System and method for control of inter-car distance within same hoistway

Abstract

The invention relates to a system and method for control of inter-car distance within the same hoistway. The system comprises a distance measuring device, a control unit and a car control device. The distance measuring device is electrically connected with the control unit and is configured to detect the distance between two adjacent lift cars and send the detected distance between the lift cars to the control unit, and the control unit is configured to receive the distance between the lift cars from the distance measuring device. The control unit is electrically connected with the lift car control device and is configured to send the distance between the lift cars received from the distance measuring device to the lift car control device. The car control device is configured to receive the inter-car distance from the control unit and control operation of the car based on the inter-car distance. According to the invention, the distance between the adjacent cars can be accurately measured, and the distance can be adjusted in real time, so that the safe distance between the cars and the operation efficiency are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to a system and method for controlling the distance between elevator cars in the same hoistway. Background Art

[0002] In traditional elevator systems, the number of elevator stops is too large, which results in prolonged waiting time for passengers and elevator congestion during peak hours. To solve this problem, an elevator system with multiple cars in the same vertical shaft was introduced.

[0003] This system allows two or more elevator cars to operate independently within the same hoistway. Multiple cars share guide rails and landing doors, while each car independently performs its transport mission. This system increases elevator capacity, reduces passenger wait times, and improves efficiency. However, to ensure the safe operation of multiple cars within the same hoistway, controlling the distance between adjacent cars becomes a crucial issue.

[0004] The above description of the background technology is only intended to facilitate an in-depth understanding of the technical solution of the present invention (such as the technical means used, the technical problems solved, and the technical effects produced), and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0005] The object of the present invention is to provide a system and method for controlling the distance between cars in the same hoistway, which can accurately measure the distance between adjacent cars and can adjust the distance in real time to ensure a safe distance between the cars.

[0006] According to one embodiment of the present invention, a system for controlling the distance between cars in the same shaft is provided, which includes a distance measuring device, a control unit and a car control device; the distance measuring device is electrically connected to the control unit and is configured to detect the distance between two adjacent cars and send the detected distance between cars to the control unit, and the control unit is configured to receive the distance between cars from the distance measuring device; the control unit is electrically connected to the car control device and is configured to send the distance between cars received from the distance measuring device to the car control device; the car control device is configured to receive the distance between cars from the control unit and control the operation of the car based on the distance between cars.

[0007] The car control device can be configured to: when controlling the operation of the car based on the distance between the cars, compare the distance between the cars with a preset distance threshold; when it is determined that the distance between the cars is less than the preset distance threshold, adjust the operating speed or stop position of the first car and / or the second car in the two adjacent cars, or perform emergency braking on the first car and / or the second car.

[0008] The first car may be located above the second car, and at least one of the distance measuring devices may be provided on the outside of the floor of the first car and / or on the outside of the roof of the second car.

[0009] The distance measuring device may be an image sensor, and the image sensor includes a camera.

[0010] The distance measuring device is a camera, which is configured to: capture images of the first car or the second car as the target from multiple perspectives when detecting the distance between the adjacent first car and the second car; perform feature recognition and feature matching on the captured image to extract the target in the image; use three-dimensional reconstruction technology to convert the image into a three-dimensional scene based on the external parameters and calibration information of the camera; in the generated three-dimensional scene, calculate the distance between the camera and the target based on the known position and posture of the camera and the position of the extracted target, thereby obtaining the distance between the first car and the second car.

[0011] The distance measuring device may be a non-image sensor, which includes an infrared sensor, a laser distance measuring device, a radar sensor, and an ultrasonic sensor.

[0012] The distance measuring device is a non-image sensor. The non-image sensor is configured to: transmit a corresponding wave when detecting the distance between the first car and the second car; when the transmitted wave is reflected by the first car or the second car as a target, receive the reflected wave; and calculate the distance between the non-image sensor and the target using the following formula to obtain the distance between the first car and the second car:

[0013]

[0014] Where D1 is the distance between the non-image sensor and the target, c is the speed of the wave in the air, and t1 is the time it takes for the wave to be transmitted from the non-image sensor to the target and then reflected from the target and returned to the non-image sensor.

