Elevator leveling error detection method

Abstract

The invention discloses an elevator leveling error detection method which comprises the following steps: step 1, determining a leveling detection area according to which side of a landing and a lift car is located by a robot; 2, the robot is controlled to move into the leveling detection area; step 3, determining a third position of the distance sensor in the space according to a first position of the projection of the robot in the vertical direction in the leveling detection area and a second position of the distance sensor relative to the projection of the robot; step 4, determining a detected point corresponding to the detection quantity according to the third position; 5, when the elevator door is opened, the distance between the elevator door and the detected point is detected through a distance sensor; and 6, the elevator leveling error is calculated according to the detection result. The leveling error detection process is rapid, convenient and accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to a method for detecting elevator leveling errors. Background Art

[0002] During the installation and commissioning phase of the elevator, the installer usually installs a positioning device at a rough position in the hoistway. The positioning device is used to position the car at a position where the car floor and the floor of the landing are at the same level (i.e., there is no height difference). The elevator is then controlled according to the positioning device, and the leveling error of the elevator (i.e., the height difference between the car floor and the floor of the landing after the elevator stops at the landing) is manually measured. Then, the installation position of the positioning device is fine-tuned according to the leveling error, so that the leveling error is within the allowable range.

[0003] On the other hand, after the elevator is put into use, due to various reasons, there may be leveling errors of varying sizes. The existence of leveling errors will seriously affect the passengers' elevator riding experience. Therefore, the elevator should be inspected regularly and reported when the elevator has a leveling error exceeding the allowable range so that appropriate measures can be taken to eliminate the leveling error. Manually detecting the leveling error of each floor of the elevator is undoubtedly time-consuming, labor-intensive and has low accuracy. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a technical solution capable of automatically detecting elevator leveling errors.

[0005] In order to solve the above technical problems, the present invention provides an elevator leveling error detection method, comprising the following steps:

[0006] Step 1, according to which side of the landing station and the car the robot is located, determine the leveling detection area; the leveling detection area refers to the set of all positions where the robot can use the distance sensor mounted on it to detect the detection amount required to determine the elevator leveling error;

[0007] Step 2: Control the robot to move into the leveling detection area;

[0008] Step 3, determining a third position of the distance sensor in space according to a first position of the projection of the robot in the vertical direction being located in the leveling detection area and a second position of the distance sensor relative to the projection of the robot;

[0009] Step 4, determining the detected point corresponding to the detected amount according to the third position; the detected point is located at a first threshold and a second threshold, when the robot is located at the car side, the first threshold is the car door threshold, and the second threshold is the landing door threshold; when the robot is located at the landing station side, the first threshold is the landing door threshold, and the second threshold is the car door threshold;

[0010] Step 5, while the elevator door is open, use the distance sensor to detect the distance between it and the detected point;

[0011] Step 6: Calculate the elevator leveling error using the detection results.

[0012] Preferably, the detected point determined in step 4 is the first sill angle D, the second sill angle F, and the intersection point E on the vertical plane of the second sill of the extension line CD of the distance sensor and the first sill angle D;

[0013] Step 6 uses the preset height h between the distance sensor and the ground where the robot is located 0 , the distance CD between the distance sensor and the first sill corner D, the distance CE between the distance sensor and the intersection E, and the distance CF between the distance sensor and the second sill corner F, and the elevator leveling error are calculated.

[0014] Preferably, the step 6 first determines the relative height between the distance sensor and the second sill angle F, and then selects a corresponding calculation formula according to the relative height to calculate the elevator leveling error.

[0015] Preferably, when the distance sensor is not lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α = CG-CI = CG-h 0 , CG=(CF 2 -GF 2 ) 1 / 2 GF=HE=DI+d 2 , DI=(CD 2 -h 0 2 ) 1 / 2 , d 2 is a preset known constant.

[0016] Preferably, when the distance sensor is not lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α = CG-CI = CG-h 0 , CG=(CF 2 -GF 2 ) 1 / 2 , GF=HE, DI / HE=CD / CE(similar triangles), DI=(CD 2 -h 0 2 ) 1 / 2 .

[0017] Preferably, when the distance sensor is lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α=CG+CI=CG+h 0 , CG=(CF 2 -GF2 ) 1 / 2 GF=HE=DI+d 2 , DI=(CD 2 -h 0 2 ) 1 / 2 , d 2 is a preset known constant.

[0018] Preferably, when the distance sensor is lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α=CG+CI=CG+h 0 , CG=(CF 2 -GF 2 ) 1 / 2 , GF=HE, DI / HE=CD / CE, DI=(CD 2 -h 0 2 ) 1 / 2 .

