A car position measurement method, device, apparatus and storage medium

Abstract

The application discloses a kind of car position measurement method, device, equipment and storage medium, the mapping relationship of first reference distance, second reference distance and third reference distance is established in advance, in actual measurement process, the target distance corresponding to echo signal with better signal-to-noise ratio is used to find the corresponding second reference distance from the mapping relationship as the distance between car and shaft top, the car position measured by phase method is corrected, the cumulative error generated by phase ranging is eliminated, the accuracy of car position is improved, and then the safety is improved.

Description

Technical Field

[0001] This invention relates to radar ranging technology, and more particularly to a method, apparatus, equipment, and storage medium for measuring the position of a car. Background Technology

[0002] Radar ranging is a non-contact measurement method. Compared with other elevator car absolute position measurement solutions such as scales, radar solutions have the advantages of simple installation and maintenance and low cost, and are widely used in elevator car position measurement.

[0003] The basic principle of radar ranging is that a radar installed on the top of the elevator car transmits radar signals to a signal reflector installed on the top of the elevator shaft. The radar signal is reflected back to the radar, which receives and processes the echo signal to measure the distance. Currently, the car's speed is mainly calculated by using the phase difference of the radar's chirp signal, and the displacement is calculated by integrating the speed over time, thus determining the car's position.

[0004] However, the speed of an elevator changes during operation, and the chirp signal interval is short, which causes a certain error in estimating the displacement based on the chirp signal. The accumulation of many errors will lead to an increase in the error of estimating the car's displacement, thereby affecting the elevator leveling and even causing accidents. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for measuring car position, so as to correct the car position measured by the phase method, eliminate the cumulative error generated by the phase method distance measurement, improve the accuracy of car position, and thus improve safety.

[0006] In a first aspect, the present invention provides a method for measuring the position of a car, wherein a radar is disposed on the top of the car, and a first reflector and a second reflector are disposed on the top of the hoistway, the first reflector and the radar are on the same vertical line, and the vertical projections of the first reflector and the second reflector on the plane where the landing door is located do not overlap, the method comprising:

[0007] When the radar is first installed, the car is controlled to move from the top of the hoistway to the bottom of the hoistway, and the frequency of the echo signal of the car based on the first reflector at each position is recorded. The first reference distance from the top of the car to the top of the hoistway is calculated using the frequency method. The second reference distance from the top of the car to the top of the hoistway is calculated using the phase method based on the echo signal of the first reflector. The third reference distance from the top of the car to the top of the hoistway is calculated using the frequency method based on the frequency of the echo signal of the second reflector. A mapping relationship between the first reference distance, the second reference distance and the third reference distance is established.

[0008] During the actual operation of the car in the hoistway, the car acquires the echo signals reflected by the first reflector and the second reflector received by the radar.

[0009] Based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance;

[0010] Based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as the second distance;

[0011] Based on the frequency of the echo signal from the second reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the third distance;

[0012] Determine whether the cumulative error of the second distance is greater than a preset error;

[0013] When the accumulated error is greater than the preset error, the target distance corresponding to the echo signal with a high signal-to-noise ratio is used as an index to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the shaft, wherein the target distance is the first distance or the third distance.

[0014] Optionally, based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance, and the calculation formula is as follows:

[0015]

[0016] Among them, S1′ f Let f be the first distance, f be the frequency of the echo signal, c be the speed of light, and S be the slope of the chirped signal in the echo signal.

[0017] Optionally, based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as a second distance, and the calculation formula is as follows:

[0018]

[0019] Among them, S1′ p The second distance is defined as follows: S0 is the initial distance between the top of the car and the top of the hoistway, and S1 is the distance the car has traveled within the initial radar frame signal. Let be the phase of the chirped signal in the k-th frame of the radar signal. λ represents the phase of the chirped signal in the first frame of radar signal, and λ represents the wavelength of the radar signal.

