CN104816992B - A kind of elevator parking detection method based on multisensor vote of confidence mechanism - Google Patents
A kind of elevator parking detection method based on multisensor vote of confidence mechanism Download PDFInfo
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- CN104816992B CN104816992B CN201510122970.3A CN201510122970A CN104816992B CN 104816992 B CN104816992 B CN 104816992B CN 201510122970 A CN201510122970 A CN 201510122970A CN 104816992 B CN104816992 B CN 104816992B
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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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Abstract
The invention discloses a kind of elevator parking detection method based on multisensor vote of confidence mechanism, install sensor group on hoistway and lift car first, including rotary encoder, infrared sensor and RFID radio frequency identification equipment；Next carries out detecting step, statistics degree of belief and change degree of belief sum are equal to by the total degree of belief calculating sensor group, put in place by car and do not put in place the multilevel iudge of total degree of belief under state again, show that accurate positioning is opened elevator door and continued to run with until positioning successfully respectively, and prompting maintenance early warning.The operation principle based on rotary encoder for the present invention, and it is aided with being applied in combination of infrared sensor and RFID radio frequency identification equipment, it is simultaneously introduced and realizes using voting mechanism and degree of belief change mechanism the stop detection of elevator, accuracy, safety in operation and the reliability of elevator parking can be improved, wrong report mistake can be substantially eliminated, and alignment sensor credibility provides timely early warning when too low it is ensured that maintenance is efficient.
Description
Technical field
The present invention relates to a kind of elevator parking detection method, more particularly to one kind are based on multisensor vote of confidence mechanism
Elevator parking detection method.
Background technology
Put in place the research of parking scheme for elevator, is mainly concentrated in improving the langding accuracy aspect of elevator.Electricity
Often the generation of terraced accident, leads to elevator to floor mainly due to the inaccurate of Elevator landing positioning or fault.In phase
Close in report, elevator occurs do not stop putting in place and the elevator floor door in outside has just been opened, lead to passenger in situation about not discovering
Under step on sky and fall into missile silo；Do not stop also with regard to elevator the car door that puts in place just open and directly result in passenger card car with
Accident in hoistway crack is also of common occurrence.In order to avoid such security incident occurs again, accurate when needing elevator to run
Stop its safety and reliability of guarantee.
Modem elevator widely used tractive driving mode.As drive mechanism, steel wire rope hangs over the rope of traction machine to traction machine
On wheel, one end suspension craning cab, the other end suspends counter weight device in midair.When traction machine rotates, by the frictional force between steel wire rope and pulley
Produce traction come to order about car move up and down.And the tradition of elevator puts in place, parking scheme is to be realized using rotary encoder
, rotary encoder is used for measuring rotating speed and coordinating PWM technology thus realizing the device of quick speed governing, and wherein photo-electric rotation is compiled
Code device passes through opto-electronic conversion, the mechanical quantity such as the angular displacement of output shaft, angular velocity can be converted into corresponding electric pulse with digital quantity
Output.But traditional rotary encoder occurs cumulative error during long use, and this cumulative error can be led
The stop precise decreasing sending a telegraph ladder is thus lead to the reduction of elevator safety and reliability.
" a kind of elevator locating system " is disclosed it is proposed that a kind of in the patent document of Application No. 201120113600.0
Using the installation at elevator top and well headroom for the ultrasonic sensor, being accurately positioned of elevator is carried out by sensor, realize
Strong antijamming capability, maintenance cost is low, easy to use.But the method utilizes single sensor positioning, has fiat, works as biography
It is difficult to timely find and keep in repair the safety and reliability it is impossible to when ensureing that elevator runs well when sensor breaks down.
" elevator locating method based on RFID technique " is disclosed in the patent document of Application No. 200810041844.5,
Propose the intensity that a kind of utilization RFID reads all label signals, determine the localization method of elevator car position by algorithm,
Supplemental lift effectively runs, data before being not relying on, and function easily extends.But the method is not accurately positioned to elevator,
Langding accuracy is not lifted, is not improved using being accurately positioned of RFID.
As can be seen here, above-mentioned existing elevator positions parking scheme, although having certain accuracy in detection, its work
Safety and reliability when making substantially not enough it would be highly desirable to be further improved.
