A method for positioning a car of a car lift and a storage medium

Abstract

The application discloses a kind of car elevator positioning method and storage medium, including positioning system, the system includes elevator, positioning sensor and mounting bracket, sensor detection piece and floor confirmation sensor;Each positioning sensor is installed on the corresponding mounting bracket to form a set of positioning components, and multiple sets of positioning components are installed on each floor respectively;The elevator includes elevator body, outer frame and counter sensor;The sensor detection piece is L-shaped, and the sensor detection piece is installed on the outer frame of elevator;Floor confirmation sensor is installed on each floor;The floor confirmation sensor is mirror reverse photoelectric sensor.The positioning system provided in the application judges the position by counter sensor and floor confirmation sensor, realizes position following, reduces the judgment error, increases equipment safety, and the manufacturing cost is low.

Description

Technical Field

[0001] This invention relates to the field of positioning control for car elevators, and more particularly to a positioning method and storage medium for car elevators. Background Technology

[0002] The car hoist is an important component of the elevator system. The positioning methods for the operation of the car hoist are generally divided into the following three types: address card positioning (positioning is carried out through address cards), laser ranging positioning (positioning is carried out through laser rangefinders), and laser barcode reading positioning (mainly implemented through laser barcode locators).

[0003] Researchers have found that using a lower-cost addressing chip positioning method in conjunction with the efficient and stable operation of a car elevator is currently the more prevalent positioning approach. The working principle of the addressing chip positioning method is as follows: This method is a relative positioning system. A specific location is designated as the baseline source position, and the remaining locations are determined based on the counting of addressing chips. During operation, addressing chips are detected, and the count is incremented / decremented to achieve cargo location identification.

[0004] Generally speaking, laser ranging or laser barcode reading positioning methods require the addition of laser or scanning sensors. These two types of equipment are expensive and not cost-effective for some applications. Furthermore, laser ranging or laser barcode reading positioning methods require additional programming and on-site debugging by specialized personnel, wasting manpower. Therefore, the address-based positioning system has a simpler structure, is easier to install, and offers better cost-effectiveness, while achieving the same operational effect and efficiency as laser positioning methods.

[0005] Further research revealed that existing address chip positioning methods still have the following technical defects: existing address chip counting positioning methods are prone to errors in counting and are difficult to recover from after a failure. Summary of the Invention

[0006] The purpose of this invention is to provide a positioning system, positioning method and storage medium for a car-type hoist, which solves the above-mentioned technical problems pointed out in the prior art.

[0007] This invention proposes a positioning system for a car-type hoist, including a hoist, positioning sensors and mounting brackets, sensor detection plates and floor confirmation sensors; each of the positioning sensors is mounted on a corresponding mounting bracket to form a positioning assembly, and multiple sets of the positioning assemblies are respectively installed on each floor;

[0008] The hoist includes a hoist body, an outer frame, and a counting sensor;

[0009] The sensor detection piece is L-shaped and is mounted on the outer frame of the hoist; the floor confirmation sensor is installed on each floor.

[0010] The floor confirmation sensor is a mirror-type photoelectric sensor.

[0011] Preferably, as one possible implementation, the floor confirmation sensor has the function of outputting a feedback signal by the mirror-type photoelectric sensor after the hoist's counting sensor reaches a target value, to determine that the hoist has reached the floor where the current floor confirmation sensor is located.

[0012] Preferably, as one possible implementation; the positioning sensor is U-shaped, and the center of the positioning sensor is provided with a U-shaped slot; the positioning sensor is used to send a feedback signal after entering and passing through the sensor detection piece in the U-shaped slot, and to send a second feedback signal after passing through and leaving the U-shaped slot.

[0013] Preferably, as one possible implementation, it also includes a program-controlled frequency converter and upper and lower limit switch sensors; the upper and lower limit switch sensors are installed at the lowest and highest positions of the floors; the upper and lower limit switch sensors are used to trigger the upper and lower limit switch sensors when the hoist malfunctions and causes it to rise or fall, and the program-controlled frequency converter immediately controls the current hoist to stop running.