[0015] The first car is located below the second car, and the distance measuring device may include a non-image sensor transmitter, a non-image sensor receiver, and a calculation unit. The non-image sensor transmitter and the non-image sensor receiver are respectively arranged on the outside of the car bottom of the first car and the outside of the car top of the second car; the non-image sensor transmitter is configured to transmit a corresponding wave; the non-image sensor receiver is configured to receive the wave transmitted by the non-image sensor transmitter; the calculation unit is configured to calculate the distance between the non-image sensor transmitter and the non-image sensor receiver by using the following formula, thereby obtaining the distance between the first car and the second car:

[0016] D2=c×t2

[0017] Wherein, D2 is the distance between the transmitter of the non-image sensor and the receiver of the non-image sensor, c is the propagation speed of the wave in the air, and t2 is the time it takes for the wave to travel from the transmitter of the non-image sensor to the receiver of the non-image sensor.

[0018] The same hoistway includes only a first car and a second car, and the first car is located above the second car. The distance measuring devices are arranged at the top and bottom of the hoistway. The distance measuring device arranged at the bottom of the hoistway is configured to detect the distance between the bottom of the second car and the bottom of the hoistway, and the distance measuring device arranged at the top of the hoistway is configured to detect the distance between the top of the first car and the top of the hoistway. Either of the two distance measuring devices is configured to calculate the distance between the first car and the second car using the following formula:

[0019] D5=L-D3-H1-H2-D4

[0020] Among them, D5 is the distance between the first car and the second car, L is the total length of the shaft, D3 is the distance between the bottom of the second car and the bottom of the shaft, D4 is the distance between the top of the first car and the top of the shaft, H1 is the height of the first car, and H2 is the height of the second car.

[0021] The distance measuring device can be arranged on the side wall of the first car and / or the second car, the shaft wall, the counterweight or the accompanying cable.

[0022] According to another embodiment of the present invention, a method for controlling the distance between cars in the same shaft is provided, which includes the following steps: a distance measuring device detects the distance between adjacent first cars and second cars, and sends the detected distance between cars to a control unit; the control unit receives the distance between cars from the distance measuring device, and sends the distance between cars received from the distance measuring device to a car control device; the car control device receives the distance between cars from the control unit, and controls the operation of the cars based on the distance between cars.

[0023] The present invention adopts the above technical solution, which has the following beneficial effects: the present invention can accurately measure the distance between adjacent cars and can adjust the distance in real time to ensure a safe distance between the cars and avoid collision between two adjacent cars due to being too close. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following will describe exemplary embodiments of the present invention in more detail with reference to the accompanying drawings. For clarity, identical components in different drawings are indicated by identical reference numerals. It should be noted that the drawings are for illustrative purposes only and are not necessarily drawn to scale. In these drawings:

[0025] Figure 1 is a block diagram of a system for controlling the distance between cars in the same hoistway according to an embodiment of the present invention.

[0026] Figure 2 2 is a schematic diagram of an installation position of a distance measuring device on a car according to an exemplary embodiment of the present invention.

[0027] Figure 3 is a flowchart of a method for controlling the distance between cars in the same hoistway according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following is a detailed description of the implementation scheme of the present invention. This implementation scheme is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following implementation scheme.

[0029] Figure 1 FIG. 1 is a block diagram of a system for controlling the distance between cars in the same hoistway according to an embodiment of the present invention. Figure 1 As shown, the system for controlling the distance between cars in the same hoistway according to an embodiment of the present invention may include a distance measuring device 10, a control unit 20, and a car control device 30. The distance measuring device 10 is electrically connected to the control unit 20 and is configured to detect the distance between two adjacent cars (specifically, a first car 41 and a second car 42) and send the detected distance between cars to the control unit 20, and the control unit 20 is configured to receive the distance between cars from the distance measuring device 10. The control unit 20 is electrically connected to the car control device 30 and is configured to send the distance between cars received from the distance measuring device 10 to the car control device 30. The car control device 30 is configured to receive the distance between cars from the control unit 20 and control the operation of the cars based on the distance between cars.

