Elevator positioning method and device and storage medium

Abstract

The invention provides an elevator positioning method and device and a storage medium. The method comprises the steps that a master millimeter wave radar is controlled to transmit a master frequency modulation continuous wave signal to a slave millimeter wave radar; when the slave millimeter-wave radar receives the main frequency-modulated continuous wave signal, the slave millimeter-wave radar is controlled to transmit a slave frequency-modulated continuous wave signal to the main millimeter-wave radar; for the slave millimeter-wave radar, controlling the slave millimeter-wave radar to synchronize the master millimeter-wave radar according to the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal; if the synchronization is completed, for the master millimeter wave radar, calculating the distance between the master millimeter wave radar and the slave millimeter wave radar according to the master frequency modulation continuous wave signal and the slave frequency modulation continuous wave signal; and the position of the lift car in the hoistway is positioned according to the distance. The embodiment of the invention is suitable for installing a small-size millimeter wave radar in an elevator hoistway to realize wide-range high-precision positioning.

Description

Technical Field

[0001] This invention belongs to the technical field of elevators, and in particular relates to an elevator positioning method, device and storage medium. Background Technology

[0002] In residential buildings, shopping malls, office buildings and other buildings, elevators are one of the most commonly used vertical transportation tools. During the operation of an elevator, detecting the position of the elevator car in the shaft is one of the basic conditions for implementing elevator control logic, such as acceleration and deceleration, and opening and closing doors.

[0003] Currently, one method for detecting the position of an elevator car in the hoistway is to install millimeter-wave radar and high-emissivity reflectors on the car and hoistway respectively. The millimeter-wave radar has a transmitter and a receiver. The transmitter emits an FMCW (Frequency Modulated Continuous Wave) signal. The signal reaches the reflector and is reflected back to the receiver. The position of the car in the hoistway is calculated based on the time difference between the transmitted signal and the received signal.

[0004] When electromagnetic waves propagate in space, the signal strength per unit area decreases with increasing distance. Considering the limited transmission power of millimeter-wave radar, as the distance of the shaft (elevator car lifting height) increases, it is usually necessary to reduce the half-power angle of the millimeter-wave radar antenna and / or increase the reflective area of ​​the reflector. However, the feasibility of both of these methods is low.

[0005] To reduce the half-power angle of millimeter-wave radar antennas, since millimeter-wave radars are more directional, the installation accuracy requirements for millimeter-wave radars are higher (aligning with the reflector at a very long distance), which increases the probability of the signal deviating from the reflector. In addition, this requires increasing the size of the antenna, which may exceed the limitations of the elevator shaft, making it impossible to install millimeter-wave radar.

[0006] Regarding increasing the reflective area of ​​the reflector, since the elevator shaft space is relatively small, increasing the reflective area of ​​the reflector may exceed the limitations of the elevator shaft, making it impossible to install the reflector. Summary of the Invention

[0007] In view of this, the present invention provides an elevator positioning method, device and storage medium to improve the feasibility of elevator positioning based on millimeter-wave radar.

[0008] A first aspect of the present invention provides an elevator positioning method, wherein a set of main millimeter-wave radar and slave millimeter-wave radar are installed at the ends of the elevator car and the shaft, the method comprising: Control the main millimeter-wave radar to transmit a main frequency-modulated continuous wave signal to the slave millimeter-wave radar; When the main frequency modulated continuous wave signal is received from the millimeter-wave radar, the slave millimeter-wave radar is controlled to transmit the slave frequency modulated continuous wave signal to the main millimeter-wave radar; For the aforementioned millimeter-wave radar, the slave millimeter-wave radar is controlled to synchronize with the master millimeter-wave radar based on the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; If synchronization is completed, then for the main millimeter-wave radar, the distance between the main millimeter-wave radar and the slave millimeter-wave radar is calculated based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal. The position of the car in the shaft is determined based on the distance.

