CN102887403B - 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 that existing building hoist control system carries primarily of elevator controls, substantially there is the combination of one or more in weight detecting and control, call function, story-leveling function, possess building hoist control system many employings centralized control such as PLC, frequency converter of above-mentioned functions and be equipped with complicated Circuits System.

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

In view of above-mentioned defect, creator of the present invention obtains 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 store destination height absolute value data, and transfers for described first processing unit;

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

One height detection unit, in order to obtain the absolute height data of elevator craning cage present position, the absolute height data of described elevator craning cage present position and destination height absolute value data compare by the first described processing unit, send the signal of the sense of motion controlling 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, the load capacity described in the first described processing unit receives, and it is compared with a load threshold value, stops the motion of described elevator craning cage when exceeding described load threshold value.

Preferably, described controller also comprises:

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

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

Preferably, described controller also comprises:

One wireless calling receiving element, it is connected with the second described processing unit, in order to receive the radiofrequency signal comprising floor call information that a wireless pager is launched, and 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 the described wireless pager that the second described processing unit identification is corresponding.

Preferably, described motion control unit comprises:

One speeds control relay circuit, in order to control the acceleration of described engine installation adjustment elevator craning cage, slows down and uniform movement;

One hoists and the control relay circuit that declines.It runs in order to the rising controlling described engine installation adjustment elevator craning cage, decline operation and stopping.

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

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

Preferably, the first described processing unit calculates the acceleration/accel of current 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, to adjust the acceleration/accel of described elevator craning cage in real time, ensure elevator flat bed at preset timed intervals.

Preferably, described loading detection unit comprises: a bearing pin sensor, and it is arranged on 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 and is transferred to the first described processing unit.

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

Preferably, acceleration/accel and the velocity curve algorithm routine of the operation of described elevator craning cage is stored in described first processing unit, described elevator craning cage runs by rule shown in described curve, and makes its flat bed pre-stop time be directly proportional to realize accurate level to load.

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

Accompanying drawing explanation

Fig. 1 is the core control portions 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 building hoist integrated manipulator one cycle of the present invention;

Fig. 4 is the speed curve diagram in building hoist integrated manipulator one cycle 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 controlling functions block diagram;

Fig. 7 is building hoist integrated manipulator acceleration of motion controlling functions 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.

Detailed description of the invention

Below in conjunction with accompanying drawing, to above-mentioned being described in more detail with other technical characteristic and advantage of the present invention.

The functional modules such as loading detection and overload control by building hoist integrated manipulator of the present invention, floor call, automatic leveling control and joint action table become one, realize the four-in-one function of control system, greatly simplify the circuit structure of building hoist control system, when matching with building hoist, when avoiding independent control module to be installed on building hoist joint action table, increase complicated line related.

As a feature of the present invention, the present invention adopts the concurrent operating modes of dual processor, and each treater processes respective data respectively, improves the reliability of data-handling capacity and system cloud gray model.

Refer to shown in Fig. 1, its core control portions schematic diagram being 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, what be connected with the first processing unit 1 in the present embodiment comprises: floor data memory cell 11, it is in order to store destination height absolute value data, and transfers for described first processing unit; Loading detection unit 13, it is in order to obtain the load capacity of described elevator craning cage, the load capacity described in the first described processing unit receives, and it is compared with a load threshold value, stops the motion of described elevator craning cage when exceeding described load threshold value; Height detection unit 12, in order to obtain the absolute height data of elevator craning cage present position, the absolute height data of described elevator craning cage present position and destination height absolute value data compare by the first described processing unit, send the signal of the sense of motion controlling elevator craning cage to described motion control unit; Motion control unit 10, in order to receive the control signal of described first processing unit, thus controls sense of motion and the acceleration condition of engine installation adjustment elevator craning cage.

Refer to shown in Fig. 2, its control principle drawing being building hoist integrated manipulator of the present invention, what be connected with the second processing unit 2 comprises: Man Machine Interface unit 24, it is in order to be connected with a human interface device, for user 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.

