is used for obtaining the altitude absolute valve data of the position of a hoist, comparing the data with the target floor altitude absolute value data, and transmitting the signal of controlling the moving direction of the hoist to the motion control unit; the load detecting unit is used for obtaining the load amount of the hoist, wherein the first processing receives the load amount, compares with a load threshold value, and stops the motion of the hoist when the load amount exceeds the load threshold value. The construction hoist integrated controller achieves the double-speed leveling, adjusts the accelerated speed of an elevator in real time, and ensures a higher leveling precision.

Description

A kind of building hoist integrated manipulator

Technical field

The present invention relates to a kind of building hoist controller, particularly be a kind of building hoist integrated manipulator with automatic leveling function.

Background technology

The common joint action table control that existing building hoist control system is mainly carried by elevator, basically have one or more the combination in weight detecting and control, call function, the story-leveling function, the building hoist control system that possesses above-mentioned functions adopts the centralized control such as PLC, frequency converter more and is equipped with complicated Circuits System.

Announced a kind of Intelligent lifter control device such as Chinese patent CN201362531Y, it is core that said apparatus adopts the PLC module, each data module is connected with PLC by the CAN bus, it has loading detection and overload, floor call and story-leveling function, story-leveling function adopts coder to gather floor position information and is delivered to frequency-variable module, by the CAN bus location information is delivered to PLC by frequency-variable module, realizes story-leveling function; But described device adopts position detecting module and frequency converter as building hoist flat bed testing circuit, and circuit is complicated, and story-leveling function adopts the coder realization, the problems such as zero creep, leveling error are large occur in the use procedure meeting; Adopting single PLC is control core, realizes above-mentioned each function, and system response speed is slow, maintenance difficulty is large; Such scheme only is loading detection and overload, floor call and story-leveling function module, and not with its joint action table part that integrates, it is need increase interlock circuit when building hoist self joint action table is combined, so that there is potential safety hazard in the building hoist system very complex.

In view of defects, creator of the present invention has obtained this creation finally through long research and practice.

Summary of the invention

The object of the present invention is to provide a kind of building hoist integrated manipulator, in order to overcome above-mentioned technological deficiency.

For achieving the above object, the technical solution used in the present invention is to provide a kind of building hoist integrated manipulator, and it comprises:

One first processing unit;

One floor data memory cell, it is in order to storing destination height absolute value data, and transfers for described the first processing unit;

One motion control unit, it receives the control signal of described the first processing unit, thus the control engine installation is adjusted sense of motion and the acceleration condition of elevator;

One height detection unit, in order to obtain the absolute height data of elevator craning cage present position, described the first processing unit compares absolute height data and the destination height absolute value data of described elevator craning cage present position, sends the signal of the sense of motion of control elevator craning cage to described motion control unit;

One loading detection unit, it is in order to obtain the load capacity of described elevator craning cage, and described the first processing unit receives described load capacity, and with itself and a load threshold ratio, stops the motion of described elevator craning cage when surpassing described load threshold value.

Better, described controller also comprises:

One Man Machine Interface unit in order to be connected with a human interface device, supplies the user to described controller input control order;

One second processing unit, it is connected with described the first processing unit, finishes the mutual transmission of corresponding data.

Better, described controller also comprises:

One wireless calling receiving element, it is connected with described the second processing unit, in order to receiving the radiofrequency signal that comprises floor call information of wireless pager emission, and it is demodulated into digital baseband signal;

One wireless calling data storage cell, it is in order to store the floor coded message of described wireless pager, for described wireless pager corresponding to described the second processing unit identification.

Better, described motion control unit comprises:

One speed control relay circuit is adjusted the acceleration of elevator craning cage in order to control described engine installation, slow down and uniform movement;

One hoists and descends control relay circuit.It is adjusted rising operation, the decline operation of elevator craning cage and stops in order to controlling described engine installation.

Better, described speed control relay circuit comprises: one accelerates control relay is connected with described the first processing unit respectively with a deceleration control relay.

Better, described height detection unit comprises: an absolute height sensor, it is arranged on the described elevator craning cage, in order to obtain real-time vertical height and position.

Better, described the first processing unit calculates the acceleration/accel of present described elevator craning cage by described load capacity, and an acceleration rate threshold inner with it compares, when described acceleration/accel is higher than described acceleration rate threshold, described acceleration/accel is turned down, with the acceleration/accel of the described elevator craning cage of real-time adjustment, guarantee at preset timed intervals flat bed of elevator.

