Elevator car laser positioning system and method and elevator

Abstract

The invention relates to an elevator car laser positioning system and method and an elevator, the elevator car laser positioning system comprises a distance measuring module, the distance measuring module comprises a reflection target and at least two laser distance measuring units, the laser distance measuring units are installed at different positions of an elevator shaft, the reflection target is installed on an elevator car, and the laser distance measuring units are connected with the reflection target; each laser ranging unit is used for emitting a laser signal and reflecting the laser signal along an original light path through the reflection target so as to determine a real-time distance between each laser ranging unit and the reflection target; the data processing module is connected with the laser ranging units and used for determining the real-time absolute height and / or the real-time horizontal offset of the elevator car based on the real-time distance between the laser ranging units and the reflection target, the vertical position of the elevator car can be measured, the offset or inclination of the elevator car in the horizontal direction can be monitored, and the real-time absolute height and / or the real-time horizontal offset of the elevator car can be obtained. The method is suitable for scenes with extremely high requirements on operation stability and safety, or the precision of real-time absolute height is improved through hardware redundancy measurement.

Description

Technical Field

[0001] This application relates to the field of elevator technology, and in particular to an elevator car laser positioning system, method and elevator. Background Technology

[0002] In elevator control systems, accurate detection of the car's position is crucial for achieving smooth operation, precise leveling, and safety protection.

[0003] Traditional car position detection primarily relies on measurement methods such as rotary encoders, hoistway position switches, and incremental encoder strips. Rotary encoders: These devices are typically installed on the traction machine and indirectly calculate the car position by counting the number of rotations of the traction machine shaft. However, this method has inherent drawbacks: slippage between the wire rope and the traction sheave, wear of the rope groove, and rope elongation all contribute to cumulative errors, causing positioning accuracy to decrease over time and requiring periodic recalibration. Hoistway position switch methods (such as reed switches or optical leveling switches): These switches are discretely distributed within the hoistway, triggering signals when a magnetic plate or baffle on the car passes by. Although less expensive, they only provide fixed, discrete position point signals (such as leveling signals) and cannot achieve continuous, accurate position monitoring of the car throughout its entire travel. Incremental encoder strips (such as optical or magnetic rulers) are also used for high-precision positioning. This method requires encoder strips to be laid throughout the hoistway, and the reading head on the car identifies the strips. Its shortcomings are: the installation and debugging require extremely high precision, the lengthy encoder is easily contaminated by environmental factors such as oil and dust in the well, and the overall cost is relatively high.

[0004] Currently, advanced laser rangefinders have been developed for elevator distance measurement. However, existing laser rangefinder solutions primarily focus on replacing traditional contact-based measuring tools with non-contact laser sensors. Their core function remains basic vertical distance measurement, and they cannot monitor the tilt of the elevator car. When the car tilts, it significantly impacts the safety of elevator operation. Furthermore, existing technologies rely on a single laser sensor, which is itself a single point of failure. This sensor has limitations in handling complex shaft environments. Factors such as dust, moisture, and strong light interference within the shaft can significantly reduce the transmission quality of the laser signal, leading to fluctuations or even failure in the measurement data. Consequently, the accuracy of the measurement data is low, and the reliability cannot be guaranteed, failing to achieve true hardware redundancy and high-reliability positioning. Summary of the Invention

[0005] Therefore, it is necessary to provide an elevator car laser positioning system, method, and elevator to address the aforementioned technical problems.

[0006] In a first aspect, embodiments of this application provide an elevator car laser positioning system, the system comprising:

[0007] The ranging module includes a reflective target and at least two laser ranging units. Each laser ranging unit is installed at a different position in the elevator shaft. The reflective target is installed on the elevator car. Each laser ranging unit is used to emit a laser signal and reflect it along the original optical path through the reflective target to determine the real-time distance between each laser ranging unit and the reflective target.

[0008] The data processing module, connected to each of the laser ranging units, is used to determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the real-time distance between each of the laser ranging units and the reflective target.

[0009] In one embodiment, the ranging module includes a first laser ranging unit and a second laser ranging unit, both installed on one side wall of the elevator shaft at different heights and horizontal positions; the optical paths of the first laser ranging unit and the second laser ranging unit intersect at the reflective target; the data processing module is further configured to: based on the real-time distance between each laser ranging unit and the reflective target, the first coordinate of the installation position of the first laser ranging unit, and the second coordinate of the installation position of the second laser ranging unit, use triangulation to obtain the real-time absolute height and real-time horizontal offset of the elevator car.

[0010] In one embodiment, the ranging module includes at least three laser ranging units, wherein at least two of the laser ranging units are installed on one side wall of the elevator shaft and located at different heights and horizontal positions; at least one of the laser ranging units is installed at the top and / or bottom of the elevator shaft;

[0011] The data processing module is further configured to: obtain the first redundant absolute height and real-time horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on the side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; determine the second redundant absolute height of the elevator car based on the real-time distance between each laser ranging unit installed at the top and / or bottom of the elevator shaft and the reflective target; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car.

