CN104816992A - Elevator stopping detection method based on multi-sensor confidence vote mechanism - Google Patents
Elevator stopping detection method based on multi-sensor confidence vote mechanism Download PDFInfo
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- CN104816992A CN104816992A CN201510122970.3A CN201510122970A CN104816992A CN 104816992 A CN104816992 A CN 104816992A CN 201510122970 A CN201510122970 A CN 201510122970A CN 104816992 A CN104816992 A CN 104816992A
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- elevator
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- alignment sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0025—Devices monitoring the operating condition of the elevator system for maintenance or repair
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- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention discloses an elevator stopping detection method based on a multi-sensor confidence vote mechanism. The method comprises the steps that first, sensor sets are mounted on a shaftway and an elevator car, and each sensor set comprises a rotary encoder, an infrared sensor and RFID equipment; second, detection is conducted, the total confidence degree of the sensor sets is calculated to be equal to the sum of the statistical confidence degree and the change confidence degree, then through the comparison judgment of the total confidence degrees under the in-place state and the non-in-place state of the elevator car, positioning is obtained respectively, an elevator door is opened accurately, then an elevator continuously operates until positioning is successful, and a maintenance early warning is given out. According to the invention, based on the working principle of the rotary encoder, supplemented by the combination usage of the infrared sensors and the RFID equipment, a voting mechanism and a confidence degree changing mechanism are introduced at the same time to achieve the stopping detection of the elevator, so that the accuracy, operation safety and reliability of elevator stopping are improved; false alarm errors are basically eliminated, a timely early warning can be provided when the confidence level of the positioning sensors is too low, and it is guaranteed that maintaining is efficient.
Description
Technical field
The present invention relates to a kind of elevator parking method of inspection, particularly relate to a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism.
Background technology
For the research of the parking scheme that puts in place of elevator, mainly concentrate on the langding accuracy aspect how improving elevator.Often the generation of elevator accident, mainly due to Elevator landing location inaccuracy or fault cause elevator not arrive floor.In relevant report, occur that elevator is not stopped and to put in place and the elevator floor door in outside is just opened, cause passenger to step on sky when not discovering and fall into missile silo; Not stopping about elevator the car door that puts in place equally directly causes the accident of passenger card in car and hoistway crack also of common occurrence with regard to opening.In order to avoid this type of safety misadventure occurs again, accurate its safety and reliability of stop guarantee when needing elevator to run.
Modem elevator extensively adopts tractive driving mode.Towing machine is as driver train, and steel rope hangs on the rope sheave of towing machine, one end suspension craning cab, other end suspention counter weight device.When towing machine rotates, the traction produced by the friction force between steel rope and pulley orders about car up-and-down movement.And the tradition of elevator puts in place, parking scheme utilizes rotary encoder to realize, rotary encoder is used for measuring rotating speed and coordinates PWM technology thus realize the device of quick speed governing, wherein photoelectric rotary coder is by opto-electronic conversion, can convert the mechanical quantity such as the angular transposition of output shaft, cireular frequency to corresponding electric pulse with digital output.But traditional rotary encoder there will be accumulated error in long use procedure, this accumulated error can cause the stop precise decreasing of elevator thus cause the reduction of elevator safety and reliability.
Application number is disclose in the patent document of 201120113600.0 " a kind of elevator locating system ", propose a kind of ultrasonic transduter that utilizes in the installation of elevator top and well headroom, the accurate location of elevator is carried out by sensor, realize antijamming capability strong, maintenance cost is low, easy to use.But the method utilizes single-sensor to locate, and has arbitrariness, when the sensor fails, be difficult to Timeliness coverage and maintenance, well can not ensure safety and reliability when elevator runs.
Application number is disclose in the patent document of 200810041844.5 " elevator locating method based on RFID technique ", propose the intensity that a kind of RFID of utilization reads all label signals, by the localization method of algorithm determination elevator car position, supplemental lift effectively runs, data before not relying on, function is easily expanded.But the method is not accurately located elevator, langding accuracy does not promote, do not utilize the accurate location of RFID to improve.
As can be seen here, above-mentioned existing elevator location parking scheme, although have certain accuracy in detection, safety and reliability during its work is obviously not enough, is urgently further improved.