Better, described loading detection unit comprises: a bearing pin sensor, and it is arranged on the described elevator craning cage, in order to measure load and to be converted to voltage signal;

One analog amplify circuit, it is connected with described bearing pin sensor, described voltage signal is converted to voltage signal is transferred to described the first processing unit.

Better, described controller also comprises: an auxiliary power supply system, it is described controller power supply source.

Better, store acceleration/accel and the velocity curve algorithm routine of described elevator craning cage operation in described the first processing unit, described elevator craning cage moves by rule shown in the described curve, and makes the pre-standing time of its flat bed be directly proportional to realize accurate level with load.

Beneficial effect of the present invention is compared with the prior art: building hoist integrated manipulator of the present invention becomes one loading detection and overload control, automatic leveling, floor call functional unit and joint action table, has simplified in the practice of construction to be connected with the circuit of elevator; In the described building hoist automatic leveling process, make it have multiple running speed pattern by the measurement to absolute altitude numerical value, and its load is directly proportional with the flat bed time, guarantees that the building hoist integrator can realize accurate flat bed.

Description of drawings

Fig. 1 is the core control part schematic diagram of building hoist integrated manipulator of the present invention;

Fig. 2 is the control principle drawing of building hoist integrated manipulator of the present invention;

Fig. 3 is the acceleration plots in one cycle of building hoist integrated manipulator of the present invention;

Fig. 4 is the speed curve diagram in one cycle of building hoist integrated manipulator of the present invention;

Fig. 5 is building hoist integrated manipulator floor call functional block diagram of the present invention;

Fig. 6 is building hoist integrated manipulator loading detection of the present invention and overload control functional block diagram;

Fig. 7 is building hoist integrated manipulator acceleration of motion control functional block diagram of the present invention;

Fig. 8 is building hoist integrated manipulator story-leveling function block diagram of the present invention;

Fig. 9 is building hoist integrated manipulator software flow pattern of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing, be described in more detail with other technical characterictic and advantage the present invention is above-mentioned.

Building hoist integrated manipulator of the present invention becomes one the functional module such as loading detection and overload control, floor call, automatic leveling control and joint action table, realize four unification functions of control system, simplified greatly the circuit structure of building hoist control system, when being complementary with building hoist, when avoiding independent control module to be installed on the building hoist joint action table, increase complicated line related.

As characteristics of the present invention, the present invention adopts the concurrent working pattern of dual processor, and each treater is processed respectively separately data, has improved data-handling capacity and system's reliability of operation.

See also shown in Figure 1, it is for the core control part schematic diagram of building hoist integrated manipulator of the present invention, the control core of described control system is the first processing unit 1 and the second processing unit 2, in the present embodiment with comprising that the first processing unit 1 is connected: floor data memory cell 11, it is in order to storing destination height absolute value data, and transfers for described the first processing unit; Loading detection unit 13, it is in order to obtain the load capacity of described elevator craning cage, and described the first processing unit receives described load capacity, and with itself and a load threshold ratio, stops the motion of described elevator craning cage when surpassing described load threshold value; Height detection unit 12, in order to obtain the absolute height data of elevator craning cage present position, described the first processing unit compares absolute height data and the destination height absolute value data of described elevator craning cage present position, sends the signal of the sense of motion of control elevator craning cage to described motion control unit; Motion control unit 10, in order to receiving the control signal of described the first processing unit, thereby the control engine installation is adjusted sense of motion and the acceleration condition of elevator craning cage.

See also shown in Figure 2, it is for the control principle drawing of building hoist integrated manipulator of the present invention, with comprising that the second processing unit 2 is connected: Man Machine Interface unit 24, it is in order to be connected with a human interface device, to described controller input control order, also comprise a wireless calling receiving element 22, wireless calling data storage cell 23, LCDs 21 and auxiliary power supply system 25 for the user.

Described the first processing unit 1 and the second processing unit 2 are microprocessor, and it is lower with respect to the PLC cost, pass through data bus RS485/422 swap data between two processing units.Described the first processing unit 1 comprises a slice High Performance SCM and peripheral circuit; described micro controller system can be MCS51 series; PIC series and AVR series etc.; it is responsible for controlling the automatic leveling control of construction elevator cage; loading detection; data are processed and overload protection; its storage inside has the speed of described building hoist; accelerating curve data and algorithm operation procedure; load and acceleration/accel transfer algorithm operation procedure; simultaneously with the flat bed data; described the second processing unit 2 is given in the packing of payload data coding, and also acceptance is from the data of described the second processing unit 2, and described flat bed data comprise current story height information; with the real-time altitude figure data such as destination range information.