[0014] This invention provides a positioning method for a car-type hoist, which utilizes a car-type hoist positioning system to implement positioning control processing, including the following operation steps:

[0015] Initialization settings: Set the lowest bit of the current hoist to level one, and the count value of the counting sensor of the current level to N;

[0016] The system receives command signals to calculate and control the positioning of the target layer: It receives command signals indicating the need to locate the target layer in real time. After receiving these signals, it parses them to obtain the target layer and its corresponding target value. It then detects and compares the current actual count value of the current counting sensor with the target value to determine the running direction. When the target value is greater than the current actual count value, it controls the hoist to rise; when the target value is less than the current actual count value, it controls the hoist to descend; and when the target value is equal to the current actual count value, it controls the hoist to stop.

[0017] During the current hoisting process, the counting sensor performs the upward counting: when the hoist is rising, the sensor detection piece triggers the counting sensor and the count is incremented by one. When the hoist continues to rise, the sensor detection piece disengages from the counting sensor and the counting sensor has no signal, the count is incremented by one again.

[0018] During the current hoist's ascent, the counting sensor performs a descent count: when the hoist is descending, the sensor detection piece triggers the counting sensor, and the count is decremented by one. As the hoist continues to descend, the sensor detection piece disengages from the counting sensor, and the counting sensor loses its signal, the count is decremented by one again.

[0019] Preferably, as one possible implementation method, while performing "receiving control signals to perform calculation and control positioning of the target layer", it also includes performing the shift speed control operation of the current hoist;

[0020] The aforementioned operation of controlling the shift speed of the current hoist specifically includes:

[0021] Obtain the two set speed change distance differences, specifically including the mid-speed change distance difference and the low-speed change distance difference;

[0022] The current actual count value of the hoist is obtained in real time. The target value is subtracted from the current actual count value of the hoist, and the absolute value is processed to obtain a difference, which is determined as the spacing difference.

[0023] The system monitors the relationship between the spacing difference and the intermediate and lower exchange distances in real time. If the monitoring finds that the spacing difference is greater than or equal to the intermediate exchange distance difference, the system controls the hoist to run at high speed. If the monitoring finds that the spacing difference is less than the intermediate exchange distance difference but greater than the lower exchange distance difference, the system controls the hoist to run at low speed. When the spacing difference is less than or equal to the lower exchange distance difference, the system controls the hoist to stop running actively and to slide to the designated position.

[0024] Preferably, as one possible implementation method, after performing "receiving control signals to implement the calculation and control positioning of the target layer", the method further includes a confirmation operation of the current positioning position of the hoist.

[0025] The operation of confirming the current position of the hoist specifically includes:

[0026] After the hoist stops running, first determine whether the current actual count value of the hoist is equal to the target value;

[0027] Receive the signal feedback from the current floor confirmation sensor, and determine whether the sensor number corresponding to the floor confirmation sensor of the target floor is consistent with the signal feedback.

[0028] Determine whether the positioning sensor on the current floor has been triggered by the sensor detection plate;

[0029] If the results of the above three judgment conditions are all "yes", then the current hoist is confirmed to be stopped accurately.

[0030] Preferably, as one possible implementation method, after performing "receiving control signals to implement the calculation and control positioning of the target layer", it also includes fault detection processing of the current hoist's counting sensor;

[0031] The counting sensor has a preset upper and lower limit range for counting. If the current counting value of the counting sensor exceeds the upper and lower limit range, the counting sensor is determined to be faulty.

[0032] If the counting sensor is detected to be faulty, the counting value at the current position is updated in real time based on the feedback signal from the floor confirmation sensor, and the counting value of the counting sensor is corrected by the updated counting value.

[0033] Preferably, as one possible implementation, the upper and lower limit switch sensors are installed at the lowest and highest points of the floor; the upper and lower limit switch sensors are triggered when the hoist malfunctions, causing it to rise or fall; the program-controlled frequency converter then uses emergency control to stop the current hoist.

[0034] Compared with the prior art, the embodiments of the present invention have at least the following technical advantages:

[0035] Analysis of the above-mentioned positioning system, positioning method and storage medium for a car-type hoist provided by the present invention reveals that;

[0036] In practical applications, the initial settings are as follows: the lowest position of the current hoist is set to the first floor, and the counting value of the counting sensor 101 of the current floor is N; (for example, N can be 10 or 20, and the counting values ​​of other floors are determined according to the number of counting plates and the counting rules; if the counting value of the first floor is N, then the target value of the next floor, i.e. the second floor, is N+2, because the sensor detection plate 30 counts once when it enters the U-shaped slot and counts once when it leaves the U-shaped slot).

