Position calibration method and device for elevators between buildings

Abstract

This application relates to a method and device for verifying the position of an elevator between buildings, belonging to the technical field of elevators. The method and device for verifying the position of the elevator between buildings can verify the result of the position encoder to provide a more accurate elevator position. The method includes: determining an initial position of the elevator based on data of the position encoder; determining a reference position of the elevator based on data of the tension sensor; determining a credibility of the initial position based on a difference between the reference position and the initial position, and when the initial position is not credible, using the reference position as the actual position of the elevator.

Description

Technical Field

[0001] This application relates to the technical field of elevators, and more particularly, to a method and device for verifying the position of an elevator between buildings. Background Art

[0002] In the prior art, the position of an elevator is usually measured by a position encoder. However, the position encoder may have the following problems:

[0003] Mechanical wear or failure: Long-term use may cause wear of the mechanical components of the encoder, thus affecting the accuracy of position measurement.

[0004] Signal interference: The signal of the encoder may be affected by electromagnetic interference or other environmental factors, resulting in inaccurate data.

[0005] Initial calibration error: If the initial position calibration of the encoder is inaccurate, subsequent position measurements may accumulate errors. Summary of the Invention

[0006] The purpose of this application is to provide a method and device for verifying the position of an elevator between buildings, which can verify the results of the position encoder to provide a more accurate elevator position.

[0007] In a first aspect, the present invention provides a method for verifying the position of an elevator between buildings. The method is applied to a transport device between buildings. The transport device between buildings includes a suspension cable fixed between two buildings and horizontally arranged. The elevator is suspended on the suspension cable and moves along the suspension cable. A position encoder is provided on the elevator, and a tension sensor is provided at one or both fixed ends of the suspension cable. The method includes:

[0008] Determining the initial position of the elevator based on the data of the position encoder;

[0009] Determining the reference position of the elevator based on the data of the tension sensor;

[0010] Determining the credibility of the initial position based on the difference between the reference position and the initial position. When the initial position is not credible, using the reference position as the actual position of the elevator.

[0011] In a second aspect, the present invention provides a device for verifying the position of an elevator between buildings. The position verification device is applied to a transport device between buildings. The transport device between buildings includes a suspension cable fixed between two buildings and horizontally arranged. The elevator is suspended on the suspension cable and moves along the suspension cable. A position encoder is provided on the elevator, and a tension sensor is provided at one or both fixed ends of the suspension cable. The position verification device includes:

[0012] A first determination module, configured to determine an initial position of the elevator based on data of the position encoder;

[0013] A second determination module, configured to determine a reference position of the elevator based on data of the tension sensor;

[0014] A verification module, configured to determine a credibility of the initial position based on a difference between the reference position and the initial position, and when the initial position is not credible, use the reference position as an actual position of the elevator.

[0015] Through the above technical solution, by introducing a tension sensor as a redundant verification means, when the initial position of the position encoder is not credible, the system automatically switches to the reference position based on the tension sensor. This dual verification mechanism significantly improves the reliability of position measurement.

[0016] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 A schematic flowchart of a method for verifying the position of an elevator between buildings provided by an embodiment of the present application;

[0019] Figure 2 An example of a transportation device between buildings provided by an embodiment of the present application;

[0020] Figure 3 A schematic structural diagram of a device for verifying the position of an elevator between buildings provided by an embodiment of the present application;

[0021] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0023] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0024] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] Figure 1 A flow chart of a method for verifying the position of an inter-building elevator provided in an embodiment of the present application. The method is applied to an inter-building transport device, which includes a suspension cable fixed between two buildings and arranged horizontally, the elevator is suspended on the suspension cable and moves along the suspension cable, the elevator is provided with a position encoder, and one or both fixed ends of the suspension cable are provided with a tension sensor;

[0026] For example, Figure 2 As shown, the inter-building transport device is a point-to-point transport system used between buildings, large public buildings, transportation hubs and other facilities. The inter-building transport device can conveniently and quickly transport personnel and materials between buildings. It can realize the rapid movement and quick transfer of personnel and materials.