[0012] In one embodiment, the ranging module includes a first laser ranging unit and a second laser ranging unit, and the reflective target includes a first reflective target and a second reflective target;

[0013] The first laser ranging unit is installed at the top of the elevator shaft, the second laser ranging unit is installed at the bottom of the elevator shaft, the first reflective target is installed at the top of the elevator car and corresponds to the optical path of the first laser ranging unit, and the second reflective target is installed at the bottom of the elevator car and corresponds to the optical path of the second laser ranging unit.

[0014] The data processing module is further configured to: determine the first redundant absolute height of the elevator car based on the real-time distance between the first laser ranging unit and the first reflective target; and determine the second redundant absolute height of the elevator car based on the real-time distance between the second laser ranging unit and the second reflective target; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car.

[0015] In one embodiment, the ranging module includes four laser ranging units, wherein two of the laser ranging units are installed on one side wall of the elevator shaft at different heights and horizontal positions; and the other two laser ranging units are installed on the other side wall of the elevator shaft at different heights and horizontal positions.

[0016] The data processing module is further configured to: obtain the first redundant absolute height and the first redundant horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on one side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; and obtain the second redundant absolute height and the second redundant horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on the other side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car; and perform redundancy processing based on the first redundant horizontal offset to obtain the real-time horizontal offset of the elevator car.

[0017] In one embodiment, the data processing module is further configured to:

[0018] Determine whether the difference between the first redundancy absolute height and the second redundancy absolute height meets a threshold; and / or determine whether the difference between the first redundancy horizontal offset and the second redundancy horizontal offset meets a threshold;

[0019] If so, the average of the first redundant absolute height and the second redundant absolute height shall be taken as the real-time absolute height of the elevator car; and / or the average of the first redundant horizontal offset and the second redundant horizontal offset shall be taken as the real-time horizontal offset of the elevator car.

[0020] If not, then based on the fault diagnosis criteria, identify the faulty laser ranging unit, and based on the measurement data of the normal laser ranging unit, determine the real-time absolute height and / or real-time horizontal offset of the elevator car.

[0021] In one embodiment, the system further includes an early warning module: the early warning module is connected to the data processing module, and the early warning module is used to issue an early warning signal when the laser ranging unit in the ranging module malfunctions, or when the real-time horizontal offset exceeds a safety threshold.

[0022] In one embodiment, the system further includes a calibration module and a display module;

[0023] The calibration module is used to calibrate the coordinates of each laser ranging unit in the shaft absolute coordinate system;

[0024] The data processing module is used to determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the coordinates of each laser ranging unit in the shaft absolute coordinate system and the real-time distance between each laser ranging unit and the reflective target.

[0025] The display module is connected to the data processing module and is used to display the corresponding floor based on the real-time absolute height of the elevator car.

[0026] Secondly, embodiments of this application also provide an elevator car laser positioning method, applied to the elevator car laser positioning system as described in the first aspect above, the method comprising:

[0027] Each laser ranging unit is installed at a different location in the elevator shaft, and a reflective target is installed on the elevator car. The laser signals emitted by each laser ranging unit are reflected along the original optical path using the reflective target to determine the real-time distance between each laser ranging unit and the reflective target.

[0028] Based on the real-time distance between each laser ranging unit and the reflective target, the real-time absolute height and / or real-time horizontal offset of the elevator car are determined.

[0029] Thirdly, embodiments of this application also provide an elevator, including: an elevator car, an elevator shaft, and an elevator car laser positioning system as described in the first aspect above, wherein the elevator car runs within the elevator shaft, and the elevator car laser positioning system is used to measure the real-time absolute height and / or real-time horizontal offset of the elevator car in real time.

[0030] The elevator car laser positioning system, method, and elevator provided in this application, by employing at least two laser ranging units and a reflective target for coordinated measurement, can not only measure the vertical position of the car but also monitor its horizontal offset or tilt. This is suitable for scenarios with extremely high requirements for operational stability and safety. Alternatively, through hardware redundancy measurement, it can improve the accuracy of real-time absolute height, achieving at least one of the following beneficial effects: 1) Through hardware redundancy and data verification, the reliability and fault tolerance of the positioning system are significantly improved, avoiding single-point failures; 2) Utilizing principles such as triangulation, the horizontal offset of the car can be monitored in real time while measuring absolute height, achieving comprehensive monitoring of the car's operating posture; 3) Through data fusion methods such as averaging, the accuracy of absolute height measurement is improved; 4) The system structure is flexible, and various installation combinations such as top, bottom, and sidewall can be used as needed to adapt to different shaft environments and monitoring requirements.