[0037] The system receives command signals to calculate and control the positioning of the target layer: It receives command signals that require positioning to the target layer in real time. After receiving the command signal (the address of the target layer needs to be input in the program block to form the command signal), it parses the command signal to obtain the target layer and its corresponding target value; it detects and compares the current actual count value of the current counting sensor 101 with the target value (or target value) to determine the running direction; when the target value is greater than the current actual count value, it controls the hoist to rise; when the target value is less than the current actual count value, it controls the hoist to descend; when the target value is equal to the current actual count value, it controls the current hoist to stop.

[0038] This embodiment sets the count value of the initial layer and determines the running direction (upward or downward) of the hoist by comparing the target count value of the target layer with the current actual count value. When the target value is equal to the actual value, the hoist stops running, thus achieving accurate positioning.

[0039] This invention proposes a positioning method for a car-type hoist. By using a counting sensor and a sensor detection plate, the counting can be accumulated during the hoist's ascent or decremented during its descent. The counting process is simple and reliable. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the overall architecture of a car-type hoist positioning system provided in Embodiment 2 of the present invention;

[0042] Figure 2 This is a schematic diagram of the positioning sensor structure in a car-type hoist positioning system provided in Embodiment 2 of the present invention;

[0043] Figure 3 This is a schematic diagram of the sensor detection plate structure in a car-type hoist positioning system provided in Embodiment 2 of the present invention;

[0044] Figure 4 This is a schematic diagram of the overall operation steps of a car-type hoist positioning method provided in Embodiment 1 of the present invention;

[0045] Figure 5 This is a schematic diagram of the shifting speed control operation of a car-type hoist, which is provided in Embodiment 1 of the present invention.

[0046] Figure 6 This is a schematic diagram illustrating the operation steps for confirming the current positioning position of a car-type hoist in a positioning method provided in Embodiment 1 of the present invention.

[0047] Figure 7 This is a schematic diagram illustrating the operation steps for fault detection and processing of the counting sensor of the current hoist in a positioning method for a car-type hoist provided in Embodiment 1 of the present invention.

[0048] Reference numerals: Hoist 100; Counting sensor 101; Positioning sensor 10; Mounting bracket 20; Sensor detection piece 30; Floor confirmation sensor 40; Program-controlled frequency converter 50; Upper and lower limit switch sensor 60. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0051] Example 1

[0052] like Figure 1 As shown, this invention proposes a positioning system for a car-type hoist, see [link / reference]. Figure 1 As shown in the schematic diagram of the positioning system, the above-mentioned elevator positioning system includes an elevator 100, positioning sensors 10, mounting brackets 20, sensor detection plates 30, and floor confirmation sensors 40. Each positioning sensor 10 is mounted on a corresponding mounting bracket 20 to form a positioning assembly, and multiple sets of positioning assemblies are respectively installed on each floor (i.e., one positioning assembly is installed on each floor). The elevator 100 includes an elevator body, an outer frame, and a counting sensor 101.

[0053] The sensor detection piece 30 is L-shaped (see also...). Figure 3 The sensor detection piece 30 is installed on the outer frame of the hoist 100; the floor confirmation sensor 40 is installed on each floor; the sensor detection piece 30 adopts an "L" shape, and can be designed with a variety of different lengths of "support arms" to meet the requirements of sensor detection pieces with different lengths of "support arms" being installed in various specific positions, realizing the U-shaped openings of positioning sensors at different positions, thereby realizing the signal feedback of each positioning sensor.

[0054] The floor confirmation sensor 40 is a mirror-type photoelectric sensor.

[0055] Preferably, as one possible implementation, the floor confirmation sensor 40 has the function of outputting a feedback signal by the mirror photoelectric sensor after the counting sensor 101 of the hoist 100 reaches the target value, to determine that the hoist has reached the floor where the floor confirmation sensor 40 is located.

[0056] Preferably, as one possible implementation; the positioning sensor 10 is U-shaped, and the center of the positioning sensor 10 is provided with a U-shaped slot; the positioning sensor 10 is used to send a feedback signal after entering and passing through the sensor detection piece 30 in the U-shaped slot, and to send a second feedback signal after passing through and leaving the U-shaped slot.