[0030] Specifically, when the car control device 30 controls the operation of the cars based on the distance between the cars, the car control device 30 may compare the distance between the cars with a preset distance threshold. When it is determined that the distance between the cars is less than the preset distance threshold, the car control device 30 may adjust the operating speed or parking position of the first car 41 and / or the second car 42 (i.e., adjust the scheduling plan of the first car 41 and / or the second car 42). However, the present invention is not limited to this, and the car control device 30 may also adjust other relevant parameters of the first car 41 and / or the second car 42. In addition, the car control device 30 may perform emergency braking on the first car 41 and / or the second car 42.

[0031] Therefore, according to the embodiment of the present invention, the distance measuring device 10 can accurately measure the distance between adjacent elevator cars, and the elevator control device 30 can adjust the distance in real time to ensure a safe distance between the elevator cars, thereby preventing the two adjacent elevator cars from colliding due to being too close. As a result, two or more elevator cars can operate safely and independently in the same hoistway, improving the operating efficiency of the elevator system.

[0032] Figure 2 Schematic diagram of the installation position of the distance measuring device on the car according to an exemplary embodiment of the present invention. Figure 2 As shown, the first car 41 and the second car 42 are adjacent cars in the same hoistway 50 , and the first car 41 is located above the second car 42 .

[0033] In this case, according to an embodiment of the present invention, at least one distance measuring device 10 is provided on the outside of the floor of the first car 41 and / or on the outside of the roof of the second car 42. Thus, one distance measuring device 10 can be provided on the outside of the floor of the first car 41 and on the outside of the roof of the second car 42. Alternatively, one distance measuring device 10 can be provided on the outside of the floor of the first car 41. Alternatively, one distance measuring device 10 can be provided on the outside of the roof of the second car 42.

[0034] In a preferred embodiment, Figure 2 As shown, two distance measuring devices 10 are provided on the outside of the floor of the first car 41, namely, a first distance measuring device 11 and a second distance measuring device 12. Two distance measuring devices 10 are provided on the outside of the roof of the second car 42, namely, a third distance measuring device 13 and a fourth distance measuring device 14. The linkage of multiple distance measuring devices 10 can achieve higher distance measurement accuracy. In addition, each of the first to fourth distance measuring devices 11 to 14 detects the distance between cars, and the car control device 30 determines whether each received distance between cars is less than a preset distance threshold. This redundant design can reduce the risk of equipment failure.

[0035] In a preferred embodiment, the control unit 20 can be set corresponding to the number of distance measuring devices 10, and receive the distance between cars from the corresponding distance measuring devices 10. Through such redundant design, the system safety can be improved, the risk of equipment failure can be reduced, and the distance measurement accuracy can be improved.

[0036] In addition, in addition to sending the distance between cars to the car control device 30 through the control unit 20, the distance measuring device 10 can also send speed information of the first car and / or the second car to the car control device 30 through the control unit 20.

[0037] Specifically, the distance measuring device 10 may be an image sensor or a non-image sensor. The image sensor may include a camera. The non-image sensor may include an infrared sensor, a laser distance measuring device, a radar sensor, and an ultrasonic sensor.

[0038] In the following, the measurement methods of different types of distance measuring devices 10 are described in detail.

[0039] The distance measuring device 10 may be a camera. When detecting the distance between the first car 41 and the second car 42, the camera may use computer vision technology to analyze and process the captured image including the first car 41 or the second car 42, and identify and measure the distance between the first car 41 and the second car 42.