Described first processing unit 1 and the second processing unit 2 are microprocessor, and it is lower relative to PLC cost, exchange data between two processing units by data bus RS485/422.Described 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 serial etc., its automatic leveling being responsible for controlling construction elevator cage controls, loading detection, data processing 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 by flat bed data, the packing of payload data coding is given described second processing unit 2 and accepts the data from described second processing unit 2, described flat bed data comprise current floor elevation information, with the high speed digital data in real time such as destination range information.

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

Described floor data memory cell 11 is made up of Large Copacity chip, it is in order to store each story height absolute value data, the flat bed data obtained from described peripheral circuit compare corresponding with each story height absolute value data of described floor data memory cell 11 by described first processing unit 1, to determine current floor in real time, destination data in the flat bed data that described story height absolute value data and the first processing unit 1 receive do difference, to determine the distance with destination.

Described height detection unit 12 comprises height sensor circuit, it is connected with absolute height sensor 121, described absolute height sensor 121 it comprise high performance integrated circuit and connected precision optical machinery mechanism, and link with tooth bar, the real-time vertical height position of described construction elevator cage is measured in the mode of total digitalization, and altitude information being 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 cage load.Cage load is measured by bearing pin sensor 131, cage load is transformed to bearing pin output voltage signal in a linear fashion, through described amplifying circuit 132 and analog to digital conversion circuit 133, cage load signal is converted to numerical load signal, send described first processing unit 1 to process.When measuring load information, described loading detection unit 13 can also measure the acceleration signal of cage, namely after recording load signal by described bearing pin sensor 131, transfer to described first processing unit 1, Newton's laws of motion is used to can be calculated the acceleration/accel of described elevator through the first processing unit 1, the threshold values of its accelerating curve stored with described first processing unit 1 is compared, carries out reduction of speed or rising film condensation, realize the smooth running of described construction elevator cage.

Building hoist in the present invention is in the orbit period risen or decline, and have different acceleration/accels, formula [1] is the acceleration/accel expression formula of building hoist of the present invention in one-period.

$a=\left\{\begin{array}{cc}\left(1\right)k{\mathrm{\&alpha;}}_1,& 0\&le;t<t_1\\ \left(2\right)\mathrm{\&beta;},& t_1\&le;t<t_2\\ \left(3\right)\mathrm{\&beta;}-k{\mathrm{\&alpha;}}_3,& t_2\&le;t<t_3\\ \left(4\right)0,& t_3\&le;t<t_4\\ \left(5\right)-k{\mathrm{\&alpha;}}_5,& t_4\&le;t<t_5\\ \left(6\right)-\mathrm{\&epsiv;}+k{\mathrm{\&beta;}}_6,& t_5\&le;t<t_6\\ \left(7\right)0,& t_6\&le;t<t_7\\ \left(8\right)-k{\mathrm{\&alpha;}}_8,& t_7\&le;t<t_8,\\ \left(9\right)-\mathrm{\&epsiv;},& t_8\&le;t<t_9\\ \left(10\right)-\mathrm{\&epsiv;}+k{\mathrm{\&alpha;}}_{10},& t_9\&le;t<t_{10}\end{array}\right.---\left[1\right];$

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

Shown in Fig. 3, it is the acceleration plots in building hoist integrated manipulator one cycle of the present invention, a cycle refers to that described construction elevator cage setting in motion is to the time period stopped herein, in each orbit period of described construction elevator cage, acceleration/accel has different motion analytic expressions in different intervals, acceleration/accel is according to even acceleration, at the uniform velocity, even deceleration, zero, even acceleration, even deceleration, zero, even acceleration, at the uniform velocity change successively with the order of even deceleration, wherein, acceleration/accel be zero moment be the moment that described construction elevator cage travels at the uniform speed, it has at a high speed and low speed two kinds travels at the uniform speed state and leveling speed state.Within the whole cycle, the parameters such as limit acceleration β and ε that described construction elevator cage runs and acceleration factor k preset, rate of onset and termination speed are zero, formula (5) and (8), formula (6) and (10) cycle on same curves correspondent equal respectively, and the division moment in each interval and acceleration/accel change the moment and each acceleration and deceleration burst length also needs the distance will run according to elevator to determine.After completing floor call, reference position and the final position of elevator are determined, the distance that elevator runs also is determined, the division moment in each acceleration/accel interval can be determined again 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 first processing unit 1, according to the load information obtained, calculates automatically according to formula [2]

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

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 reached is also little.

