Control method for eliminating accumulated position error of reciprocating type lifting mechanism

Abstract

The invention provides a control method for eliminating accumulated position errors of a reciprocating type lifting mechanism, which comprises the following steps of: S1, sending a target position: sending target encoder position information to a reciprocating type elevator car, and starting an authentication piece on an encoder to a to-be-detected state; s2, waiting for a first signal: an authentication sheet at the position of a target encoder waits for detecting a signal of a first groove type correlation switch, triggers calculation of a first encoder value, and sends the first encoder value to a reciprocating elevator car; s3, waiting for a second signal; and S4, operation is stopped. According to the invention, two times of position correction are carried out through the address recognition sheet, so that the positioning position error is very small, the expected effect is completely achieved, and the situation of overlarge accumulated error during long-term operation is avoided; and the fault alarm of inaccurate positioning caused by overlarge accumulated error after long-term operation is reduced.

Description

Technical Field

[0001] The invention relates to a control method, in particular to a control method for eliminating cumulative position errors of a reciprocating lifting mechanism. Background Art

[0002] Reciprocating lifting mechanisms are widely used in automated logistics systems, and there are many methods for car positioning, which can be summarized as follows: mechanical limit, photoelectric switch limit, encoder positioning, and induction switch method. These methods have their own characteristics and are suitable for different environments and needs. However, in actual application, it is found that choosing only one method will have certain disadvantages, which will almost inevitably lead to the generation of cumulative errors. This cumulative error may come from the accumulation of error data or the cumulative deformation of the mechanical structure. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control method for eliminating the accumulated position error of a reciprocating lifting mechanism. The control method for eliminating the accumulated position error of a reciprocating lifting mechanism adopts the method of multiple sending of target positions by an encoder and auxiliary positioning by a photoelectric switch to well solve the problem of accumulated encoder positioning error, and can realize the automatic correction function of the car positioning.

[0004] The present invention is achieved through the following technical solutions.

[0005] The present invention provides a control method for eliminating cumulative position errors of a reciprocating lifting mechanism, comprising the following steps:

[0006] S1. Send target position: Send the target encoder position information to the reciprocating elevator car, and the authentication piece on the encoder starts to the waiting state;

[0007] S2, waiting for the first signal: the authentication piece at the target encoder position waits for detecting the signal of the first slot-type shooting switch, triggers the calculation of the first encoder value, and sends the first encoder value to the reciprocating elevator car;

[0008] S3, waiting for the second signal: the authentication piece at the target encoder position waits for detecting the signal of the second slot-type shooting switch, triggers the calculation of the second encoder value, and sends the second encoder value to the reciprocating elevator car;

[0009] S4. Stop running: The reciprocating elevator car runs to the second encoder value position and stops.

[0010] The first encoder value is the encoder position information plus the authentication piece length.

[0011] The second encoder value p is p=(M+LH) / 2, where M is the encoder position information, L is the length of the authentication piece, and H is the total height of the first slot-type beamforming switch and the second slot-type beamforming switch.

[0012] The elevator car decelerates upon receiving the first encoder value and travels to a target position with the first encoder value as the value.

[0013] When the elevator car receives the second encoder value, it moves forward in the original direction by a certain distance, and the certain distance is equal to the second encoder value.

[0014] The encoder position information is the height value of the edge of the authentication piece.

[0015] The length L of the authentication piece is greater than the total height H of the first slot-type beamforming switch and the second slot-type beamforming switch.

[0016] The position of the elevator car after traveling a certain distance is the predetermined position of the elevator car on that floor.

[0017] The beneficial effects of the present invention are as follows: by performing two position corrections through the address recognition piece, it is ultimately possible to ensure that the positioning position error is very small, fully achieve the expected effect, and there will be no excessive cumulative error during long-term operation; and the fault alarm of inaccurate positioning due to excessive cumulative error after long-term operation is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a process schematic diagram of at least one embodiment of the present invention. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0020] The first embodiment of the present invention relates to a control method for eliminating cumulative position errors of a reciprocating lifting mechanism, comprising the following steps:

[0021] S1. Send target position: Send the target encoder position information to the reciprocating elevator car, and the authentication piece on the encoder starts to the waiting state;

[0022] S2, waiting for the first signal: the authentication piece at the target encoder position waits for detecting the signal of the first slot-type shooting switch, triggers the calculation of the first encoder value, and sends the first encoder value to the reciprocating elevator car;

[0023] S3, waiting for the second signal: the authentication piece at the target encoder position waits for detecting the signal of the second slot-type shooting switch, triggers the calculation of the second encoder value, and sends the second encoder value to the reciprocating elevator car;

[0024] S4. Stop running: The reciprocating elevator car runs to the second encoder value position and stops.

