Elevator position determination method, system and apparatus

Abstract

The application relates to the field of data processing, in particular to an elevator position determination method, system and device. The method comprises the following steps: acquiring a target relative position relationship between a car position identification point and a counterweight frame position identification point, and an interval distance between the car position identification point and the counterweight frame position identification point; determining a first car absolute height and a second car absolute height according to the interval distance, wherein the car absolute height represents the vertical distance from the car identification point to the bottom of the shaft; screening a car target absolute height meeting the target relative position relationship from the first car absolute height and the second car absolute height; and determining a car door absolute position according to the car target absolute height and a preset car door position. The application can more accurately determine the car position.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, system and device for determining elevator position. Background Technology

[0002] Elevators are commonly used in multi-story buildings to facilitate people's daily lives. Generally, after locating the elevator car, the car is accurately stopped at the target floor to carry people or goods.

[0003] Elevators are typically driven by a winch with a steel cable drive pulley to move the elevator car up and down. The speed of the drive pulley is usually used as the speed of the steel cable, and then the speed of the steel cable is linearly transformed to obtain the speed of the car. The car speed and time are then used to obtain the distance the car has traveled. Finally, the current position of the car is determined based on the initial position and the distance traveled.

[0004] However, when there is slippage between the drive wheel and the steel cable, the moving speed of the steel cable and the rotation speed of the drive wheel are inconsistent. There is a deviation between the moving speed of the steel cable determined based on the rotation speed of the drive wheel and the actual moving speed of the steel cable. The moving speed of the car determined based on the moving speed of the steel cable with the deviation has low accuracy, which leads to poor accuracy of the current position of the car determined by the initial position of the car and the low accuracy of the moving distance. Summary of the Invention

[0005] To more accurately determine the position of the elevator car, this application provides an elevator position determination method, system, and device.

[0006] Firstly, this application provides a method for determining elevator position, employing the following technical solution:

[0007] A method for determining the location of an elevator includes:

[0008] Obtain the relative positional relationship between the car position marker and the counterweight frame position marker, and the distance between the car position marker and the counterweight frame position marker;

[0009] Based on the interval distance, the absolute height of the first car and the absolute height of the second car are determined, wherein the absolute height of the car represents the vertical distance from the car identification point to the bottom of the hoistway;

[0010] Select the target absolute height of the car that matches the target relative position relationship from the first car absolute height and the second car absolute height;

[0011] The absolute position of the car door is determined based on the target absolute height of the car and the preset position of the car door.

[0012] In a preferred example, this application can be further configured as follows:

[0013] Determining the absolute height of the first car and the absolute height of the second car based on the interval distance includes:

[0014] Obtain the vertical height of the reference point and the horizontal distance between the car and the counterweight frame;

[0015] Based on the interval distance, the vertical height of the reference point, and the horizontal spacing, the absolute height of the first car and the absolute height of the second car are determined using the absolute height calculation formula.

[0016] The absolute height calculation formula is: , where is the interval distance, is the absolute height of the first car and the absolute height of the second car, is the vertical height of the reference point, and is the horizontal spacing.

[0017] In a preferred example, this application can be further configured as follows:

[0018] After determining the absolute position of the car door based on the target absolute height of the car and the preset car door position, the method further includes:

[0019] Obtain the absolute position of the preset door corresponding to the target floor;

[0020] When the absolute position of the preset landing door is different from the absolute position of the car door, calculate the absolute position difference between the absolute position of the preset landing door and the absolute position of the car door;

[0021] Adjust the car position according to the absolute position difference until the absolute position of the car door is the same as the absolute position of the preset landing door.

[0022] In a preferred example, this application can be further configured as follows:

[0023] Two object detection sensors are placed on the target object, which is the car and / or the counterweight frame;

[0024] Obtain the target relative positional relationship between the car position marker and the counterweight frame position marker, including:

[0025] Acquire the latest object detection signal group, wherein the latest object detection signal group includes the latest first object detection signal and the latest second object detection signal corresponding to the object detection sensor;

[0026] The relative positional relationship of the target is determined based on the effective signal detection time corresponding to the latest first object detection signal and the effective signal detection time corresponding to the latest second object detection signal.

[0027] In a preferred example, this application can be further configured as follows:

[0028] Object detection sensor setup methods include:

[0029] First configuration method: The two object detection sensors are respectively installed at the top and bottom of the car;

[0030] or,

[0031] Second configuration: The two object detection sensors are respectively installed on the top of the car and the top of the counterweight frame;

[0032] or,

[0033] Third configuration method: The two object detection sensors are respectively installed at the bottom of the car and the bottom of the counterweight frame;

[0034] or,

[0035] Fourth setting method: The two object detection sensors are respectively set at the top and bottom of the counterweight frame.