[0020] Optionally, determining whether the cumulative error of the second distance is greater than a preset error includes:

[0021] Calculate the difference between the first distance and the second distance;

[0022] Determine whether the absolute value of the difference is greater than a preset value;

[0023] When the absolute value of the difference is greater than a preset value, it is determined that the cumulative error of the second distance is greater than the preset error;

[0024] When the absolute value of the difference is less than or equal to a preset value, the cumulative error of the second distance is determined to be less than or equal to the preset error.

[0025] Optionally, before finding the corresponding second reference distance from the mapping relationship using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, the method further includes:

[0026] The amplitude of the echo signal from the first reflector is compared with the amplitude of the echo signal from the second reflector.

[0027] Echo signals with large amplitude are used as echo signals with high signal-to-noise ratio.

[0028] Optionally, using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, the corresponding second reference distance is found from the mapping relationship as the distance between the car and the top of the hoistway, including:

[0029] When the amplitude of the echo signal from the first reflector is greater than the amplitude of the echo signal from the second reflector, the first distance is used as an index to find the second reference distance corresponding to the first distance from the mapping relationship as the distance between the car and the top of the shaft.

[0030] When the amplitude of the echo signal from the first reflector is less than the amplitude of the echo signal from the second reflector, the third distance is used as an index to find the second reference distance corresponding to the third distance from the mapping relationship as the distance between the car and the top of the hoistway.

[0031] Optionally, the method further includes:

[0032] When the cumulative error is less than or equal to the preset error, the second distance is taken as the distance between the car and the top of the shaft.

[0033] Secondly, the present invention also provides a car position measuring device, wherein a radar is disposed on the top of the car, and a first reflector and a second reflector are disposed on the top of the hoistway. The first reflector and the radar are on the same vertical line, and the vertical projections of the first reflector and the second reflector on the plane where the landing door is located do not overlap. The device includes:

[0034] The mapping relationship establishment module is used to control the car to run from the top of the hoistway to the bottom of the hoistway when the radar is first installed, and to record the frequency of the echo signal of the car based on the first reflector at each position, calculate the first reference distance from the top of the car to the top of the hoistway using the frequency method, calculate the second reference distance from the top of the car to the top of the hoistway using the phase method based on the echo signal of the first reflector, and calculate the third reference distance from the top of the car to the top of the hoistway using the frequency method based on the frequency of the echo signal of the second reflector, and establish the mapping relationship between the first reference distance, the second reference distance and the third reference distance;

[0035] An echo signal acquisition module is used to acquire the echo signals reflected by the first reflector and the second reflector received by the radar during the actual operation of the car in the hoistway.

[0036] The first distance calculation module is used to calculate the distance from the top of the car to the top of the hoistway as the first distance based on the frequency of the echo signal of the first reflector using the frequency method.

[0037] The second distance calculation module is used to calculate the distance from the top of the car to the top of the hoistway as a second distance based on the phase of the echo signal from the first reflector using the phase method.

[0038] The third distance calculation module is used to calculate the distance from the top of the car to the top of the hoistway as the third distance based on the frequency of the echo signal from the second reflector using the frequency method.

[0039] The judgment module is used to determine whether the cumulative error of the second distance is greater than a preset error;

[0040] The distance correction module is used to find the corresponding second reference distance from the mapping relationship when the accumulated error is greater than the preset error, using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, as the distance between the car and the top of the shaft, wherein the target distance is a first distance or a third distance.

[0041] Thirdly, the present invention also provides an electronic device, comprising:

[0042] One or more processors;

[0043] Memory, used to store one or more programs;

[0044] When the one or more programs are executed by the one or more processors, the one or more processors implement the car position measurement method as provided in the first aspect of the present invention.

[0045] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the car position measurement method as provided in the first aspect of the present invention.