Summary of the invention
Main purpose of the present invention is, overcome deficiency of the prior art, a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism is provided, based on the principle of work of rotary encoder, and be aided with combinationally using of infrared pickoff and RFID radio frequency identification equipment, introduce simultaneously and make full use of voting mechanism and degree of belief change mechanism and detect to the stop realizing elevator, the accuracy of elevator parking can not only be improved, safety and reliability when elevator runs, and can substantially eliminate wrong report mistake by combinationally using of sensor group, there is provided timely early warning when alignment sensor confidence level is too low simultaneously, guarantee that maintenance is efficient.
In order to achieve the above object, the technical solution adopted in the present invention is:
Based on an elevator parking method of inspection for multisensor vote of confidence mechanism, first need to install sensor group on hoistway and lift car; Described sensor group comprises rotary encoder, infrared pickoff and RFID radio frequency identification equipment, locates for the flat bed stop position carrying out elevator that detects synchronous in cage operation process and judges whether the stop position of car reaches the unlocking condition of elevator door and carry out maintenance early warning according to voting mechanism and degree of belief change mechanism.
Secondly, following detecting step is comprised successively:
Steps A, obtains the statistics operation parameter of sensor group, according to the fault rate h of the sensor group obtained
i-time curve, draws the normal working probability ρ of sensor group
i=1-h
i, by ρ
itime dependent function definition is statistics degree of belief m
i(t); Wherein i=1,2,3 represent alignment sensor label, and i=1 represents rotary encoder, and i=2 represents infrared pickoff, and i=3 represents RFID radio frequency identification equipment;
Step B, in cage operation process, the degree of belief of the real-time change of sensor group is located success or not to calculate by each alignment sensor at every turn; Definition change degree of belief n
i, according to
angle value, wherein n are trusted in the change calculating corresponding alignment sensor
iinitial value be 0, x
ifor the variable of the recent cumulative activation state of reflection alignment sensor group, x
ispan be-20≤x
i≤ 20, initial value is 0, i=1, and 2,3 also represent alignment sensor label;
When locating successfully then x
iadd 2, on the contrary then x
isubtract 2;
Work as x
iequal-20 and illustrate that this alignment sensor continuous several times is located unsuccessfully, start maintenance early warning, notify that maintainer overhauls;
Step C, total degree of belief K respectively of rotary encoder, infrared pickoff and RFID radio frequency identification equipment in definition sensor group
1, K
2and K
3, and total degree of belief of sensor group equals statistics degree of belief and change degree of belief sum, namely
wherein α is the statistics weight coefficient of degree of belief, span is 0≤α≤1, i=1, and 2,3 also represent alignment sensor label;
If car puts in place be masked as P, P=Σ K
i, i represents the alignment sensor label detecting elevator and put in place;
If car does not put in place be masked as Q, Q=Σ K
j, j represents the alignment sensor label not detecting elevator and put in place;
When car enters within detection range, in sensor group, rotary encoder, infrared pickoff and RFID radio frequency identification equipment judge whether car puts in place respectively, if a certain alignment sensor detects and puts in place, the value of its total degree of belief is added in P, does not put in place if detect, the value of its total degree of belief is added in Q;
If P > Q, then illustrate elevator general location in stop position, can elevator door be opened, the change of each alignment sensor of sensor group is simultaneously trusted angle value and is carried out corresponding renewal;
If P < is Q, illustrate that elevator does not put in place, continue to run, the value of change degree of belief does not upgrade.
The present invention further also comprises following detecting step:
Step D, when occurring the K of a certain alignment sensor
iwhen value is less than a certain threshold value T, the span of T is 0≤T≤1, also starts maintenance early warning, notifies that maintainer overhauls.
The present invention is set to further: described rotary encoder comprises the driving wheel rotary encoder and driven wheels rotating encoders of being located at well headroom.
The present invention is set to further: described infrared pickoff comprises the phototransistor bottom the infrared light transmitter being arranged at cage bottom and the floor door being arranged at each flat bed.
The present invention is set to further: described FID radio frequency identification equipment comprises the RFID RFID tag of the RFID radio-frequency identification reader being arranged at car top and the floor header being arranged at each flat bed.
The present invention is further set to: when described RFID RFID tag is arranged on car stop position, RFID radio-frequency identification reader is perpendicular to the vertical point place of hoistway wall; The detection angle of described RFID radio-frequency identification reader is 120 °.