[0031] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0033] Figure 1 This is a schematic diagram of the structure of an elevator car laser positioning system in one embodiment;

[0034] Figure 2 This is a schematic diagram of the installation positions of the reflective target and the laser ranging unit in one embodiment;

[0035] Figure 3 This is a schematic diagram showing the installation positions of the reflective target and the laser ranging unit in another embodiment;

[0036] Figure 4 This is a schematic diagram of the elevator car laser positioning system in another embodiment;

[0037] Figure 5 This is a flowchart illustrating the laser positioning method for an elevator car in one embodiment. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0039] This application provides an elevator car laser positioning system, such as... Figure 1 As shown, the system includes a ranging module 10 and a data processing module 20.

[0040] The ranging module 10 includes a reflective target 101 and at least two laser ranging units 102. Each laser ranging unit is installed at a different location in the elevator shaft. The reflective target 101 is installed on the elevator car. Each laser ranging unit emits a laser signal, which is reflected along the original optical path by the reflective target 101, to determine the real-time distance between each laser ranging unit and the reflective target 101. A data processing module 20 is connected to the ranging module 10 and is used to determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the real-time distance between each laser ranging unit and the reflective target 101.

[0041] In one embodiment, the ranging module includes a first laser ranging unit and a second laser ranging unit, both installed on the same side wall of the elevator shaft and located at different heights and horizontal positions; the optical paths of the first laser ranging unit and the second laser ranging unit intersect at the reflective target; the data processing module is further used to: based on the real-time distance between each laser ranging unit and the reflective target, the first coordinate of the installation position of the first laser ranging unit, and the second coordinate of the installation position of the second laser ranging unit, use triangulation to obtain the real-time absolute height and real-time horizontal offset of the elevator car.

[0042] Please see Figure 2In this embodiment, a first laser ranging unit 1c and a second laser ranging unit 1d are installed on the same side wall of the elevator shaft 6 at different heights. Their installation positions are a certain horizontal distance D (a known fixed value), and their laser beams are pointed at a certain angle to a common reflective target 2c in the center of the shaft. The reflective target 2c is recommended to be installed on the side of the car, for example, on the side of the upper beam of the car 3. A data processing module 20 is installed in a machine room or dedicated control box at the top of the shaft 6 and is connected to the first laser ranging unit 1c and the second laser ranging unit 1d via cables. The data processing module 20 interacts with the elevator main controller 5 located in the machine room or at the top of the shaft via a communication bus (such as a CAN bus), sending the real-time absolute height and / or real-time horizontal offset of the elevator car to the elevator main controller 5. The elevator main controller 5 then drives the floor display to show the corresponding unit. The data processing module 20 can also be installed in a waterproof control box in the pit of the shaft 6 or in a machine room or dedicated control box at the top of the shaft.

[0043] Before measurement, the system needs to be calibrated. First, a two-dimensional coordinate system is established with the shaft sidewall as a reference. Then, by moving the car to several known precise positions (such as the bottom floor, middle floor, and top floor), the readings (Lc, Ld) of the two laser ranging units at each position are recorded, thereby accurately calibrating the spatial coordinates (Xc, Yc) and (Xd, Yd) of the first laser ranging unit 1c and the second laser ranging unit 1d.

[0044] During elevator operation, two laser ranging units measure the distances Lc and Ld between the two laser ranging units and the reflective target 2c in real time. Based on the known fixed coordinates (Xc, Yc) and (Xd, Yd) of the two laser ranging units, and the real-time measured Lc and Ld, the data processing module 20 employs a triangulation method. By simultaneously solving two equations for circles centered at the laser ranging unit installation coordinates and with the real-time measured distance as the radius, the two-dimensional coordinates (X, Y) of the reflective target (i.e., the elevator car) are obtained.

[0045] Specifically, the basic principle and process of the triangulation method are as follows:

[0046] Establish a geometric model: The installation positions of the first laser ranging unit 1c, the second laser ranging unit 1d, and the reflective target 2c are considered as a spatial triangle. Among the three vertices of this triangle, the position coordinates (Xc, Yc) and (Xd, Yd) of the two laser ranging units are fixed and known, and the two sides (i.e., the measurement distances Lc and Ld) are known quantities measured in real time.

[0047] Position Calculation: Based on the aforementioned geometric model, the data processing module 20 uses the known coordinates of two fixed points (Xc, Yc) and (Xd, Yd) and two real-time measured distance values ​​Lc and Ld to solve for the spatial coordinates (X, Y) of the reflective target 2c. This calculation process is mathematically equivalent to solving for the coordinates of the intersection point of two circles centered on the coordinates of the two laser ranging units and with the two real-time measured distances as their radii. The data processing module 20 calculates the coordinates of this intersection point in real time using a built-in algorithm (e.g., by simultaneously solving a system of equations formed by the distance formulas between two points), outputs the calculation result, and finally calculates the Y value in the resulting coordinates P(X, Y), which represents the real-time absolute height of the reflective target installation point, and thus the real-time absolute height of the elevator car; the X value represents the real-time horizontal position coordinate of the reflective target installation point.

