CN111362082B - Elevator flat bed induction method, device, equipment and storage medium - Google Patents
Elevator flat bed induction method, device, equipment and storage medium Download PDFInfo
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- CN111362082B CN111362082B CN202010352069.6A CN202010352069A CN111362082B CN 111362082 B CN111362082 B CN 111362082B CN 202010352069 A CN202010352069 A CN 202010352069A CN 111362082 B CN111362082 B CN 111362082B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
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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
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for detecting elevator leveling, which comprises the following steps: respectively driving a first distance sensor to detect a first distance between the first distance sensor and an obstacle and driving a second distance sensor to detect a second distance between the second distance sensor and the obstacle; identifying a type of obstacle based on the first distance and/or the second distance; if the type is the target object, respectively calculating a third distance between the first distance sensor and the sill of the floor and a fourth distance between the second distance sensor and the sill of the floor according to the first distance and the second distance; and detecting the relation between the sill of the lift car and the sill of the floor according to the relation between the third distance and the fourth distance. The leveling information can be acquired in real time, and the installation cost of the elevator is saved.
Description
Technical Field
The embodiment of the invention relates to the elevator technology, in particular to an elevator leveling induction method, device, equipment and storage medium.
Background
In a high-rise building, an elevator is generally installed, that is, a hoistway is provided inside or outside the building, a car of the elevator runs in the hoistway, and it is necessary to detect a state of a flat floor in order to confirm a current position of the car, particularly, whether the current position is close to the flat floor.
The currently mainly used flat layer induction methods include the following two methods: the first method is to install a baffle in the hoistway in the floor level area, and when the car runs to the floor, the baffle is inserted into a level sensor installed on the car roof to block light emitted by the level sensor. However, this method requires a high installation requirement, i.e. when leveling is required, the leveling sensor is located just in the middle of the barrier, and this method can only detect whether the car is in the leveling zone (typically this zone is several tens of centimeters) and cannot detect a specific distance. The second method is that the leveling device is installed in a hoistway, scales such as a magnetic grating scale and a grating scale are installed on a car, and information of the scales is read to achieve real-time acquisition of leveling information. However, the scale used in this method needs to cover the entire stroke of the car, and is costly.
Disclosure of Invention
The invention provides an elevator leveling induction method, device, equipment and storage medium, which aims to solve the problem of simplifying installation at lower cost and can realize real-time acquisition of leveling information.
In a first aspect, an embodiment of the present invention provides an elevator leveling detection method, where the method includes:
when a car of the elevator runs in a hoistway, respectively driving a first distance sensor to detect a first distance between the first distance sensor and an obstacle and driving a second distance sensor to detect a second distance between the second distance sensor and the obstacle; the first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, and a target object is installed on the side wall of the hoistway aiming at the sill of each floor;
identifying a type of the obstacle based on the first distance and/or the second distance;
if the type is the target object, respectively calculating a third distance between the first distance sensor and the floor sill and a fourth distance between the second distance sensor and the floor sill according to the first distance and the second distance;
and detecting the relation between the sill of the car and the sill of the floor according to the relation between the third distance and the fourth distance.
In a second aspect, an embodiment of the present invention further provides an elevator leveling sensing device, where the device includes:
the driving module is used for respectively driving the first distance sensor to detect a first distance between the first distance sensor and the obstacle and driving the second distance sensor to detect a second distance between the second distance sensor and the obstacle when a lift car of the elevator runs in the hoistway; the first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, and a target object is installed on the side wall of the hoistway aiming at the sill of each floor;
an obstacle type identification module for identifying a type of the obstacle based on the first distance and/or the second distance;
a calculating module, configured to calculate, according to the first distance and the second distance, a third distance between the first distance sensor and the floor sill and a fourth distance between the second distance sensor and the floor sill respectively if the type is the target object;
and the sensing module is used for detecting the relation between the sill of the lift car and the sill of the floor according to the relation between the third distance and the fourth distance.
In a third aspect, an embodiment of the present invention further provides elevator leveling detection equipment, where the equipment includes:
a memory, a processor, and a computer program stored on the memory and executable on the processor, further comprising: the first distance sensor and the second distance sensor are used for acquiring distance data; wherein the processor, when executing the program, implements the elevator leveling detection method according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the elevator leveling detection method according to the first aspect.
According to the embodiment of the invention, the first distance between the first distance sensor and the obstacle is respectively driven to detect, and the second distance between the second distance sensor and the obstacle is driven to detect; identifying a type of obstacle based on the first distance and/or the second distance; if the type of the obstacle is the target object, respectively calculating a third distance between the first distance sensor and the sill of the floor and a fourth distance between the second distance sensor and the sill of the floor according to the first distance and the second distance; and detecting the relation between the sill of the lift car and the sill of the floor according to the relation between the third distance and the fourth distance. The first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, so that the first distance sensor and the second distance sensor can be guaranteed to move together with the car and detect the first distance and the second distance in real time, and the type of the barrier can be distinguished in real time according to the change of the first distance and/or the second distance; when the obstacle is a target object mounted on the side wall of the hoistway for the sill of each floor, the third and fourth distances between the first and second distance sensors and the floor sill can be calculated respectively according to the first and second distances obtained at this time. The target object in the embodiment of the invention is not required to be arranged on the side wall of the whole hoistway, and only needs to be arranged at the position where the sills of the corresponding floors are flush, so that the requirement on installation is low, the installation cost can be saved, meanwhile, the third distance and the fourth distance can be deduced and calculated according to the obtained first distance and the second distance, the response speed of the first distance sensor and the second distance sensor is improved, and the power consumption can be reduced to a certain extent; moreover, through the relation between analysis third distance and the fourth distance, can in time learn the distance between car and every floor sill (flat bed) on the one hand to acquire the position of car in real time, on the other hand can feed back this relation information to control system, when the car has not arrived the flat bed yet, make the flat bed calibration instruction by control system, adjust the velocity of motion, the acceleration of car, keep the precision at reasonable within range with the flat bed of assurance elevator car degree of accuracy and flat bed.