Compared with prior art, the beneficial effect that the present invention has is:
1, significantly can improve by the utilization of multiple alignment sensor the precision that car stops location, also can revise operationally the produced accumulated error of rotary encoder simultaneously.When single alignment sensor lost efficacy, can ensure that elevator still can normally run, thus improve elevator mean time between failures, the elevator avoiding elevator to cause due to the inefficacy of single-sensor is out of control and overhaul construction frequently, time saving and energy saving and ensure the safety and reliability that elevator runs.
2, by multiple alignment sensor with the use of, and introduce and use voting mechanism and degree of belief change mechanism, significantly can avoid the generation of incident, strengthening elevator serviceability, ensureing the particularity of elevator location.When device Errors, the failed cas fortuit in location easily can appear in the detection control car that works independently with any one sensor stop that puts in place, thus some unnecessary potential safety hazards can be caused; And adopt voting mechanism, can this hidden danger be dropped to minimum.When car enters within detection range, sensor group judges whether car puts in place, judge whether the stop position of car reaches the unlocking condition of elevator door and carry out maintenance early warning according to voting mechanism and degree of belief change mechanism again, realize the object that high, the autonomous performance of safety performance is high.
3, in degree of belief change mechanism, carried out the dynamic conditioning of degree of belief by elevator positioning control operation each time, the mode of operation of alignment sensor can be reflected in real time and play the warning function constantly of elevator.Use voting mechanism and degree of belief change mechanism, realize the timely start detection early warning when the degree of belief of alignment sensor is reduced to a certain threshold value, notify that related personnel carries out the debugging again of equipment or changes trouble unit targetedly, thus minimum by occurring that the possibility of potential safety hazard drops to, the safety and reliability that general warranty elevator runs.
Foregoing is only the general introduction of technical solution of the present invention, and in order to clearer understanding technological means of the present invention, below in conjunction with accompanying drawing, the invention will be further described.
Accompanying drawing explanation
Fig. 1 is the overall construction drawing that elevator of the present invention location and sensor group are installed;
Fig. 2 is the enlarged diagram of local A in Fig. 1;
Fig. 3 is detecting step diagram of circuit of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention is further illustrated.
In the overall construction drawing that elevator location as shown in Figures 1 and 2 and sensor group are installed, hoistway 1 and lift car 2 are provided with sensor group, described sensor group comprises rotary encoder, infrared pickoff and RFID radio frequency identification equipment, locates for the flat bed stop position carrying out elevator that detects synchronous in car 2 operational process and judges whether the stop position of car reaches the unlocking condition of elevator door 21 and carry out maintenance early warning according to voting mechanism and degree of belief change mechanism.
Described rotary encoder comprises the driving wheel rotary encoder 3 and driven wheels rotating encoders 4 of being located at hoistway 1 top.
Described infrared pickoff comprises the phototransistor 6 bottom the infrared light transmitter 5 be arranged at bottom car 2 and the floor door 11 being arranged at each flat bed.The characteristics such as it is long that infrared pickoff has detecting distance, and response time is short, and resolution is high, are highly suitable for applying in detection and control.
Described RFID radio frequency identification equipment comprises the RFID RFID tag 8 at the RFID radio-frequency identification reader 7 being arranged at car 2 top and floor door 11 top being arranged at each flat bed.As shown in Figure 2, when described RFID RFID tag 8 is arranged on car 2 stop position, RFID radio-frequency identification reader 7 is perpendicular to the vertical point place of hoistway 1 sidewall; The detection angle of described RFID radio-frequency identification reader 7 is 120 °.RFID technique has contactless identification, and adapt to harsh environment, the excellent properties such as read or write speed is fast, are also highly suitable for applying in detection and control.13.56MHz RFID RFID antenna can be adopted built-in, and Card Reader distance is 5 ~ 8cm, and reading/writing distance is stablized, and can control the accurate stop of lift car preferably.
The present invention is based on the principle of work of rotary encoder, be aided with infrared pickoff and in conjunction with RFID radio frequency identification equipment, utilize the accurate judgement that radiofrequency signal distance short precision high puts in place to carry out car, utilize combinationally using of multisensor significantly to reduce elevator position error simultaneously, also can revise operationally the produced accumulated error of rotary encoder.