Described the second processing unit 2 also comprises a slice High Performance SCM and peripheral circuit, be responsible for call data processing, human-machine interaction data processing, the display driver of load information, floor call information peace layer data information, simultaneously the first processing unit 1 is delivered in the packing of flat bed data encoding, and to the data that are received in the first processing unit 1 processing of unpacking, described flat bed data comprise story height, the destination digital information that described telltale shows.First and second processing unit central process unit works in the parallel data tupe, has improved data-handling capacity and has reduced again the system hardware cost.

Described floor data memory cell 11 is made of large capacity chip, it is in order to store each story height absolute value data, described the first processing unit 1 will compare corresponding with each story height absolute value data of described floor data memory cell 11 from the flat bed data that described peripheral circuit obtains, to determine in real time current floor, destination data in the flat bed data that described story height absolute value data and the first processing unit 1 receive are done difference, with distance definite and destination.

Described height detection unit 12 comprises the height sensor circuit, be connected with absolute height sensor 121 on it, it comprises high performance integrated circuit and connected precision optical machinery mechanism described absolute height sensor 121, and link with tooth bar, measure the real-time vertical dimension position of described construction elevator cage in the mode of total digitalization, and altitude information is transferred to the first processing unit 1, it also can substitute with the absolute value encoder with identical function.

Described loading detection unit 13 comprises an analog amplify circuit, it comprises an amplifying circuit 132 and high precision analogue change-over circuit 133, what be connected with described analog amplify circuit 132 is a bearing pin sensor 131, described bearing pin sensor 131 is installed on the cage of described building hoist, in order to measure the cage load.Measure the cage load by bearing pin sensor 131, with the cage load take the mode conversion of linearity as the bearing pin output voltage signal, through described amplifying circuit 132 and analog to digital conversion circuit 133, cage load signal is converted to the numerical load signal, send described the first processing unit 1 to process.When measuring load information, the acceleration signal of cage can also be measured in described loading detection unit 13, after namely recording the load signal by described bearing pin sensor 131, transfer to described the first processing unit 1, use Newton's laws of motion to can be calculated the acceleration/accel of described elevator through the first processing unit 1, the threshold values of the accelerating curve that itself and described the first processing unit 1 are stored relatively carries out the control of reduction of speed or raising speed, realizes the smooth running of described construction elevator cage.

Building hoist among the present invention has different acceleration/accels in the orbit period that rises or descend, formula [1] is expressed formula for the acceleration/accel of building hoist of the present invention in one-period.

$a=\left\{\begin{array}{cc}\left(1\right)k{\mathrm{\&alpha;}}_1,& 0\&le;t<t_1\\ \left(2\right)\mathrm{\&beta;},& {\mathrm{<figure-callout\; id="1"\; label="t"\; filenames="HSA00000791650300011.png,HSA00000791650300021.png"\; state="\{\{state\}\}">t</figure-callout>}}_1\&le;t<t_2\\ \left(3\right)\mathrm{\&beta;}-k{\mathrm{\&alpha;}}_3,& {\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000791650300021.png,HSA00000791650300031.png"\; state="\{\{state\}\}">t</figure-callout>}}_2\&le;t<t_3\\ \left(4\right)0,& {\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_3\&le;t<t_4\\ \left(5\right)-k{\mathrm{\&alpha;}}_5,& {\mathrm{<figure-callout\; id="4"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_4\&le;t<t_5\\ \left(6\right)-\mathrm{\&epsiv;}+k{\mathrm{\&beta;}}_6,& {\mathrm{<figure-callout\; id="5"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_5\&le;t<t_6\\ \left(7\right)0,& {\mathrm{<figure-callout\; id="6"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_6\&le;t<t_7\\ \left(8\right)-k{\mathrm{\&alpha;}}_8,& {\mathrm{<figure-callout\; id="7"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_7\&le;t<{\mathrm{<figure-callout\; id="8"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_8,\\ \left(9\right)-\mathrm{\&epsiv;},& {\mathrm{<figure-callout\; id="8"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_8\&le;t<t_9\\ \left(10\right)-\mathrm{\&epsiv;}+k{\mathrm{\&alpha;}}_{10},& {\mathrm{<figure-callout\; id="9"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_9\&le;t<t_{10}\end{array}\right.---\left[1\right];$

Wherein: k is acceleration factor, and its size is inversely proportional to the load weight of described building hoist; α _iBe the time coordinate in each acceleration change interval; β and ε are constant, are illustrated in that acceleration/accel is constant in this interval, and it is the acceleration/accel maxim in the cycle.