Drawings
Fig. 1 is a flowchart of an elevator leveling detection method provided in a first embodiment of the present invention;
FIG. 2A is a schematic view of a distance sensor mounting provided in a first embodiment of the present invention;
fig. 2B is a schematic view of a distance sensor detection reflection plate provided in the first embodiment of the present invention;
FIG. 2C is a diagram illustrating a signal strength distribution of a distance sensor according to a first embodiment of the present invention;
FIG. 2D is a diagram illustrating the intensity of the reflected signal at different angles according to one embodiment of the present invention;
FIG. 2E is a schematic view of a target installation provided in one embodiment of the present invention;
fig. 2F is a schematic diagram of detecting a first distance and a second distance according to a first embodiment of the present invention;
FIG. 2G is a schematic diagram of calculating a third distance and a fourth distance according to a first embodiment of the present invention;
FIG. 3 is a block diagram of an element processing apparatus according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an elevator leveling detection method according to an embodiment of the present invention, where the present embodiment is applicable to the case of elevator leveling detection, the method may be executed by an elevator leveling detection device, the elevator leveling detection device may be implemented by software and/or hardware, and may be configured in a computer device, such as a server, a controller, a management system platform, and the like, and the method specifically includes the following steps:
The first distance sensor and the second distance sensor are respectively installed on two sides of a sill of the car, and a target object is installed on the side wall of the hoistway and aiming at the sill of each floor.
The sensor is a detection device, which is an important part of realizing automatic detection and automatic control, and can detect various information of an object, convert the detected information content into an electric signal or a signal in other modes, and output the electric signal or the signal in other modes. A distance sensor, also called a displacement sensor, is a sensor for sensing a distance between the sensor and an object to perform a predetermined function, and the distance sensor may be classified into an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, and the like according to its operating principle. In this embodiment, the first distance sensor and the second distance sensor are both distance sensors, and the first distance sensor and the second distance sensor are respectively installed on a car Of the elevator, for example, the distance sensors installed on the car may be non-contact type distance sensors including any one Of an ultrasonic distance sensor, a TOF (Time Of Flight) distance sensor, and a laser ranging sensor, and the type Of the distance sensor is not limited in the embodiment Of the present invention. The working principle of the ultrasonic distance sensor is that the time for an ultrasonic signal to come and go to a measured object is calculated, the time is combined with the current sound velocity (the sound velocity is subjected to temperature compensation at the moment, and the error is smaller) to calculate, so that an actual distance value is obtained, and a corresponding reaction can be achieved by setting a threshold value to obtain the distance value; the ultrasonic distance sensor has short detection distance and low distance measurement precision, but is resistant to dirt and low in price. The basic principle of the TOF distance sensor is that a modulated light pulse is transmitted through an infrared transmitter, the reflected light pulse is received by a receiver after encountering the reflection of an object, and the distance between the TOF distance sensor and the object is calculated according to the round trip time of the light pulse; the modulation mode has higher requirements on the transmitter and the receiver, has high light speed and has higher precision requirement on time measurement. The working principle of the laser ranging sensor is that invisible light is emitted according to an integrated chip in the sensor, the round trip time of a signal is calculated through an internal processor to obtain an actual distance value, and the distance value is output through a serial port; the measuring distance is long, the precision is high, but the cost is high. The first distance sensor and the second distance sensor in the embodiment of the present invention are the same type of distance sensor, and only to distinguish that the installation positions of the two distance sensors are different, it is described that the first distance sensor and the second distance sensor are the first distance sensor or the second distance sensor, and a person skilled in the art can select the distance sensors according to actual business requirements, which is not limited in any way by the present invention.
The first distance sensor and the second distance sensor are respectively installed for the sill of the car, which means that the two distance sensors are both associated with the position of the sill of the car, for example, the two distance sensors may be respectively installed at both sides of the sill of the car, or the two distance sensors may be installed at the same side position of the sill far away from the car, but are kept at the same horizontal position with the target object installed on the side wall of the hoistway.