[0057] See Figure 2 and Figure 3 The positioning sensor 10 uses a slotted switch. When the sensor detection piece 30 passes through the inside of the U-shaped slot, the positioning sensor outputs a signal. Figure 2 This indicates a slotted switch.

[0058] Preferably, as one possible implementation method; see Figure 1 The aforementioned car-type hoist positioning system also includes a program-controlled frequency converter 50 and upper and lower limit switch sensors 60; the upper and lower limit switch sensors are installed at the lowest and highest floors; the upper and lower limit switch sensors are used to trigger the upper and lower limit switch sensors when the hoist malfunctions and causes it to rise or fall, and the program-controlled frequency converter immediately controls the current hoist to stop running.

[0059] Example 2

[0060] See Figure 4 Embodiment 2 of the present invention proposes a positioning method for a car-type hoist, which utilizes a car-type hoist positioning system provided in Embodiment 1 to implement positioning control processing, including the following operation steps:

[0061] S10. Initialization settings: Set the lowest position of the current hoist to level 1, and the counting value of the counting sensor 101 of the current level to N; (for example, N can be 10 or 20. The counting values ​​of other levels are determined according to the number of counting plates and the counting rules. If the counting value of the first level is N, then the target value of the next level, i.e., the second level, is N+2, because the sensor detection plate 30 counts once when it enters the U-shaped slot and counts once when it leaves the U-shaped slot).

[0062] S20. Receive command signals and perform target layer calculation and control positioning: Receive command signals that require positioning to the target layer in real time. After receiving the command signal (the address of the target layer needs to be input in the program block to form the command signal), parse the command signal to obtain the target layer and the corresponding target value; detect and compare the current actual count value of the current counting sensor 101 with the target value (or target value) to determine the running direction; when the target value is greater than the current actual count value, control the hoist to rise; when the target value is less than the current actual count value, control the hoist to descend; when the target value is equal to the current actual count value, control the current hoist to stop running.

[0063] During the current hoisting process, the counting sensor 101 performs the rising count: when the hoist is rising, the sensor detection piece 30 triggers the counting sensor 101 and the count is incremented by one. As the hoist continues to rise, the sensor detection piece disengages from the counting sensor 101. When the counting sensor 101 has no signal, the count is incremented by one again.

[0064] During the current hoist's ascent, the counting sensor 101 performs a descent count: when the hoist is descending, the sensor detection piece 30 triggers the counting sensor 101, and the count is decremented by one. As the hoist continues to descend, the sensor detection piece 30 disengages from the counting sensor 101, and when the counting sensor 101 has no signal, the count is decremented by one again.

[0065] It should be noted that in the above-mentioned S20 technical solution, the target layer and target address need to be input in the program block. The current actual count value of the current counting sensor of the hoist is compared with the target value (or objective value) to determine the running direction. When the target value is greater than the current actual count value, the hoist moves upward; when the target value is less than the current actual count value, the hoist moves downward; when the target value is equal to the current actual count value, the hoist stops running.

[0066] Embodiment 2 of this invention proposes a positioning method for a car-type hoist, achieving precise positioning control of the car-type hoist. By setting an initial layer count value and comparing the target count value corresponding to the target layer with the current actual count value, the hoist's running direction (ascending or descending) is determined. When the target value equals the actual value, operation stops, thus achieving accurate positioning.

[0067] Embodiment 2 of the present invention proposes a positioning method for a car-type hoist, which has the technical advantage of flexible and reliable counting: by using the cooperation of a counting sensor and a sensor detection plate, the counting can be accumulated when the hoist is rising or subtracted when it is falling, and the counting process is simple and reliable.

[0068] Embodiment 2 of the present invention proposes a positioning method for a car-type hoist, which has the technical advantage of simple and convenient control logic: only the target layer position needs to be input in the program, and the system automatically parses the corresponding target count value, and realizes positioning control by comparing it with the current actual value. The control logic is simple and intuitive.

[0069] See Figure 5 While performing the "receiving control signals to implement the calculation and control positioning of the target layer", it also includes implementing the shift speed control operation of the current hoist;

[0070] The aforementioned operation of controlling the shift speed of the current hoist specifically includes:

[0071] S21. Obtain the two set speed change distance differences, specifically including the mid-speed change distance difference and the low-speed change distance difference;

[0072] S22. Obtain the current actual count value of the current hoist in real time, subtract the target value from the current actual count value of the hoist and take the absolute value to obtain a difference value, which is determined as the spacing difference.