Please in conjunction with shown in Figure 3, it is the acceleration plots in one cycle of building hoist integrated manipulator of the present invention, the described construction elevator cage setting in motion of all index futures is to the time period that stops herein, in each orbit period of described construction elevator cage, acceleration/accel has different motion analytic expressions in different intervals, acceleration/accel accelerates according to even, at the uniform velocity, the even deceleration, zero, the even acceleration, the even deceleration, zero, the even acceleration, at the uniform velocity change successively with the even order that slows down, wherein, acceleration/accel is that the zero moment is the moment that described construction elevator cage travels at the uniform speed, and it has at a high speed and low speed two kinds of travel at the uniform speed state and leveling speed states.Within the whole cycle, limit acceleration β and the parameters such as ε and acceleration factor k of described construction elevator cage operation preset, rate of onset and termination speed are zero, formula (5) and (8), formula (6) and (10) cycle on same curves be correspondent equal respectively, and the division in each interval is to determine with the distance that each acceleration and deceleration burst length also needs will move according to elevator in the acceleration/accel change moment constantly.After finishing floor call, the reference position of elevator and final position are determined, the distance of elevator operation is also determined, can determine again the division moment in each acceleration/accel interval in conjunction with following velocity curve, simultaneously, described bearing pin sensor 131 detects the load weight of described construction elevator cage in real time, and described the first processing unit 1 calculates according to formula [2] automatically according to the load information of obtaining

$k=\frac{\mathrm{\&pi;}\&times;{10}^3}{G}---\left[2\right]$

Select suitable acceleration factor k, itself and described load weight are inversely proportional to, and namely load weight is larger, and acceleration factor is less, and the final like this limit acceleration value that reaches is also little.

Wherein, G represents the load of building hoist, and k is acceleration factor.

According to analytic expression and the curve movement that range ability and the load weight of described building hoist are determined its acceleration/accel, be convenient to real-time with actual running state and contrast and correct, keep the stability of its operation.

The algorithm routine of above-mentioned accelerating curve and velocity curve is stored in described the first processing unit 1, and the coupled relay circuit of described the first processing unit 1 control is realized the control to described building hoist.

Described motion control unit 10 comprises and hoists and descend control relay circuit 14 and speed control relay circuit 15, described hoist and the control relay circuit 14 that descends in order to receive the control signal of the first processing unit 1, which is provided with and hoist and descend control relay 142, control rising and the decline of described building hoist, be in series with also on it that elevator handle hoists and under lower category, use for the directly described building hoist lifting of control of operating personal.Described hoist and the control relay circuit 14 that descends on also be provided with High-speed Control relay 144 and low speed control relay 145, when the acceleration/accel of described building hoist changes, described the first processing unit 1 described High-speed Control relay 144 of control and low speed control relay 145 break-makes, in order to the acceleration/accel of keeping in real time described construction elevator cage within the specific limits, guarantee that the elevator craning cage smooth running is with according to default time flat bed.

Among the present invention, described construction elevator cage is rising or in the descending motion cycle, is correspondingly having different speed, and the acceleration/accel of each segment in [1] formula is carried out integration, can obtain speed formula [3],