[0036] In a preferred example, this application can be further configured as follows:

[0037] The acquisition of the latest object detection signal set includes:

[0038] Acquire a first initial signal group corresponding to the first object detection signal and a second initial signal group corresponding to the second object detection signal, wherein both the first initial signal group and the second initial signal group include multiple object detection signals within a preset time range;

[0039] Obtain a standard interval time; and filter the first initial signal group and the second initial signal group to determine the latest first object detection signal and the latest second object detection signal that appear at a time interval of the standard interval time, so as to obtain the latest object detection signal group.

[0040] In a preferred example, this application can be further configured as follows:

[0041] The acquisition of the standard interval time includes:

[0042] Get the car's moving speed;

[0043] When the object detection sensor is set to the first setting mode or the third setting mode, the car's outer profile height is obtained, and the standard interval time is determined based on the car's outer profile height and the car's moving speed.

[0044] When the object detection sensor is set to the second setting mode or the fourth setting mode, the outer height of the counterweight frame is obtained, and the standard interval time is determined based on the outer height of the counterweight frame and the car's moving speed.

[0045] In a preferred example, this application can be further configured as follows:

[0046] The process of obtaining the car's moving speed includes:

[0047] Obtain the absolute height of the first car target at the current moment and the absolute height of the second car target at another moment;

[0048] Determine the duration of the interval between the current time and the other time.

[0049] The car's moving speed is determined using a formula for calculating the car's moving speed, wherein: is the car's moving speed, is the absolute height of the first car target, is the absolute height of the second car target, and is the interval duration.

[0050] Secondly, this application provides an elevator position determination system, which adopts the following technical solution:

[0051] An elevator position determination system includes:

[0052] The basic data acquisition module is used to acquire the target relative positional relationship between the car position marker and the counterweight frame position marker, as well as the interval distance between the car position marker and the counterweight frame position marker.

[0053] The initial height determination module is used to determine the absolute height of the first car and the absolute height of the second car based on the interval distance, wherein the absolute height of the car represents the vertical distance from the car identification point to the bottom of the hoistway;

[0054] The target absolute height determination module is used to filter out the target absolute heights from the first car absolute height and the second car absolute height that conform to the target relative position relationship;

[0055] The absolute position determination module is used to determine the absolute position of the car door based on the target absolute height of the car and the preset position of the car door.

[0056] Thirdly, this application provides an electronic device that adopts the following technical solution:

[0057] At least one processor;

[0058] Memory;

[0059] At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: perform the elevator position determination method as described in any of the first aspects.

[0060] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0061] A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the elevator position determination method as described in any of the first aspects.

[0062] In summary, this application includes at least the following beneficial technical effects:

[0063] Compared to related technologies that use the rotational speed of the drive wheel to determine the car position, which may result in low accuracy due to slippage between the steel cable and the drive wheel, this solution calculates two possible absolute car heights by measuring the distance between the car and the counterweight frame. Then, it determines the target absolute car height that matches the relative position of the target car from these two possible absolute heights. This reduces the probability of low accuracy due to slippage between the steel cable and the drive wheel, resulting in a more accurate target absolute car height. This more accurate target absolute car height allows for the determination of the absolute position of the car door, thus ensuring precise car positioning. Attached Figure Description

[0064] Figure 1 This is a flowchart illustrating an elevator position determination method provided in an embodiment of this application.

[0065] Figure 2 This is a schematic diagram of elevator parameter settings provided in an embodiment of this application.

[0066] Figure 3 This is a schematic diagram of car parameter settings provided in an embodiment of this application.

[0067] Figure 4 This is a schematic diagram showing the distribution of the locations of an object detection sensor provided in an embodiment of this application.

[0068] Figure 5 This is a schematic diagram of an elevator position determination system provided in an embodiment of this application.

[0069] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0070] The following is in conjunction with the appendix Figure 1 To be continued Figure 6 This application will be described in further detail.

[0071] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.

[0072] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application are described clearly and completely. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0074] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0075] This application provides a method for determining elevator position, executed by an electronic device. This electronic device can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. The terminal device and the server can be directly or indirectly connected via wired or wireless communication. This application does not impose any limitations on this. Figure 1 As shown, the method includes steps S101 to S104, wherein:

[0076] Step S101: Obtain the target relative position relationship between the car position marker and the counterweight frame position marker, and the interval distance between the car position marker and the counterweight frame position marker.

[0077] The target relative position relationship is either the first relative position relationship where the car is higher than the counterweight frame, or the second relative position relationship where the car is lower than the counterweight frame.

[0078] A position sensor is installed at each of the car position marker and the counterweight frame position marker. This solution does not specify the operating principle of the position sensors; the two sensors only need to be able to determine the distance between them. The car position marker is set to any point on the car, and the counterweight frame position marker is set to any point on the counterweight frame.