[0046] The present invention provides a car position measurement method, in which a radar is installed on the top of the car, and a first reflector and a second reflector are installed on the top of the hoistway. The first reflector and the radar are on the same vertical line, and the vertical projections of the first reflector and the second reflector on the plane where the landing door is located do not overlap. The method includes: when the radar is initially installed, controlling the car to run from the top of the hoistway to the bottom of the hoistway, and recording the frequency of the echo signal of the car based on the first reflector at each position; calculating a first reference distance from the top of the car to the top of the hoistway and the phase of the echo signal based on the first reflector using a frequency method; calculating a second reference distance from the top of the car to the top of the hoistway using a phase method; calculating a third reference distance from the top of the car to the top of the hoistway using a frequency method; and establishing the first reference distance, the second reference distance, and the third reference distance. The mapping relationship between the car and the hoistway is as follows: During the actual operation of the car in the hoistway, the echo signals reflected by the first and second reflectors received by the radar are acquired; Based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance; Based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as the second distance; Based on the frequency of the echo signal from the second reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the third distance; It is determined whether the cumulative error of the second distance is greater than the preset error; When the cumulative error is greater than the preset error, the target distance corresponding to the echo signal with a high signal-to-noise ratio is used as an index to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the hoistway, where the target distance is either the first distance or the third distance. This invention pre-establishes a mapping relationship between a first reference distance, a second reference distance, and a third reference distance. During the actual measurement process, the target distance corresponding to the echo signal with a good signal-to-noise ratio is used to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the hoistway. This corrects the car position measured by the phase method, eliminates the cumulative error generated by the phase method distance measurement, improves the accuracy of the car position, and thus improves safety.

[0047] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A flowchart of a car position measurement method provided in an embodiment of the present invention;

[0050] Figure 2 This invention provides a schematic diagram of the arrangement of radar and reflector within a shaft, as provided in an embodiment of the invention.

[0051] Figure 3 A schematic diagram of a radar signal provided in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of the structure of a car position measuring device provided in an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0054] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0057] Figure 1 This is a flowchart illustrating a car position measurement method provided in an embodiment of the present invention. This embodiment is applicable to situations requiring correction of the car position calculated using the phase method. The method can be executed by the car position measurement device provided in this embodiment, which can be implemented in software and / or hardware, and is typically configured in an electronic device, such as... Figure 1 As shown, the car position measurement method includes the following steps:

[0058] S101. During the initial installation of the radar, control the car to move from the top of the hoistway to the bottom of the hoistway, and record the frequency of the echo signal of the car based on the first reflector at each position. Calculate the first reference distance from the top of the car to the top of the hoistway using the frequency method, the phase of the echo signal based on the first reflector, the second reference distance from the top of the car to the top of the hoistway using the phase method, and the third reference distance from the top of the car to the top of the hoistway using the frequency method based on the echo signal of the second reflector. Establish the mapping relationship between the first reference distance, the second reference distance, and the third reference distance.

[0059] Figure 2 This is a schematic diagram of the arrangement of radar and reflector in a shaft according to an embodiment of the present invention, as shown below. Figure 2As shown, in this embodiment of the invention, a radar is installed on the top of the car, and a first reflector 1 and a second reflector 2 are installed on the top of the hoistway. The first reflector 1 and the radar are on the same vertical line. The vertical projections of the first reflector 1 and the second reflector 2 onto the plane where the landing door is located do not overlap. That is, the vertical distance from the second reflector 2 to the top of the car is not equal to the vertical distance from the first reflector 1 to the top of the car, and the vertical distance from the second reflector 2 to the hoistway wall where the landing door is located is not equal to the vertical distance from the first reflector 1 to the hoistway wall where the landing door is located. For example, in a specific embodiment of the invention, the vertical distance from the first reflector 1 to the hoistway wall where the landing door is located is L1 = 300 mm, the vertical distance from the second reflector 2 to the hoistway wall where the landing door is located is L2 = 100 mm, and the vertical distance between the first reflector 1 and the second reflector 2 is d = 500 mm.

[0060] In this embodiment of the invention, the radar is a frequency modulated continuous wave (FMCW) radar. Figure 3 A schematic diagram of a radar signal provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the radar emits a radar frame signal at regular intervals ΔT. Each radar frame contains multiple chirped signals. For example, such as... Figure 3 As shown, a single frame of radar signal contains two chirped signals, chirp1 and chirp2. For example, the radar signal has a frequency f of 60 GHz, a wavelength λ of 5 mm, and a bandwidth of 4 GB.