[0027] Several cables are laid out at appropriate locations of the building and connected to another building. A gondola (also called an elevator) is hung on the cables, carrying people or materials, and moves from one end of the cable to the other end. The cables are led out from the transfer room, and people or materials get on and off the gondola from the transfer room.

[0028] The number of cables is determined according to the transport capacity requirements. For example, single-line transport can have two cables (which serve as primary and backup for each other), and multi-line transport requires twice the number of cables as required by the number of lines.

[0029] There are two types of pods: self-driven pods and externally driven pods. Self-driven pods have built-in power batteries that drive the motor inside the pod to move on the cable. Externally driven pods are towed by external traction cables, which are controlled by traction motors located in the transfer room. The seats inside the pod can be quickly disassembled according to the transportation target.

[0030] Among them, the self-driven pod is sleeved on two suspension cables through two drive wheels, and the drive wheels have a self-locking function. The on-board monitoring host judges the wheel speed and moving speed through the wheel speed sensor, and supplements the position encoder to judge its own position and moving speed. When it detects that the moving speed of the pod or the speed difference between the two drive wheels exceeds the set threshold, the self-locking function is triggered, the locking pin is controlled to pop out, the pod stops moving, and the popped locking pin can firmly hang the pod on the suspension cable. Unless both suspension cables are disconnected on the same side of the pod, which causes the pod to get out of control, other situations such as a single suspension cable being disconnected or both suspension cables being disconnected on both sides of the pod will not cause the self-driven pod to get out of control.

[0031] The externally-driven pod can obtain power from the drive cable or use its own battery. The on-board monitoring host monitors the wheel speed, wheel speed difference, and moving speed, and controls the self-locking component to ensure safety.

[0032] Reference Figure 1 , the method may include the following steps:

[0033] S110, determining the initial position of the elevator based on the data of the position encoder.

[0034] A position encoder is a sensor used to measure the position of an object and is usually installed on an elevator. It generates position data by detecting the movement trajectory of the elevator. The position encoder can be a rotary encoder or a linear encoder, and the specific selection depends on the movement mode of the elevator. Among them, the rotary encoder calculates the position by measuring the rotation angle and is suitable for the scenario where the elevator moves along the suspension cable. The linear encoder calculates the position by measuring the linear displacement and is suitable for the scenario where the elevator moves along a linear track.

[0035] The initial position refers to the reference position of the elevator before startup. The position encoder provides a reference for subsequent position measurement by detecting the initial position of the elevator. For example, before the elevator starts, the position encoder will detect and record the reference position of the elevator, that is, the initial position. This data provides a key reference point for subsequent position measurement. Through the real-time data feedback of the position encoder, the elevator system can accurately grasp the movement state and current position of the elevator, ensuring the safe and efficient operation of the elevator.

[0036] In addition, the data collected by the position encoder needs to be processed to eliminate noise and errors. Common processing methods include: Filtering: removing high-frequency noise through a low-pass filter. Calibration: calibrating the initial position through a calibration experiment to ensure the accuracy of the measurement results.

[0037] S120, determining the reference position of the elevator based on the data of the tension sensor.

[0038] A tension sensor is a sensor used to measure the tension of a suspension cable, usually installed at the fixed end of the suspension cable. It generates tension data by detecting the tensile force of the suspension cable. For example, the tension sensor measures the tensile force of the suspension cable based on a strain gauge or piezoelectric effect. Common tension sensors include strain gauge type tension sensors and piezoelectric type tension sensors.

[0039] The reference position refers to the elevator position calculated from the tension sensor data. When the data of the position encoder is not reliable, the reference position can be used as the actual position of the elevator.

[0040] Among them, when each suspension cable of each line includes at least two cables, the at least two suspension cables include a main suspension cable and a spare suspension cable; the reference position of the elevator can be determined based on the data of the tension sensor located on the main suspension cable. The main suspension cable is used for normal operation, and the spare suspension cable is activated when the main suspension cable fails.