In a preferred installation method, the first distance sensor and the second distance sensor can be installed on both sides of the sill of the car in terms of convenience of installation and installation accuracy, and it should be noted that the installation of the first and second distance sensors on both sides of the sill in this embodiment means that the first and second distance sensors are installed on both sides of the extending portion of the sill where the sill of the car and the door of the car do not collide with each other. The first installation distance that first distance sensor reachs the sill of car equals with the second installation distance that second distance sensor reachs the sill of car, can guarantee that the response time of first distance sensor received signal equals at certain extent with the response time of second distance sensor received signal, simultaneously, the contained angle that forms between first distance sensor and the car traffic direction to, the contained angle that forms between second distance sensor and the car traffic direction, the angle of two contained angles equals, is the target angle. It should be noted that the first installation distance and the second installation distance both belong to installation distances, and in order to distinguish that the two installation distances belong to different sensors, the example adds a prefix of the first and the second.
The sill of the car is a sill at an entrance of the car, and is usually a grooved metal pedal in the elevator car, which enters and exits the car, and the length of the metal pedal is generally greater than the width of the car door, so the first distance sensor and the second distance sensor can be respectively installed on two sides of the sill. The main function of the sill is to ensure the normal operation of the elevator door, the upper surface of the elevator door is provided with a track, and the lower surface of the elevator door is provided with a door sliding block (door guide shoe). If there is no sill under the car, the elevator door has no force point and will sway back and forth.
The target angle refers to the installation angle of the distance sensor on the elevator car, and the angle is the included angle between the installation direction of the distance sensor on the elevator car and the running direction of the elevator car; the installation included angle of the first distance sensor on the car is equal to the installation included angle of the second distance sensor on the car, and the installation included angles are target angles. In a specific example of the embodiment, as shown in fig. 2A, the first distance sensor 201 and the second distance sensor 202 are installed on both sides of the sill 203 of the car 204, and the running direction of the car is the Z direction with reference to the coordinate system ZOX, that is, the running direction is a vertical direction consistent with the floor height; the installation angles of the first distance sensor 201 and the second distance sensor 202 on the car 204 are both α, which is a target angle.
Of course, the above installation method is only an example, and when implementing the embodiment of the present invention, other installation methods may be set according to actual situations, which is not limited in the embodiment of the present invention. In addition, besides the above installation methods, those skilled in the art may also adopt other installation methods according to actual needs, and the embodiment of the present invention is not limited thereto.
In an embodiment of the present invention, the obstacle is an object that interferes or obstructs a signal from the distance sensor, and for example, the object and the sidewall of the hoistway in the embodiment are included in the category of the obstacle.
The target object refers to an object to be detected by the distance sensor, and for example, a steel plate, a reflector, and the like can be used as the object to be detected. The purpose of mounting a target object on the side wall of the hoistway for each floor sill is to detect the elevator landing position. The sill of each floor is a landing sill, namely a sill at the entrance of the elevator landing door of each floor, and the sills of the following cars belong to the sills, and are usually metal pedals with grooves.
In the conventional elevator floor leveling detection technology, the target object detected by the distance sensor disposed on the car is usually a reflecting plate, and taking the first distance sensor 201 as an example, as shown in fig. 2B, the reflecting plate 211 is installed at a position flush with the sill of each floor, and at this time, when an included angle between the normal direction of the signal transceiving plane of the distance sensor 201 and the car running direction is α, then the relation of the projection L of the measurement result D of the distance sensor 201 in the car running direction is: l ═ D × cos α.
However, when a distance sensor such as a TOF distance sensor or an ultrasonic distance sensor, which is a non-contact type, performs distance detection, signals are often transmitted first, reflected signals are then detected, and the time from transmission to reception of the signals is calculated, and the transmitted or received signals are closer to the normal direction of the signal transmitting and receiving plane of the distance sensor, and the signal strength is stronger.
In the case of a non-contact type distance sensor, the stronger the signal intensity, the easier it is to detect the signal, and at the same time, the response time can be shortened, the response speed can be increased, and the power consumption of the sensor itself can be reduced to some extent. Assuming that the signal is a cosine radiator, the signal is emitted from an emission source, and the detection distance between the emission point of the emission source and any test point in the space is R, the intensity of the signal of the test point conforms to the following distribution:
wherein, P0In order to transmit the power, the power is,
is the included angle between the test point direction and the emission source normal direction, and P is the receiving power of the test point.
A cosine radiator, also called Lambert radiator, refers to a luminous body (whether self-luminous or reflected light) whose spatial distribution of luminous intensity conforms to the law of cosine, and the radiation intensity at different angles varies according to the cosine formula, with the intensity being weaker at larger angles.
With reference to fig. 2C, assuming that the non-contact type distance sensor is used as the emission source, the distribution of the emission and reception signals conforms to the law of cosine radiator, the included angle between the normal direction (D0 direction) of the signal transceiving plane of the distance sensor 201 and the car running direction is α, the included angle between the test point direction (D direction) and the car running direction is β, and the included angle between the test point direction and the emission source normal direction is β
Is alpha-beta, the distance from the emitting point of the distance sensor to the reflecting plate is D, the distance from the emitting point to the test point is 2D as the test point is the distance sensor for finally receiving the signal, wherein, the projection distance of the distance sensor 201 in the running direction of the cage is L, L is D cos alpha, when the emitting power of the distance sensor is P0The signal strength in the direction of the test point D is expressed by the following formulaThe following steps:
to further explain the distribution of the signal intensity of the distance sensor 201 on the reflective plate 211 by combining the above formula, the distance between the distance sensor 201 and the plane where the reflective plate 211 is located is 1 (i.e., L is 1), and the transmission power of the distance sensor is 1 (i.e., P is 1)01), the analysis results are shown in fig. 2D. If the transmitting signal and the receiving signal of the distance sensor accord with the cosine radiator rule, the included angle alpha between the distance direction detected by the distance sensor in theoretical calculation and the running direction of the lift car and the included angle beta between the actual detected real distance direction and the running direction of the lift car are different; for example, as can be seen from fig. 2D, when the angle between the normal direction of the signal transmitting and receiving plane of the distance sensor and the car traveling direction is 30 °, the angle between the distance direction D obtained in actual detection and the car traveling direction is about 10 °.