[0079] Obtaining the distance between the car position marker and the counterweight frame position marker can specifically include: The electronic device controls two position sensors to collect the straight-line distance between the two position sensors. After either position sensor collects the straight-line distance, the electronic device obtains the straight-line distance from that sensor and uses it as the distance between the car position marker and the counterweight frame position marker. Alternatively, the electronic device controls two position sensors to collect the straight-line distance between the two position sensors. After both position sensors collect the same straight-line distance, either position sensor transmits the straight-line distance back to the electronic device. The electronic device receives the straight-line distance and uses it as the distance between the car position marker and the counterweight frame position marker.

[0080] Obtaining the target relative position relationship between the car position marker and the counterweight frame position marker can specifically include: determining the target relative position relationship based on the object detection sensor installed on the target object, in a first relative position relationship and a second relative position relationship.

[0081] Step S102: Determine the absolute height of the first car and the absolute height of the second car based on the interval distance, wherein the absolute height of the car represents the vertical distance from the car marker point to the bottom of the hoistway.

[0082] The first relative positional relationship corresponds to the absolute height of the first car, and the second relative positional relationship corresponds to the absolute height of the second car. The bottom of the hoistway is the bottom of the hoistway pit.

[0083] Specifically, it may include step S1021 (not shown in the figure) and step S1022 (not shown in the figure), wherein:

[0084] Step S1021: Obtain the vertical height of the reference point and the horizontal distance between the car and the counterweight frame.

[0085] The reference point is the intersection of lines connecting the elevator's positions at multiple moments during operation. These lines connect the car's position marker and the counterweight's position marker. For example... Figure 2 As shown, device 1 is the drive wheel, device 2 is the car, device 3 is the counterweight frame, point A is the car position marker, point B is the counterweight frame position marker, and point O is the reference point; assuming multiple times include time 1, time 2, and time 3... Connect line 1 to the position corresponding to time 1. Connect line 2 to the position corresponding to time 2. Connect line 3 to the position corresponding to time 3.

[0086] The vertical height of the reference point is the vertical distance from the reference point to the bottom of the shaft. Figure 2 H is the vertical height of the reference point.

[0087] The horizontal distance between the car and the counterweight frame is the shortest distance between the vertical lines containing the car position marker and the counterweight frame position marker, wherein the two vertical lines are parallel to each other. (Reference) Figure 2 , The vertical line perpendicular to the location of the car position marker. The vertical line marking the location of the overlapping frame position indicator. for , The shortest distance between them is the horizontal distance between the car and the counterweight frame.

[0088] Specifically, the vertical height and horizontal spacing of the reference points can be preset values ​​and pre-stored in the electronic device by technicians. When the electronic device successfully obtains the interval distance, it retrieves the vertical height and horizontal spacing of the reference points from the library; the method of retrieval is no longer limited.

[0089] Step S1022: Based on the interval distance, the vertical height of the reference point, and the horizontal spacing, determine the absolute height of the first car and the absolute height of the second car using the absolute height calculation formula; wherein, the absolute height calculation formula is: , For interval distance, The absolute heights of the first and second cars are given. The vertical height of the reference point This refers to the horizontal spacing.

[0090] Step S103: Determine the absolute height of the target car from the first absolute height of the car and the second absolute height of the car based on the relative position relationship of the target.

[0091] Specifically, when the relative positional relationship of the targets is the first relative positional relationship, the absolute height of the car target is determined as the first absolute height of the car; when the relative positional relationship of the targets is the second relative positional relationship, the absolute height of the car target is determined as the second absolute height of the car.

[0092] Step S104: Determine the absolute position of the car door based on the target absolute height of the car and the preset position of the car door.

[0093] The preset car door position can be the vertical distance from any horizontal edge of the car door to the car's identification point, such as... Figure 3 As shown, rectangle 1 represents the car door, with side a being the upper horizontal edge and side b being the lower horizontal edge. Let 'a' be the vertical distance between the edge and the car's marker point. The vertical distance between edge b and the car's marker point is the water level.

[0094] Specifically, the absolute position of the car door = the target absolute height of the car - the preset position of the car door.

[0095] In this embodiment, compared to related technologies that use the rotational speed of the drive wheel to determine the car position, there is a potential problem of low car position accuracy due to slippage between the steel cable and the drive wheel. This solution calculates two possible absolute car heights by measuring the distance between the car and the counterweight frame, and then determines the target absolute car height that matches the target relative position relationship from the two possible absolute car heights. This reduces the probability of low car position accuracy due to slippage between the steel cable and the drive wheel, thus obtaining a more accurate target absolute car height. With a more accurate target absolute car height, the absolute position of the car door is determined to accurately locate the car position.

