Elevator vibration suppression method based on robot

Abstract

The invention discloses an elevator vibration suppression method based on a robot, which controls the robot to move relative to an elevator car, and suppresses the horizontal vibration of the elevator car by using the acting force applied to the elevator car when the robot moves. According to the elevator vibration suppression method based on the robot, the robot can be used for simply and conveniently suppressing the horizontal vibration of the elevator car at low cost, and particularly when the vibration level of the elevator exceeds the standard due to abnormality and other reasons of the elevator, the elevator can continue to provide transportation service for passengers; and the elevator taking experience of passengers cannot be influenced due to excessive vibration of the elevator car.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to an elevator vibration suppression method which utilizes a robot to suppress the vibration of an elevator car during movement. Background Art

[0002] The elevator car is usually guided by guide shoes fixed on the car frame so that it can move up and down along the guide rails in the hoistway. However, due to the errors in the processing and installation of the guide rails, the deflection of the guide rails caused by the uneven distribution of the car load, the slight misalignment and bending of the guide rails over time, and the airflow in the hoistway caused by the operation of the car, the car will vibrate horizontally when it moves up and down in the hoistway. This horizontal vibration will have a direct impact on the ride comfort, safety and service life of the elevator, so it is necessary to control the horizontal vibration of the elevator.

[0003] The vibration of the elevator car includes two types: vertical vibration in the vertical direction and horizontal vibration in the horizontal direction. For the horizontal vibration suppression of the elevator car, document 1 (US20050552910) proposes an ARG based on a variable hardness roller, which essentially changes the interaction force between the guide rail and the roller key by changing the hardness of the roller surface in contact with the guide rail, thereby achieving the suppression of the car vibration.

[0004] Document 2 (CN1178847C) proposes an ARG based on an electromagnetic actuator. The working principle of this technical solution is: when the elevator car vibrates due to the lifting movement along the guide rail in the shaft, the sensor detects the car vibration and sends the detection result to the controller. The controller adjusts the current flowing through the coil according to the car vibration signal to change the magnetic field it generates. The changing magnetic field changes the force acting on the movable part of the actuator. The force is transmitted to the roller through the guide rod, thereby realizing the control of the contact between the guide rail and the roller, thereby achieving the suppression of the car vibration.

[0005] Whether it is the above-mentioned document 1 and document 2, or other prior art for vibration suppression of elevator car horizontal vibration, without exception, it is necessary to set a vibration suppression device including an accelerometer for detecting elevator car vibration and an actuator for implementing vibration suppression of the elevator car in the elevator system. The dedicated vibration suppression device not only takes up space in the elevator system (especially for machine room-less elevators, the space is particularly valuable), but also has a complex structure and high cost.

[0006] In addition, for low-speed elevators, dedicated vibration suppression devices are usually not installed. However, during the use of the elevator, the vibration level of the elevator may exceed the standard due to abnormalities, which seriously affects the passengers' elevator experience. If the elevator is stopped (until the maintenance personnel arrive at the site and eliminate the abnormality before resuming operation), the elevator will be unable to continue to provide transportation services for passengers, which will cause great inconvenience to passengers. However, if the transportation service continues, the vibration will exceed the standard and seriously affect the passengers' elevator experience.

[0007] Therefore, how to simply, conveniently and low-costly suppress the horizontal vibration of the elevator car, especially when the vibration level of the elevator exceeds the standard due to abnormalities or other reasons, so that the elevator can continue to provide transportation services to passengers and will not affect the passengers' elevator experience due to the excessive vibration of the elevator car, has become an unsolved technical problem. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a method for suppressing the vibration of an elevator car, which can realize the horizontal vibration suppression of the elevator car in a simple, convenient and low-cost manner, especially when the vibration level of the elevator exceeds the standard due to abnormalities or other reasons, so that the elevator can continue to provide transportation services for passengers, and the passengers' riding experience will not be affected by the excessive vibration of the elevator car.

[0009] In order to solve the above technical problems, the present invention discloses a robot-based elevator vibration suppression method, which controls the robot to move relative to the elevator car and utilizes the force applied to the elevator car when the robot moves to suppress the horizontal vibration of the elevator car.

[0010] Preferably, the acting force is the friction force between the robot and the elevator car.

[0011] Preferably, the robot is a wheeled robot, and the friction force is the rolling friction between the wheels of the robot and the elevator car floor when the wheels roll.

[0012] Preferably, the steps include:

[0013] Step S1, when the elevator is running, detecting the horizontal vibration of the elevator car;

[0014] Step S2, generating a control instruction for controlling the robot to move relative to the elevator car according to the detection result of the horizontal vibration;

[0015] Step S3: the robot executes the control instruction.

[0016] Preferably, the detection result of the horizontal vibration includes the amplitude and phase of the horizontal vibration, and the method generates the control instruction based on the amplitude and phase of the horizontal vibration of the elevator car so that the robot can make relative movement with respect to the elevator car and partially or completely offset the horizontal vibration of the elevator car.