[0041] In some embodiments, a tension time series can be determined based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment; when the tension value at the current moment is greater than a first threshold and the change trend of the tension time series is increasing, a first acceleration is determined based on the change of the tension values in the tension time series; based on the first acceleration and the starting time, the reference position of the elevator is determined, and the starting time is the time when the elevator starts to move from the transfer room, and the transfer room is located on the building.

[0042] In some embodiments, a tension time series can be determined based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment; when the elevator is in the uniform motion stage, the suspension angle of the suspension cable is determined based on the tension value at the current moment; among them, when the tension value at the current moment is less than the first threshold and greater than the second threshold, it is determined that the elevator is in the uniform motion stage; the reference position of the elevator is determined based on the suspension angle.

[0043] Among them, the suspension angle of the suspension cable can be determined based on the following formula :

[0044] ;

[0045] Among them, is the tension value at the current moment; is the mass of the elevator; is the acceleration due to gravity.

[0046] Among them, the load of the elevator may change with the number of passengers, which will affect the tension and suspension angle of the suspension cable. Here can be the mass of the elevator with load. This mass can be determined by a weight sensor installed on the elevator.

[0047] Determine the reference position of the elevator based on the following formula :

[0048] ;

[0049] Wherein, is the original length of the suspension cable.

[0050] In some embodiments, the reference position of the elevator can be determined based on the following formula :

[0051] ;

[0052] Wherein, is the tension correction coefficient, which is determined through a calibration test and is used to correct the measurement error of the tension sensor.

[0053] is the dynamic correction factor, which is determined based on real-time monitoring of dynamic factors. The dynamic factors include wind speed, and the wind speed is positively correlated; other factors such as vibration can also be included. Among them, the wind speed can be real-time monitored by installing a wind speed sensor and dynamically adjusted. The wind speed sensor can be installed on the elevator.

[0054] is the deformation correction factor, which is calculated according to the elastic modulus and tension value of the suspension cable;

[0055] is the original length of the suspension cable;

[0056] is the tension value at the current moment.

[0057] Wherein, it can be calculated based on the following formula :

[0058] ;

[0059] Wherein, is the elastic modulus of the suspension cable;

[0060] is the cross-sectional area of the suspension cable.

[0061] In some embodiments, the tension time series can be determined based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at the historical moments adjacent to the current moment; when the tension value at the current moment is less than the second threshold and the change trend of the tension time series is decreasing, determine the second acceleration based on the change of the tension values in the tension time series; determine the reference position of the elevator based on the acceleration, the position of the end point of the uniform speed stage, the speed of the uniform speed stage, and the time of the end point of the uniform speed stage.

[0062] The tension time series refers to the set of tension values measured by the tension sensor at different time points. It includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment. By analyzing the changing trend of the tension time series, the motion state of the elevator (such as acceleration, uniform motion, deceleration) can be determined.

[0063] Changing trend: By calculating the difference in tension values between adjacent moments, the changing trend of the tension is judged.

[0064] Threshold judgment: By setting a first threshold and a second threshold, the motion state of the elevator is judged. The first threshold and the second threshold can be empirical values. When the tension value is between the first threshold and the second threshold, it can be determined that the load is in a stationary or uniform motion state.

[0065] The first threshold and the second threshold are two reference values used to judge the motion state of the elevator. In the elevator control system, by analyzing the changing trend of the tension values measured by the tension sensor, it can be judged whether the elevator is in an accelerating, uniform or decelerating state. Specifically:

[0066] First threshold: When the tension value at the current moment measured by the tension sensor is greater than the first threshold, and the changing trend of the tension values in the tension time series (i.e., a series of continuously measured tension values) shows an increasing trend, it can be judged that the elevator is accelerating. At this time, the system will calculate the first acceleration based on the change in the tension value, and determine the reference position of the elevator in combination with the starting time (the time when the elevator starts to move from the transfer room).

[0067] Second threshold: When the tension value at the current moment measured by the tension sensor is less than the second threshold, and the changing trend of the tension values in the tension time series shows a decreasing trend, it can be judged that the elevator is decelerating. At this time, the system will calculate the second acceleration based on the change in the tension value, and determine the reference position of the elevator in combination with the end position of the uniform motion stage, the speed of the uniform motion stage, and the end time of the uniform motion stage.