$v=\left\{\begin{array}{ccc}\left(1\right)\frac{1}{2}k{\mathrm{\&alpha;}}_1^2,& & 0\&le;t<t_1\\ \left(2\right)v_1+k{\mathrm{\&alpha;}}_2,& v_1=\frac{1}{2}\mathrm{<figure-callout\; id="1"\; label="k\; T"\; filenames="HSA00000791650300011.png,HSA00000791650300021.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}^{}{}_1^2,& {\mathrm{<figure-callout\; id="1"\; label="t"\; filenames="HSA00000791650300011.png,HSA00000791650300021.png"\; state="\{\{state\}\}">t</figure-callout>}}_1\&le;t<t_2\\ \left(3\right)v_2+k{\mathrm{\&alpha;}}_3-\frac{1}{2}k{\mathrm{\&alpha;}}_3^2,& v_2=v_1+\mathrm{<figure-callout\; id="2"\; label="k\; T"\; filenames="HSA00000791650300021.png,HSA00000791650300031.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}{}_2,& {\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000791650300021.png,HSA00000791650300031.png"\; state="\{\{state\}\}">t</figure-callout>}}_2\&le;t<t_3\\ \left(4\right)v_3,& v_3=v_2+k{T}_3-\frac{1}{2}\mathrm{<figure-callout\; id="3"\; label="k\; T"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}^{}{}_3^2,& {\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_3\&le;t<t_4\\ \left(5\right)v_4-\frac{1}{2}k{\mathrm{\&alpha;}}_5^2,& v_4=v_3& {\mathrm{<figure-callout\; id="4"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_4\&le;t<t_5\\ \left(6\right)v_5-k{\mathrm{\&alpha;}}_6+\frac{1}{2}k{\mathrm{\&alpha;}}_6,& v_5=v_4-\frac{1}{2}\mathrm{<figure-callout\; id="5"\; label="k\; T"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}^{}{}_5^2& {\mathrm{<figure-callout\; id="5"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_5\&le;t<t_6\\ \left(7\right)v_6,& v_6=v_5-\mathrm{<figure-callout\; id="6"\; label="k\; T"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}{}_6+\frac{1}{2}\mathrm{<figure-callout\; id="6"\; label="k\; T"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}^{}{}_6^2& {\mathrm{<figure-callout\; id="6"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_6\&le;t<t_7\\ \left(8\right)v_7-\frac{1}{2}k{\mathrm{\&alpha;}}_7^2,& v_7=v_6& {\mathrm{<figure-callout\; id="7"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_7\&le;t<t_8\\ \left(9\right)v_8-k{\mathrm{\&alpha;}}_8,& v_8=v_7-\frac{1}{2}\mathrm{<figure-callout\; id="7"\; label="k\; T"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">k</figure-callout>}{T}_{}^{}{}_7^2& {\mathrm{<figure-callout\; id="8"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_8\&le;t<t_9\\ \left(10\right)v_9-k{\mathrm{\&alpha;}}_{10}+\frac{1}{2}k{\mathrm{\&alpha;}}_{10}^2,& v_9=v_8-k{T}_9& {\mathrm{<figure-callout\; id="9"\; label="t"\; filenames="HSA00000791650300031.png,HSA00000791650300041.png"\; state="\{\{state\}\}">t</figure-callout>}}_9\&le;t<t_{10}\end{array}\right.---\left[3\right];$

Formula [3] is the speed expression formula of construction elevator cage of the present invention in one-period.

Wherein: k is acceleration factor, and its size is inversely proportional to the load weight of described construction elevator cage; α _iBe the time coordinate in each acceleration change interval; T _lTime span for each speed interval.

Be the speed curve diagram of building hoist integrated manipulator of the present invention in one cycle in conjunction with shown in Figure 4 its please, described velocity curve is combined with above-mentioned accelerating curve and can be drawn described each burst length and the speed turnover moment; In each orbit period of described construction elevator cage, it brings into operation and acceleration and the retardation curve of stop phase are S-shaped curve, it can realize the acceleration/accel decay, there is not overshoot oscillation, realize flexible acceleration and deceleration control, within each cycle, according to move distance and the load weight of described construction elevator cage, determine length and the high speed limit speed v of each speed interval ₃Or V ₄With the low limits speed v ₆And v ₇, described building hoist in each orbit period by predefined motion process, through acceleration, even at a high speed, slow down, the multiple velocity modes such as even low speed, deceleration, the final realization at high-speed cruising with at the mode of operation of low speed flat bed.

See also shown in Figure 4,1., 2. with 3. curve is in the identical situation of load weight, different motion apart from the time velocity curve, increase along with move distance, the time of run of described building hoist increases, and each accelerates, the corresponding increase of time of deceleration segment, and terminal speed is corresponding increase also, in practice, described high speed limit speed v ₃Or v ₄, the low limits speed v ₆And v ₇With acceleration factor k be dynamic amount, it can preset according to construction environment and status of equipment; Curve 3. with 4. be in the identical situation of move distance, the asynchronous velocity curve of load weight, the load weight that 4. curve represents is higher than the load weight that 3. curve represents, thereby, the acceleration factor k of the building hoist that 4. curve represents within the whole cycle is lower than the acceleration factor that 3. curve represents, its acceleration/accel and terminal speed are lower, and time of run and flat bed time are long, in the situation that high loads weight realizes steady flat bed.