[0017] Preferably, the detection result of the horizontal vibration also includes the vibration direction of the horizontal vibration. In the step S2, before generating the control instruction, the robot is first controlled to adjust the movement direction of the robot so that the movement direction of the robot is consistent with the vibration direction of the horizontal vibration of the car.

[0018] Preferably, the control instruction causes the robot to move relative to the elevator car to generate a force applied to the elevator car, and the force causes the elevator car to generate a specific car vibration; the specific car vibration refers to a horizontal vibration of the elevator car whose vibration amplitude does not exceed the amplitude of the horizontal vibration of the elevator car, and whose phase difference with the horizontal vibration of the elevator car does not exceed a phase threshold.

[0019] Preferably, the steps of generating the control instruction in step S2 are as follows:

[0020] Step S21, determining a first force causing the elevator car to generate a specific car vibration according to the mass of the car and the rest of the load in the car except the robot;

[0021] Step S22, determining a force that is equal in magnitude to the first force and opposite in direction to the first force as the second force;

[0022] Step S23, determining a specific robot motion according to the second force and the mass of the robot, wherein the specific robot motion refers to a relative motion of the robot with respect to the elevator car generated by the second force;

[0023] Step S24: determining a driving mechanism for driving the robot according to the specific robot motion, so that the robot generates a control instruction for the specific robot motion.

[0024] Preferably, before controlling the robot to make relative movement with respect to the elevator car, the robot is controlled to make the relative movement only when it is determined that there are no passengers within the moving range of the robot's relative movement with respect to the elevator car.

[0025] Preferably, the mass of the robot and the friction coefficient between the robot and the elevator car are such that the maximum friction force in the horizontal direction between the robot and the elevator car is greater than the friction force corresponding to the maximum horizontal vibration of the elevator car.

[0026] Preferably, when the robot is controlled to move relative to the elevator car, notification information is provided to the passengers, and the notification information includes at least one of the following information: information 1, information indicating that the robot is in a vibration suppression mode for suppressing horizontal vibration of the car; information 2, information on the vibration suppression effect indicating the difference between the vibration before vibration suppression and the vibration after vibration suppression.

[0027] Beneficial technical effects

[0028] The horizontal vibration of the elevator car can be suppressed simply, conveniently and at low cost, especially when the vibration level of the elevator exceeds the standard due to abnormalities or other reasons. This allows the elevator to continue to provide transportation services to passengers without affecting the passengers' elevator experience due to the excessive vibration of the elevator car. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the robot-based elevator vibration suppression method of Example 1. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0031] Example 1

[0032] This embodiment provides a robot-based elevator vibration suppression method, which controls the robot to move relative to the elevator car, and uses the force applied to the elevator car when the robot moves to suppress the horizontal vibration of the elevator car. The force is the friction between the robot and the elevator car. When the robot is a wheeled robot, the friction is the rolling friction between the robot's wheels and the elevator car floor when the robot's wheels roll.

[0033] Specifically, Figure 1 As shown, the elevator vibration suppression method includes the following steps:

[0034] Step S1, when the elevator is running, detecting the horizontal vibration of the elevator car;

[0035] Step S2, generating a control instruction for controlling the robot to move relative to the elevator car according to the detection result of the horizontal vibration;

[0036] Step S3: the robot executes the control instruction.

[0037] The detection result of the horizontal vibration includes the amplitude and phase of the horizontal vibration. The method generates the control instruction based on the amplitude and phase of the horizontal vibration of the elevator car, so that the robot can make relative movement with respect to the elevator car to partially or completely offset the horizontal vibration of the elevator car.

[0038] The detection result of the horizontal vibration also includes the vibration direction of the horizontal vibration. In the step S2, before generating the control instruction, the robot is first controlled to adjust the movement direction of the robot so that the movement direction of the robot is consistent with the vibration direction of the horizontal vibration of the car.

[0039] The control instructions cause the robot to move relative to the elevator car and generate a force applied to the elevator car, wherein the force causes the elevator car to generate a specific car vibration; the specific car vibration refers to a horizontal vibration of the elevator car whose amplitude does not exceed the amplitude of the horizontal vibration of the elevator car and whose phase difference with the horizontal vibration of the elevator car does not exceed a phase threshold (preferably less than 45°).

[0040] The steps of generating the control instruction in step S2 are as follows:

[0041] Step S21, determining a first force causing the elevator car to generate a specific car vibration according to the mass of the car and the rest of the load in the car except the robot;

[0042] Step S22, determining a force that is equal in magnitude to the first force and opposite in direction to the first force as the second force;

[0043] Step S23, determining a specific robot motion according to the second force and the mass of the robot, wherein the specific robot motion refers to a relative motion of the robot with respect to the elevator car generated by the second force;

[0044] Step S24: determining a driving mechanism for driving the robot according to the specific robot motion, so that the robot generates a control instruction for the specific robot motion.