[0061] During the initial installation of the radar, the car is controlled to move from the bottom to the top of the hoistway, and the frequency of the echo signal from the first reflector at each position of the car is recorded. The first reference distance S1 from the top of the car to the top of the hoistway is calculated using the frequency method. f Based on the phase of the echo signal from the first reflector, the second reference distance S1 from the top of the car to the top of the hoistway is calculated using the phase method. p Based on the frequency of the echo signal from the second reflector, the third reference distance S2 from the top of the car to the top of the hoistway is calculated using the frequency method. f And establish the first reference distance S1 f Second reference distance S1 p and the third reference distance S2 f The mapping relationship.

[0062] For example, in a specific embodiment of the present invention, in order to improve the accuracy of the subsequent correction process, the first reference distance S1 is recorded and stored every 1 mm. f Second reference distance S1 p and the third reference distance S2 f The mapping relationship.

[0063] For example, in an embodiment of the present invention, the first reference distance S1 f The calculation formula is:

[0064]

[0065] Where f is the frequency of the echo signal (i.e., the frequency of the radar signal), c is the speed of light, and S is the slope of the chirped signal in the echo signal at this time.

[0066] For example, in an embodiment of the present invention, the first reference distance S1 p The calculation formula is:

[0067]

[0068] Where S0 is the initial distance between the top of the car and the top of the hoistway, and S1 is the distance the car has traveled within the initial frame of radar signal. Let be the phase of the chirp1 signal in the k-th frame (the frame received at the current time) of the radar signal. λ represents the phase of the chirp signal chirp1 in the first frame of the radar signal, and λ is the wavelength of the radar signal.

[0069] As can be seen from the above formula, the ranging accuracy of the phase method is only related to the initial position, the initial position phase, and the current position phase. The phase errors in the intermediate process cancel each other out. Therefore, compared with the frequency method, the phase method greatly improves the ranging accuracy. However, since the car speed is mainly calculated by using the phase difference of the radar chirp signal and integrating the speed over time to calculate the displacement, the accumulation of errors is inevitable during the integration process.

[0070] For example, in an embodiment of the present invention, the third reference distance S2 f The calculation formula for the distance is similar to that for the first reference distance, both being based on the frequency method for distance calculation. The specific details of this invention will not be repeated here.

[0071] S102. During the actual operation of the car in the hoistway, the echo signals reflected by the first and second reflectors received by the radar are acquired.

[0072] During the actual operation of the car in the hoistway, the control radar Radar continuously transmits radar signals and acquires the echo signals reflected by the first reflector Reflector 1 and the second reflector Reflector 2 received by the radar Radar.

[0073] S103. Based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance.

[0074] In this embodiment of the invention, the distance from the top of the car to the top of the hoistway is calculated using the frequency method based on the frequency of the echo signal from the first reflector 1, and is taken as the first distance S1′. f .

[0075] For example, the first distance S1′ f The calculation formula is:

[0076]

[0077] Where f is the frequency of the echo signal, c is the speed of light, and S is the slope of the chirped signal in the current echo signal.

[0078] S104. Based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as the second distance.

[0079] In this embodiment of the invention, the distance from the top of the car to the top of the hoistway is calculated using the phase method based on the phase of the echo signal from the first reflector 1, and is taken as the second distance S1′. p .

[0080] For example, the second distance S1′ p The calculation formula is as follows:

[0081]

[0082] Among them, S1′ p The second distance is defined as follows: S0 is the initial distance between the top of the car and the top of the hoistway, and S1 is the distance the car has traveled within the initial radar frame signal. Let be the phase of the chirp signal chirp1 in the radar signal of the k-th frame (i.e., the current frame). λ represents the phase of the chirp signal chirp1 in the first frame of the radar signal, and λ is the wavelength of the radar signal.