[0025] The second embodiment of the present invention is substantially the same as the first embodiment, mainly in that the first encoder value is the encoder position information plus the authentication piece length.

[0026] Preferably, the encoder position information is the authentication piece edge height value.

[0027] The third embodiment of the present invention is substantially the same as the first embodiment, mainly in that: the second encoder value p is p=(M+LH) / 2, wherein M is the encoder position information, L is the authentication piece length, and H is the total height of the first slot-type counter-shooting switch and the second slot-type counter-shooting switch.

[0028] Further, when the elevator car receives the second encoder value, it moves forward a certain distance in the original direction, and the certain distance is equal to the second encoder value.

[0029] Furthermore, the length L of the authentication sheet is greater than the total height H of the first slot-type beam-through switch and the second slot-type beam-through switch.

[0030] Furthermore, the position of the elevator car after traveling a certain distance is the predetermined position of the elevator car on that floor.

[0031] An example operation process of the above implementation is as follows: Figure 1 As shown in the figure, the reciprocating elevator car runs from position A to position B, and the control process of the car positioning algorithm is briefly described. First, the encoder positions corresponding to the car at positions A and B have been determined. When the car receives the command to run from position A to position B, the system will send the encoder position (L) of position B to the car, and the car will start to run towards the target position B. When the slot-type shooting switch U2 installed on the car reaches the B1 position, the system collects the rising edge of the U2 signal, triggering the calculation of the new position 1: add the encoder value a1 corresponding to the length of the address piece to the current encoder position (m), and send the value of this new position 1 as the target position to the car, and the car continues to run at the new position 1. When the slot-type beam-turning switch U1 installed on the car reaches the B1 position and the system collects the rising edge of the U1 signal, it triggers the calculation of the new position 2: the current encoder position n is added to the encoder value corresponding to the address plate (a2÷2), and the value of this new position 2 is sent to the car as the target position. The car continues to run at the new position 2 until it reaches the target position and stops. At the same time, the signal status of U1 and U2 will also be detected to ensure that the position is accurate.

Claims

1. A control method for eliminating cumulative position error of a reciprocating lifting mechanism, characterized in that: The following steps are involved: S1. Send target position: Send the target encoder position information to the reciprocating elevator car, and the authentication piece on the encoder starts to the waiting state; S2, waiting for the first signal: the authentication piece at the target encoder position waits for detecting the signal of the first slot-type shooting switch, triggers the calculation of the first encoder value, and sends the first encoder value to the reciprocating elevator car; S3, waiting for the second signal: the authentication piece at the target encoder position waits for detecting the signal of the second slot-type shooting switch, triggers the calculation of the second encoder value, and sends the second encoder value to the reciprocating elevator car; S4. Stop running: The reciprocating elevator car runs to the second encoder value position and stops.

2. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 1, characterized in that: The first encoder value is the encoder position information plus the authentication piece length.

3. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 1, characterized in that: The second encoder value p is p=(M+LH) / 2, where M is the encoder position information, L is the length of the authentication piece, and H is the total height of the first slot-type beamforming switch and the second slot-type beamforming switch.

4. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 1, characterized in that: The elevator car decelerates upon receiving the first encoder value and travels to a target position with the first encoder value as the value.

5. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 1, characterized in that: When the elevator car receives the second encoder value, it moves forward in the original direction by a certain distance, and the certain distance is equal to the second encoder value.

6. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 2, characterized in that: The encoder position information is the height value of the edge of the authentication piece.

7. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 3, characterized in that: The length L of the authentication piece is greater than the total height H of the first slot-type beamforming switch and the second slot-type beamforming switch.

8. The control method for eliminating cumulative position error of a reciprocating lifting mechanism according to claim 1, characterized in that: The position of the elevator car after traveling a certain distance is the predetermined position of the elevator car on that floor.

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