Content of the invention
Present invention is primarily targeted at, overcome deficiency of the prior art, provide a kind of multisensor that is based on to trust throwing
The elevator parking detection method of ticket mechanism, based on the operation principle of rotary encoder, and is aided with infrared sensor and RFID radio frequency
Being applied in combination of identification equipment, is simultaneously introduced and makes full use of voting mechanism and degree of belief change mechanism to realize the stop of elevator
Detection, can not only improve the accuracy of elevator parking, safety and reliability when elevator runs, and passes through sensor group
Be applied in combination and can substantially eliminate wrong report mistake, provide timely early warning when alignment sensor credibility is too low it is ensured that inspection simultaneously
Repair efficiently.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of elevator parking detection method based on multisensor vote of confidence mechanism is it is necessary first in hoistway and elevator car
Sensor group is installed on railway carriage or compartment；Described sensor group includes rotary encoder, infrared sensor and RFID radio frequency identification equipment, uses
During cage operation, synchronous detecting carries out the flat bed stop position positioning of elevator and according to voting mechanism and degree of belief change
Mechanism judges whether the stop position of car reaches the unlocking condition of elevator door and carry out overhauling early warning.
Secondly, include following detecting step successively：
Step A, the statistics obtaining sensor group uses parameter, according to fault rate h of the sensor group obtainingi- the time is bent
Line, draws the normal working probability ρ of sensor groupi=1-hi, by ρiTime dependent function is defined as counting degree of belief mi
(t)；Wherein i=1,2,3 expression alignment sensor labels, i=1 represents rotary encoder, and i=2 represents infrared sensor, i=3
Represent RFID radio frequency identification equipment；
Step B, during cage operation, the degree of belief of the real-time change of sensor group is each by each alignment sensor
Position success or not to calculate；Definition change degree of belief ni, according toCalculate corresponding orientation sensing
Angle value, wherein n are trusted in the change of deviceiInitial value be 0, xiFor reflecting the variable of alignment sensor group recent cumulative activation state, xi
Span be -20≤xi≤ 20, initial value also illustrates that alignment sensor label for 0, i=1,2,3；
When positioning successfully then xiPlus 2, on the contrary then xiSubtract 2；
Work as xiIllustrate that equal to -20 this alignment sensor continuous several times positions unsuccessfully, start maintenance early warning, notify maintenance people
Member's maintenance；
Step C, defines total degree of belief of rotary encoder, infrared sensor and RFID radio frequency identification equipment in sensor group
K respectively1、K2And K3, and total degree of belief of sensor group is equal to statistics degree of belief and change degree of belief sum, that is,Wherein α is the weight coefficient of statistics degree of belief, span is 0≤α≤1, i=1,2,
3 also illustrate that alignment sensor label；
If car puts in place is masked as P, P=Σ Ki, i represents the detection alignment sensor label that puts in place of elevator；
If car does not put in place is masked as Q, Q=Σ Kj, j represents the alignment sensor label not detecting that elevator puts in place；
When car enters within detection range, in sensor group, rotary encoder, infrared sensor and RFID radio frequency are known
Other equipment judges whether car puts in place respectively, if the detection of a certain alignment sensor puts in place, the value of its total degree of belief is added in P,
If detection does not put in place, the value of its total degree of belief is added in Q；
If P ＞ Q, illustrate elevator general location in stop position, elevator door can be opened, sensor group is often certain simultaneously
The change of level sensor is trusted angle value and is accordingly updated；
If P is ＜ Q, illustrates that elevator does not put in place, continue to run with, the value of change degree of belief does not update.
The present invention further also includes following detecting step：
Step D, as the K a certain alignment sensoriWhen value is less than a certain threshold value T, the span of T is 0≤T≤1,
Also start maintenance early warning, notify maintainer maintenance.
The present invention is further arranged to：Described rotary encoder include located at well headroom drivewheel rotary encoder and
Driven wheels rotating encoders.
The present invention is further arranged to：Described infrared sensor includes being arranged at the infrared optical transmitter of cage bottom and sets
It is placed in the phototransistor of the floor door bottom of each flat bed.
The present invention is further arranged to：The RFID radio frequency that described FID radio frequency identification equipment includes being arranged at car top is known
Other reader and be arranged at each flat bed floor header RFID RFID tag.