[0009] A second aspect of the present invention provides an elevator positioning device, wherein a set of main millimeter-wave radar and slave millimeter-wave radar are installed at the ends of the elevator car and the hoistway, the device comprising: The main signal transmission module is used to control the main millimeter-wave radar to transmit a main frequency-modulated continuous wave signal to the slave millimeter-wave radar; The signal transmission module is used to control the slave millimeter-wave radar to transmit the slave frequency-modulated continuous wave signal to the main millimeter-wave radar when the main frequency-modulated continuous wave signal is received from the millimeter-wave radar. A radar synchronization module is used to control the slave millimeter-wave radar to synchronize with the main millimeter-wave radar based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal. The distance calculation module is used to calculate the distance between the main millimeter-wave radar and the slave millimeter-wave radar based on the main frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal, if synchronization is completed. The location module is used to locate the position of the car in the shaft based on the distance.

[0010] A third aspect of the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the elevator positioning method as described in the first aspect above.

[0011] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the elevator positioning method as described in the first aspect above.

[0012] A fifth aspect of the present invention provides a computer program product that, when run on a computer, causes the computer to perform the elevator positioning method as described in the first aspect above.

[0013] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment, the main millimeter-wave radar is controlled to transmit a main frequency modulated continuous wave signal to the slave millimeter-wave radar; when the slave millimeter-wave radar receives the main frequency modulated continuous wave signal, it is controlled to transmit a slave frequency modulated continuous wave signal to the main millimeter-wave radar; for the slave millimeter-wave radar, the slave millimeter-wave radar is controlled to synchronize with the main millimeter-wave radar based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; if synchronization is completed, for the main millimeter-wave radar, the distance between the main millimeter-wave radar and the slave millimeter-wave radar is calculated based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; the position of the car in the hoistway is located based on the distance. In this embodiment, both the main millimeter-wave radar and the slave millimeter-wave radar are responsible for half of the electromagnetic wave propagation distance. This reduces the propagation distance of the electromagnetic waves by half, effectively lowering the requirements for the half-power angle of the millimeter-wave radar antenna and the area of ​​the reflector when the range increases. Furthermore, the slave millimeter-wave radar is synchronized with the main millimeter-wave radar in real time, maintaining the same waveform between the main frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal, thus maintaining the accuracy of elevator car positioning. This improves the feasibility of positioning the elevator car based on millimeter-wave radar and is suitable for installing a small-sized millimeter-wave radar in the elevator shaft to achieve high-precision positioning over a large range. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is an example diagram of the installation of a master millimeter-wave radar and a slave millimeter-wave radar provided in an embodiment of the present invention; Figure 2 This is a structural example diagram of a master millimeter-wave radar and a slave millimeter-wave radar provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the polarization direction of an antenna provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of an elevator positioning method provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a grouped application frequency band provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the rise time and fall time of a wave in a grouped application provided by an embodiment of the present invention; Figure 7This is a schematic diagram illustrating the interval time between chirp signals in a grouped application according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a signal transmission and reflection provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of error information provided in an embodiment of the present invention; Figure 10 This is a waveform diagram for calculating error information provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of a resolution provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of synchronization in a mobile state provided by an embodiment of the present invention; Figure 13 This is an example diagram of multi-bandwidth chirped signal synchronization provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of another elevator positioning method provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of an elevator positioning device provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0016] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will recognize that the present application may be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted to avoid unnecessary detail that could obscure the description of the present application.

[0017] The technical solution of the present invention will be illustrated below through specific embodiments.

[0018] One or more shafts are set up in the building, and elevator cars are installed in each shaft. For each shaft in the building, master and slave radars can be used to locate the elevator. That is, for each shaft in the building, a set of millimeter-wave radars is installed at the elevator car and the end of the shaft. One millimeter-wave radar is the master millimeter-wave radar (referred to as the master radar), and the other millimeter-wave radar is the slave millimeter-wave radar (referred to as the slave radar).