[0040] Specifically, the camera can capture images of the first car 41 or the second car 42 as the target from multiple perspectives. The camera extracts the target from the image by performing feature extraction and feature matching on the captured image. The camera can use three-dimensional reconstruction technology to convert the image into a three-dimensional scene based on the external parameters and calibration information of the camera. In the generated three-dimensional scene, based on the known position and posture of the camera and the position of the extracted target, the camera can calculate the distance between the camera and the target, for example, by calculating the distance between the camera and the target using the principle of triangulation. Since the camera is set on the outside of the bottom of the first car and / or the outside of the roof of the second car, the distance between the camera and the target is also the distance between the first car and the second car. This method can improve the accuracy of ranging.

[0041] The distance measuring device 10 may be a non-image sensor. Non-image sensors may include infrared sensors, laser distance measuring devices, radar sensors, and ultrasonic sensors. These non-image sensors have in common that, when detecting the distance between the first car 41 and the second car 42, they can emit corresponding waves. When the emitted waves are reflected by the first car 41 or the second car 42 as the target, the reflected waves can be received. These non-image sensors differ in the waves they emit. For example, infrared sensors emit infrared beams, laser distance measuring devices emit laser beams, radar sensors emit radio waves, and ultrasonic sensors emit ultrasonic waves.

[0042] Therefore, the non-image sensor can calculate the distance between the non-image sensor and the target by the following formula, thereby obtaining the distance between the first car 41 and the second car 42:

[0043]

[0044] Where D1 is the distance between the non-image sensor and the target, c is the speed of the wave in the air, and t1 is the time it takes for the wave to be transmitted from the non-image sensor to the target and then reflected from the target and returned to the non-image sensor.

[0045] In addition, for an infrared sensor, the infrared sensor can calculate the distance between the infrared sensor and the target by measuring the intensity of the reflected infrared beam.

[0046] In the above embodiment, the non-image sensor serves as a transceiver, capable of transmitting and receiving waves. In another embodiment, the non-image sensor's transmitter for transmitting waves and receiver for receiving waves can be respectively positioned in the first and second elevator cars, such that the distance between the transmitter and receiver is the same as the distance between the first and second elevator cars 41, 42.

[0047] Specifically, the distance measuring device 10 may include a non-image sensor transmitter, a non-image sensor receiver, and a computing unit. Preferably, the computing unit may be integrated with the non-image sensor receiver. The non-image sensor transmitter and the non-image sensor receiver are respectively disposed on the outside of the floor of the first car 41 and the outside of the ceiling of the second car 42. The non-image sensor transmitter is configured to transmit a corresponding wave, and the non-image sensor receiver is configured to receive the wave transmitted by the non-image sensor transmitter.

[0048] The calculation unit may calculate the distance between the transmitter of the non-image sensor and the receiver of the non-image sensor by the following formula, thereby obtaining the distance between the first car 41 and the second car 42:

[0049] D2=c×t2

[0050] Wherein, D2 is the distance between the transmitter of the non-image sensor and the receiver of the non-image sensor, c is the propagation speed of the wave in the air, and t2 is the time it takes for the wave to travel from the transmitter of the non-image sensor to the receiver of the non-image sensor.

[0051] In special cases, when only the first car 41 and the second car 42 are included in the same hoistway 50 and the first car 41 is located above the second car 42, the distance measuring device 10 can be set at the top and bottom of the hoistway 50. The distance measuring device 10 set at the bottom of the hoistway 50 is configured to detect the distance between the bottom of the second car 42 and the bottom of the hoistway 50, and the distance measuring device 10 set at the top of the hoistway 50 is configured to detect the distance between the top of the first car 41 and the top of the hoistway 50. Specifically, the distance measuring device 10 can be the above-mentioned image sensor and non-image sensor.