[0096] When the car stops at the target floor, if the car does not stop in the appropriate position, there will be a vertical height difference between the landing door and the car door, which may cause passengers to step into the air or trip. Therefore, when there is a vertical height difference between the landing door and the car door, the position of the car can be adjusted after the car stops at the target floor and before the landing door and the car door open, so as to ensure that the vertical height difference between the landing door and the car door disappears.

[0097] One possible implementation of this application embodiment may further include steps S105 to S107 (not shown in the figure) after step S104, wherein:

[0098] Step S105: Obtain the absolute position of the preset door corresponding to the target floor.

[0099] The target floor is the floor where the car is expected to stop. The preset absolute position of the landing door can be either the absolute position of the upper horizontal edge of the landing door or the absolute position of the lower horizontal edge of the landing door. The absolute position is the vertical height from the bottom of the hoistway. There is a correspondence between the preset absolute position of the landing door and the preset position of the car door: when the preset position of the car door is the vertical distance from the upper horizontal edge of the car door to the car marker point, the preset absolute position of the landing door is the absolute position of the upper horizontal edge of the landing door; when the preset position of the car door is the vertical distance from the lower horizontal edge of the car door to the car marker point, the preset absolute position of the landing door is the absolute position of the lower horizontal edge of the landing door.

[0100] Specifically, the target floor identification information is obtained. The target floor identification information can be any identification that can represent the target floor, such as the floor number or floor name. The target floor identification information is matched with the preset correspondence between the floor identification information and the absolute position of the floor door to obtain the preset absolute position of the floor door corresponding to the target floor identification information.

[0101] Step S106: When the preset absolute position of the landing door is different from the absolute position of the car door, calculate the absolute position difference between the preset absolute position of the landing door and the absolute position of the car door.

[0102] The difference between the absolute position of the pre-set landing door and the absolute position of the car door indicates a vertical height difference between the landing door and the car door, posing a safety hazard to passengers who may step into a hole or trip.

[0103] Absolute position difference = Preset landing door absolute position - Car door absolute position. The absolute position difference includes a numerical value and a sign. When the absolute position difference > 0, the sign is positive, indicating that the absolute position of the car door is lower than the preset landing door absolute position, and the car needs to be adjusted upwards by the corresponding value of the absolute position difference. When the absolute position difference < 0, the sign is negative, indicating that the absolute position of the car door is higher than the preset landing door absolute position, and the car needs to be adjusted downwards by the corresponding value of the absolute position difference.

[0104] Step S107: Adjust the car position according to the absolute position difference until the absolute position of the car door is the same as the preset absolute position of the landing door.

[0105] In this embodiment of the application, when there is a vertical height difference between the landing door and the car door, the position of the car can be adjusted before the landing door and the car door are opened to eliminate the vertical height difference between the landing door and the car door, thus avoiding the safety hazard of passengers stepping into the air or tripping due to the car not stopping in a suitable position.

[0106] One possible implementation of this application embodiment involves placing two object detection sensors on a target object, which is the car and / or the counterweight frame. Step S101 obtains the target relative positional relationship between the car position marker and the counterweight frame position marker, specifically including steps SA1 (not shown in the figure) and SA2 (not shown in the figure), wherein:

[0107] Step SA1: Obtain the latest object detection signal group, wherein the latest object detection signal group includes the latest first object detection signal and the latest second object detection signal corresponding to the object detection sensor.

[0108] The latest first object detection signal and the latest second object detection signal in the latest object detection signal group are acquired and transmitted back in real time by the object detection sensor. The object detection sensor can be any detector that can determine whether an object has passed by; this embodiment of the application does not specifically limit it. For each object detector, the object detection signal is a valid signal when an object passes by, and an invalid signal otherwise.

[0109] Step SA2: Determine the relative positional relationship of the targets based on the effective signal detection time corresponding to the latest first object detection signal and the effective signal detection time corresponding to the latest second object detection signal.

[0110] The object detection sensors can be set up in the following ways: First setting: two object detection sensors are set up at the top and bottom of the car respectively; or, Second setting: two object detection sensors are set up at the top of the car and the top of the counterweight frame respectively; or, Third setting: two object detection sensors are set up at the bottom of the car and the bottom of the counterweight frame respectively; or, Fourth setting: two object detection sensors are set up at the top and bottom of the counterweight frame respectively.

[0111] It is important to note that, in addition to the set position, the orientation of the object detection sensor must be able to detect whether other objects besides the target object corresponding to the object detection sensor pass by the sensor. When the target object corresponding to the object detection sensor is the car, other objects are the counterweight frame; when the target object corresponding to the object detection sensor is the counterweight frame, other objects are the car.