Detecting step diagram of circuit of the present invention as shown in Figure 3, comprises following detecting step successively:
Steps A, starts the statistics operation parameter obtaining sensor group, according to the fault rate h of the sensor group obtained
i-time curve, draws the normal working probability ρ of sensor group
i=1-h
i, by ρ
itime dependent function definition is statistics degree of belief m
i(t); Wherein i=1,2,3 represent alignment sensor label, and i=1 represents rotary encoder, and i=2 represents infrared pickoff, and i=3 represents RFID radio frequency identification equipment.
Step B, in cage operation process, the degree of belief of the real-time change of sensor group is located success or not to calculate by each alignment sensor at every turn; Definition change degree of belief n
i, according to
angle value, wherein n are trusted in the change calculating corresponding alignment sensor
iinitial value be 0, x
ifor the variable of the recent cumulative activation state of reflection alignment sensor group, x
ispan be-20≤x
i≤ 20, initial value is 0, i=1, and 2,3 also represent alignment sensor label;
When locating successfully then x
iadd 2, on the contrary then x
isubtract 2;
Work as x
iequal-20 and illustrate that this alignment sensor continuous several times is located unsuccessfully, start maintenance early warning, notify that maintainer overhauls.
Step C, total degree of belief K respectively of rotary encoder, infrared pickoff and RFID radio frequency identification equipment in definition sensor group
1, K
2and K
3, and total degree of belief of sensor group equals statistics degree of belief and change degree of belief sum, namely
wherein α is the statistics weight coefficient of degree of belief, span is 0≤α≤1, i=1, and 2,3 also represent alignment sensor label;
If car puts in place be masked as P, P=Σ K
i, i represents the alignment sensor label detecting elevator and put in place;
If car does not put in place be masked as Q, Q=Σ K
j, j represents the alignment sensor label not detecting elevator and put in place;
When car enters within detection range, in sensor group, rotary encoder, infrared pickoff and RFID radio frequency identification equipment judge whether car puts in place respectively, if a certain alignment sensor detects and puts in place, the value of its total degree of belief is added in P, does not put in place if detect, the value of its total degree of belief is added in Q;
If P > Q, then illustrate elevator general location in stop position, can elevator door be opened, the change of each alignment sensor of sensor group is simultaneously trusted angle value and is carried out corresponding renewal;
If P < is Q, illustrate that elevator does not put in place, continue to run, the value of change degree of belief does not upgrade.
Step D, when occurring the K of a certain alignment sensor
iwhen value is less than a certain threshold value T, the span of T is 0≤T≤1, also starts maintenance early warning, notifies that maintainer overhauls.
Innovative point of the present invention is, based on the principle of work of rotary encoder, and be aided with combinationally using of infrared pickoff and RFID radio frequency identification equipment, introduce simultaneously and make full use of voting mechanism and degree of belief change mechanism and detect to the stop realizing elevator, the safety and reliability when accuracy of elevator parking, elevator operation can not only be improved, and can substantially eliminate wrong report mistake by combinationally using of sensor group, there is provided timely early warning when alignment sensor confidence level is too low simultaneously, guarantee that maintenance is efficient in time.