The present invention is further set to：RFID radio frequency when described RFID RFID tag is arranged on car stop position
Identification reader is at the vertical point of hoistway wall；The detection angle of described RFID radio-frequency identification reader is 120 °.
Compared with prior art, the invention has the advantages that：
1st, the precision that car stops positioning can be greatly improved by the utilization of multiple alignment sensors, can also revise simultaneously
Rotary encoder operationally produced cumulative error.When single alignment sensor lost efficacy it is ensured that elevator still just is able to
Often run, thus improving elevator mean time between failures, it is to avoid elevator is caused due to the inefficacy of single sensor
Elevator is out of control and frequently overhauls construction, safety and reliability that is time saving and energy saving and ensureing elevator operation.
2nd, pass through using cooperatively of multiple alignment sensors, and introduce and use voting mechanism and degree of belief change machine
System, can significantly avoid the generation of happenstance, strengthen elevator operational reliability, ensure the accuracy of elevator positioning.When with any
A kind of sensor works independently and to detect and control car to put in place to stop and device Errors would tend to occur, position accidental feelings unsuccessfully
Condition, thus some unnecessary potential safety hazards can be caused；And adopt voting mechanism, this hidden danger can be preferably minimized.Work as sedan-chair
When railway carriage or compartment enters within detection range, sensor group judges whether car puts in place, according still further to voting mechanism and degree of belief change mechanism
Judge whether the stop position of car reaches the unlocking condition of elevator door and carry out overhauling early warning, realize security performance high, certainly
Control the high purpose of performance.
3rd, in degree of belief change mechanism, carry out the dynamic tune of degree of belief by elevator positioning control operation each time
Whole, the working condition of alignment sensor can be reflected in real time and play the constantly warning function of elevator.Using voting mechanism and
Degree of belief change mechanism, realizes starting detection early warning in time when the degree of belief of alignment sensor is reduced to a certain threshold value, notifies
Related personnel carries out the debugging again of equipment or targetedly changes trouble unit, thus will appear from the probability of potential safety hazard
It is preferably minimized, the safety and reliability that general warranty elevator runs.
The above is only the general introduction of technical solution of the present invention, in order to be better understood upon the technological means of the present invention, under
Face combines accompanying drawing, and the invention will be further described.
Brief description
Fig. 1 is the elevator positioning of the present invention and the overall construction drawing of sensor group installation；
Fig. 2 is the enlarged diagram of local A in Fig. 1；
Fig. 3 is the detecting step flow chart of the present invention.
Specific embodiment
With reference to Figure of description, the present invention is further illustrated.
Elevator positioning as shown in Figures 1 and 2 and the population structure in figure of sensor group installation, in hoistway 1 and elevator car
On railway carriage or compartment 2, sensor group is installed, described sensor group includes rotary encoder, infrared sensor and RFID radio frequency identification equipment,
Carry out the flat bed stop position positioning of elevator for synchronous detecting in car 2 running and according to voting mechanism and degree of belief
Change mechanism judges whether the stop position of car reaches the unlocking condition of elevator door 21 and carry out overhauling early warning.
Described rotary encoder includes drivewheel rotary encoder 3 and driven wheels rotating encoders located at hoistway 1 top
4.
Described infrared sensor includes being arranged at the infrared optical transmitter 5 of car 2 bottom and the building being arranged at each flat bed
The phototransistor 6 of layer door 11 bottom.Infrared sensor has that detecting distance is long, and response time is short, the characteristic such as resolution height, non-
Often apply be applied to detection with controlling.
Described RFID radio frequency identification equipment includes being arranged at the RFID radio-frequency identification reader 7 at car 2 top and is arranged at
The RFID RFID tag 8 at floor door 11 top of each flat bed.As shown in Fig. 2 described RFID RFID tag 8 is arranged
In car 2 stop position, RFID radio-frequency identification reader 7 is at the vertical point of hoistway 1 side wall；Described RFID radio frequency is known
The detection angle of other reader 7 is 120 °.RFID technique has contactless identification, adapts to adverse circumstances, and read or write speed waits tall and erect soon
More characteristic, is also highly suitable for use in detection and applies in controlling.Can be built-in using 13.56MHz RFID RFID antenna,
Card Reader distance is 5～8cm, and reading/writing distance is stable, can preferably control the accurate stop of lift car.