[0073] S23. Real-time monitoring of the relationship between the spacing difference and the intermediate and low-level replacement distance differences; if the monitoring finds that the spacing difference is greater than or equal to the intermediate replacement distance difference, control the hoist to run at high speed; if the monitoring finds that the spacing difference is less than the intermediate replacement distance difference but greater than the low-level replacement distance difference, control the hoist to run at low speed; when the spacing difference is less than or equal to the low-level replacement distance difference, control the hoist to stop active operation and rely on sliding motion to reach the designated position.

[0074] It should be noted that in the above technical solution, two speed-changing distance differences are set in the program block: the intermediate speed-changing distance difference and the low speed-changing distance difference. The target value is compared with the current actual count value of the hoist to obtain a difference, which is the pitch difference. When the pitch difference is greater than or equal to the intermediate speed-changing distance difference, the hoist runs at high speed; when the pitch difference is less than the intermediate speed-changing distance difference but greater than the low speed-changing distance difference, the hoist runs at low speed; when the pitch difference is less than or equal to the low speed-changing distance difference, the hoist stops active operation and relies on gliding motion to reach the designated position.

[0075] In the technical solution of this embodiment, by setting two speed change distance difference thresholds (medium speed change distance difference and low speed change distance difference), and according to the relationship between the distance difference (spacing difference) between the target position and the current position and these two thresholds, the operating speed of the hoist is controlled in three stages. This can effectively reduce the speed when approaching the target position and improve the positioning accuracy.

[0076] In this embodiment, the technical solution features reduced impact and ensured smooth operation: When approaching the target position, it first switches from high-speed to low-speed operation, and finally stops actively, relying on gliding force to reach the target position. This phased deceleration method avoids the impact caused by sudden deceleration, ensuring the stability of the hoist. By rationally controlling the operating speed at different distance stages, maintaining high-speed operation to improve efficiency when far from the target, and appropriately reducing speed when approaching the target to ensure accuracy, both energy is saved and operating efficiency is improved.

[0077] See Figure 6 After executing the "receiving control signals to implement the calculation and control positioning of the target layer", it also includes a confirmation operation of the current positioning position of the hoist.

[0078] The operation of confirming the current position of the hoist specifically includes:

[0079] S31. After the hoist stops running, first determine whether the current actual count value of the hoist is equal to the target value;

[0080] S32. Receive the signal feedback from the current floor confirmation sensor 40, and determine whether the sensor number corresponding to the floor confirmation sensor 40 of the target floor is consistent with the signal feedback.

[0081] S33. Determine whether the positioning sensor 10 of the current floor is triggered by the sensor detection piece 30;

[0082] S34. When the results of the above three judgment conditions are all "yes", then the current hoist is confirmed to be stopped accurately.

[0083] It should be noted that in the above technical solution, after the hoist stops running, positioning confirmation is performed. The first condition is confirming that the current actual count value of the hoist equals the target value; the second condition is confirming that the current floor's mirror sensor has a signal feedback, and based on the signal feedback, confirming that the sensor number of the floor confirmation sensor 40 (i.e., the mirror-type photoelectric sensor) is consistent with the target floor (i.e., the same sensor); the third condition is confirming whether the current floor's positioning sensor 10 is triggered by the sensor detection piece 30. After the above conditions are met, a short delay is performed to confirm that the hoist has stopped accurately. After it has come to a stable stop, the program determines that the positioning operation is complete.

[0084] See Figure 7 After performing the "receiving control signals to implement the calculation and control positioning of the target layer", it also includes fault detection processing of the current hoist's counting sensor;

[0085] S41. The counting sensor has a preset upper and lower limit range for counting. If the current counting value of the counting sensor exceeds the upper and lower limit range, the counting sensor is determined to be faulty.

[0086] S42. If a fault is detected in the counting sensor, the counting value at the current position is refreshed in real time based on the feedback signal from the floor confirmation sensor 40, thereby correcting the counting value of the counting sensor.

[0087] It should be noted that when a counting error occurs for some reason, the system is set to refresh the current position's counting value in real time based on the feedback signal from the floor confirmation sensor 40, ensuring that the count can be updated to be correct when there is a counting error.