[0048] The data processing module 20 is further configured to: calculate the change in the horizontal displacement of the elevator car by comparing the real-time horizontal position coordinate X with the reference horizontal position coordinate X0 of the target point stored during system calibration, i.e., the real-time horizontal displacement ΔX = |X - X0|. When this ΔX exceeds the set safety threshold, the system determines that there is an abnormal horizontal displacement or tilt risk in the car and triggers an early warning.

[0049] Based on this, the system of this application can measure the vertical position Y of the car in real time, determine the corresponding floor based on the vertical position Y, and simultaneously monitor the horizontal offset ΔX of the car. If ΔX undergoes a sudden change or gradual change exceeding the allowable range, it indicates that the car has an abnormal horizontal offset or tilt risk, and the system will output an alarm signal to notify relevant personnel for handling, thereby achieving proactive safety warning. This embodiment of the application achieves the monitoring of the car's horizontal offset and the measurement of the car's vertical position through the side-wall mounting of two laser ranging units and triangulation.

[0050] In one specific embodiment, the ranging module includes at least a first laser ranging unit and a second laser ranging unit, and the reflective target includes a first reflective target and a second reflective target; the first laser ranging unit is installed at the top of the elevator shaft, the second laser ranging unit is installed at the bottom of the elevator shaft, the first reflective target is installed at the top of the elevator car and corresponds to the optical path of the first laser ranging unit, and the second reflective target is installed at the bottom of the elevator car and corresponds to the optical path of the second laser ranging unit; the data processing module is further configured to: determine a first redundant absolute height of the elevator car based on the real-time distance between the first laser ranging unit and the first reflective target; determine a second redundant absolute height of the elevator car based on the real-time distance between the second laser ranging unit and the second reflective target; and determine the real-time absolute height of the elevator car based on the first redundant absolute height and the second redundant absolute height.

[0051] Please see Figure 3 In this embodiment of the application, a first laser ranging unit 1a is installed at the top of the shaft, and a second laser ranging unit 1b is installed at the bottom of the shaft. Corresponding first reflective targets 2a and second reflective targets 2b are installed at the top and bottom of the car, respectively.

[0052] Specifically, the first laser ranging unit 1a is securely mounted at the center of the top of the elevator shaft 6 using a bracket, ensuring that its laser emitting surface is parallel to or has a known fixed angle with the bottom reference plane of the elevator shaft 6. On the top upper surface of the elevator car 3, directly opposite the optical path of the first laser ranging unit 1a, a planar reflector or corner prism is installed as a reflective target 2a.

[0053] The second laser ranging unit 1b is securely mounted on the plane of the pit at the bottom of the elevator shaft 6 using a bracket, ensuring that its laser emitting surface is parallel to or has a known fixed angle with the bottom reference plane of the elevator shaft 6. A planar reflector or corner prism is installed as a reflective target 2b on the lower bottom surface of the elevator car 3, directly opposite the second laser ranging unit 1b.

[0054] The data processing module 20 is installed in the machine room or dedicated control box at the top of the hoistway 6, and is connected to the first laser ranging unit 1a and the second laser ranging unit 1b via cables. The data processing module 20 interacts with the elevator main controller 5 located in the machine room or at the top of the hoistway via a communication bus (such as a CAN bus).

[0055] Before real-time measurement, the system needs to be calibrated, specifically the laser ranging units at the top and bottom of the well.

[0056] The calibration method for the first laser ranging unit 1a installed at the top is as follows: Manually move the car 3 to the bottom level position (absolute position P=0 meters), and record the reading of the first laser ranging unit 1a at this time as L0. Then, the absolute position coordinate of the first laser ranging unit 1a itself is P_top=L0. This mapping relationship is stored in the data processing module 20.

[0057] The calibration method for the second laser ranging unit 1b installed at the bottom is as follows: Manually move the car 3 to the top floor leveling position (absolute position P=H_max, i.e., the total lifting height of the hoistway), and record the reading of the second laser ranging unit 1b at this time as L_max. Then, the absolute position of the second laser ranging unit 1b itself, P_bottom=H_max-L_max. Alternatively, move the car 3 to the bottom floor leveling position (P=0), record the reading L0, then P_bottom=L0. This mapping relationship is stored in the data processing module 20.

[0058] During normal elevator operation, the first laser ranging unit 1a measures the distance L_top between itself and the top of the car in real time. The data processing module 20 calculates the absolute position P1 of the car 3 in real time based on the shaft position model P = P_top - L_top, which is the height of the top of the car. The second laser ranging unit 1b measures the distance L_bottom between itself and the bottom of the car in real time. The data processing unit calculates the absolute position P2 of the car in real time based on the shaft position model P = P_bottom + L_bottom, which is the height of the bottom of the car.

[0059] The data processing module 20 performs redundant processing on the absolute positions P1 and P2 to obtain the real-time absolute height of the elevator car, ensuring the accuracy of the real-time absolute height.