[0083] S105. Based on the frequency of the echo signal from the second reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the third distance.

[0084] In this embodiment of the invention, the distance from the top of the car to the top of the hoistway is calculated using the frequency method based on the frequency of the echo signal from the second reflector 2, and is taken as the third distance S2′. f For example, in an embodiment of the present invention, the third distance S2′ f The calculation formula for the distance is similar to that for the first distance, both being based on the frequency method for distance calculation. The specific details of this invention will not be repeated here.

[0085] S106. Determine whether the cumulative error of the second distance is greater than the preset error.

[0086] As mentioned earlier, since the phase method mainly uses the phase difference of the radar chirp signal to calculate the car's speed and integrates the speed over time to calculate the displacement, errors inevitably accumulate during the integration process. Therefore, in this embodiment of the invention, it is necessary to determine whether the accumulated error of the second distance is greater than a preset error.

[0087] For example, in some embodiments of the present invention, if the second distance S1′ p If the cumulative error exceeds the preset error, the first distance S1′ calculated using the frequency method will be affected. f and the second distance S1′ calculated using the phase method p The difference becomes larger, therefore, the first distance S1′ can be used. f The second distance S1′ p The difference is used to characterize the second distance S1′ p The cumulative error. Specifically, calculate the first distance S1′. f The second distance S1′ p The difference, determine the absolute value of the difference |S1′ f -S1′ p |Is it greater than a preset value? In the absolute value of the difference|S1′ f -S1′ p If the distance is greater than the preset value, then the second distance S1′ is determined. p The cumulative error is greater than the preset error, and the absolute value of the difference is |S1′ f -S1′ p If the distance is less than or equal to the preset value, then the second distance S1′ is determined. p The cumulative error is less than or equal to the preset error.

[0088] S107. Using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the hoistway, where the target distance is either the first distance or the third distance.

[0089] In the aforementioned steps, when it is determined that the cumulative error is greater than the preset error, or the first distance S1′f The second distance S1′ p When the absolute value of the difference is greater than a preset value, the target distance corresponding to the echo signal with a high signal-to-noise ratio is used as an index to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the hoistway. Here, the target distance is either the first distance or the third distance. An echo signal with a high signal-to-noise ratio means that the distance measured by the frequency method based on the echo signal is more accurate. Therefore, the target distance measured by the frequency method based on the echo signal is more accurate. Then, using the target distance as an index, the corresponding second reference distance found from the mapping relationship is closer to the actual distance. In this way, the car position measured by the phase method during actual operation is corrected, the cumulative error generated by the phase method distance measurement is eliminated, the accuracy of the car position is improved, and thus the safety is improved.

[0090] For example, the signal-to-noise ratio (SNR) of the echo signal from the first reflector 1 and the signal-to-noise ratio (SNR) of the echo signal from the second reflector 2 can be characterized by the amplitude of the echo signal from the first reflector 1 and the amplitude of the echo signal from the second reflector 2. Specifically, the amplitudes of the echo signals from the first reflector 1 and the second reflector 2 are compared, and the echo signal with the larger amplitude is considered to have a higher SNR.

[0091] When the amplitude of the echo signal from the first reflector 1 is greater than the amplitude of the echo signal from the second reflector 2, the first distance S1′ is used. f As an index, find the first distance S1′ from the mapping relationship. f The corresponding second reference distance S1 p The distance between the car and the top of the hoistway.

[0092] When the amplitude of the echo signal from the first reflector 1 is less than the amplitude of the echo signal from the second reflector 2, a third distance S2′ is used. f As an index, find the third distance S2′ from the mapping relation. f The corresponding second reference distance S1 p The distance between the car and the top of the hoistway.

[0093] S108. The second distance is taken as the distance between the car and the top of the hoistway.

[0094] In the aforementioned steps, when it is determined that the cumulative error is less than or equal to the preset error, or the first distance S1′ f The second distance S1′ pWhen the absolute value of the difference is less than or equal to the preset value, the measured second distance S1′ will be... p As the distance between the car and the top of the hoistway, there is no need to measure the second distance S1′ using the phase method. p Make corrections.