More than show and describe groundwork of the present invention, principal character and advantage.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (6)
1. based on an elevator parking method of inspection for multisensor vote of confidence mechanism, it is characterized in that: on hoistway and lift car, install sensor group; Described sensor group comprises rotary encoder, infrared pickoff and RFID radio frequency identification equipment, locates for the flat bed stop position carrying out elevator that detects synchronous in cage operation process and judges whether the stop position of car reaches the unlocking condition of elevator door and carry out maintenance early warning according to voting mechanism and degree of belief change mechanism;
Comprise following detecting step successively:
Steps A, obtains the statistics operation parameter of sensor group, according to the fault rate h of the sensor group obtained
i-time curve, draws the normal working probability ρ of sensor group
i=1-h
i, by ρ
itime dependent function definition is statistics degree of belief m
i(t); Wherein i=1,2,3 represent alignment sensor label, and i=1 represents rotary encoder, and i=2 represents infrared pickoff, and i=3 represents RFID radio frequency identification equipment;
Step B, in cage operation process, the degree of belief of the real-time change of sensor group is located success or not to calculate by each alignment sensor at every turn;
Definition change degree of belief n
i, according to
angle value, wherein n are trusted in the change calculating corresponding alignment sensor
iinitial value be 0, x
ifor the variable of the recent cumulative activation state of reflection alignment sensor group, x
ispan be-20≤x
i≤ 20, initial value is 0, i=1, and 2,3 also represent alignment sensor label;
When locating successfully then x
iadd 2, on the contrary then x
isubtract 2;
Work as x
iequal-20 and illustrate that this alignment sensor continuous several times is located unsuccessfully, start maintenance early warning, notify that maintainer overhauls;
Step C, total degree of belief K respectively of rotary encoder, infrared pickoff and RFID radio frequency identification equipment in definition sensor group
1, K
2and K
3, and total degree of belief of sensor group equals statistics degree of belief and change degree of belief sum, namely
wherein α is the statistics weight coefficient of degree of belief, span is 0≤α≤1, i=1, and 2,3 also represent alignment sensor label;
If car puts in place be masked as P,
i represents the alignment sensor label detecting elevator and put in place;
If car does not put in place be masked as Q,
j represents the alignment sensor label not detecting elevator and put in place;
When car enters within detection range, in sensor group, rotary encoder, infrared pickoff and RFID radio frequency identification equipment judge whether car puts in place respectively, if a certain alignment sensor detects and puts in place, the value of its total degree of belief is added in P, does not put in place if detect, the value of its total degree of belief is added in Q;
If P > Q, then illustrate elevator general location in stop position, can elevator door be opened, the change of each alignment sensor of sensor group is simultaneously trusted angle value and is carried out corresponding renewal;
If P < is Q, illustrate that elevator does not put in place, continue to run, the value of change degree of belief does not upgrade.
2. a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism according to claim 1, is characterized in that, also comprise following detecting step:
Step D, when occurring the K of a certain alignment sensor
iwhen value is less than a certain threshold value T, the span of T is 0≤T≤1, also starts maintenance early warning, notifies that maintainer overhauls.
3. a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism according to claim 1, is characterized in that: described rotary encoder comprises the driving wheel rotary encoder and driven wheels rotating encoders of being located at well headroom.
4. a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism according to claim 1, is characterized in that: described infrared pickoff comprises the phototransistor bottom the infrared light transmitter being arranged at cage bottom and the floor door being arranged at each flat bed.
5. a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism according to claim 1, is characterized in that: described FID radio frequency identification equipment comprises the RFID RFID tag of the RFID radio-frequency identification reader being arranged at car top and the floor header being arranged at each flat bed.
6. a kind of elevator parking method of inspection based on multisensor vote of confidence mechanism according to claim 5, is characterized in that: when described RFID RFID tag is arranged on car stop position, RFID radio-frequency identification reader is perpendicular to the vertical point place of hoistway wall; The detection angle of described RFID radio-frequency identification reader is 120 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510122970.3A CN104816992B (en) | 2015-03-19 | 2015-03-19 | A kind of elevator parking detection method based on multisensor vote of confidence mechanism |
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|---|---|---|---|
| CN201510122970.3A CN104816992B (en) | 2015-03-19 | 2015-03-19 | A kind of elevator parking detection method based on multisensor vote of confidence mechanism |
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| CN104816992B CN104816992B (en) | 2017-03-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107037767A (en) * | 2017-05-09 | 2017-08-11 | 昆明理工大学 | A kind of elevator door safety real-time control apparatus based on embedded Bluetooth ranging |
| CN110475736A (en) * | 2017-03-28 | 2019-11-19 | 因温特奥股份公司 | Sensor network for transport equipment for persons |
| CN112253225A (en) * | 2020-10-16 | 2021-01-22 | 武汉市云竹机电新技术开发有限公司 | Control method for winch retraction and extension of inclined shaft anti-running vehicle |
| US11591183B2 (en) | 2018-12-28 | 2023-02-28 | Otis Elevator Company | Enhancing elevator sensor operation for improved maintenance |
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| CN112253225A (en) * | 2020-10-16 | 2021-01-22 | 武汉市云竹机电新技术开发有限公司 | Control method for winch retraction and extension of inclined shaft anti-running vehicle |
| CN112253225B (en) * | 2020-10-16 | 2022-12-02 | 武汉市云竹机电新技术开发有限公司 | Control method for winch retraction and extension of inclined shaft anti-running vehicle |
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