[0060] The ranging module 10 of this application includes at least two laser ranging units 102, both installed on the side wall of the elevator shaft or respectively installed on the top and bottom of the elevator shaft; a reflective target 101 is fixedly installed on the elevator car, corresponding to the optical path of each laser ranging unit, and is used to reflect laser signals to measure the distance data measured by each laser ranging unit in real time. This distance data is the real-time distance between each laser ranging unit and the reflective target 101. The data processing module 20 is electrically connected to each laser ranging unit and is used to receive the distance data measured by each laser ranging unit. The data processing module 20 pre-stores a shaft position model and is configured to calculate the real-time absolute position of the elevator car in the shaft absolute coordinate system based on distance data measured by at least two laser ranging units 102 and the shaft position model. The real-time absolute position includes real-time absolute height and / or real-time horizontal offset. The real-time horizontal offset is the difference between the real-time horizontal position coordinate X measured by the laser positioning system and the reference horizontal position coordinate X0, representing the change in horizontal displacement of the elevator car, i.e., real-time horizontal offset ΔX = |X - X0|. When the real-time horizontal offset ΔX exceeds a set safety threshold, the system determines that the car has an abnormal horizontal offset or tilt risk. This embodiment can not only measure the vertical height of the car but also monitor its horizontal offset or tilt, making it suitable for scenarios with extremely high requirements for operational stability and safety. Alternatively, hardware redundancy measurement can be used to improve the accuracy of the real-time absolute height.

[0061] In one embodiment, the ranging module includes at least three laser ranging units, wherein at least two of the laser ranging units are installed on one side wall of the elevator shaft at different heights and horizontal positions; at least one of the laser ranging units is installed at the top and / or bottom of the elevator shaft; the data processing module is further configured to: obtain a first redundant absolute height and a real-time horizontal offset of the elevator car using triangulation based on the real-time distance between each of the laser ranging units installed on the side wall of the elevator shaft and the reflective target, and the installation position coordinates of each of the laser ranging units; determine a second redundant absolute height of the elevator car based on the real-time distance between each of the laser ranging units installed at the top and / or bottom of the elevator shaft and the reflective target; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car.

[0062] In one specific embodiment, the ranging module includes three laser ranging units, specifically: in such a way as Figure 2 Based on the illustrated embodiment, a laser ranging unit is installed at the top of the shaft, and a corresponding reflective target is installed at the top of the car, resulting in a total of three laser ranging units (1a, 1c, and 1d) and two reflective targets (2a and 2c). The data processing module 20 is connected to each laser ranging unit. Based on the real-time distance between laser ranging units 1c and 1d and the reflective target 2c, the real-time absolute height (first redundant absolute height) and real-time horizontal offset of the elevator car are obtained using triangulation. Based on the real-time distance between laser ranging unit 1a and the reflective target 2a, the real-time absolute height (second redundant absolute height) of the elevator car is calculated in real-time using the shaft position model P=P_top-L_top. The data processing module 20 also performs redundancy processing based on the first and second redundant absolute heights to obtain the real-time absolute height of the elevator car.

[0063] In one specific embodiment, the ranging module includes three laser ranging units, specifically: in such a way as Figure 2Based on the illustrated embodiment, laser ranging units are also installed in the shaft pit, and corresponding reflective targets are installed at the bottom of the car, resulting in a total of three laser ranging units (1b, 1c, and 1d) and two reflective targets (2b and 2c). The data processing module 20 is connected to each laser ranging unit. Based on the real-time distances between laser ranging units 1c and 1d and the reflective target 2c, it obtains the real-time absolute height (first redundant absolute height) and real-time horizontal offset of the elevator car using triangulation. Based on the real-time distance between laser ranging unit 1b and the reflective target 2b, it calculates the real-time absolute height (second redundant absolute height) of the elevator car in real-time using the shaft position model P = P_bottom + L_bottom. The data processing module 20 also performs redundancy processing based on the first and second redundant absolute heights to obtain the real-time absolute height of the elevator car.

[0064] In one specific embodiment, the ranging module includes four laser ranging units, specifically: in such a way as Figure 2 Based on the embodiment shown, a laser ranging unit is also installed at the top of the hoistway, a corresponding reflective target 101 is installed at the top of the car, a laser ranging unit is installed at the bottom of the hoistway pit, and a corresponding reflective target 101 is installed at the bottom of the car. That is, a total of four laser ranging units (1a, 1b, 1c and 1d) and three reflective targets (2a, 2b and 2c) are installed. The data processing module 20 is connected to each laser ranging unit. Based on the real-time distance between laser ranging unit 1c and laser ranging unit 1d and the reflective target 2c, it obtains the real-time absolute height (first redundant absolute height) and real-time horizontal offset of the elevator car through triangulation. Based on the real-time distance between laser ranging unit 1a and the reflective target 2a, it calculates the real-time absolute height (second redundant absolute height) of the elevator car in real time through the shaft position model P=P_top-L_top. Based on the real-time distance between laser ranging unit 1b and the reflective target 2b, it calculates the real-time absolute height (second redundant absolute height) of the elevator car in real time through the shaft position model P=P_bottom+L_bottom. The data processing module 20 also performs redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car.