[0019] Preferably, when the preset height h between the distance sensor and the ground where the robot is located 0 When the value is not less than the preset maximum leveling error, the step 6 determines that the distance sensor is not lower than the second sill angle F in the vertical direction.

[0020] Preferably, step 6 determines the relative height of the distance sensor and the second sill angle F according to the angle β between the line between the distance sensor and the second sill angle F and the horizontal direction: when β>0, the distance sensor is lower than the second sill angle F in the vertical direction; when β≤0, the distance sensor is not lower than the second sill angle F in the vertical direction.

[0021] Preferably, the leveling detection area satisfies the following conditions: Condition 1, the foot of a perpendicular line from a projection point of the distance sensor on the ground to a horizontal straight line parallel to the direction of opening the elevator door where the corner D of the first sill is located is located between the left and right end points of the door; Condition 2, the first sill and the second sill are located within the detection range of the distance sensor, or the distance between the distance sensor and the detected point does not exceed the maximum detectable distance of the distance sensor.

[0022] Preferably, the leveling detection area satisfies the following conditions: Condition 1, the foot of a perpendicular line from a projection point of the distance sensor on the ground to a horizontal straight line parallel to the direction of opening the elevator door where the corner D of the first sill is located is located between the left and right end points of the door; Condition 2, the intersection point E of an extension line CD connecting the distance sensor and the corner D of the first sill and the vertical plane of the second sill is located within the detection range of the distance sensor.

[0023] Compared with the prior art, the leveling error detection process of the present invention is fast, convenient and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0025] Figure 1 This is a schematic diagram of the robot performing leveling error detection in the car;

[0026] Figure 2 This is a schematic diagram of the steps of the elevator leveling error detection method of Example 1;

[0027] Figure 3 It is a schematic cross-sectional diagram taken along the first plane when implementing elevator leveling error detection in Examples 1 and 2. DETAILED DESCRIPTION

[0028] The following describes the implementation methods of the present invention through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through different specific implementation methods, and the details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without deviating from the overall design concept of the invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other in the absence of conflict. The following exemplary embodiments of the present invention can be implemented in a variety of different forms and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0029] Example 1

[0030] Figure 1 The figure shows an example of an elevator leveling detection device (here taking a robot as an example) implementing leveling error detection in a car. An elevator usually includes a floor door located at a landing (elevator lobby) and a car door located in the car. When the elevator stops at a floor, the door drive mechanism drives the car (car) door to drive the floor door to move left and right along the track, thereby realizing the door opening and closing. At the car floor, a car door sill is provided at the lower part of the door, and the horizontal surface of the car door sill is usually in the same plane as the car floor; at the landing side, a floor door sill is provided at the lower part of the door, and the horizontal surface of the floor door sill is usually in the same plane as the landing floor. The vertical surface of the car door sill is parallel to the vertical surface of the floor door sill and is spaced at a certain distance to form a gap between the car door sill and the floor door sill. The existence of this gap avoids the collision and friction between the car door sill and the floor door sill during the lifting of the car in the hoistway.

[0031] like Figure 2 As shown, this embodiment provides an elevator leveling error detection method, comprising the following steps:

[0032] Step 1, according to which side of the landing station and the car the robot is located, determine the leveling detection area; the leveling detection area refers to the set of all positions where the robot can use the distance sensor mounted on it to detect the detection amount required to determine the elevator leveling error;

[0033] Step 2: Control the robot to move into the leveling detection area;

[0034] Step 3, determining a third position of the distance sensor in space according to a first position of the projection of the robot in the vertical direction being located in the leveling detection area and a second position of the distance sensor relative to the projection of the robot;

[0035] Step 4, determining the detected point corresponding to the detected amount according to the third position; the detected point is located at a first threshold and a second threshold, when the robot is located at the car side, the first threshold is the car door threshold, and the second threshold is the landing door threshold; when the robot is located at the landing station side, the first threshold is the landing door threshold, and the second threshold is the car door threshold;

[0036] Step 5, while the elevator door is open, use the distance sensor to detect the distance between it and the detected point;

[0037] Step 6: Calculate the elevator leveling error using the detection results.

[0038] In order to implement the detection of elevator leveling errors, the robot must have a distance sensor for detecting the distance between the object to be detected and the distance sensor. The distance sensor is installed at a certain height from the ground where the robot is located. The distance sensor can measure the distance between the object to be detected located directly in front of the robot (i.e., the distance sensor) and the distance sensor, and has a certain detection range in the vertical direction. In order to illustrate the detection range, the first plane is first defined, that is, in the vertical plane passing through the distance sensor, the plane perpendicular to the front of the robot is selected and used as the first plane; then, in the part of the plane relative to the front of the distance sensor, a line is drawn between the object to be detected that the distance sensor can detect and the distance sensor, and the angle θ between the line and the horizontal direction should satisfy: θmin≤θ≤θmax. Among them, θmin and θmax are the angles of the detection range boundary relative to the horizontal direction.