[0068] These two thresholds help to distinguish the tension changes of the elevator in different motion states, so as to calculate the position of the elevator more accurately. For example, when the tension value is between the first threshold and the second threshold, it can be considered that the elevator is in a uniform motion state. At this time, the reference position of the elevator can be determined based on the tension value at the current moment and the suspension angle.

[0069] Example: Suppose that during the operation of the elevator, the tension sensor records the following sequence of tension values (unit: Newton): [1000, 1050, 1100, 1150, 1200]. If the first threshold is set to 1000 Newtons and the second threshold is set to 800 Newtons:

[0070] When the elevator accelerates, the tension value will gradually increase, as shown in the above sequence. If the tension value at the current moment is 1200 Newtons, and it is greater than the first threshold, and the sequence shows that the tension value continues to increase, then it can be determined that the elevator is accelerating, and the corresponding acceleration can be calculated.

[0071] When the elevator decelerates, the tension value will gradually decrease, as shown in the sequence [800, 750, 700, 650, 600]. If the tension value at the current moment is 600 Newtons, less than the second threshold, and the sequence shows that the tension value continues to decrease, then it can be determined that the elevator is decelerating, and the corresponding acceleration can be calculated.

[0072] In this way, the elevator control system can use the first threshold and the second threshold to judge the motion state of the elevator, and calculate the accurate reference position accordingly.

[0073] In the application embodiment, in the acceleration stage, an S-curve profile is adopted, and the acceleration is controlled in three stages: Ramp up: The acceleration linearly increases from 0 to the set value (to avoid step changes); Constant acceleration: Maintain the set acceleration; Ramp down: The acceleration linearly decreases to 0 and enters the constant speed stage.

[0074] In the deceleration stage, a segmented deceleration strategy is adopted: Pre-deceleration section: First reduce the speed with a smaller deceleration; Main deceleration section: Gradually increase the deceleration to the target value; End buffer section: Reduce the deceleration when approaching the stop to prevent a sudden drop in tension.

[0075] Based on this, the elevator motion can also be divided into five stages, and these five stages can respectively correspond to 5 sections of the suspension cable. Determining the motion stage to which the elevator belongs can determine the section to which the elevator belongs. Based on this section, it can be used as a judgment condition for selecting the foregoing calculation formula, and finally determine the position of the elevator. Among them, these five stages can adopt a segmented dynamics model: Initial acceleration section: S-curve acceleration curve, divided into three sub-stages of ramp up / constant / ramp down; Variable acceleration cruise section: Introduce acceleration change rate monitoring (jerk control); Steady state constant speed section: Retain the original suspension angle model; Pre-deceleration section: Calculate the dynamic deceleration rate based on the target position; End braking section: Non-linear deceleration curve + mechanical braking collaborative control.

[0076] In some embodiments, the following parameters can be defined, and the following parameters can be determined according to the change of tension: Absolute change rate (R), which is used to represent the severity of the tension change; Cumulative change amount (ΣΔT); Fluctuation entropy value (H) is used to represent the intensity of the random disturbance component; Autocorrelation coefficient (ρ) is used to represent the trend persistence.

[0077] Among them, the autocorrelation coefficient formula:

[0078] ;

[0079] : The autocorrelation coefficient lagged by k orders (range [-1, 1]);

[0080] : The tension value at time t (unit: N);

[0081] μ: The mean of the tension time series (unit: N);

[0082] σ²: The variance of the tension time series (unit: N²);

[0083] k: The lag order (unit: number of sampling intervals), where in time series analysis, the lag order k represents the interval between two time points;

[0084] Formula for the volatility entropy value:

[0085] ;

[0086] H: Information entropy (unit: nat);

[0087] : The probability that the tension value falls into the q-th bin, which can be determined by the Bayesian block binning strategy or the fixed binning strategy;

[0088] Q: The number of histogram bins (usually taken as 20 - 50);

[0089] Calculation of the absolute change rate:

[0090] ;

[0091] R: The instantaneous tension change rate (unit: N / s);

[0092] i: Sampling point index (integer);