[0065] In one embodiment, when the first laser ranging unit is installed at the top of the elevator shaft and the second reflective target is installed at the bottom of the elevator car, the data processing module 20 performs redundancy processing on the real-time absolute height (first redundant absolute height) measured by the first laser ranging unit and the real-time absolute height (second redundant absolute height) measured by the second laser ranging unit. The process involves comparing the signal strengths of the first and second laser ranging units, using the distance data from the laser ranging unit with the higher signal strength for calculation, and using the distance data from the other laser ranging unit as verification data; for example: P_primary = P_top - L_top. Simultaneously, the data processing module 20 performs verification using the distance data from the other laser ranging unit: P_verify = P_bottom + L_bottom. P_top - L_top is the height of the top of the car, and P_bottom + L_bottom is the height of the bottom of the car. The difference between these two positions is the car length H. In an ideal situation, (P_top-L_top)-(P_bottom+L_bottom)≈car length, that is, (P_top-L_top)-(P_bottom+L_bottom)=H±error value, and the range of error value is preset.

[0066] The data processing module 20 can define the absolute position P of the car as the value of (P_bottom + L_bottom) (i.e., the bottom position of the car), or it can take the value of (P_top - L_top) - H as the absolute position P of the car. The data processing module 20 can first determine whether (P_top - L_top) - (P_bottom + L_bottom) ≈ car length for an initial judgment. If it is true, it calculates whether the absolute position P calculated by the two laser ranging units is consistent. When the absolute position P data calculated by the two laser ranging units is consistent, their average value can be taken to improve accuracy. Two sets of laser ranging units are set at the top of the hoistway and the bottom of the hoistway, and two sets of corresponding reflective targets are configured on the car. One of them is a redundant setting for vertical position measurement. When the absolute position P data calculated by the two laser ranging units is inconsistent and the difference between the two exceeds the threshold, the system can determine that one of the laser ranging units is faulty or the optical path is blocked, and automatically use the vertical position data calculated by the other normal laser ranging unit.

[0067] In one embodiment, the ranging module includes four laser ranging units, wherein two of the laser ranging units are installed on one side wall of the elevator shaft at different heights and horizontal positions; the other two laser ranging units are installed on the other side wall of the elevator shaft at different heights and horizontal positions; the data processing module is further configured to: obtain a first redundant absolute height and a first redundant horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on one side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; and obtain a second redundant absolute height and a second redundant horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on the other side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car; and perform redundancy processing based on the first redundant horizontal offset to obtain the real-time horizontal offset of the elevator car.

[0068] In this embodiment, four laser ranging units are installed on the side wall of the elevator shaft. Two sets of absolute height and horizontal offset are obtained through triangulation. Further redundancy processing of the absolute height and horizontal offset is performed to improve the accuracy of real-time absolute height and real-time horizontal offset.

[0069] In one embodiment, the data processing module 20 is further configured to: determine whether the difference between the first redundant absolute height and the second redundant absolute height meets a threshold; if so, take the average of the first redundant absolute height and the second redundant absolute height as the real-time absolute height of the elevator car; the data processing module 20 is further configured to: determine whether the difference between the first redundant horizontal offset and the second redundant horizontal offset meets a threshold; if so, take the average of the first redundant horizontal offset and the second redundant horizontal offset as the real-time horizontal offset of the elevator car; if the difference between the first redundant absolute height and the second redundant absolute height does not meet a threshold and / or the difference between the first redundant horizontal offset and the second redundant horizontal offset does not meet a threshold, then based on the fault diagnosis criteria, determine the faulty laser ranging unit, and determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the measurement data of the remaining normal laser ranging units.

[0070] When at least two calculated absolute position data are inconsistent and the difference exceeds a threshold, the system can determine that a laser ranging unit is malfunctioning or the optical path is blocked, and automatically use the vertical position data calculated by a normal laser ranging unit. The fault diagnosis criteria include: checking the signal strength of each laser ranging unit (e.g., oil or dust accumulation in the shaft may weaken the signal), whether the data fluctuates drastically, and the reasonableness of the absolute position data calculated by each laser ranging unit to comprehensively determine the malfunctioning laser ranging unit. The reasonableness judgment includes determining whether the car position calculated by the laser ranging unit exceeds the physical limits of the shaft, or whether its rate of change per unit time exceeds the maximum acceleration threshold of the elevator. If the signal of one laser ranging unit weakens, the measurement data fluctuates drastically, or the calculated data exceeds a reasonable range, and if the calculated data is inconsistent with the data calculated by other laser ranging units, a fault or optical path blockage is considered, and an alarm is triggered. Through hardware redundancy, the system can continue to operate even when a single laser sensor fails, greatly improving reliability.

[0071] This embodiment deploys two laser ranging units and performs data verification and redundancy fault tolerance processing by the data processing module 20, achieving redundant backup and improving the reliability and accuracy of the system. At the same time, dual data sources can reduce random errors caused by slight swaying of the car in single-point measurement.