[0039] When the robot is conducting inspection, it can be located in the car or at the landing station, preferably in the car (because it is convenient to continuously measure the leveling errors of different floors).

[0040] There is no limitation on the specific implementation form of the distance sensor. It can be a distance measuring sensor such as ultrasonic wave or radar, or a camera plus image recognition processing to obtain the distance detection result, as long as the distance to the detected object can be obtained.

[0041] Figure 3 Shown is Figure 1 A cross-sectional view taken along the first plane.

[0042] When implementing the detection, the level detection area where the robot is located meets the following conditions:

[0043] Condition 1: The foot of the perpendicular line from the projection point of the distance sensor on the ground to the horizontal straight line parallel to the elevator door opening direction where the corner D of the first sill is located is located between the left and right endpoints of the door;

[0044] Condition 2: the first threshold and the second threshold are located within the detection range of the distance sensor, or the distance between the distance sensor and the detected point does not exceed the maximum detectable distance of the distance sensor.

[0045] Alternatively, the leveling detection area where the robot is located meets the following conditions:

[0046] Condition 1: The foot of the perpendicular line from the projection point of the distance sensor on the ground to the horizontal straight line parallel to the elevator door opening direction where the corner D of the first sill is located is located between the left and right endpoints of the door;

[0047] Condition 2: The intersection point E of the extended line CD connecting the distance sensor and the first sill corner point D and the vertical plane of the second sill is within the detection range of the distance sensor.

[0048] Example 2

[0049] This embodiment specifically describes how to use the distance sensor to detect the distance between it and the detected point to calculate the elevator leveling error. Figure 3 As shown, calculate the height difference between point D and point F.

[0050] Below Figure 3 Take this as an example to illustrate.

[0051] The detected points determined in step 4 are the first sill angle D, the second sill angle F, and the intersection point E on the vertical plane of the second sill of the extension line CD of the distance sensor and the first sill angle D;

[0052] Step 6 uses the preset height h between the distance sensor and the ground where the robot is located 0 , the distance CD between the distance sensor and the first sill corner D, the distance CE between the distance sensor and the intersection E, and the distance CF between the distance sensor and the second sill corner F, and the elevator leveling error are calculated.

[0053] The step 6 first determines the relative height between the distance sensor and the second sill angle F, and then selects a corresponding calculation formula according to the relative height to calculate the elevator leveling error.

[0054] The preset height h between the distance sensor and the ground where the robot is located 0 When the value is not less than the preset maximum leveling error, it is not necessary to determine the relative height between the distance sensor and the second sill angle F.

[0055] When the distance sensor is not lower than the second sill angle F in the vertical direction, Figure 3 As shown in (b), a calculation formula for the elevator leveling error α is as follows: α = CG-CI = CG-h 0 , CG=(CF 2 -GF 2 ) 1 / 2 GF=HE=DI+d 2 , DI=(CD 2 -h 0 2 ) 1 / 2 , d 2 is a preset known constant.

[0056] When the distance sensor is not lower than the second sill angle F in the vertical direction, another calculation formula of the elevator leveling error α is as follows: α = CG-CI = CG-h 0 , CG=(CF 2 -GF 2 ) 1 / 2 , GF=HE, DI / HE=CD / CE (CID and CHE are similar triangles), DI=(CD 2 -h 0 2 ) 1 / 2 .

[0057] When the distance sensor is below the second sill angle F in the vertical direction, Figure 3 As shown in (a), a calculation formula for the elevator leveling error α is as follows: α=CG+CI=CG+h 0 , CG=(CF 2 -GF 2 ) 1 / 2 GF=HE=DI+d 2 , DI=(CD 2 -h 0 2 ) 1 / 2 , d 2 is a preset known constant.

[0058] When the distance sensor is lower than the second sill angle F in the vertical direction, another calculation formula of the elevator leveling error α is as follows: α=CG+CI=CG+h 0 , CG=(CF 2 -GF 2) 1 / 2 , GF=HE, DI / HE=CD / CE(similar triangles), DI=(CD 2 -h 0 2 ) 1 / 2 .

[0059] In order to determine the relative height between the sill and the position of the robot's distance sensor (i.e., which one is higher), the relative height between the distance sensor and the second sill corner F can be determined based on the angle β between the line between the distance sensor and the second sill corner F and the horizontal direction:

[0060] When β>0, the distance sensor is lower than the second sill angle F in the vertical direction;

[0061] When β≤0, the distance sensor is not lower than the second sill angle F in the vertical direction.