[0045] The mass of the robot and the friction coefficient between the robot and the elevator car make the maximum friction force between the robot and the elevator car in the horizontal direction greater than the friction force corresponding to the maximum horizontal vibration of the elevator car.

[0046] Example 2

[0047] This embodiment further defines and explains the embodiment 1.

[0048] In this embodiment, before controlling the robot to make relative movement with respect to the elevator car, it is determined that there are no passengers within the moving range of the robot's relative movement with respect to the elevator car (actually, the moving range plus a safety margin), and the robot is controlled to make the said relative movement.

[0049] Example 3

[0050] This embodiment further defines and explains the above embodiments.

[0051] In this embodiment, when the robot is controlled to move relative to the elevator car, notification information is provided to the passengers, and the notification information includes at least one of the following information:

[0052] Information 1: information indicating that the robot is in a vibration suppression mode for suppressing horizontal vibration of the car;

[0053] Information 2: information on the vibration suppression effect indicating the difference between the vibration before the vibration suppression and the vibration after the vibration suppression.

Claims

1. A robot-based elevator vibration suppression method, characterized in that: The robot is controlled to move relative to the elevator car, and the horizontal vibration of the elevator car is suppressed by using the force applied to the elevator car when the robot moves.

2. The robot-based elevator vibration suppression method according to claim 1, characterized in that: The acting force is the friction between the robot and the elevator car.

3. The robot-based elevator vibration suppression method according to claim 2, characterized in that: The robot is a wheeled robot, and the friction force is the rolling friction between the wheels of the robot and the elevator car floor when the wheels roll.

4. The robot-based elevator vibration suppression method according to claim 2 or 3, characterized in that: The following steps are involved: Step S1, when the elevator is running, detecting the horizontal vibration of the elevator car; Step S2, generating a control instruction for controlling the robot to move relative to the elevator car according to the detection result of the horizontal vibration; Step S3: the robot executes the control instruction.

5. The robot-based elevator vibration suppression method according to claim 4, characterized in that: The detection result of the horizontal vibration includes the amplitude and phase of the horizontal vibration. The method generates the control instruction based on the amplitude and phase of the horizontal vibration of the elevator car, so that the robot can make relative movement with respect to the elevator car and partially or completely offset the horizontal vibration of the elevator car.

6. The robot-based elevator vibration suppression method according to claim 5, characterized in that: The detection result of the horizontal vibration also includes the vibration direction of the horizontal vibration. In the step S2, before generating the control instruction, the robot is first controlled to adjust the movement direction of the robot so that the movement direction of the robot is consistent with the vibration direction of the horizontal vibration of the car.

7. The robot-based elevator vibration suppression method according to claim 5, characterized in that: The control instruction causes the robot to move relative to the elevator car and generate a force applied to the elevator car, wherein the force causes the elevator car to generate a specific car vibration; the specific car vibration refers to a horizontal vibration of the elevator car whose amplitude does not exceed the amplitude of the horizontal vibration of the elevator car and whose phase difference with the horizontal vibration of the elevator car does not exceed a phase threshold.

8. The robot-based elevator vibration suppression method according to claim 7, characterized in that: The steps of generating the control instruction in step S2 are as follows: Step S21, determining a first force causing the elevator car to generate a specific car vibration according to the mass of the car and the rest of the load in the car except the robot; Step S22, determining a force that is equal in magnitude to the first force and opposite in direction to the first force as the second force; Step S23, determining a specific robot motion according to the second force and the mass of the robot, wherein the specific robot motion refers to a relative motion of the robot with respect to the elevator car generated by the second force; Step S24: determining a driving mechanism for driving the robot according to the specific robot motion, so that the robot generates a control instruction for the specific robot motion.

9. The robot-based elevator vibration suppression method according to claim 1, characterized in that: Before controlling the robot to make relative movement with respect to the elevator car, the robot is controlled to make the relative movement only when it is determined that there are no passengers within the moving range of the robot's relative movement with respect to the elevator car.

10. The robot-based elevator vibration suppression method according to claim 2, characterized in that: The mass of the robot and the friction coefficient between the robot and the elevator car make the maximum friction force between the robot and the elevator car in the horizontal direction greater than the friction force corresponding to the maximum horizontal vibration of the elevator car.

11. The robot-based elevator vibration suppression method according to claim 1, characterized in that: When the robot is controlled to move relative to the elevator car, a notification message is provided to the passenger, wherein the notification message includes at least one of the following information: Information 1: information indicating that the robot is in a vibration suppression mode for suppressing horizontal vibration of the car; Information 2: information on the vibration suppression effect indicating the difference between the vibration before the vibration suppression and the vibration after the vibration suppression.

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