[0072] In one embodiment, such as Figure 4 As shown, the system also includes an early warning module 30, which is connected to the data processing module 20. The early warning module 30 is used to issue an early warning signal when the first laser ranging unit or the second laser ranging unit fails, or when the real-time horizontal offset exceeds the safety threshold, thereby realizing the safety monitoring of elevator operation.

[0073] In one embodiment, such as Figure 4 As shown, the system also includes a display module 40, which is connected to the data processing module 20. The data processing module 20 is used to send the real-time absolute height of the elevator car to the elevator main controller, which drives the display module 40 to display the corresponding floor information.

[0074] In one embodiment, the system further includes a calibration module for calibrating the coordinates of each laser ranging unit in the shaft absolute coordinate system; the data processing module 20 is used to determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the coordinates of each laser ranging unit in the shaft absolute coordinate system and the real-time distance between each laser ranging unit and the reflective target 101.

[0075] In one embodiment, to ensure that the first laser ranging unit 1c and the second laser ranging unit 1d mounted on the sidewall can be continuously and effectively aligned with the reflective target 2c, this embodiment of the application adopts multiple safeguard designs: First, a large-size corner cube prism is selected as the reflective target 2c, and its optical characteristic of returning the incident light along its original path is utilized to greatly relax the alignment tolerance requirements; second, the laser ranging unit itself has a certain beam divergence angle, which together with the reflective target 2c constitutes a tolerant measurement area; in addition, a bracket with adjustment function is used for precise initial installation and secure locking to ensure long-term stability.

[0076] This application also provides an elevator car laser positioning method, applied to the elevator car laser positioning system as described in any of the above embodiments, the method comprising the following steps:

[0077] Step 201: Install each laser ranging unit at different positions in the elevator shaft, install a reflective target on the elevator car, and use the reflective target to reflect the laser signals emitted by each laser ranging unit along the original optical path to determine the real-time distance between each laser ranging unit and the reflective target.

[0078] Step 202: Based on the real-time distance between each laser ranging unit and the reflective target, determine the real-time absolute height and / or real-time horizontal offset of the elevator car.

[0079] The present embodiment will now be described and illustrated through preferred embodiments.

[0080] Figure 5 This is a preferred flowchart of the elevator car laser positioning system of this embodiment, as follows: Figure 5 As shown, the elevator car laser positioning system includes the following steps:

[0081] Step 301, System Start / Power On.

[0082] Step 302, System initialization and self-test.

[0083] Step 303: Has the self-test passed? If yes, proceed to step 304; otherwise, proceed to step 311.

[0084] Step 304: System calibration, establishing a shaft position model. Determine the installation position coordinates of each laser ranging unit in the shaft absolute coordinate system.

[0085] Step 305: Real-time measurement; the laser ranging unit acquires the distance L. The distance L measured by each laser ranging unit is obtained.

[0086] Step 306, position calculation: Calculate the absolute position P. Multiple absolute positions P are calculated based on the distance L. Each absolute position P includes real-time absolute height and / or real-time horizontal offset.

[0087] Step 307, Self-diagnosis, Data validity judgment. Determine if there are any anomalies in the data at absolute position P. If yes, proceed to step 310; otherwise, proceed to step 308.

[0088] Step 308: Send the absolute position P to the elevator control system.

[0089] Step 309: The elevator system is operating normally.

[0090] Step 310: Fault tolerance processing. Determine the correct absolute position P among multiple absolute positions P and send it to the elevator control system, while simultaneously issuing an alarm.

[0091] Step 311: Report the fault signal and wait for maintenance. The fault signal includes the installation location of the faulty laser ranging unit.

[0092] This embodiment can not only measure the vertical height of the car, but also monitor its horizontal offset or tilt. It is suitable for scenarios with extremely high requirements for operational stability and safety, or improve the accuracy of real-time absolute height through hardware redundancy measurement.

[0093] This application also provides an elevator, including: an elevator car, an elevator shaft, and an elevator car laser positioning system as described in any of the above embodiments. The elevator car runs in the elevator shaft, and the elevator car laser positioning system is used to measure the real-time absolute height and real-time horizontal offset of the elevator car in real time, or to improve the accuracy of the real-time absolute height through hardware redundancy measurement.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A laser positioning system for elevator cars, characterized in that, The system includes: The ranging module includes a reflective target and at least two laser ranging units. Each laser ranging unit is installed at a different position in the elevator shaft. The reflective target is installed on the elevator car. Each laser ranging unit is used to emit a laser signal and reflect it along the original optical path through the reflective target to determine the real-time distance between each laser ranging unit and the reflective target. The data processing module, connected to each of the laser ranging units, is used to determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the real-time distance between each of the laser ranging units and the reflective target.