[0062] The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. A method for detecting an elevator leveling error, characterized in that: The following steps are involved: Step 1, according to which side of the landing station and the car the robot is located, determine the leveling detection area; the leveling detection area refers to the set of all positions where the robot can use the distance sensor mounted on it to detect the detection amount required to determine the elevator leveling error; Step 2: Control the robot to move into the leveling detection area; Step 3, determining a third position of the distance sensor in space according to a first position of the projection of the robot in the vertical direction being located in the leveling detection area and a second position of the distance sensor relative to the projection of the robot; Step 4, determining the detected point corresponding to the detected amount according to the third position; the detected point is located at a first threshold and a second threshold, when the robot is located at the car side, the first threshold is the car door threshold, and the second threshold is the landing door threshold; when the robot is located at the landing station side, the first threshold is the landing door threshold, and the second threshold is the car door threshold; Step 5, while the elevator door is open, use the distance sensor to detect the distance between it and the detected point; Step 6: Calculate the elevator leveling error using the detection results.

2. The elevator leveling error detection method according to claim 1, characterized in that: The detected points determined in step 4 are the first sill angle D, the second sill angle F, and the intersection point E on the vertical plane of the second sill of the extension line CD of the distance sensor and the first sill angle D; The step 6 calculates the elevator leveling error by using the preset height h0 between the distance sensor and the ground where the robot is located, the distance CD between the distance sensor and the first sill corner D, the distance CE between the distance sensor and the intersection E, and the distance CF between the distance sensor and the second sill corner F.

3. The elevator leveling error detection method according to claim 2, characterized in that: The step 6 first determines the relative height between the distance sensor and the second sill angle F, and then selects a corresponding calculation formula according to the relative height to calculate the elevator leveling error.

4. The elevator leveling error detection method according to claim 2 or 3, characterized in that: When the distance sensor is not lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α=CG-CI=CG-h0,CG=(CF 2 -GF 2 ) 1 / 2 , GF=HE=DI+d2,DI=(CD 2 -h0 2 ) 1 / 2 , d2 is the pre Assume known constant.

5. The elevator leveling error detection method according to claim 2 or 3, characterized in that: When the distance sensor is not lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α=CG-CI=CG-h0,CG=(CF 2 -GF 2 ) 1 / 2 , GF=HE, DI / HE=CD / CE (similar triangles), OF=(CD 2 -h0 2 ) 1 / 2 。 6. The elevator leveling error detection method according to claim 3, characterized in that: When the distance sensor is lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α=CG+CI=CG+h0,CG=(CF 2 -GF 2 ) 1 / 2 , GF=HE=DI+d2,DI=(CD 2 -h0 2 ) 1 / 2 , d2 is the pre Assume known constant.

7. The elevator leveling error detection method according to claim 3, characterized in that: When the distance sensor is lower than the second sill angle F in the vertical direction, the calculation formula of the elevator leveling error α is as follows: α=CG+CI=CG+h0,CG=(CF 2 -GF 2 ) 1 / 2 ,GF=HE,DI / HE=CD / CE,DI=(CD 2 -h0 2 ) 1 / 2 。 8. The elevator leveling error detection method according to claim 3, characterized in that: When the preset height h0 between the distance sensor and the ground where the robot is located is not less than the preset maximum leveling error, step 6 determines that the distance sensor is not lower than the second sill angle F in the vertical direction.

9. The elevator leveling error detection method according to claim 3, characterized in that: The step 6 determines the relative height of the distance sensor and the second sill corner F according to the angle β between the line between the distance sensor and the second sill corner F and the horizontal direction: When β>0, the distance sensor is lower than the second sill angle F in the vertical direction; When β≤0, the distance sensor is not lower than the second sill angle F in the vertical direction.

10. The elevator leveling error detection method according to claim 1, characterized in that: The leveling detection area meets the following conditions: Condition 1: The foot of the perpendicular line from the projection point of the distance sensor on the ground to the horizontal straight line parallel to the elevator door opening direction where the corner D of the first sill is located is located between the left and right endpoints of the door; Condition 2: the first threshold and the second threshold are located within the detection range of the distance sensor, or the distance between the distance sensor and the detected point does not exceed the maximum detectable distance of the distance sensor.

11. The elevator leveling error detection method according to claim 1, characterized in that: The leveling detection area meets the following conditions: Condition 1: The foot of the perpendicular line from the projection point of the distance sensor on the ground to the horizontal straight line parallel to the elevator door opening direction where the corner D of the first sill is located is located between the left and right endpoints of the door; Condition 2: The intersection point E of the extended line CD connecting the distance sensor and the first sill corner point D and the vertical plane of the second sill is within the detection range of the distance sensor.

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