The operation principle based on rotary encoder for the present invention, it is aided with infrared sensor and combines RFID radio frequency identification equipment,
Carry out, apart from short precision, the accurate judgement that car puts in place using radiofrequency signal the features such as high, utilize the combination of multisensor simultaneously
Using elevator position error is greatly reduced, rotary encoder operationally produced cumulative error also can be revised.
The detecting step flow chart of the present invention as shown in Figure 3, includes following detecting step successively：
Step A, the statistics starting to obtain sensor group uses parameter, according to fault rate h of the sensor group obtainingi- when
Half interval contour, draws the normal working probability ρ of sensor groupi=1-hi, by ρiTime dependent function is defined as counting degree of belief
mi(t)；Wherein i=1,2,3 expression alignment sensor labels, i=1 represents rotary encoder, and i=2 represents infrared sensor, i
=3 represent RFID radio frequency identification equipment.
Step B, during cage operation, the degree of belief of the real-time change of sensor group is each by each alignment sensor
Position success or not to calculate；Definition change degree of belief ni, according toCalculate corresponding orientation sensing
Angle value, wherein n are trusted in the change of deviceiInitial value be 0, xiFor reflecting the variable of alignment sensor group recent cumulative activation state, xi
Span be -20≤xi≤ 20, initial value also illustrates that alignment sensor label for 0, i=1,2,3；
When positioning successfully then xiPlus 2, on the contrary then xiSubtract 2；
Work as xiIllustrate that equal to -20 this alignment sensor continuous several times positions unsuccessfully, start maintenance early warning, notify maintenance people
Member's maintenance.
Step C, defines total degree of belief of rotary encoder, infrared sensor and RFID radio frequency identification equipment in sensor group
K respectively1、K2And K3, and total degree of belief of sensor group is equal to statistics degree of belief and change degree of belief sum, that is,Wherein α is the weight coefficient of statistics degree of belief, span is 0≤α≤1, i=1,2,
3 also illustrate that alignment sensor label；
If car puts in place is masked as P, P=Σ Ki, i represents the detection alignment sensor label that puts in place of elevator；
If car does not put in place is masked as Q, Q=Σ Kj, j represents the alignment sensor label not detecting that elevator puts in place；
When car enters within detection range, in sensor group, rotary encoder, infrared sensor and RFID radio frequency are known
Other equipment judges whether car puts in place respectively, if the detection of a certain alignment sensor puts in place, the value of its total degree of belief is added in P,
If detection does not put in place, the value of its total degree of belief is added in Q；
If P ＞ Q, illustrate elevator general location in stop position, elevator door can be opened, sensor group is often certain simultaneously
The change of level sensor is trusted angle value and is accordingly updated；
If P is ＜ Q, illustrates that elevator does not put in place, continue to run with, the value of change degree of belief does not update.
Step D, as the K a certain alignment sensoriWhen value is less than a certain threshold value T, the span of T is 0≤T≤1,
Also start maintenance early warning, notify maintainer maintenance.
The innovative point of the present invention is, based on the operation principle of rotary encoder, and is aided with infrared sensor and RFID penetrates
Being applied in combination of frequency identification equipment, is simultaneously introduced and makes full use of voting mechanism and degree of belief change mechanism to realize stopping of elevator
By detection, the accuracy of elevator parking can not only be improved, safety and reliability when elevator runs, and pass through sensor
Being applied in combination and can substantially eliminate wrong report mistake of group, provide timely early warning when alignment sensor credibility is too low simultaneously it is ensured that
Maintenance is efficient in time.
Ultimate principle, principal character and the advantage of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention's described in above-described embodiment and description is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and its equivalent circle.
Fixed.