Therefore, in order to obtain a detection distance and a detection angle closer to a true value when the distance sensor detects the target object, and to enable a signal with any intensity sent by the distance sensor to obtain correct feedback information when the signal contacts the target object, the embodiment of the invention improves the design of the target object.
In one implementation of the invention, a target is installed on the side wall of the hoistway at a position flush with the sill of each floor, and the target has a first surface and a second surface.
Of course, the installation method of the target object is only an example, and when the embodiment of the present invention is implemented, other installation methods may be set according to actual situations, for example, installation may be performed at any horizontal position where the sidewall of the hoistway and the sill of each floor are parallel, and the embodiment of the present invention is not limited thereto. In addition, besides the above-mentioned installation method, a person skilled in the art may also adopt other installation methods according to actual needs, and the embodiment of the present invention is not limited to this.
The present example will be described in detail as a preferred installation method, in which an object is installed on a side wall of a hoistway at a position flush with a sill of each floor, so that an installer can perform accurate installation. As shown in fig. 2E, the first surface 206 and the second surface 207 are respectively located at two sides of the sill 208 of the floor 205, an included angle between the first surface 206 and the sill 208 of the floor 205 is a target angle α, and an included angle between the second surface 207 and the sill 208 of the floor 205 is a target angle α; the target angle α is an installation angle between the first surface 206 and the second surface 207 of the target object 209 and the sill 208 of the floor 205, and the installation angle is equal to the size of the angle formed between the first distance sensor 201 and the running direction of the car 204 and the size of the angle formed between the second distance sensor 202 and the running direction of the car 204.
In a specific embodiment of the present invention, the first distance sensor is driven to detect a first distance from the obstacle, wherein the first distance is a distance between the first distance sensor and the obstacle; and driving the second distance sensor to detect a second distance between the second distance sensor and the obstacle, wherein the second distance is the distance between the second distance sensor and the obstacle.
Referring to fig. 2F, a specific example is now given to illustrate specific steps of detecting the first distance and the second distance: first, when the car 204 of the elevator starts to operate, the first distance sensor 201 and the second distance sensor 202 start to operate by receiving a drive signal of the overall control system. Then, the first distance sensor 201 and the second distance sensor 202 move along the Z direction along with the car 204, and generate a signal transmitting and receiving process with the obstacle, for example, when the car 204 is far away from the sill 208 of the floor 205, the obstacle at this time is the sidewall 210 of the hoistway, the first and second distance sensors always transmit and receive signals to the sidewall 210 of the hoistway, and calculate the distance between the first and second distance sensors and the sidewall 210 of the hoistway; when the car 204 moves to a position close to the sill 208 of the floor 205, the obstacle at this time is the target 209, the first distance sensor 201 and the second distance sensor 202 respectively transmit and receive signals to the target 209 and respectively calculate a first distance and a second distance between the first distance and the target 209, it should be noted that if the type of the obstacle is the target, the first distance sensor 201 is driven to detect a first distance in the vertical direction between the first distance and the first surface 206 of the target 209; the second distance sensor 202 is driven to detect a second distance in the vertical direction from the second surface 207 of the target object.
The type of obstacle is identified 120 based on the first distance and/or the second distance.
In a specific implementation, the type of the obstacle may be a iron plate, a sidewall of a hoistway, a reflector, or other objects, and the like, which is not limited by the embodiment of the present invention.
In this embodiment, the first distance and/or the second distance identify the type of the obstacle, that is, different types of obstacles can be distinguished according to the distance, for example, the first distance sensor or the second distance sensor may obtain a set of continuous distance data, analyze a variation trend of the set of distance data, and determine whether the type of the obstacle is a target (a reflector, etc.) or a hoistway wall according to a result after the analysis; for two distance sensors, the first distance sensor may acquire a first group of continuous distance data, the second distance sensor may also acquire a second group of continuous distance data, the first group of distance data and the second group of distance data are summed and/or differenced to obtain a distance change result, and the distance change result is analyzed to determine whether the distance sensor detects a target object or a well wall.
In one embodiment, given below, step 120 may include the steps of:
and 1201, sequencing the first distances according to the detected time to obtain a first distance sequence, and sequencing the second distances according to the detected time to obtain a second distance sequence.
After the elevator car starts to slide, the first distance sensor and the second distance sensor record the time of detecting the distance between the first distance sensor and the obstacle each time, the first distance sensor and the second distance sensor corresponding to the time are sequenced, and finally the first distance sequence and the second distance sequence are obtained.