[0112] like Figure 4 As shown, when the object detection sensor is set at position J1 and position J2 respectively, the object detection sensor setting method is the first setting method; when the object detection sensor is set at position J1 and position D1 respectively, the object detection sensor setting method is the first setting method; when the object detection sensor is set at position J2 and position D2 respectively, the object detection sensor setting method is the third setting method; when the object detection sensor is set at position D1 and position D2 respectively, the object detection sensor setting method is the fourth setting method.

[0113] The two object detection sensors are designated as the first object detection sensor and the second object detection sensor. The first object detection sensor corresponds to the latest first object detection signal, and the second object detection sensor corresponds to the latest second object detection signal.

[0114] Specifically, step SA2 may include steps SA2-1 to SA2-3 (not shown in the figure), wherein:

[0115] Step SA2-1: Obtain the object detection sensor settings.

[0116] Step SA2-2: Determine the target relative position relationship judgment rules corresponding to the object detection sensor setting method.

[0117] The object detection sensor is set in the first setting mode. If position J1 is the first object detection sensor and position J2 is the second object detection sensor, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is earlier than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is higher than the counterweight frame; otherwise, the relative position of the target is that the car is lower than the counterweight frame. If position J1 is the second object detection sensor and position J2 is the first object detection sensor, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is earlier than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is lower than the counterweight frame; otherwise, the relative position of the target is that the car is higher than the counterweight frame.

[0118] The object detection sensor is set in the second configuration. If the first object detection sensor is located at position J1 and the second object detection sensor is located at position D1, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is earlier than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is higher than the counterweight frame; otherwise, the relative position of the target is that the car is lower than the counterweight frame. If the second object detection sensor is located at position J1 and the first object detection sensor is located at position D1, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is earlier than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is lower than the counterweight frame; otherwise, the relative position of the target is that the car is higher than the counterweight frame.

[0119] The object detection sensor is set in the third configuration. If the first object detection sensor is located at position J2 and the second object detection sensor is located at position D2, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is later than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is higher than the counterweight frame; otherwise, the relative position of the target is that the car is lower than the counterweight frame. If the second object detection sensor is located at position J2 and the first object detection sensor is located at position D2, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is earlier than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is higher than the counterweight frame; otherwise, the relative position of the target is that the car is lower than the counterweight frame.

[0120] The object detection sensor is set in the fourth setting mode. If the first object detection sensor is located at position D1 and the second object detection sensor is located at position D2, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is later than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is higher than the counterweight frame; otherwise, the relative position of the target is that the car is lower than the counterweight frame. If the second object detection sensor is located at position D1 and the first object detection sensor is located at position D2, the rule for determining the relative position of the target is as follows: if the effective signal detection time corresponding to the latest first object detection signal is earlier than the effective signal detection time corresponding to the latest second object detection signal, then the relative position of the target is that the car is higher than the counterweight frame; otherwise, the relative position of the target is that the car is lower than the counterweight frame.

[0121] Step SA2-3: Determine the relative position of the target based on the target relative position relationship determination rules corresponding to the object detection sensor setting method, the effective signal detection time corresponding to the latest first object detection signal, and the effective signal detection time corresponding to the latest second object detection signal.

[0122] In this embodiment, compared to determining the relative position of the car and counterweight based on the floor information corresponding to the floor light signal, this solution uses the effective signal detection time of the object detection signal in the latest object detection signal group to determine the relative position of the target, which can avoid the situation where the relative position of the car and counterweight cannot be obtained due to the failure of the floor light signal.

[0123] Determining the relative positional relationship between the car and the counterweight based on the floor information corresponding to the floor light signals can specifically include: acquiring the floor information corresponding to the floor light signals; determining the positional relationship corresponding to the floor information based on the preset correspondence between floor information and positional relationship and the floor information, and using the positional relationship corresponding to the floor information as the target relative positional relationship. The preset correspondence between floor information and positional relationship can be set based on the effective length of the steel rope and the total height of the hoistway. The effective length of the steel rope is the sum of the distance from the car to the drive wheel and the distance from the counterweight frame to the drive wheel.

[0124] One possible implementation of this application embodiment, step SA1, may specifically include step SB1 (not shown in the figure) and step SB2 (not shown in the figure), wherein:

[0125] Step SB1: Obtain the first initial signal group corresponding to the first object detection signal and the second initial signal group corresponding to the second object detection signal, wherein the first initial signal group and the second initial signal group both include multiple object detection signals within a preset time range.

[0126] Specifically, the process involves determining a set time interval between two time endpoints within a preset time range; acquiring the current time information and determining the previous time information at a set time interval from the current time information; and for each object detection sensor, selecting valid signals from the previous time information to the current time information as the initial signal group. The preset time range can be determined based on the typical time required for the elevator shaft to travel, and is pre-set and stored in the electronic equipment by technicians.