[0088] Preferably, as one possible implementation, the upper and lower limit switch sensors are installed at the lowest and highest positions of the floor; the upper and lower limit switch sensors are triggered when the hoist malfunctions and causes it to rise or fall; the program control frequency converter then urgently controls the current hoist to stop running.

[0089] The internal variables and control logic required for the hoist's operation are as follows: The hoist's position counting relies on the feedback signal from the counting sensor 101 and the actual running direction of the hoist for calculation. The lowest position of the hoist is set as one floor, with a count value of 10 or 20. The count values ​​for other floors are determined based on the number of counting plates and the counting rules.

[0090] Ascent Count: When the hoist is ascending, the sensor detection piece 30 triggers the counting sensor 101 and the count increments by one. When the hoist continues to ascend, the detection piece disengages from the counting sensor and the counting sensor has no signal, the count increments by one again. This logic is used to accumulate the count in a loop.

[0091] Descent Count: When the hoist descends, the sensor detection piece 30 triggers the counting sensor 101, and the count is decremented by one. When the descent continues and the detection piece disengages from the counting sensor and the counting sensor has no signal, the count is decremented by one again. This logic is repeated to decrease the count in a loop.

[0092] Counting Protection: When the hoist decelerates and stops from the ascending or descending state, it may slide a certain distance due to the deceleration time setting. In this case, the ascending or descending state should be extended (specifically, the counting time of the counting sensor should be extended) and the counting should continue.

[0093] When it is necessary to locate a specific layer, the target layer and target address must be input in the program block. The current actual count value of the hoist's current counting sensor is compared with the target value (or objective value) to determine the running direction. When the objective value is greater than the current actual count value, the hoist moves upward; when the objective value is less than the current actual count value, the hoist moves downward; when the objective value is equal to the current actual count value, the hoist stops running.

[0094] The program block sets two speed change distance differences: the intermediate speed change distance difference and the low speed change distance difference. The target value is compared with the current actual count value of the hoist to obtain a difference, which is the gap difference. When the gap difference is greater than or equal to the intermediate speed change distance difference, the hoist runs at high speed; when the gap difference is less than the intermediate speed change distance difference but greater than the low speed change distance difference, the hoist runs at low speed; when the gap difference is less than or equal to the low speed change distance difference, the hoist stops active operation and relies on gliding motion to reach the designated position.

[0095] After the hoist stops running, a positioning confirmation is performed. This includes confirming that the current actual count value of the hoist equals the target value; confirming that the current floor's mirror sensor has a signal feedback, and that the sensor number of the floor confirmation sensor 40 (i.e., the mirror-type photoelectric sensor) confirming the target floor matches (i.e., it's the same sensor); and confirming that the up / down stop positioning sensor 10 is triggered by the sensor detection piece 30. After these conditions are met, a short delay is performed to confirm that the hoist has stopped accurately and stably. Once stopped, the program determines that the positioning operation is complete.

[0096] The technical solution adopted in this embodiment of the invention involves the following: when the hoist is running at high speed and this sensor is triggered, the program protection is activated, forcing a switch from high speed to low speed. When an abnormality occurs in the hoist, causing it to rise or fall, the upper and lower limit switch sensors are triggered, and the program controls the frequency converter to stop urgently.