In a specific embodiment, the first distances may be sorted according to the detected time only to obtain a first distance sequence; or, only the second distances are sorted according to the detected time to obtain a second distance sequence; the embodiment of the invention does not limit whether one distance sensor is selected to obtain one group of distance sequences or two distance sensors are selected to obtain two groups of distance sequences.
Step 1202, calculating the variation amplitude of the first distance sequence and/or the second distance sequence;
the variation range of the distance sequence is used to reflect the variation trend of the magnitude of the first distance and/or the second distance, and the variation trend may be constant, increasing, decreasing, increasing and decreasing, decreasing and increasing, and so on.
For example, in one embodiment, the variation ranges of the first distance sequence and the second distance sequence are calculated, and the first distance and the second distance at the same time are subtracted according to the time node to obtain a group of distance difference sequences, where a difference in the sequence is a constant value within a certain time period, and indicates that the variation range is not changed, and a difference in the sequence indicates that the variation range is increased or decreased if the value within the certain time period is changed.
Step 1203, if the variation range is unchanged, determining that the type of the obstacle is a side wall of the hoistway.
Generally, the side wall of the hoistway is a vertical wall surface and the wall surface is flat (ignoring other devices installed on the wall surface), the time difference between the transmission of the first distance sensor and the reception of the signal by the second distance sensor to the side wall of the hoistway is basically stable (ignoring errors and noise), then the first distance and the second distance detected by the first distance sensor and the second distance sensor are fixed values (ignoring errors and noise), further, in the sliding process of the elevator car, the first distance sensor and the second distance sensor respectively detect the side wall of the hoistway to obtain a first distance sequence and a second distance sequence, and under the condition of ignoring errors and noise, the distance value in the first distance sequence is not changed, and the distance value in the second distance sequence is also not changed.
And 1204, if the change amplitude is increased or decreased, determining that the type of the obstacle is the target object.
The target objects are arranged on two sides of the sill of the floor in the side wall of the shaft, and because the included angle between the first surface of the target object and the sill of the floor is equal to the included angle between the second surface of the target object and the sill of the floor and is the same target angle, when the barrier detected by the first distance sensor and the second distance sensor is the target object, the distance values in the acquired first distance sequence and the acquired second distance sequence can be changed, otherwise, the type of the barrier can be determined to be the target object by increasing or decreasing the change amplitude of the first distance sequence and/or the second distance sequence. In the embodiment of the present invention, if the type of the obstacle detected by the distance sensor is a sidewall of the hoistway, which indicates that the car of the elevator does not slide to the vicinity of the sill of the floor, the first distance and the second distance may be ignored, and the step 110 is returned to, the first distance between the first distance sensor and the obstacle is continuously driven, and the second distance between the second distance sensor and the obstacle is driven.
If the type of the obstacle detected by the distance sensor is a target object, indicating that the car of the elevator has slid to the vicinity of the sill of the floor, steps 130 and 140 may be performed to align the sill of the car with the sill of the floor.
In this embodiment, the identification of the type of the obstacle can be quickly achieved in steps 1201 to 1204, the response time of the first distance sensor and the second distance sensor to detect the obstacle can be shortened, the efficiency of the detection process is improved, and the type of the obstacle is determined by using the variation amplitude of the first distance sequence and/or the second distance sequence, which is more accurate and reliable.
And step 130, if the type is the target object, respectively calculating a third distance between the first distance sensor and the floor sill of the floor and a fourth distance between the second distance sensor and the floor sill of the floor according to the first distance and the second distance.
The first distance is the distance between the first distance sensor and the first surface of the target object in the vertical direction; the second distance is a distance in a vertical direction detected by the second distance sensor from the second surface of the target object.
The third distance is the distance between the first distance sensor and the sill of the floor; the fourth distance is a distance between the second distance sensor and a sill of the floor.
According to the first distance, the second distance and the position relation of the first distance sensor, the second distance sensor, the first surface and the second surface of the target object, the third distance and the fourth distance can be calculated by using geometrical characteristics, wherein the geometrical characteristics comprise: trigonometric relationships, the perpendicular relationship of straight lines to planes, and the like; the third and fourth distances may also be determined by introducing intermediate measurements in combination with the geometric characteristics.
Preferably, step 130 comprises the following specific steps:
step 1301, calculating a deviation value based on the first distance and the second distance.
Wherein the deviation value indicates a degree of deviation between the sill of the car and the sill of the floor.
Because the first distance is the distance between first distance sensor and the barrier, the second distance is the distance between second distance sensor and the barrier, the installation distance that first distance sensor and second distance sensor reach the sill of car respectively is equal, the installation distance between first distance sensor and the second distance sensor also can be measured and obtained, simultaneously, the contained angle (installation contained angle) that forms between first distance sensor and the car traffic direction equals the contained angle (installation contained angle) that forms between second distance sensor and the car traffic direction, be the target angle. Therefore, based on the above-described geometric characteristics, the deviation value can be calculated using mathematical properties between similar triangles.
As in one embodiment, the deviation value may be calculated by: subtracting the second distance from the first distance to obtain a distance difference value; calculating the ratio of the distance difference to the cosine value of the target angle to obtain a deviation sum; the deviation value is determined by taking a value of half of the total deviation sum. As shown in the following equation:
wherein D is1Denotes a first distance, D2Representing the second distance, the target angle is alpha and the deviation value is S.