Described speed control relay circuit 15 is in order to receive the control signal of the first processing unit 1, which is provided with and accelerate control relay 151, deceleration control relay 152 and control relay 153 at the uniform velocity, because the present invention adopts two kinds at the uniform velocity, the mode of the multiple velocity mode of leveling speed and S-shaped curve realizes flat bed, in the first processing unit 1, store running velocity and the accelerating curve data of described construction elevator cage, and in the situation that range ability and load determination, described construction elevator cage speed turnover is determined constantly, when the stage of bringing into operation needs acceleration/accel to increase, described the first processing unit 1 drives described acceleration control relay 151 and control relay 153 at the uniform velocity, realize the increase of acceleration/accel, when the needs acceleration/accel kept constant, described acceleration control relay 151 and deceleration control relay 152 all disconnected; In the high-speed cruising stage, described at the uniform velocity control relay 153 keeps connecting, and in the time will reaching flat bed, described at the uniform velocity control relay 153 disconnects, and building hoist decelerates to low at the uniform velocity state; When needs reduce acceleration/accel, described the first processing unit 1 drives described deceleration control relay 152 actions, realize the reduction of acceleration/accel, namely move with leveling speed this moment, and the frequency that need not to change drive motor with frequency converter to be realizing the conversion of multiple speed, and langding accuracy with use frequency converter suitable.Described speed control relay circuit 15 is also gone here and there has the elevator handle to accelerate shelves, reduction gear and shelves at the uniform velocity, use for operating personal directly the described elevator of control under multiple velocity mode, move.

Comprise a wireless pager 26 among the present invention, it adopts the own coding chip, adopts code division multiple access pattern CDMA to encode to the This floor call information, and coded data is sent by antenna after the ISM of 315MHZ wave band adopts the ASK modulation.

Described wireless calling receiving element 22 adopts the special-purpose receiving integrate circuit of superhet and peripheral circuit thereof, receive the radio frequency rf signal that described wireless pager 26 sends, to comprise floor information RF signal and be demodulated into digital baseband signal, and do decoding for the second processing unit 2 and process.

Described wireless calling data storage cell 23 is comprised of large capacity storage integrated circuit, in order to store the floor coded message of floor wireless beeper 26, for the corresponding wireless pager 26 of the second processing unit 2 identifications, the coding of described wireless pager 26 and floor corresponding relation can change according to user's request, and be easy to maintenance.

Described Man Machine Interface unit 24 comprises dedicated button integrated circuit, keyboard 200 or touch-screen, loud speaker 27 etc., it accepts the flat bed key information of user's input, the second processing unit 2 is delivered in the key information packing, accept simultaneously the voice messaging of treater 2 output, send acoustic information to user by loud speaker 27.

Described LCDs 21 is connected with described the second processing unit 2, in order to show the cage real time load, to call out the real time informations such as floor, current floor, destination.

Described auxiliary power supply system 25 comprises large-capacity battery, in the situation that described elevator joint action table outage, partly power for floor call, guarantee described elevator joint action table system in the situation that power supply still can call accepted information, drive loud speaker 27; Simultaneously, in the situation that having power supply auxiliary power supply system 25 automatically to stop power supply, described elevator joint action table system changes charge condition into.

The radical function of described building hoist integrated manipulator has: floor call function, loading detection and overload control function, acceleration of motion control function and story-leveling function now are described in detail each working process.

Floor call function: see also shown in Figure 5, its for building hoist integrated control system floor call functional block diagram of the present invention as mentioned above, if a certain floor has demand, start the wireless pager 26 of respective storey, 26 pairs of This floor call informations of the wireless pager of described each floor adopt code division multiple access CDMA to encode, and coded data after adopting the ASK modulation, the ISM of 315MHZ wave band sent by antenna, described wireless calling receiving element 22 is transformed to the baseband encoder data with it after receiving the radio frequency call data of each floor, sending into described the second processing unit 2 encodes, decoding, to obtain corresponding floor call information, described the second processing unit 2 drives described LCDs 21 display call information, drives simultaneously described Man Machine Interface unit 24 and sends corresponding floor call information by loud speaker 27.Each floor call device coding and the self-defined scheme of floor corresponding relation are simplified maintenance greatly in the present invention, the convenient use.