[0052] Any one of the two distance measuring devices 10 can calculate the distance between the first car 41 and the second car 42 using the following formula:

[0053] D5=L-D3-H1-H2-D4

[0054] Among them, D5 is the distance between the first car 41 and the second car 42, L is the total length of the shaft 50, D3 is the distance between the bottom of the second car 42 and the bottom of the shaft 50, D4 is the distance between the top of the first car 41 and the top of the shaft 50, H1 is the height of the first car 41, and H2 is the height of the second car 42.

[0055] In other embodiments, the distance measuring device 10 can be set on the car side wall, shaft wall, counterweight or accompanying cable of the first car 41 and / or the second car 42, and the distance between the first car 41 and the second car 42 can be obtained by simple position calculation.

[0056] According to another embodiment of the present invention, a method for controlling the distance between cars in the same hoistway is provided, and the method utilizes Figure 1 The system shown is used to control the distance between cars in the same hoistway. Figure 31 is a flowchart of a method for controlling the distance between cars in the same shaft according to an embodiment of the present invention. The method for controlling the distance between cars in the same shaft according to an embodiment of the present invention may include the following steps: detecting the distance between the adjacent first car 41 and the second car 42 by the distance measuring device 10, and sending the detected distance between cars to the control unit 20 (S10). The control unit 20 receives the distance between cars from the distance measuring device 10, and sends the distance between cars received from the distance measuring device 10 to the car control device 30 (S20). The car control device 30 receives the distance between cars from the control unit 20, and controls the operation of the cars based on the distance between cars (S30).

[0057] The system and method for controlling the distance between cars in the same hoistway according to the embodiments of the present invention can accurately measure the distance between adjacent cars and can make distance adjustments in real time to ensure a safe distance and operating efficiency between cars.

[0058] In addition, the system and method for controlling the distance between cars in the same shaft according to the embodiment of the present invention are simple, reliable and economical, and can be easily implemented and used in existing elevator systems with multiple cars in the same shaft (for example, twin elevator systems) to improve the operational safety of the system.

[0059] The various embodiments of the invention are not an exhaustive list of all possible combinations, but are intended to describe representative aspects of the invention, and what is described in terms of various embodiments can be applied independently or in combinations of two or more.

[0060] The descriptions presented in the above exemplary embodiments are only intended to illustrate the technical solutions of the present invention and are not intended to be exhaustive or to limit the present invention to the precise forms described. Obviously, it is possible for a person of ordinary skill in the art to make many changes and variations based on the above teachings. The exemplary embodiments are selected and described to explain the specific principles of the present invention and its practical applications, so that other persons of ordinary skill in the art can easily understand, implement and utilize the various exemplary embodiments of the present invention and its various selected forms and modified forms. The scope of protection of the present invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A system for controlling the distance between cars in the same hoistway, comprising a distance measuring device, a control unit, and a car control device; The distance measuring device is electrically connected to the control unit and is configured to detect the distance between two adjacent cars and send the detected distance between the cars to the control unit, and the control unit is configured to receive the distance between the cars from the distance measuring device; The control unit is electrically connected to the car control device and is configured to send the inter-car distance received from the distance measuring device to the car control device; The car control device is configured to receive the inter-car distance from the control unit and control the operation of the cars based on the inter-car distance.

2. The system for controlling the distance between cars in the same hoistway according to claim 1, wherein: The car control device is configured as follows: In controlling the operation of the elevator cars based on the distance between the elevator cars, the distance between the elevator cars is compared with a preset distance threshold. When it is determined that the distance between the elevator cars is less than the preset distance threshold, the operating speed or stop position of the first elevator car and / or the second elevator car of the two adjacent elevator cars is adjusted, or emergency braking is performed on the first elevator car and / or the second elevator car.

3. The system for controlling the distance between cars in the same hoistway according to claim 2, wherein: The first car is located above the second car, and at least one of the distance measuring devices is arranged on the outside of the car bottom of the first car and / or the outside of the car top of the second car.

4. The system for controlling the distance between cars in the same hoistway according to claim 3, wherein: The distance measuring device is an image sensor, and the image sensor includes a camera.