In the embodiment of the present invention, the calculation of the deviation value may also be obtained by other methods, which is not limited in the present invention.
Step 1302, adding the deviation value to the first installation distance to obtain a third distance between the first distance sensor and the sill of the floor. As shown in the following equation:
L3＝S+L1
L3is a third distance, L1Is a first mounting distance. The first installation distance is the distance between the first distance sensor and the sill of the car, and belongs to the installation distance which can be obtained through direct measurement.
And 1303, subtracting the deviation value on the basis of the second installation distance to obtain a fourth distance between the second distance sensor and the sill of the floor. As shown in the following equation:
L4＝S+L2
L4is a fourth distance, L2Is the second mounting distance. The second installation distance is the distance between the second distance sensor and the sill of the car, and belongs to the installation distance which can be obtained through direct measurement.
In this embodiment, the calculation processes of the third distance and the fourth distance are described in detail in steps 1301 to 1303, where a trigonometric function relationship is used to easily obtain a deviation value, and then the calculation processes can be simplified by obtaining the third distance and the fourth distance based on the deviation value, so as to reduce the calculation difficulty.
In one embodiment of this embodiment, as shown in fig. 2G, the target object is designed as an isosceles triangle reflector 209, the reflector 209 has a first surface 206 and a second surface 207, and an included angle between the first surface and the sill of the floor is equal to an included angle between the second surface and the sill of the floor, which is the same target angle. The reflector can ensure the shortest reflection distance in the direction (normal direction of a signal receiving and transmitting plane of the sensor) with the strongest signal, and can shorten the response time of the sensor and reduce the power consumption of the sensor.
Since both surfaces of the reflector are inclined surfaces, if only one distance sensor is used for detecting the reflector, the relation between the measurement result D of the sensor and the projection L of the sensor in the running direction of the car is related to the edge D of the reflector, and the installation included angle of the distance sensor on the car is assumed to be alpha, namely [ L + (D tan alpha) ]]Cos α ═ D, the projection distance is calculated by the formula
The edge distance d is not easily measured or guaranteed in practical engineering implementations.
Therefore, in the solution proposed in the embodiment of the present invention, by arranging the first distance sensor 201 and the second distance sensor 202 on the car above and below the sill position of the floor level to detect the reflector 209 together, since the distance L between the two distance sensors is measurable and fixed, the unknown amount of the edge distance d can be eliminated in the calculation process. With reference to fig. 2G, the specific derivation process is as follows:
L＝Lup+Ldn
by combining the above equations, one can solve:
wherein D isupFor the first distance sensor 201 to detect a first distance, D, in a perpendicular direction to the first surface 206dnFor the second distance sensor 202 to detect a second distance in the vertical direction to the second surface 207, the target angle of the first and second distance sensors is α, LupFor the calculated third distance, LdnIs the fourth distance.
Of course, the above calculation method is only an example, and when implementing the embodiment of the present invention, other calculation methods may be set according to actual situations, which is not limited in the embodiment of the present invention. In addition, besides the above calculation methods, those skilled in the art may also adopt other calculation methods according to actual needs, and the embodiment of the present invention is not limited to this.
And 140, detecting the relation between the sill of the car and the sill of the floor according to the relation between the third distance and the fourth distance.
The third distance is the distance between the first distance sensor and the sill of the floor, the fourth distance is the distance between the second distance sensor and the sill of the floor, and the first distance sensor and the second distance sensor are arranged at the fixed positions of the car, namely on two sides of the sill of the car, so that the position of the car moving in the hoistway can be obtained in real time according to the relation between the third distance and the fourth distance by taking the position of the sill of the floor as a reference position.
In the running process of the elevator, when the elevator reaches the leveling position of a certain floor, under the condition of meeting the requirement of leveling precision, the sill position of the car is flush with the sill position of the floor, and therefore, whether the car is at the leveling position can be deduced by detecting the relation between the sill of the car and the sill of the floor.
As in one particular embodiment, when the third distance is equal to the fourth distance, determining that the sill of the car is level with the sill of the floor; when the third distance is greater than the fourth distance, determining that the sill of the lift car is higher than the sill of the floor; and when the third distance is smaller than the fourth distance, determining that the sill of the car is lower than the sill of the floor.
Optionally, when the running direction of the car is vertically downward, subtracting the fourth distance from the third distance to obtain a distance difference, and when the distance difference is greater than zero, indicating that the car is close to a flat position of a certain floor; when the distance difference is less than zero, indicating that the elevator car is at a flat position far away from the floor; when the difference in distance equals zero, it indicates that the car has reached the landing position at that floor.
Optionally, when the running direction of the car is vertically upward, subtracting the fourth distance from the third distance to obtain a distance difference, and when the distance difference is greater than zero, indicating that the car is at a flat position far away from a certain floor; when the distance difference is less than zero, indicating that the elevator car is at a flat position close to the floor; when the difference in distance equals zero, it indicates that the car has reached the landing position at that floor.