[0127] Step SB2: Obtain the standard interval time; and filter the first initial signal group and the second initial signal group to determine the latest first object detection signal and the latest second object detection signal that appear within the standard interval time to obtain the latest object detection signal group.

[0128] If the counterweight frame and the car meet, there will be a certain time difference between the effective signal appearance time of the first object detection signal and the effective signal appearance time of the second object detection signal. The above time difference is used as the standard time interval to determine the latest object detection signal group. This avoids the situation where the object detection sensor detects an object other than the counterweight and the car when the effective signal of the object detection signal appears, which would lead to inaccurate determination of the latest object detection signal group and thus affect the accuracy of the relative position relationship of the target.

[0129] The time difference can be determined based on the car's moving speed and the car's outer profile height, or the time difference can be determined based on the car's moving speed and the counterweight frame's outer profile height.

[0130] Specifically, obtaining the standard interval time may include steps SC1 to SC3 (not shown in the figure), wherein:

[0131] Step SC1: Obtain the car's moving speed.

[0132] The car's moving speed can be a preset car moving speed or a real-time car moving speed.

[0133] Step SC2: When the object detection sensor is set to either the first or third setting mode, obtain the car's outer profile height and determine the standard interval time based on the car's outer profile height and car movement speed.

[0134] The car's external height can be preset as a parameter, which is pre-set by technicians and stored in electronic equipment.

[0135] Specifically, , For standard time intervals, The speed at which the car moves. This refers to the height of the car's outer profile.

[0136] Step SC3: When the object detection sensor is set to the second or fourth setting mode, obtain the outer height of the counterweight frame, and determine the standard interval time based on the outer height of the counterweight frame and the car's moving speed.

[0137] The height of the outer frame can be a preset parameter, which is set by technicians and stored in the electronic device.

[0138] Specifically, , For standard time intervals, Car movement speed, This is the height of the outer contour of the counterweight frame.

[0139] In this embodiment of the application, the latest object detection signal group is determined by a standard time interval to avoid the object detection sensor detecting an object other than the counterweight and the car when an effective object detection signal appears, which would lead to inaccurate determination of the latest object detection signal group and thus affect the accuracy of the relative position relationship of the target.

[0140] One possible implementation of this application embodiment, step SC1, may specifically include steps SD1 to SD3 (not shown in the figure), wherein:

[0141] Step SD1: Obtain the first absolute height of the car target corresponding to the car position marker and the counterweight frame position marker at the current moment, and the second absolute height of the car target corresponding to the car position marker and the counterweight frame position marker at another moment.

[0142] The other moment is before the current moment, and preferably the interval between the other moment and the current moment is no more than 1 second.

[0143] Step SD2: Determine the time interval between the current moment and another moment.

[0144] Step SD3: Determine the car's moving speed using the car speed calculation formula, whereby the car speed calculation formula is: , The speed at which the car moves. The target absolute height for the first car. The target absolute height for the second car. This refers to the interval duration.

[0145] In this embodiment, compared to determining the car's moving speed based on the rotational speed of the drive wheel, when there may be slippage between the drive wheel and the steel cable, the moving speed of the steel cable and the rotational speed of the drive wheel are inconsistent. There is a deviation between the moving speed of the steel cable determined based on the rotational speed of the drive wheel and the actual moving speed of the steel cable. The accuracy of the car's moving speed determined based on the deviated moving speed of the steel cable is low. This solution uses the absolute target height of the car at the current moment and the absolute target height of the car at another moment, which can effectively avoid the error caused by the slippage between the drive wheel and the steel cable, thereby improving the accuracy of the car's moving speed.

[0146] The above embodiments describe an elevator position determination method from the perspective of process flow. The following embodiments describe an elevator position determination system from the perspective of virtual modules or virtual units. For details, please refer to the following embodiments.

[0147] This application provides an elevator position determination system, such as... Figure 5 As shown, the elevator position determination system may specifically include:

[0148] The basic data acquisition module 201 is used to acquire the target relative position relationship between the car position marker and the counterweight frame position marker, and the interval distance between the car position marker and the counterweight frame position marker.

[0149] The initial height determination module 202 is used to determine the absolute height of the first car and the absolute height of the second car based on the interval distance, wherein the absolute height of the car represents the vertical distance from the car identification point to the bottom of the hoistway;

[0150] The target absolute height determination module 203 is used to filter out the target absolute height of the car that conforms to the target relative position relationship from the first car absolute height and the second car absolute height;

[0151] The absolute position determination module 204 is used to determine the absolute position of the car door based on the target absolute height of the car and the preset position of the car door.