Loading detection and overload control function: see also shown in Figure 6, it is building hoist integrated manipulator loading detection of the present invention and overload control functional block diagram, described bearing pin sensor 131 with described construction elevator cage load signal take the mode conversion of linearity as the bearing pin output voltage signal, through analog amplify circuit, namely by described amplifying circuit 132 and analog to digital conversion circuit 133, the payload data of described construction elevator cage is converted to the numerical load signal, gather, measure by described the first processing unit 1 again, be translated into payload data; Described the first processing unit 1 is with load and predefined ultimate load data comparison within it, determine whether described building hoist overloads, if overload then hoists and the control relay circuit 14 of descending cuts off and describedly hoists and descend control relay 142 by described, move to stop described building hoist, and use combined aural and visual alarm 143 prompting users; After load is lower than ultimate load, described the first processing unit 1 is according to move distance and load weight, select suitable acceleration factor and calculate the speed turnover constantly, determination of acceleration curve and velocity curve, and driving described speed control relay circuit 15 connection acceleration control relays 151, the control elevator moves to destination with aero mode.Simultaneously, the first processing unit 1 sends the payload data packing to described the second processing unit 2, drives described LCDs 21 by described the second processing unit 2 and shows load weight.

Acceleration of motion control function: see also shown in Figure 7, it is building hoist formula control system integration controller acceleration of motion control functional block diagram of the present invention, when described building hoist in the destination operational process, operation acceleration/accel of cage can cause payload data constantly to change on it, described pin type sensor 131 with described construction elevator cage load take the mode conversion of linearity as the bearing pin output voltage signal, by described analog amplify circuit, and be transformed to the load signal behind described amplifying circuit 132 and the analog to digital conversion circuit 133, described the first processing unit 1 gathers, measure, and be translated into acceleration information, the accelerating curve threshold data that described the first processing unit 1 will speed up degrees of data and 1 setting of described the first processing unit compares, when elevator craning cage operation acceleration/accel is lower than setting threshold, described the first processing unit 1 automatically control connect described hoist and down relay control circuit 14 on High-speed Control relay 144, described cage acceleration/accel increases, until equate with predefined threshold values, and keep the operation acceleration/accel of described elevator craning cage, realize described building hoist smooth running; When elevator craning cage operation acceleration/accel is higher than setting threshold, described the first processing unit 1 automatically control connect described hoist and down relay control circuit 14 on low speed control relay 145, described cage acceleration/accel reduces, until equate with predefined threshold values, and keep the operation acceleration/accel of described elevator craning cage.

Automatic leveling function: see also shown in Figure 8, it is building hoist integrated manipulator automatic leveling function block diagram of the present invention, described absolute altitude sensor 121 is measured described construction elevator cage operation vertical dimension position in the mode of total digitalization, altitude information is transferred to described the first processing unit 1, the first processing unit 1 determines relatively that with the floor data of story height data and floor data memory cell 11 current floor reaches and the destination distance, simultaneously the data packing is sent described the second processing unit 2 to show current floor.The human-computer interaction interface of described the second processing unit 2 receives the ownership goal floor information by keyboard 200, by Man Machine Interface unit 24 floor information is transferred to described the second processing unit 2, the second processing unit 2 sends back described the first processing unit 1 with the packing of destination data encoding, the sling height that the first processing unit 1 calls corresponding story height information and current building hoist compares, determine range ability, as previously mentioned, through the load weight detection with relatively, determine running state.In the present invention; range ability determines speed and the accelerating curve of described building hoist; in each cycle; acceleration/accel and speed all have various modes, especially have higher two kinds of travel at the uniform speed speed and lower leveling speeds, are accelerating and the decelerating phase; the velocity curve of described building hoist is S-shaped curve; so that when bringing into operation with the flat bed shutdown, can realize flexible control, firm flat bed.Disconnection hoists and descends control relay 142 realization automatic levelings after described building hoist reaches destination.

Another feature of automatic leveling function of the present invention is, acceleration factor and the load weight of described building hoist are inverse ratio, there is difference in the operation acceleration/accel that is building hoist according to the difference of load weight, in the flat bed decelerating phase, in the certain situation of the suffered pulling force of described building hoist, load weight is larger, and the acceleration/accel that building hoist slows down is just less, and the flat bed required time is longer; Vice versa, the flat bed control program that the pre-standing time of this flat bed is directly proportional with load, Effective Raise langding accuracy.

See also shown in Figure 9ly, it is building hoist integrated manipulator software flow pattern of the present invention, and the software running process of described the first processing unit 1 is: a11; System powers on; A12: port initialization; A13: read bearing pin sensor and height sensor state; Whether a14: detecting connected equipment has fault; If there is fault in equipment, carry out a15: point out the equipment of makeing mistakes, the prompting alarm code; If equipment does not have fault, carry out a cyclic program, comprising: a16: read the load of bearing pin sensor and the altitude information of height sensor; A17: process the load and the altitude information that read; A18: output lifter excess load and flat bed control data; A19: to the second processing unit output flat bed and payload data, receive the button data of the second processing unit; A20: carry out data exchange with the second processing unit, above-mentioned five steps is one-period, and circulation is carried out.