[0095] The car position measurement method provided in this invention includes a radar installed on the top of the car, and a first reflector and a second reflector installed on the top of the hoistway. The first reflector and the radar are on the same vertical line, and the vertical projections of the first reflector and the second reflector on the plane where the landing door is located do not overlap. The method includes: when the radar is initially installed, controlling the car to run from the top of the hoistway to the bottom of the hoistway, and recording the frequency of the echo signal from the first reflector at each position of the car; calculating a first reference distance from the top of the car to the top of the hoistway and the phase of the echo signal from the first reflector using a frequency method; calculating a second reference distance from the top of the car to the top of the hoistway using a phase method; calculating the frequency of the echo signal from the second reflector; calculating a third reference distance from the top of the car to the top of the hoistway using a frequency method; and establishing the first reference distance, the second reference distance, and the third reference distance. The system considers the mapping relationship of distances; during the actual operation of the car in the hoistway, it acquires the echo signals reflected by the first and second reflectors received by the radar; based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance; based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as the second distance; based on the frequency of the echo signal from the second reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the third distance; it determines whether the cumulative error of the second distance is greater than a preset error; when the cumulative error is greater than the preset error, the target distance corresponding to the echo signal with a high signal-to-noise ratio is used as an index to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the hoistway, where the target distance is either the first distance or the third distance. This invention pre-establishes a mapping relationship between a first reference distance, a second reference distance, and a third reference distance. During the actual measurement process, the target distance corresponding to the echo signal with a good signal-to-noise ratio is used to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the hoistway. This corrects the car position measured by the phase method, eliminates the cumulative error generated by the phase method distance measurement, improves the accuracy of the car position, and thus improves safety.

[0096] Figure 4 This is a schematic diagram of the structure of a car position measuring device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the car position measuring device includes:

[0097] The mapping relationship establishment module 201 is used to control the car to run from the top of the hoistway to the bottom of the hoistway when the radar is first installed, and to record the frequency of the echo signal of the car based on the first reflector at each position, calculate the first reference distance from the top of the car to the top of the hoistway using the frequency method, calculate the second reference distance from the top of the car to the top of the hoistway using the phase method based on the echo signal of the first reflector, and calculate the third reference distance from the top of the car to the top of the hoistway using the frequency method based on the frequency of the echo signal of the second reflector, and establish the mapping relationship between the first reference distance, the second reference distance and the third reference distance;

[0098] The echo signal acquisition module 202 is used to acquire the echo signals reflected by the first reflector and the second reflector received by the radar during the actual operation of the car in the hoistway.

[0099] The first distance calculation module 203 is used to calculate the distance from the top of the car to the top of the hoistway as the first distance based on the frequency of the echo signal of the first reflector using the frequency method.

[0100] The second distance calculation module 204 is used to calculate the distance from the top of the car to the top of the hoistway as a second distance based on the phase of the echo signal of the first reflector using the phase method.

[0101] The third distance calculation module 205 is used to calculate the distance from the top of the car to the top of the hoistway as the third distance based on the frequency of the echo signal of the second reflector using the frequency method.

[0102] The judgment module 206 is used to determine whether the cumulative error of the second distance is greater than a preset error;

[0103] The distance correction module 207 is used to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the shaft when the accumulated error is greater than the preset error, using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index. The target distance is either the first distance or the third distance.

[0104] In some embodiments of the present invention, based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using a frequency method as a first distance, and the calculation formula is as follows:

[0105]

[0106] Among them, S1′ f Let f be the first distance, f be the frequency of the echo signal, c be the speed of light, and S be the slope of the chirped signal in the echo signal.

[0107] In some embodiments of the present invention, based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as a second distance, and the calculation formula is as follows:

[0108]

[0109] Among them, S1′ p The second distance is defined as follows: S0 is the initial distance between the top of the car and the top of the hoistway, and S1 is the distance the car has traveled within the initial radar frame signal. Let be the phase of the chirped signal in the k-th frame of the radar signal. λ represents the phase of the chirped signal in the first frame of radar signal, and λ represents the wavelength of the radar signal.