[0152] In one possible implementation of this application embodiment, the initial height determination module 202, when determining the absolute height of the first car and the absolute height of the second car based on the interval distance, is specifically used for:

[0153] Obtain the vertical height of the reference point and the horizontal distance between the car and the counterweight frame;

[0154] Based on the interval distance, the vertical height of the reference point, and the horizontal spacing, the absolute height of the first car and the absolute height of the second car are determined using the absolute height calculation formula.

[0155] The formula for calculating absolute height is as follows: , For interval distance, The absolute heights of the first and second cars are given. The vertical height of the reference point This refers to the horizontal spacing.

[0156] One possible implementation of this application's embodiment, the elevator position determination system, further includes:

[0157] The car position adjustment module is used for:

[0158] Obtain the absolute position of the preset door corresponding to the target floor;

[0159] When the preset absolute position of the landing door is different from the absolute position of the car door, calculate the absolute position difference between the preset absolute position of the landing door and the absolute position of the car door;

[0160] Adjust the car position according to the absolute position difference until the absolute position of the car door is the same as the absolute position of the preset landing door.

[0161] One possible implementation of this application embodiment is to place two object detection sensors on a target object, which is the car and / or the counterweight frame.

[0162] The basic data acquisition module 201, when executing the acquisition of the target relative position relationship between the car position marker point and the counterweight frame position marker point, is used for:

[0163] Obtain the target relative positional relationship between the car position marker and the counterweight frame position marker, including:

[0164] Acquire the latest object detection signal set, wherein the latest object detection signal set includes the latest first object detection signal and the latest second object detection signal corresponding to the object detection sensor;

[0165] The relative positional relationship of the targets is determined based on the effective signal detection time corresponding to the latest first object detection signal and the effective signal detection time corresponding to the latest second object detection signal.

[0166] One possible implementation of this application embodiment, the object detection sensor setting method, includes:

[0167] First setup: Two object detection sensors are respectively installed at the top and bottom of the car;

[0168] or,

[0169] Second setup: Two object detection sensors are respectively installed on the top of the car and the top of the counterweight frame;

[0170] or,

[0171] Third setting method: Two object detection sensors are respectively set at the bottom of the car and the bottom of the counterweight frame;

[0172] or,

[0173] Fourth setup: Two object detection sensors are set at the top and bottom of the counterweight frame, respectively.

[0174] In one possible implementation of this application embodiment, the basic data acquisition module 201, when acquiring the latest object detection signal group, is used for:

[0175] Acquire a first initial signal group corresponding to the first object detection signal and a second initial signal group corresponding to the second object detection signal, wherein both the first initial signal group and the second initial signal group include multiple object detection signals within a preset time range;

[0176] Obtain the standard interval time; and filter from the first initial signal group and the second initial signal group to determine the latest first object detection signal and the latest second object detection signal that appear within the standard interval time to obtain the latest object detection signal group.

[0177] In one possible implementation of this application embodiment, the basic data acquisition module 201, when executing the acquisition of the standard interval time, is used for:

[0178] When the object detection sensor is set to the first setting mode or the third setting mode, the car's outer profile height is obtained, and the standard interval time is determined based on the car's outer profile height and the car's moving speed.

[0179] When the object detection sensor is set to the second or fourth setting mode, the outer height of the counterweight frame is obtained, and the standard interval time is determined based on the outer height of the counterweight frame and the car's moving speed.

[0180] In one possible implementation of this application embodiment, the basic data acquisition module 201, when acquiring the car's moving speed, is used for:

[0181] Obtain the absolute height of the first car target at the current moment and the absolute height of the second car target at another moment;

[0182] Determine the duration of the interval between the current moment and another moment;

[0183] The car's moving speed is determined using the formula for calculating the car's moving speed, where the formula is: , The speed at which the car moves. The target absolute height for the first car. The target absolute height for the second car. This refers to the interval duration.

[0184] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the elevator position determination system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0185] This application provides an electronic device, such as... Figure 6 As shown, Figure 6 The illustrated electronic device includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device does not constitute a limitation on the embodiments of this application.

[0186] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0187] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0188] The memory 303 may be a ROM (Read-Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or it may be an EEPROM (Electrically Erasable Programmable Read-Only Memory), a CD-ROM (Compact Disc Read-Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0189] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0190] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 6 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0191] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments. Compared with related technologies, this application's embodiment, which uses the rotational speed of the drive wheel to determine the car position, may suffer from low accuracy due to slippage between the steel cable and the drive wheel. This solution calculates two possible absolute car heights by using the distance between the car and the counterweight frame, and then determines the target absolute car height that conforms to the target relative position relationship from the two possible absolute car heights. This reduces the probability of low accuracy due to slippage between the steel cable and the drive wheel, thus obtaining a more accurate target absolute car height. With this more accurate target absolute car height, the absolute position of the car door is determined, thereby accurately locating the car position.