[0093] : The timestamp of the i-th sampling point (unit: second, s);

[0094] : The tension value of the i-th sampling point (unit: N);

[0095] Formula for the cumulative change amount:

[0096] ;

[0097] : The cumulative tension change amount (unit: N·s);

[0098] : The starting sampling point index;

[0099] : Exponential decay weight factor ( );

[0100] : Forgetting factor (usually taken as 0.01 - 0.1);

[0101] Among them, the tension characteristics in the initial acceleration section need to meet the following conditions:

[0102] Monotonically increasing trend (R > 0.5T0 / s); autocorrelation coefficient ρ1 > 0.9; cumulative change ΣΔT > 3T0; fluctuation entropy value H < 0.1.

[0103] The tension characteristics in the variable acceleration cruise section need to meet the following conditions: periodic fluctuation (0.2 < ρ1 < 0.6); fluctuation entropy value 0.3 < H < 0.7; local extreme point density > 5 points / second; spectral energy concentrated in 2 - 10Hz.

[0104] The tension characteristics in the steady - state uniform speed section need to meet the following conditions: standard deviation σ(T) < 0.03T_avg; autocorrelation coefficient ρ1 approaches 1 (ρ1 > 0.95); cumulative change ΣΔT < 0.5T0; fluctuation entropy value H < 0.05.

[0105] The tension characteristics in the pre - deceleration section need to meet the following conditions: monotonically decreasing trend (R < -0.3T0 / s); cumulative change ΣΔT < -2T0; local minimum point density increases; fluctuation entropy value 0.1 < H < 0.4;

[0106] The tension characteristics in the end - point braking section need to meet the following conditions: severe oscillation (σ(T) > 0.1T0); high - frequency component ratio > 40%; autocorrelation coefficient ρ1 < 0.3; impact peak value > 1.5T0.

[0107] S130. Based on the difference between the reference position and the initial position, determine the credibility of the initial position. When the initial position is not credible, use the reference position as the actual position of the elevator. When the initial position is credible, use the initial position as the actual position of the elevator.

[0108] Set a credibility threshold. When the difference between the reference position and the initial position is less than the threshold, the initial position is credible; otherwise, the initial position is not credible.

[0109] Through the above technical solution, the present invention significantly improves the reliability and accuracy of elevator position measurement. By introducing a tension sensor as a redundant verification means and combining dynamic correction factors, deformation correction factors, and tension correction coefficients, the present invention adapts to dynamic environments and load changes, improving the intelligence level and reliability of the system. These improvements make the present invention have significant practical value and innovation in the field of elevator position verification between buildings.

[0110] Figure 3 The following is a schematic structural diagram of a device for verifying the position of an elevator between buildings provided by an embodiment of the present application. This position verification device is applied to a transport device between buildings. The transport device between buildings includes a suspension cable that is fixed between two buildings and horizontally arranged. An elevator is suspended on the suspension cable and moves along the suspension cable. A position encoder is provided on the elevator, and a tension sensor is provided at one or two fixed ends of the suspension cable; as Figure 3 shown, this position verification device includes:

[0111] A first determination module 301, configured to determine the initial position of the elevator based on the data of the position encoder;

[0112] A second determination module 302, configured to determine the reference position of the elevator based on the data of the tension sensor;

[0113] A verification module 303, configured to determine the credibility of the initial position based on the difference between the reference position and the initial position. When the initial position is not credible, the reference position is used as the actual position of the elevator.

[0114] In some embodiments, the verification module 303 is further configured to:

[0115] When the initial position is credible, the initial position is used as the actual position of the elevator.

[0116] In some embodiments, each suspension cable of each line includes at least two cables, and among the at least two suspension cables, there are a main suspension cable and a spare suspension cable; the second determination module 302 is specifically configured to:

[0117] Determine the reference position of the elevator based on the data of the tension sensor located on the main suspension cable.