[0110] In some embodiments of the present invention, the judgment module 206 includes:

[0111] The difference calculation submodule is used to calculate the difference between the first distance and the second distance;

[0112] The judgment submodule is used to determine whether the absolute value of the difference is greater than a preset value;

[0113] The first determination submodule is used to determine that the cumulative error of the second distance is greater than the preset error when the absolute value of the difference is greater than the preset value.

[0114] The second determination submodule is used to determine that the cumulative error of the second distance is less than or equal to the preset error when the absolute value of the difference is less than or equal to the preset value.

[0115] In some embodiments of the present invention, the car position measuring device further includes:

[0116] The amplitude comparison module is used to compare the amplitude of the echo signal of the first reflector and the amplitude of the echo signal of the second reflector before finding the corresponding second reference distance from the mapping relationship using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, as the distance between the car and the top of the shaft.

[0117] The echo signal determination module is used to identify echo signals with large amplitudes as echo signals with high signal-to-noise ratios.

[0118] In some embodiments of the present invention, the distance correction module 207 includes:

[0119] The first correction submodule is used to find the second reference distance corresponding to the first distance from the mapping relationship when the amplitude of the echo signal of the first reflector is greater than the amplitude of the echo signal of the second reflector.

[0120] The second correction submodule is used to find the second reference distance corresponding to the third distance from the mapping relationship when the amplitude of the echo signal of the first reflector is less than the amplitude of the echo signal of the second reflector.

[0121] In some embodiments of the present invention, the car position measuring device further includes:

[0122] The distance determination module is used to determine the second distance as the distance between the car and the top of the shaft when the cumulative error is less than or equal to a preset error.

[0123] The aforementioned car position measuring device can execute the car position measuring method provided in the foregoing embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the car position measuring method.

[0124] Figure 5 This is a schematic diagram of an electronic device provided for an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0125] like Figure 5 As shown, the electronic device includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0126] Multiple components in the electronic device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0127] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the car position measurement method.

[0128] In some embodiments, the car position measurement method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the car position measurement method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the car position measurement method by any other suitable means (e.g., by means of firmware).

[0129] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0130] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0131] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0132] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0133] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0134] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0135] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the car position measurement method as provided in any embodiment of this application.

[0136] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0138] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for measuring the position of a car, characterized in that, The radar is mounted on the top of the car, and the first reflector and the second reflector are mounted on the top of the hoistway. The first reflector and the radar are on the same vertical line, and the vertical projections of the first reflector and the second reflector on the plane where the hall door is located do not overlap. The method includes: When the radar is first installed, the car is controlled to move from the top of the hoistway to the bottom of the hoistway, and the frequency of the echo signal of the car based on the first reflector at each position is recorded. The first reference distance from the top of the car to the top of the hoistway is calculated using the frequency method. The second reference distance from the top of the car to the top of the hoistway is calculated using the phase method based on the echo signal of the first reflector. The third reference distance from the top of the car to the top of the hoistway is calculated using the frequency method based on the frequency of the echo signal of the second reflector. A mapping relationship between the first reference distance, the second reference distance and the third reference distance is established. During the actual operation of the car in the hoistway, the car acquires the echo signals reflected by the first reflector and the second reflector received by the radar. Based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance; Based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as the second distance; Based on the frequency of the echo signal from the second reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the third distance; Determine whether the cumulative error of the second distance is greater than a preset error; When the accumulated error is greater than the preset error, the target distance corresponding to the echo signal with a high signal-to-noise ratio is used as an index to find the corresponding second reference distance from the mapping relationship as the distance between the car and the top of the shaft, wherein the target distance is the first distance or the third distance.

2. The car position measurement method according to claim 1, characterized in that, Based on the frequency of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the frequency method as the first distance. The calculation formula is as follows: in, The first distance, The frequency of the echo signal, At the speed of light, The slope of the chirped signal in the echo signal.