[0192] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0193] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An elevator position determination method, characterized by, include: Obtain the relative positional relationship between the car position marker and the counterweight frame position marker, and the distance between the car position marker and the counterweight frame position marker; Based on the interval distance, the absolute height of the first car and the absolute height of the second car are determined, wherein the absolute height of the car represents the vertical distance from the car identification point to the bottom of the hoistway; Select the target absolute height of the car that matches the target relative position relationship from the first car absolute height and the second car absolute height; The absolute position of the car door is determined based on the target absolute height of the car and the preset position of the car door. Determining the absolute height of the first car and the absolute height of the second car based on the interval distance includes: Obtain the vertical height of the reference point and the horizontal distance between the car and the counterweight frame; Based on the interval distance, the vertical height of the reference point, and the horizontal spacing, the absolute height of the first car and the absolute height of the second car are determined using the absolute height calculation formula. The absolute height calculation formula is: , is the interval distance, is the first car absolute height and the second car absolute height, is the reference point vertical height, is the horizontal interval.

2. The elevator position determination method according to claim 1, characterized by After determining the absolute position of the car door based on the target absolute height of the car and the preset car door position, the method further includes: Obtain the absolute position of the preset door corresponding to the target floor; When the absolute position of the preset landing door is different from the absolute position of the car door, calculate the absolute position difference between the absolute position of the preset landing door and the absolute position of the car door; Adjust the car position according to the absolute position difference until the absolute position of the car door is the same as the absolute position of the preset landing door.

3. The elevator position determination method according to claim 1, characterized by, Two object detection sensors are placed on the target object, which is the car and / or the counterweight frame; Obtain the target relative positional relationship between the car position marker and the counterweight frame position marker, including: Acquire the latest object detection signal group, wherein the latest object detection signal group includes the latest first object detection signal and the latest second object detection signal corresponding to the object detection sensor; The relative positional relationship of the target is determined based on the effective signal detection time corresponding to the latest first object detection signal and the effective signal detection time corresponding to the latest second object detection signal.

4. The elevator position determination method according to claim 3, characterized by Object detection sensor setup methods include: First configuration method: The two object detection sensors are respectively installed at the top and bottom of the car; or, Second configuration: The two object detection sensors are respectively installed on the top of the car and the top of the counterweight frame; or, Third configuration method: The two object detection sensors are respectively installed at the bottom of the car and the bottom of the counterweight frame; or, Fourth setting method: The two object detection sensors are respectively set at the top and bottom of the counterweight frame.

5. The elevator position determination method according to claim 4, characterized by The acquisition of the latest object detection signal set includes: Acquire a first initial signal group corresponding to the first object detection signal and a second initial signal group corresponding to the second object detection signal, wherein both the first initial signal group and the second initial signal group include multiple object detection signals within a preset time range; Obtain a standard interval time; and filter the first initial signal group and the second initial signal group to determine the latest first object detection signal and the latest second object detection signal that appear at a time interval of the standard interval time, so as to obtain the latest object detection signal group.

6. The elevator position determination method according to claim 5, characterized in that, The acquisition of the standard interval time includes: Get the car's moving speed; When the object detection sensor is set to the first setting mode or the third setting mode, the car's outer profile height is obtained, and the standard interval time is determined based on the car's outer profile height and the car's moving speed. When the object detection sensor is set to the second setting mode or the fourth setting mode, the outer height of the counterweight frame is obtained, and the standard interval time is determined based on the outer height of the counterweight frame and the car's moving speed.

7. The elevator position determination method according to claim 6, characterized in that, The process of obtaining the car's moving speed includes: Obtain the absolute height of the first car target at the current moment and the absolute height of the second car target at another moment; Determine the duration of the interval between the current time and the other time. The car's moving speed is determined using a formula for calculating the car's moving speed, wherein the formula for calculating the car's moving speed is: , The speed at which the car moves. The absolute height of the first car target. This represents the absolute height of the second car target. The interval duration is specified.

8. An elevator position determination system, characterized in that, For implementing the method of claim 1, comprising: The basic data acquisition module is used to acquire the target relative positional relationship between the car position marker and the counterweight frame position marker, as well as the interval distance between the car position marker and the counterweight frame position marker. The initial height determination module is used to determine the absolute height of the first car and the absolute height of the second car based on the interval distance, wherein the absolute height of the car represents the vertical distance from the car identification point to the bottom of the hoistway; The target absolute height determination module is used to filter out the target absolute heights from the first car absolute height and the second car absolute height that conform to the target relative position relationship; The absolute position determination module is used to determine the absolute position of the car door based on the target absolute height of the car and the preset position of the car door.

9. An electronic device, characterized in that, include: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the elevator position determination method according to any one of claims 1 to 7.

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