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

Determine analytic expression and the curve movement of its acceleration/accel according to the range ability of described building hoist and load weight, be convenient to carry out contrasting and correcting with the running state of reality in real time, keep the stability that it runs.

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

Described motion control unit 10 comprises hoist and decline control relay circuit 14 and speeds control relay circuit 15, described hoist and the control relay circuit 14 that declines in order to receive the control signal of the first processing unit 1, which is provided with the control relay 142 that hoists and decline, control rising and the decline of described building hoist, it is also in series with elevator handle to hoist and lower downshift, with directly controlling the lifting of described building hoist for operating personal.Describedly hoist and the control relay circuit 14 that declines also is provided with High-speed Control relay 144 and low speed control relay 145, when the acceleration/accel of described building hoist changes, described first processing unit 1 controls described High-speed Control relay 144 and low speed control relay 145 break-make, in order to maintain the acceleration/accel of described construction elevator cage in real time within the specific limits, ensure that elevator craning cage smooth running is with according to the time flat bed preset.

In the present invention, described construction elevator cage, in rising or descending motion cycle, correspondingly has different speed, carries out integration, can obtain speed formula [3] to the acceleration/accel of each segment in [1] formula,

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

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

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

Incorporated by reference to shown in Fig. 4, it is the speed curve diagram in building hoist integrated manipulator one cycle of the present invention, and described velocity curve is combined with above-mentioned accelerating curve and can show that described each burst length and speed are transferred the moment; In each orbit period of described construction elevator cage, it brings into operation and the acceleration of stop phase and retardation curve are S-shaped curve, it can realize acceleration/accel decay, there is not overshoot oscillation, realize flexible feed speed control, according to the move distance of described construction elevator cage and load weight within each cycle, determine length and the high speed limit speed v of each speed interval ₃or V ₄with low limits speed v ₆and v ₇, described building hoist by the motion process preset, through multiple velocity modes such as acceleration, even high speed, deceleration, even low speed, decelerations, finally realizes at high-speed cruising and the mode of operation at low speed flat bed in each orbit period.

Refer to shown in Fig. 4, curve 1., 2. be 3. load weight identical when, velocity curve during different motion distance, along with the increase of move distance, the time of run of described building hoist increases, the time corresponding increase of each acceleration, deceleration segment, and terminal speed is corresponding increase also, in practice, described high speed limit speed v ₃or v ₄, low limits speed v ₆and v ₇be dynamic amount with acceleration factor k, it can preset according to construction environment and status of equipment; Curve 3. be 4. move distance identical when, the asynchronous velocity curve of load weight, the load weight that 3. load weight that 4. curve represents represents higher than curve, thus, the acceleration factor that 3. the acceleration factor k of the building hoist that 4. curve represents within the whole cycle represent lower than curve, its acceleration/accel and terminal speed lower, time of run and the flat bed time long, realize steady flat bed when high loads weight.

Described speeds 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 at the uniform velocity control relay 153, 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, running velocity and the accelerating curve data of described construction elevator cage are stored in the first processing unit 1, and when range ability and load are determined, the described construction elevator cage speed turnover moment is determined, when the stage of bringing into operation needs acceleration/accel to increase, described first processing unit 1 drives described acceleration control relay 151 and at the uniform velocity control relay 153, realize the increase of acceleration/accel, when needs acceleration/accel keeps constant, described acceleration control relay 151 and deceleration control relay 152 all disconnect, in the high-speed cruising stage, described at the uniform velocity control relay 153 keeps connecting, and when 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 first processing unit 1 drives the action of described deceleration control relay 152, realize the reduction of acceleration/accel, namely now run with leveling speed, and without the need to using frequency converter to change the frequency of drive motor to realize the conversion of multiple speed, and langding accuracy is suitable with use frequency converter.Described speeds control relay circuit 15 is also gone here and there has elevator handle to accelerate shelves, reduction gear and at the uniform velocity shelves, runs under multiple velocity mode with directly controlling described elevator for operating personal.

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

Described wireless calling receiving element 22 adopts the special 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 receiving is digital baseband signal, does decoding process for the second processing unit 2.