According to the embodiment of the invention, the first distance between the first distance sensor and the obstacle is respectively driven to detect, and the second distance between the second distance sensor and the obstacle is driven to detect; identifying a type of obstacle based on the first distance and/or the second distance; if the type of the obstacle is the target object, respectively calculating a third distance between the first distance sensor and the sill of the floor and a fourth distance between the second distance sensor and the sill of the floor according to the first distance and the second distance; and detecting the relation between the sill of the lift car and the sill of the floor according to the relation between the third distance and the fourth distance. The first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, so that the problem of uneven intensity distribution of received signals can be solved, the detection signals received by the sensors are more accurate, the real-time detection of the first distance and the second distance can be ensured, and the types of obstacles can be distinguished in real time according to the change of the first distance and/or the second distance; when the obstacle is a target object installed on the side wall of the hoistway and aiming at the sill of each floor, the third distance and the fourth distance between the first distance sensor and the second distance sensor and the floor sill can be respectively calculated according to the first distance and the second distance obtained at the moment, and the distance between the car and the sill (flat floor) of each floor can be timely known on one hand by analyzing the relation between the third distance and the fourth distance, so that the position of the car can be obtained in real time, on the other hand, the relation information can be fed back to the control system, when the car does not reach the flat floor, the control system makes a flat floor calibration instruction, and the movement speed and the acceleration of the car are adjusted, so that the flat floor accuracy and the flat floor maintaining accuracy of the elevator car are guaranteed to be within a reasonable range.
Example two
Fig. 3 is a block diagram of an elevator leveling detection device according to a second embodiment of the present invention. The device is suitable for the condition of elevator leveling detection, and can be realized by software and/or hardware. The device includes: a driving module 310, an obstacle type identification module 320, a calculation module 330, and a sensing module 340.
The driving module 310 is used for driving the first distance sensor to detect a first distance from an obstacle and driving the second distance sensor to detect a second distance from the obstacle when a car of the elevator slides in the hoistway; the first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, and the target object is installed on the side wall of the hoistway aiming at the sill of each floor.
The first installation distance from the first distance sensor to the sill of the car is equal to the second installation distance from the second distance sensor to the sill of the car, an included angle formed between the first distance sensor and the running direction of the car is a target angle, and an included angle formed between the second distance sensor and the running direction of the car is a target angle; the target object is provided with a first surface and a second surface, the first surface and the second surface are respectively positioned on two sides of the sill of the floor, an included angle between the first surface and the sill of the floor is a target angle, and an included angle between the second surface and the sill of the floor is a target angle.
Optionally, the driving module 310 includes:
a distance driving unit for driving the first distance sensor to detect a first distance in a vertical direction from a first surface of the target object if the type of the obstacle is the target object; the second distance sensor is driven to detect a second distance in the vertical direction from the second surface of the target object.
An obstacle type identification module 320 for identifying a type of the obstacle based on the first distance and/or the second distance.
Optionally, the obstacle type identification module 320 includes:
the sorting unit is used for sorting the first distances according to the detected time to obtain a first distance sequence and/or sorting the second distances according to the detected time to obtain a second distance sequence;
the change amplitude calculation unit is used for calculating the change amplitude of the first distance sequence and/or the second distance sequence; if the change amplitude is unchanged, calling a determining unit, and if the change amplitude is increased or decreased, calling a target object determining unit;
the determining unit is used for determining the type of the obstacle as a side wall of the hoistway;
and the target object determining unit is used for determining the type of the obstacle as the target object.
The calculating module 330 is configured to calculate, if the type is the target object, a third distance between the first distance sensor and the floor sill and a fourth distance between the second distance sensor and the floor sill according to the first distance and the second distance, respectively.
Optionally, the calculating module 330 includes:
a deviation value calculation unit for calculating a deviation value based on the first distance and the second distance, the deviation value indicating a degree of deviation between the sill of the car and the sill of the floor;
wherein, optionally, the deviation value calculating unit includes: the distance difference value operator unit is used for subtracting the second distance from the first distance to obtain a distance difference value; the deviation sum calculating subunit is used for calculating the ratio of the distance difference value to the cosine value of the target angle to obtain a deviation sum; the deviation value is determined by taking a value of half of the total deviation sum.
The third distance calculation unit is used for adding the deviation value on the basis of the first installation distance to obtain a third distance between the first distance sensor and the sill of the floor;
and the fourth distance calculation unit is used for subtracting the deviation value on the basis of the second installation distance to obtain a fourth distance between the second distance sensor and the sill of the floor.
And the sensing module 340 is configured to detect a relationship between the sill of the car and the sill of the floor according to a relationship between the third distance and the fourth distance.
Optionally, the sensing module includes:
the leveling sensing module is used for determining that the sill of the lift car is level with the sill of the floor when the third distance is equal to the fourth distance;
the first sensing module is used for determining that the sill of the lift car is higher than the sill of the floor when the third distance is greater than the fourth distance;
and the second sensing module is used for determining that the sill of the lift car is lower than the sill of the floor when the third distance is smaller than the fourth distance.
Optionally, the apparatus further comprises:
an additional module for ignoring the first distance and the second distance if the type is a sidewall of the hoistway.