3. The car position measurement method according to claim 1, characterized in that, Based on the phase of the echo signal from the first reflector, the distance from the top of the car to the top of the hoistway is calculated using the phase method as the second distance. The calculation formula is as follows: in, The second distance, This is the initial distance between the top of the car and the top of the hoistway. The distance the car traveled within the initial frame of the radar signal. Let be the phase of the chirped signal in the k-th frame of the radar signal. The phase of the chirped signal in the first frame of radar signal. The wavelength of the radar signal.

4. The car position measurement method according to claim 1, characterized in that, Determining whether the cumulative error of the second distance is greater than a preset error includes: Calculate the difference between the first distance and the second distance; Determine whether the absolute value of the difference is greater than a preset value; When the absolute value of the difference is greater than a preset value, it is determined that the cumulative error of the second distance is greater than the preset error; When the absolute value of the difference is less than or equal to a preset value, the cumulative error of the second distance is determined to be less than or equal to the preset error.

5. The car position measurement method according to claim 1, characterized in that, Before finding the corresponding second reference distance from the mapping relationship using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, the method further includes: The amplitude of the echo signal from the first reflector is compared with the amplitude of the echo signal from the second reflector. Echo signals with large amplitude are used as echo signals with high signal-to-noise ratio.

6. The car position measurement method according to claim 5, characterized in that, Using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, the corresponding second reference distance is found from the mapping relationship as the distance between the car and the top of the hoistway, including: When the amplitude of the echo signal from the first reflector is greater than the amplitude of the echo signal from the second reflector, the first distance is used as an index to find the second reference distance corresponding to the first distance from the mapping relationship as the distance between the car and the top of the shaft. When the amplitude of the echo signal from the first reflector is less than the amplitude of the echo signal from the second reflector, the third distance is used as an index to find the second reference distance corresponding to the third distance from the mapping relationship as the distance between the car and the top of the hoistway.

7. The car position measurement method according to claim 1, characterized in that, Also includes: When the cumulative error is less than or equal to the preset error, the second distance is taken as the distance between the car and the top of the shaft.

8. A car position measuring device, characterized in that, A radar is mounted on the top of the car, and a first reflector and a second reflector are mounted on the top of the hoistway. The first reflector and the radar are on the same vertical line, and the vertical projections of the first reflector and the second reflector on the plane where the hall door is located do not overlap. The device includes: The mapping relationship establishment module is used to control the car to run from the top of the hoistway to the bottom of the hoistway when the radar is first installed, and to record the frequency of the echo signal of the car based on the first reflector at each position, calculate the first reference distance from the top of the car to the top of the hoistway using the frequency method, calculate the second reference distance from the top of the car to the top of the hoistway using the phase method based on the echo signal of the first reflector, and calculate the third reference distance from the top of the car to the top of the hoistway using the frequency method based on the frequency of the echo signal of the second reflector, and establish the mapping relationship between the first reference distance, the second reference distance and the third reference distance; An echo signal acquisition module is used to acquire the echo signals reflected by the first reflector and the second reflector received by the radar during the actual operation of the car in the hoistway. The first distance calculation module is used to calculate the distance from the top of the car to the top of the hoistway as the first distance based on the frequency of the echo signal of the first reflector using the frequency method. The second distance calculation module is used to calculate the distance from the top of the car to the top of the hoistway as a second distance based on the phase of the echo signal from the first reflector using the phase method. The third distance calculation module is used to calculate the distance from the top of the car to the top of the hoistway as the third distance based on the frequency of the echo signal from the second reflector using the frequency method. The judgment module is used to determine whether the cumulative error of the second distance is greater than a preset error; The distance correction module is used to find the corresponding second reference distance from the mapping relationship when the accumulated error is greater than the preset error, using the target distance corresponding to the echo signal with a high signal-to-noise ratio as an index, as the distance between the car and the top of the shaft, wherein the target distance is a first distance or a third distance.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the car position measurement method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the car position measurement method as described in any one of claims 1-7.

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