Described wireless calling data storage cell 23 is made up of massive store integrated circuit, in order to store the floor coded message of floor wireless beeper 26, corresponding wireless pager 26 is identified for the second processing unit 2, coding and the floor corresponding relation of described wireless pager 26 can change according to user's request, 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 key information packing, accept the voice messaging that treater 2 exports simultaneously, send acoustic information to user by loud speaker 27.

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

Described auxiliary power supply system 25 comprises large-capacity battery, when described elevator joint action table power-off, to floor call energize portions, guarantee that described elevator joint action table system still can call accepted information when not power supply, drive loud speaker 27; Meanwhile, when described elevator joint action table system has power supply, auxiliary power supply system 25 is automatically stopped power supply and is changed charge condition into.

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

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

Loading detection and overload controlling functions: refer to shown in Fig. 6, it is building hoist integrated manipulator loading detection of the present invention and overload controlling functions block diagram, described construction elevator cage load signal is transformed to bearing pin output voltage signal by described bearing pin sensor 131 in a linear fashion, 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 numerical load signal, undertaken gathering, measuring by described first processing unit 1 again, be translated into payload data; Load compares with the ultimate load data within it preset by described first processing unit 1, determine whether described building hoist overloads, if overload; would hoist described in passing through and the control relay circuit 14 that declines cut off described in hoist and the control relay 142 that declines, to stop described building hoist to run, and combined aural and visual alarm 143 is used to point out user; After load is lower than ultimate load, described first processing unit 1 is according to move distance and load weight, select suitable acceleration factor and calculate the speed turnover moment, determine accelerating curve and velocity curve, and drive described speeds control relay circuit 15 to connect acceleration control relay 151, control elevator and run to destination with aero mode.Meanwhile, the first processing unit 1 sends payload data packing to described second processing unit 2, drives described LCDs 21 to show load weight by described second processing unit 2.

Acceleration of motion controlling functions: refer to shown in Fig. 7, it is building hoist formula control system integration controller acceleration of motion controlling functions block diagram of the present invention, when described building hoist is in destination operational process, on it, the operation acceleration/accel of cage can cause payload data constantly to change, described construction elevator cage load is transformed to bearing pin output voltage signal by described pin type sensor 131 in a linear fashion, by described analog amplify circuit, and be transformed to load signal after described amplifying circuit 132 and analog to digital conversion circuit 133, described first processing unit 1 gathers, measure, and be translated into acceleration information, described first processing unit 1 will speed up degrees of data and compares with the accelerating curve threshold data that described first processing unit 1 sets, when elevator craning cage runs acceleration/accel lower than setting threshold, described first processing unit 1 controls to hoist and the High-speed Control relay 144 on down relay control circuit 14 described in connection automatically, described cage acceleration/accel increases, until equal with the threshold values preset, and maintain the operation acceleration/accel of described elevator craning cage, realize described building hoist smooth running, when elevator craning cage runs acceleration/accel higher than setting threshold, described first processing unit 1 controls to hoist and the low speed control relay 145 on down relay control circuit 14 described in connection automatically, described cage acceleration/accel reduces, until equal with the threshold values preset, and maintain the operation acceleration/accel of described elevator craning cage.

Automatic leveling function: refer to shown in Fig. 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 in the mode of total digitalization and is run vertical height position, altitude information is transferred to described first processing unit 1, first processing unit 1 story height data are compared with the floor data of floor data memory cell 11 determine current floor and with destination distance, simultaneously by data packing send described second processing unit 2 to show current floor.The human-computer interaction interface of described second processing unit 2 receives ownership goal floor information by keyboard 200, by Man Machine Interface unit 24, floor information is transferred to described second processing unit 2, the packing of destination data encoding is sent back described first processing unit 1 by the second processing unit 2, first processing unit 1 calls corresponding story height information and compares with the sling height of current building hoist, determine range ability, as previously mentioned, through load weight detect and relatively after, 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, in acceleration and decelerating phase; the velocity curve of described building hoist is S-shaped curve; make, when bringing into operation and flat bed is shut down, can flexible control be realized, firm flat bed.Disconnect after described building hoist reaches destination and to hoist and the control relay 142 that declines realizes automatic leveling.