2. The system according to claim 1, characterized in that, The ranging module includes a first laser ranging unit and a second laser ranging unit, both installed on one side wall of the elevator shaft at different heights and horizontal positions; the optical paths of the first laser ranging unit and the second laser ranging unit intersect at the reflective target; the data processing module is further used to: based on the real-time distance between each laser ranging unit and the reflective target, the first coordinate of the installation position of the first laser ranging unit, and the second coordinate of the installation position of the second laser ranging unit, use triangulation to obtain the real-time absolute height and real-time horizontal offset of the elevator car.

3. The system according to claim 1, characterized in that, The ranging module includes at least three laser ranging units, wherein at least two of the laser ranging units are installed on one side wall of the elevator shaft and located at different heights and horizontal positions; at least one of the laser ranging units is installed at the top and / or bottom of the elevator shaft; The data processing module is also used to: obtain the first redundant absolute height and real-time horizontal offset of the elevator car by using the triangulation method based on the real-time distance between each laser ranging unit installed on the side wall of the elevator shaft and the reflective target, as well as the installation position coordinates of each laser ranging unit. The second redundant absolute height of the elevator car is determined based on the real-time distance between each of the laser ranging units installed at the top and / or bottom of the elevator shaft and the reflective target; and redundancy processing is performed based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car.

4. The system according to claim 1, characterized in that, The ranging module includes a first laser ranging unit and a second laser ranging unit, and the reflective target includes a first reflective target and a second reflective target; The first laser ranging unit is installed at the top of the elevator shaft, the second laser ranging unit is installed at the bottom of the elevator shaft, the first reflective target is installed at the top of the elevator car and corresponds to the optical path of the first laser ranging unit, and the second reflective target is installed at the bottom of the elevator car and corresponds to the optical path of the second laser ranging unit. The data processing module is further configured to: determine the first redundant absolute height of the elevator car based on the real-time distance between the first laser ranging unit and the first reflective target; and determine the second redundant absolute height of the elevator car based on the real-time distance between the second laser ranging unit and the second reflective target; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car.

5. The system according to claim 3, characterized in that, The ranging module includes four laser ranging units, two of which are installed on one side wall of the elevator shaft at different heights and horizontal positions; the other two laser ranging units are installed on the other side wall of the elevator shaft at different heights and horizontal positions. The data processing module is further configured to: obtain the first redundant absolute height and the first redundant horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on one side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; and obtain the second redundant absolute height and the second redundant horizontal offset of the elevator car using triangulation based on the real-time distance between each laser ranging unit installed on the other side wall of the elevator shaft and the reflective target, and the installation position coordinates of each laser ranging unit; and perform redundancy processing based on the first redundant absolute height and the second redundant absolute height to obtain the real-time absolute height of the elevator car; and perform redundancy processing based on the first redundant horizontal offset to obtain the real-time horizontal offset of the elevator car.

6. The system according to any one of claims 4 or 5, characterized in that, The data processing module is also used for: Determine whether the difference between the first redundancy absolute height and the second redundancy absolute height meets a threshold; and / or determine whether the difference between the first redundancy horizontal offset and the second redundancy horizontal offset meets a threshold; If so, the average of the first redundant absolute height and the second redundant absolute height shall be taken as the real-time absolute height of the elevator car; and / or the average of the first redundant horizontal offset and the second redundant horizontal offset shall be taken as the real-time horizontal offset of the elevator car. If not, then based on the fault diagnosis criteria, identify the faulty laser ranging unit, and based on the measurement data of the normal laser ranging unit, determine the real-time absolute height and / or real-time horizontal offset of the elevator car.

7. The system according to claim 6, characterized in that, The system also includes an early warning module: the early warning module is connected to the data processing module. The early warning module is used to issue an early warning signal when the laser ranging unit in the ranging module malfunctions, or when the real-time horizontal offset exceeds a safety threshold.

8. The system according to claim 1, characterized in that, The system also includes a calibration module and a display module; The calibration module is used to calibrate the coordinates of each laser ranging unit in the shaft absolute coordinate system; The data processing module is used to determine the real-time absolute height and / or real-time horizontal offset of the elevator car based on the coordinates of each laser ranging unit in the shaft absolute coordinate system and the real-time distance between each laser ranging unit and the reflective target. The display module is connected to the data processing module and is used to display the corresponding floor based on the real-time absolute height of the elevator car.

9. A laser positioning method for an elevator car, characterized in that, The method, applied to the elevator car laser positioning system as described in any one of claims 1 to 8, comprises: Each laser ranging unit is installed at a different location in the elevator shaft, and a reflective target is installed on the elevator car. The laser signals emitted by each laser ranging unit are reflected along the original optical path using the reflective target to determine the real-time distance between each laser ranging unit and the reflective target. Based on the real-time distance between each laser ranging unit and the reflective target, the real-time absolute height and / or real-time horizontal offset of the elevator car are determined.

10. An elevator, characterized in that, include: An elevator car, an elevator shaft, and an elevator car laser positioning system according to any one of claims 1 to 8, wherein the elevator car operates within the elevator shaft, and the elevator car laser positioning system is used to measure the real-time absolute height and / or real-time horizontal offset of the elevator car in real time.

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