Claims (6)
1. a kind of elevator parking detection method based on multisensor vote of confidence mechanism it is characterised in that：In hoistway and elevator
Sensor group is installed on car；Described sensor group includes rotary encoder, infrared sensor and RFID radio frequency identification equipment,
For detecting stop position during cage operation, and judge the stop position of car according to voting mechanism and degree of belief change mechanism
Put whether position successfully, elevator door could be opened and whether start maintenance early warning；
Include following detecting step successively：
Step A, the statistics obtaining sensor group uses parameter, according to fault rate h of the sensor group obtainingi- time graph, obtains
Go out the normal working probability ρ of sensor groupi=1-hi, by ρiTime dependent function is defined as counting degree of belief mi(t)；Its
Middle i=1,2,3 expression alignment sensor labels, i=1 represents rotary encoder, and i=2 represents infrared sensor, and i=3 represents
RFID radio frequency identification equipment；
Step B, during cage operation, the degree of belief of the real-time change of sensor group is positioned every time by each alignment sensor
Success or not is calculating；
Definition change degree of belief ni, according toCalculate the change letter of corresponding alignment sensor
Appoint angle value, wherein niInitial value be 0, xiFor reflecting the variable of alignment sensor group recent cumulative activation state, xiSpan
It is -20≤xi≤ 20, initial value also illustrates that alignment sensor label for 0, i=1,2,3；
When positioning successfully then xiPlus 2, on the contrary then xiSubtract 2；
Work as xiIllustrate that equal to -20 this alignment sensor continuous several times positions unsuccessfully, start maintenance early warning, notify maintainer inspection
Repair；
Step C, defines total degree of belief K respectively of rotary encoder, infrared sensor and RFID radio frequency identification equipment in sensor group1、K2
And K3, and total degree of belief of sensor group is equal to statistics degree of belief and change degree of belief sum, that is,
Wherein α is the weight coefficient of statistics degree of belief, span is 0≤α≤1, i=1, and 2,3 also illustrate that alignment sensor label；
If car puts in place is masked as P, P=∑ Ki, i represents the detection alignment sensor label that puts in place of elevator；
If car does not put in place is masked as Q, Q=∑ Kj, j represents the alignment sensor label not detecting that elevator puts in place；
When car enters within detection range, in sensor group, rotary encoder, infrared sensor and RFID RF identification set
Back-up does not judge whether car puts in place, if the detection of a certain alignment sensor puts in place, the value of its total degree of belief is added in P, if inspection
Survey and do not put in place, the value of its total degree of belief is added in Q；
If P ＞ Q, illustrate elevator general location in stop position, elevator door can be opened, each positioning of sensor group passes simultaneously
The change of sensor is trusted angle value and is accordingly updated；
If P is ＜ Q, illustrates that elevator does not put in place, continue to run with, the value of change degree of belief does not update.
2. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special
Levy and be, also include following detecting step：
Step D, as the K a certain alignment sensoriWhen value is less than a certain threshold value T, the span of T is 0≤T≤1, also opens
Dynamic maintenance early warning, notice maintainer maintenance.
3. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special
Levy and be：Described rotary encoder includes drivewheel rotary encoder and driven wheels rotating encoders located at well headroom.
4. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special
Levy and be：Described infrared sensor includes the infrared optical transmitter being arranged at cage bottom and the floor door being arranged at each flat bed
The phototransistor of bottom.
5. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special
Levy and be：Described RFID radio frequency identification equipment includes being arranged at the RFID radio-frequency identification reader of car top and is arranged at each
The RFID RFID tag of the floor header of flat bed.
6. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 5, it is special
Levy and be：When described RFID RFID tag is arranged on car stop position, RFID radio-frequency identification reader is perpendicular to hoistway side
At the vertical point of wall；The detection angle of described RFID radio-frequency identification reader is 120 °.
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| AU2018241771B2 (en) | 2017-03-28 | 2021-05-13 | Inventio Ag | Sensor network for a passenger transport system |
| 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 |
| US11591183B2 (en) | 2018-12-28 | 2023-02-28 | Otis Elevator Company | Enhancing elevator sensor operation for improved maintenance |
| 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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| JP2009269678A (en) * | 2008-04-30 | 2009-11-19 | Hitachi Ltd | Landing position detection device of elevator |
| JP2011037580A (en) * | 2009-08-11 | 2011-02-24 | Toshiba Elevator Co Ltd | Elevator landing detection device |
| JP2011037578A (en) * | 2009-08-11 | 2011-02-24 | Toshiba Elevator Co Ltd | Landing detection device for elevator |
| JP5649061B2 (en) * | 2011-04-11 | 2015-01-07 | 東芝エレベータ株式会社 | Elevator landing detection device |
| CN202321835U (en) * | 2011-11-23 | 2012-07-11 | 陈晨 | Intelligent sensing stoppage type elevator |
| CN104192661A (en) * | 2014-09-05 | 2014-12-10 | 王学宝 | Compartment type elevator wrong floor stop detection device |
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