[0118] In some embodiments, the second determination module 302 is specifically configured to:

[0119] Determine a tension time series based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment;

[0120] When the tension value at the current moment is greater than a first threshold and the change trend of the tension time series is increasing, determine a first acceleration based on the change of the tension values in the tension time series;

[0121] Determine the reference position of the elevator based on the first acceleration and the starting time, where the starting time is the time when the elevator starts moving from the transfer room, and the transfer room is located on the building.

[0122] In some embodiments, the second determination module 302 is specifically configured to:

[0123] Determine a tension time series based on the data of the tension sensor, where the tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment;

[0124] When the elevator is in the uniform speed stage, determine the suspension angle of the suspension cable based on the tension value at the current moment; wherein, when the tension value at the current moment is less than the first threshold and greater than the second threshold, it is determined that the elevator is in the uniform speed stage;

[0125] Determine the reference position of the elevator based on the suspension angle.

[0126] In some embodiments, the second determination module 302 is specifically configured to:

[0127] Determine a tension time series based on the data of the tension sensor, where the tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment;

[0128] When the tension value at the current moment is less than the second threshold and the change trend of the tension time series is decreasing, determine the second acceleration based on the change of the tension values in the tension time series;

[0129] Determine the reference position of the elevator based on the acceleration, the position at the end of the uniform speed stage, the speed in the uniform speed stage, and the time at the end of the uniform speed stage.

[0130] The method of this embodiment can be applied to an electronic device, such as a smart handheld terminal, a smart fixed terminal, a PC, a laptop, and a server, etc. Figure 4 Shows a schematic structural diagram of an electronic device, which includes a processor and a storage device; a computer program is stored on the storage device, and when the computer program is run by the processor, it executes the method of any one of the above embodiments.

[0131] As Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application, for example, the electronic device 400 may be a preprocessing server, including: a processor 401, a memory 402, and a bus. The memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device runs, communication is carried out between the processor 401 and the memory 402 through the bus, and the processor 401 executes the machine-readable instructions to execute the steps of the above method.

[0132] The processor 401 may be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), or a programmable logic array (PLA). The processor 401 may be a central processing unit (CPU), a graphics processing unit (GPU), or a combination of one or more of other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0133] The memory 402 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 401 may run the program instructions to implement the client functions (implemented by the processor) in the embodiments of the present invention described below and / or other desired functions. Various application programs and various data may also be stored in the computer-readable storage media, such as various data used and / or generated by the application programs, etc.

[0134] Specifically, the above-mentioned memory 402 and processor 401 can be general memory and processor, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, it can execute the above method.

[0135] In addition, the electronic device 400 may further include an input device and an output device. The input device is mainly used to implement human-computer interaction. The input device may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, and a touch screen, etc. The output device may output various information (such as images or sounds) to the outside (for example, to the user), and may include one or more of a display, a speaker, etc. The output device may be used to display the graphical user interface of the above-mentioned launcher.

[0136] Corresponding to the above method for verifying the position of the elevator between buildings, an embodiment of the present application further provides a computer-readable storage medium storing machine-executable instructions, which, when called and run by a processor, cause the processor to run the steps of the above method.

[0137] The position verification device for the elevator between buildings provided by the embodiments of the present application can be specific hardware on the device, or software or firmware installed on the device, etc. For the device provided by the embodiments of the present application, its implementation principle and the technical effects produced are the same as those of the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference can be made to the corresponding content in the foregoing method embodiments. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the foregoing-described systems, devices, and units can all refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0138] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In the several embodiments provided by the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code. The module, the program segment, or the part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of the blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0141] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

[0142] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the steps of the mobile control method in each embodiment of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0143] It should be noted that similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0144] Finally, it should be noted that the above embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, and are not intended to limit it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed in the present application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements 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 application. All should be covered within the protection scope of the present application.

Claims

1. A method for verifying the position of an elevator between buildings, characterized in that, The method is applied to a transport device between buildings. The transport device between buildings includes a suspension cable fixed between two buildings and arranged horizontally. An elevator is suspended on the suspension cable and moves along the suspension cable. A position encoder is provided on the elevator, and a tension sensor is provided at one or two fixed ends of the suspension cable. The method includes: Determine the initial position of the elevator based on the data of the position encoder; Determine the reference position of the elevator based on the data of the tension sensor; Determine the credibility of the initial position based on the difference between the reference position and the initial position. When the initial position is not credible, use the reference position as the actual position of the elevator. Wherein, a credibility threshold is set. When the difference between the reference position and the initial position is less than the threshold, the initial position is credible; otherwise, the initial position is not credible.