The element processing device provided by the embodiment of the invention can execute the element processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a computer apparatus according to embodiment C of the present invention, as shown in fig. 4, the apparatus includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the device may be one or more, and one processor 410 is taken as an example in fig. 4; the processor 410, memory 420, input device 430 and output device 440 of the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The memory 420, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the elevator leveling detection method in the embodiment of the present invention (e.g., the driving module 310, the obstacle type identification module 320, the calculation module 330, and the sensing module 340 in the elevator leveling detection apparatus). The processor 410 executes various functional applications of the device/terminal/server and data processing by executing software programs, instructions and modules stored in the memory 420, namely, the elevator leveling detection method described above is realized.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the processor 410, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 440 may include a display device such as a display screen.
The computer device provided by the embodiment can execute the elevator leveling detection method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
The fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for adjusting a target bounding box according to any embodiment of the present invention is implemented.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the elevator leveling detection apparatus, the units and modules included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. An elevator leveling detection method, comprising:
when a car of the elevator runs in a hoistway, respectively driving a first distance sensor to detect a first distance between the first distance sensor and an obstacle and driving a second distance sensor to detect a second distance between the second distance sensor and the obstacle; the first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, and a target object is installed on the side wall of the hoistway aiming at the sill of each floor;
identifying a type of the obstacle based on the first distance and/or the second distance;
if the type is the target object, respectively calculating a third distance between the first distance sensor and the floor sill and a fourth distance between the second distance sensor and the floor sill according to the first distance and the second distance;
and detecting the relation between the sill of the car and the sill of the floor according to the relation between the third distance and the fourth distance.
2. The method of claim 1, wherein a first installation distance from the first distance sensor to the sill of the car is equal to a second installation distance from the second distance sensor to the sill of the car, an included angle formed between the first distance sensor and the car moving direction is a target angle, and an included angle formed between the second distance sensor and the car moving direction is the target angle;
the target object is provided with a first surface and a second surface, the first surface and the second surface are respectively located on two sides of a sill of a floor, an included angle between the first surface and the sill of the floor is the target angle, and an included angle between the second surface and the sill of the floor is the target angle.
3. The method of claim 2, wherein separately driving the first distance sensor to detect a first distance to the obstacle and driving the second distance sensor to detect a second distance to the obstacle comprises:
if the type of the obstacle is the target object, driving a first distance sensor to detect a first distance between the first distance sensor and a first surface of the target object in a vertical direction; the second distance sensor is driven to detect a second distance in the vertical direction from the second surface of the target object.
4. The method of claim 1, wherein identifying the type of obstacle based on the first distance and/or the second distance comprises:
sequencing the first distances according to the detected time to obtain a first distance sequence, and/or sequencing the second distances according to the detected time to obtain a second distance sequence;
calculating the variation amplitude of the first distance sequence and/or the second distance sequence;
if the variation amplitude is unchanged, determining the type of the obstacle as the side wall of the well;
and if the change amplitude is increased or decreased, determining that the type of the obstacle is the target object.
5. The method of claim 2, wherein calculating a third distance between the first distance sensor and the floor sill and a fourth distance between the second distance sensor and the floor sill according to the first distance and the second distance, respectively, comprises:
calculating a deviation value based on the first distance and the second distance, the deviation value representing a degree of deviation between a sill of the car and a sill of the floor;
adding the deviation value on the basis of the first installation distance to obtain a third distance between the first distance sensor and the sill of the floor;
and subtracting the deviation value on the basis of the second installation distance to obtain a fourth distance between the second distance sensor and the sill of the floor.
6. The method of claim 5, wherein said calculating a deviation value based on said first distance and said second distance comprises:
subtracting the second distance from the first distance to obtain a distance difference value;
calculating the ratio of the distance difference to the cosine value of the target angle to obtain a deviation sum;
and taking a half value of the total deviation as a deviation value.
7. The method of claim 1, wherein detecting the relationship between the sill of the car and the sill of the floor based on the relationship between the third distance and the fourth distance comprises:
when the third distance is equal to the fourth distance, determining that the sill of the car is flush with the sill of the floor;
when the third distance is greater than the fourth distance, determining that the sill of the car is higher than the sill of the floor;
and when the third distance is smaller than the fourth distance, determining that the sill of the car is lower than the sill of the floor.
8. The method of any of claims 1-7, further comprising:
if the type is a sidewall of the hoistway, ignoring the first distance and the second distance.
9. An elevator leveling detection device, comprising:
the driving module is used for respectively driving the first distance sensor to detect a first distance between the first distance sensor and the obstacle and driving the second distance sensor to detect a second distance between the second distance sensor and the obstacle when a lift car of the elevator runs in the hoistway; the first distance sensor and the second distance sensor are respectively installed aiming at the sill of the car, and a target object is installed on the side wall of the hoistway aiming at the sill of each floor;
an obstacle type identification module for identifying a type of the obstacle based on the first distance and/or the second distance;
a calculating module, configured to calculate, according to the first distance and the second distance, a third distance between the first distance sensor and the floor sill and a fourth distance between the second distance sensor and the floor sill respectively if the type is the target object;
and the sensing module is used for detecting the relation between the sill of the lift car and the sill of the floor according to the relation between the third distance and the fourth distance.
10. Computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the elevator leveling detection method according to any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the elevator leveling detection method according to any one of claims 1 to 8.
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