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

Refer to shown in Fig. 9, it is building hoist integrated manipulator software flow pattern of the present invention, and the software running process of described first processing unit 1 is: a11; System electrification; A12: port initialization; A13: read bearing pin sensor and height sensor state; A14: whether detect connected equipment has fault; If equipment exists fault, perform a15: point out culprit, prompting alarm code; If equipment does not have fault, perform a cyclic program, comprising: a16: read the load of bearing pin sensor and the altitude information of height sensor; A17: the load that process is read and altitude information; A18: export lifter excess load and flat bed control data; A19: export flat bed and payload data to the second processing unit, 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 performs.

The software running process of described second processing unit 2 is: b11; System electrification; B12: port initialization; B13: read LCDs and Calling equipment dress state; B14: whether detect connected equipment has fault; If equipment exists fault, perform b15: point out culprit, prompting alarm code; If equipment does not have fault, perform a cyclic program, comprising: b16: the calling of reading calling set receives data; B17: the calling display data that process is read; B18: output display speech data; B19: the data receiving display first processing unit, sends 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 performs.

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

Claims (9)

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 store destination height absolute value data, and transfers for described first processing unit;

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

One height detection unit, in order to obtain the absolute height data of elevator craning cage present position, the absolute height data of described elevator craning cage present position and destination height absolute value data compare by the first described processing unit, send the signal of the sense of motion controlling 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, the load capacity described in the first described processing unit receives, and it is compared with a load threshold value, stops the motion of described elevator craning cage when exceeding described load threshold value;

Store acceleration/accel and the velocity curve algorithm routine of the operation of described elevator craning cage in described first processing unit, described elevator craning cage runs by rule shown in described curve, and makes its flat bed pre-stop time be directly proportional to realize accurate level to load;

The acceleration/accel expression formula of described elevator in one-period is:

$a=\left\{\begin{array}{cc}\left(1\right){\mathrm{k\&alpha;}}_1,& 0\&le;t<t_1\\ \left(2\right)\mathrm{\&beta;},& t_1\&le;t<t_2\\ \left(3\right)\mathrm{\&beta;}-{\mathrm{k\&alpha;}}_3,& t_2\&le;t<t_3\\ \left(4\right)0,& t_3\&le;t<t_4\\ \left(5\right)-{\mathrm{k\&alpha;}}_5,& t_4\&le;t<t_5\\ \left(6\right)-\mathrm{\&epsiv;}+{\mathrm{k\&alpha;}}_6,& t_5\&le;t<t_6\\ \left(7\right)0,& t_6\&le;t<t_7\\ \left(8\right)-{\mathrm{k\&alpha;}}_8,& t_7\&le;t<t_8,\\ \left(9\right)-\mathrm{\&epsiv;},& t_8\&le;t<t_9\\ \left(10\right)-\mathrm{\&epsiv;}+{\mathrm{k\&alpha;}}_{10},& t_9\&le;t<t_{10}\end{array}\right.$

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

Described one-period refers to that described construction elevator cage setting in motion is to the time period stopped, in each orbit period of described construction elevator cage, acceleration/accel has different motion analytic expressions in different intervals, acceleration/accel according to even acceleration, at the uniform velocity, even deceleration, zero, even acceleration, even deceleration, zero, even acceleration, at the uniform velocity to change successively with the order of even deceleration, wherein, acceleration/accel be zero moment be the moment that described construction elevator cage travels at the uniform speed, it has at a high speed and low speed two kinds travels at the uniform speed state and leveling speed state.

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, for user to described controller input control order;

One second processing unit, it is connected with the first described processing unit, completes the alternating 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 the second described processing unit, in order to receive the radiofrequency signal comprising floor call information that a wireless pager is launched, and 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 the described wireless pager that the second described processing unit identification is corresponding.

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

One speeds control relay circuit, in order to control the acceleration of described engine installation adjustment elevator craning cage, slows down and uniform movement;

One hoists and the control relay circuit that declines, and it runs in order to the rising controlling described engine installation adjustment elevator craning cage, decline operation and stopping.

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

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

7. the building hoist integrated manipulator according to claim 1 or 4, it is characterized in that, the first described processing unit calculates the acceleration/accel of current 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, to adjust the acceleration/accel of described elevator craning cage in real time, ensures elevator craning cage flat bed at preset timed intervals.

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 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 digital data transmission to the first described processing unit.

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