5. The system for controlling the distance between cars in the same hoistway according to claim 4, wherein: The distance measuring device is a camera, and the camera is configured as follows: In detecting the distance between the adjacent first and second cars, capturing images of the first or second car as a target from multiple perspectives; Perform feature recognition and feature matching on the captured image to extract the target in the image; Use 3D reconstruction technology to convert images into 3D scenes based on the camera's external parameters and calibration information; In the generated three-dimensional scene, based on the known position and posture of the camera and the position of the extracted target, the distance between the camera and the target is calculated, thereby obtaining the distance between the first car and the second car.

6. The system for controlling the distance between cars in the same hoistway according to claim 3, wherein: The distance measuring device is a non-image sensor, which includes an infrared sensor, a laser distance measuring device, a radar sensor, and an ultrasonic sensor.

7. The system for controlling the distance between cars in the same hoistway according to claim 6, wherein: The distance measuring device is a non-image sensor, and the non-image sensor is configured as follows: In detecting the distance between the first and second cars, a corresponding wave is transmitted. When the transmitted wave is reflected by the first or second car as a target, the reflected wave is received, and the distance between the non-image sensor and the target is calculated using the following formula to obtain the distance between the first and second cars: Where D1 is the distance between the non-image sensor and the target, c is the speed of the wave in the air, and t1 is the time it takes for the wave to be transmitted from the non-image sensor to the target and then reflected from the target and returned to the non-image sensor.

8. The system for controlling the distance between cars in the same hoistway according to claim 2, wherein: The first car is located below the second car, and the distance measuring device includes a non-image sensor transmitter, a non-image sensor receiver, and a computing unit, wherein the non-image sensor transmitter and the non-image sensor receiver are respectively arranged on the outside of the car bottom of the first car and the outside of the car top of the second car; The transmitter of the non-image sensor is configured to transmit the corresponding wave; the receiver of the non-image sensor being configured to receive waves transmitted by the transmitter of the non-image sensor; The calculation unit is configured to calculate the distance between the transmitter of the non-image sensor and the receiver of the non-image sensor by using the following formula, thereby obtaining the distance between the first car and the second car: D2=c×t2 Wherein, D2 is the distance between the transmitter of the non-image sensor and the receiver of the non-image sensor, c is the propagation speed of the wave in the air, and t2 is the time it takes for the wave to travel from the transmitter of the non-image sensor to the receiver of the non-image sensor.

9. The system for controlling the distance between cars in the same hoistway according to claim 2, wherein: The same hoistway includes only a first car and a second car, and the first car is located above the second car. The distance measuring devices are arranged at the top and bottom of the hoistway. The distance measuring device arranged at the bottom of the hoistway is configured to detect the distance between the bottom of the second car and the bottom of the hoistway, and the distance measuring device arranged at the top of the hoistway is configured to detect the distance between the top of the first car and the top of the hoistway. Either of the two distance measuring devices is configured to calculate the distance between the first car and the second car using the following formula: D5=L-D3-H1-H2-D4 Among them, D5 is the distance between the first car and the second car, L is the total length of the shaft, D3 is the distance between the bottom of the second car and the bottom of the shaft, D4 is the distance between the top of the first car and the top of the shaft, H1 is the height of the first car, and H2 is the height of the second car.

10. The system for controlling the distance between cars in the same hoistway according to claim 2, wherein: The distance measuring device is arranged on the side wall of the first car and / or the second car, the shaft wall, the counterweight or the accompanying cable.

11. A method for controlling the distance between cars in the same hoistway, comprising the following steps: The distance between the adjacent first and second elevator cars is detected by a distance measuring device, and the detected distance between the elevator cars is sent to a control unit; The control unit receives the distance between cars from the distance measuring device, and transmits the distance between cars received from the distance measuring device to the car control device; The car control device receives the inter-car distance from the control unit and controls the operation of the cars based on the inter-car distance.

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