[0097] In summary, the positioning system provided by this invention uses a counter sensor in conjunction with a floor confirmation sensor to determine the position, thereby achieving position tracking, reducing judgment errors, increasing equipment safety, and having low manufacturing costs.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; those skilled in the art can modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning method for a car-type hoist, characterized in that, Positioning control is implemented using a car-type hoist positioning system, which includes a hoist, positioning sensors and mounting brackets, sensor detection plates and floor confirmation sensors; each positioning sensor is mounted on a corresponding mounting bracket to form a positioning assembly, and multiple sets of positioning assemblies are respectively installed on each floor; The hoist includes a hoist body, an outer frame, and a counting sensor; The sensor detection piece is L-shaped and is mounted on the outer frame of the hoist; the floor confirmation sensor is installed on each floor. The floor confirmation sensor is a mirror-type photoelectric sensor; The floor confirmation sensor has the capability to output a feedback signal when the hoist's counting sensor reaches the target value, thereby determining that the hoist has reached the floor where the current floor confirmation sensor is located. The positioning sensor is U-shaped, and a U-shaped slot is provided in the center of the positioning sensor; the positioning sensor is used to send a feedback signal after the sensor detection piece passes through the U-shaped slot and to send a second feedback signal after it passes out of the U-shaped slot. It also includes a program-controlled frequency converter and upper and lower limit switch sensors; the upper and lower limit switch sensors are installed at the lowest and highest positions of the floors; the upper and lower limit switch sensors are used to trigger the upper and lower limit switch sensors when the hoist malfunctions and causes it to rise or fall, and the program-controlled frequency converter will urgently control the current hoist to stop running; The positioning method for a car-type hoist includes the following steps: Initialization settings: Set the lowest bit of the current hoist to level one, and set the count value of the current level's counting sensor to N; Receive command signals to perform target layer calculation and control positioning: receive command signals that need to be located to the target layer position in real time, and after receiving the command signals that need to be located to the target layer position, parse the command signals to obtain the target layer and the target value corresponding to the target layer; The current actual count value of the current counting sensor is detected and compared with the target value to determine the running direction; When the target value is greater than the current actual count value, control the hoist to rise. When the target value is less than the current actual count value, the hoist is controlled to descend; when the target value is equal to the current actual count value, the hoist is controlled to stop. During the current hoisting process, the counting sensor performs the upward counting: when the hoist is rising, the sensor detection piece triggers the counting sensor and the count is incremented by one. When the hoist continues to rise, the sensor detection piece disengages from the counting sensor and the counting sensor has no signal, the count is incremented by one again. During the current hoist's ascent, the counting sensor performs a descent count: when the hoist is descending, the sensor detection piece triggers the counting sensor, and the count is decremented by one. As the hoist continues to descend, the sensor detection piece disengages from the counting sensor, and the counting sensor loses its signal, the count is decremented by one again.

2. The positioning method for a car-type hoist according to claim 1, characterized in that, While performing the "receiving control signals to implement the calculation and control positioning of the target layer", it also includes implementing the shift speed control operation of the current hoist; The aforementioned operation of controlling the shift speed of the current hoist specifically includes: Obtain the two set speed change distance differences, specifically including the mid-speed change distance difference and the low-speed change distance difference; The current actual count value of the hoist is obtained in real time. The target value is subtracted from the current actual count value of the hoist, and the absolute value is processed to obtain a difference, which is determined as the spacing difference. The system monitors the relationship between the spacing difference and the intermediate and lower exchange distances in real time. If the monitoring finds that the spacing difference is greater than or equal to the intermediate exchange distance difference, the system controls the hoist to run at high speed. If the monitoring finds that the spacing difference is less than the intermediate exchange distance difference but greater than the lower exchange distance difference, the system controls the hoist to run at low speed. When the spacing difference is less than or equal to the lower exchange distance difference, the system controls the hoist to stop running actively and to slide to the designated position.

3. The positioning method for a car-type hoist according to claim 1, characterized in that, After performing the "receiving control signals to implement the calculation and control positioning of the target layer", the process also includes confirming the current positioning position of the hoist. The operation of confirming the current position of the hoist specifically includes: After the hoist stops running, first determine whether the current actual count value of the hoist is equal to the target value; Receive the signal feedback from the current floor confirmation sensor, and determine whether the sensor number corresponding to the floor confirmation sensor of the target floor is consistent with the signal feedback. Determine whether the positioning sensor on the current floor has been triggered by the sensor detection plate; If the results of the above three judgment conditions are all "yes", then the current hoist is confirmed to be stopped accurately.

4. The positioning method for a car-type hoist according to claim 1, characterized in that, After performing the "receiving control signals to implement the calculation and control positioning of the target layer", it also includes fault detection processing of the current hoist's counting sensor; The counting sensor has a preset upper and lower limit range for counting. If the current counting value of the counting sensor exceeds the upper and lower limit range, the counting sensor is determined to be faulty. If the counting sensor is detected to be faulty, the counting value at the current position is updated in real time based on the feedback signal from the floor confirmation sensor, and the counting value of the counting sensor is corrected by the updated counting value.

5. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the storage medium to perform a positioning method for a car-type hoist as described in any one of claims 1-4.

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