The software running process of described the second processing unit 2 is: b11; System powers on; B12: port initialization; B13: read LCDs and Calling equipment dress attitude; Whether b14: detecting connected equipment has fault; If there is fault in equipment, carry out b15: point out the equipment of makeing mistakes, the prompting alarm code; If equipment does not have fault, carry out a cyclic program, comprising: b16: the calling receive data that reads calling set; B17: process the calling of reading and show data; B18: output display speech data; B19: receive the data that show the first processing unit, send button data to the first processing unit; B20: carry out data exchange with the first processing unit, above-mentioned five steps is one-period, and circulation is carried out.

The above only is preferred embodiment of the present invention, only is illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and can carry out many changes to it in the spirit and scope that claim of the present invention limits, revise, even equivalence, but all will fall within the scope of protection of the present invention.

Claims (10)

1. a building hoist integrated manipulator is characterized in that, it comprises:

One first processing unit;

One floor data memory cell, it is in order to storing destination height absolute value data, and transfers for described the first processing unit;

One motion control unit, it receives the control signal of described the first processing unit, thus the control engine installation is adjusted sense of motion and the acceleration condition of elevator craning cage;

One height detection unit, in order to obtain the absolute height data of elevator craning cage present position, described the first processing unit compares absolute height data and the destination height absolute value data of described elevator craning cage present position, sends the signal of the sense of motion of control elevator craning cage to described motion control unit;

One loading detection unit, it is in order to obtain the load capacity of described elevator craning cage, and described the first processing unit receives described load capacity, and with itself and a load threshold ratio, stops the motion of described elevator craning cage when surpassing described load threshold value.

2. building hoist integrated manipulator according to claim 1 is characterized in that, described controller also comprises:

One Man Machine Interface unit in order to be connected with a human interface device, supplies the user to described controller input control order;

One second processing unit, it is connected with described the first processing unit, finishes the mutual transmission of corresponding data.

3. building hoist integrated manipulator according to claim 2 is characterized in that, described controller also comprises:

One wireless calling receiving element, it is connected with described the second processing unit, in order to receiving the radiofrequency signal that comprises floor call information of wireless pager emission, and it is demodulated into digital baseband signal;

One wireless calling data storage cell, it is in order to store the floor coded message of described wireless pager, for described wireless pager corresponding to described the second processing unit identification.

4. building hoist integrated manipulator according to claim 1 is characterized in that, described motion control unit comprises:

One speed control relay circuit is adjusted the acceleration of elevator craning cage in order to control described engine installation, slow down and uniform movement;

One hoists and the control relay circuit that descends, and it is adjusted rising operation, the decline operation of elevator craning cage and stops in order to controlling described engine installation.

5. building hoist integrated manipulator according to claim 4 is characterized in that, described speed control relay circuit comprises: one accelerates control relay is connected with described the first processing unit respectively with a deceleration control relay.

6. according to claim 1 or 4 described building hoist integrated manipulators, it is characterized in that, described height detection unit comprises: an absolute height sensor, it is arranged on the described elevator craning cage, in order to obtain real-time vertical height and position.

7. according to claim 1 or 4 described building hoist integrated manipulators, it is characterized in that, described the first processing unit calculates the acceleration/accel of present described elevator craning cage by described load capacity, and an acceleration rate threshold inner with it compares, when described acceleration/accel is higher than described acceleration rate threshold, described acceleration/accel is turned down, with the acceleration/accel of the described elevator craning cage of real-time adjustment, guaranteed at preset timed intervals flat bed of elevator craning cage.

8. building hoist integrated manipulator according to claim 5 is characterized in that, described loading detection unit comprises: a bearing pin sensor, and it is arranged on the described elevator craning cage, in order to measure load and to be converted to voltage signal;

One analog amplify circuit, it is connected with described bearing pin sensor, and described voltage signal is converted to digital data transmission to described the first processing unit.

9. building hoist integrated manipulator according to claim 1 is characterized in that, described controller also comprises: an auxiliary power supply system, it is described controller power supply source.

10. building hoist integrated manipulator according to claim 1, it is characterized in that, store acceleration/accel and the velocity curve algorithm routine of described elevator craning cage operation in described the first processing unit, described elevator craning cage moves by rule shown in the described curve, and makes the pre-standing time of its flat bed be directly proportional to realize accurate level with load.

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