2. The method according to claim 1, wherein It further includes: When the initial position is credible, use the initial position as the actual position of the elevator.

3. The method according to claim 1, characterized in that, Each line of the suspension cable includes at least two cables, and among the at least two cables, there are a main suspension cable and a spare suspension cable. The determining the reference position of the elevator based on the data of the tension sensor includes: Determine the reference position of the elevator based on the data of the tension sensor located on the main suspension cable.

4. The method according to claim 1 or 3, characterized in that The determining the reference position of the elevator based on the data of the tension sensor includes: Determine a tension time series based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment; When the tension value at the current moment is greater than a first threshold and the change trend of the tension time series is increasing, determine a first acceleration based on the change of the tension values in the tension time series; Determine the reference position of the elevator based on the first acceleration and the starting time. The starting time is the time when the elevator starts to move from the transfer room, and the transfer room is located on the building.

5. The method according to claim 4, wherein The determining the reference position of the elevator based on the data of the tension sensor includes: Determine a tension time series based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment; When the elevator is in a uniform motion stage, determine the suspension angle of the suspension cable based on the tension value at the current moment. Wherein, when the tension value at the current moment is less than the first threshold and greater than a second threshold, it is determined that the elevator is in a uniform motion stage; Determine the reference position of the elevator based on the suspension angle.

6. The method according to claim 5, characterized in that, Determine the suspension angle of the suspension cable based on the following formula :[[]]END]] ； Among them, is the tension value at the current moment; is the mass of the elevator; is the acceleration due to gravity; Determine the reference position of the elevator based on the following formula :[[]]END]] ； Among them, is the original length of the suspension cable.

7. The method according to claim 5, characterized in that, The determining the reference position of the elevator based on the data of the tension sensor includes: Determine the reference position of the elevator based on the following formula : ； Among them, is the tension correction coefficient, which is determined through calibration tests; is a dynamic correction factor, determined based on real-time monitoring of dynamic factors, and the dynamic factors include wind speed, and the wind speed is positively correlated; is a deformation correction factor, which is calculated based on the elastic modulus and tension value of the suspension cable; is the original length of the suspension cable; is the tension value at the current moment.

8. The method according to claim 7, characterized in that, Calculate based on the following formula :[[]]END]] ； Among them, is the elastic modulus of the suspension cable; is the cross-sectional area of the suspension cable.

9. The method according to any one of claims 5 - 8, characterized in that, The determining the reference position of the elevator based on the data of the tension sensor includes: Determine a tension time series based on the data of the tension sensor. The tension time series includes the tension value at the current moment and the tension values at historical moments adjacent to the current moment; When the tension value at the current moment is less than the second threshold and the change trend of the tension time series is decreasing, determine a second acceleration based on the change of the tension values in the tension time series; Determine a reference position of the elevator based on the acceleration, the position at the end of the constant-speed stage, the speed in the constant-speed stage, and the time at the end of the constant-speed stage.

10. A position calibration device for an elevator between buildings, characterized in that, The position verification device is applied to an inter-building transportation device. The inter-building transportation device includes a suspension cable fixed between two buildings and horizontally arranged. The elevator is suspended on the suspension cable and moves along the suspension cable. A position encoder is provided on the elevator, and a tension sensor is provided at one or two fixed ends of the suspension cable. The position verification device includes: A first determination module, configured to determine an initial position of the elevator based on data of the position encoder; A second determination module, configured to determine a reference position of the elevator based on data of the tension sensor; A verification module, configured to determine a credibility of the initial position based on a difference between the reference position and the initial position. When the initial position is not credible, use the reference position as the actual position of the elevator. Wherein, a credibility threshold is set. When the difference between the reference position and the initial position is less than the threshold, the initial position is credible; otherwise, the initial position is not credible.

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