[0019] In a design, such as Figure 1 As shown, a main millimeter-wave radar can be installed at the bottom of the elevator car, and a secondary millimeter-wave radar can be installed at the lower end of the shaft.

[0020] In other designs, a secondary millimeter-wave radar can be installed at the bottom of the elevator car and a primary millimeter-wave radar can be installed at the lower end of the shaft; a primary millimeter-wave radar can be installed at the top of the elevator car and a secondary millimeter-wave radar can be installed at the upper end of the shaft; a secondary millimeter-wave radar can be installed at the top of the elevator car and a primary millimeter-wave radar can be installed at the upper end of the shaft, etc. This embodiment does not limit this.

[0021] In this embodiment, the master millimeter-wave radar and the slave millimeter-wave radar can be designed in the following manner: I. Suppressing interference through polarization direction Both primary and secondary millimeter-wave radars require narrow-beam antennas to reduce signal loss and suppress multipath effects caused by the well walls. Therefore, the antennas in both primary and secondary millimeter-wave radars can include at least one of the following types: Horn antenna, lens antenna, Cassegrain antenna.

[0022] like Figure 2 As shown, taking a Cassegrain antenna as an example, the main millimeter-wave radar and the slave millimeter-wave radar may include the following structures: a. PCBA (Printed Circuit Board Assembly): Integrates radar chips (containing processing units with accelerometers and radio frequency units) or discrete devices (including DSP (Digital Signal Processing) chips for data processing, radio frequency modulation circuits, etc.), microstrip antennas (feed sources), feed lines, and peripheral auxiliary circuits (such as power supplies and communication interfaces) to realize functions such as radio frequency signal transmission, reception, and processing; among them, PCBs are required to use high-bandwidth materials; b. Cassegrain antenna: includes a parabolic primary reflector and a hyperboloid secondary reflector, with a metallic surface. The Cassegrain antenna can narrow the signal beamwidth of the feed to cope with narrow shaft environments (reducing shaft reflection) and longer measurement distances (focusing energy). c. Lens: The lens is flat in shape and made of engineering plastics such as polyvinyl chloride and polytetrafluoroethylene, which facilitate the transmission of millimeter-wave signals. In this example, the lens does not serve to adjust the beam, but rather to ensure the transmission performance and protection performance of radar signals. d. Housing: Used to fix various components and form a sealed cavity with the lens to ensure that the internal components are not exposed to moisture or dust.

[0023] In addition, the half-power angle of the antenna in the main millimeter-wave radar and the half-power angle of the antenna in the slave millimeter-wave radar should be designed to be as small as possible. However, the half-power angle of the antenna in the main millimeter-wave radar and the half-power angle of the antenna in the slave millimeter-wave radar should both be greater than the maximum angular offset caused by the swaying of the elevator car, so that they can receive the signals transmitted by each other.

[0024] II. Suppressing Interference Through Polarization Direction Under normal circumstances, such as Figure 3 As shown, there are a large number of reflective objects in the well, which reflect both the main millimeter-wave radar signal and the slave millimeter-wave radar signal. Furthermore, since the reflective objects may be closer to the main or slave millimeter-wave radar, the intensity of their reflected signals is stronger than the signals emitted by the distant slave or main millimeter-wave radar that have traveled a long distance to reach the main millimeter-wave radar.

[0025] Therefore, a polarization-direction-based signal isolation design is introduced for the antennas of the main millimeter-wave radar and the antennas of the slave millimeter-wave radar.

[0026] Antenna polarization refers to the orientation and variation of the electric field vector in space when the antenna radiates electromagnetic waves.

[0027] The polarization direction of an antenna refers to the direction of the electric field intensity generated when the antenna radiates.

[0028] If the electric field oscillates across a surface in space over time, this polarization is called elliptic polarization. When the amplitudes of the oscillations in both directions are the same, it is called circular polarization; when the amplitude of the oscillations in one direction is zero, it is called linear polarization.

[0029] Depending on the direction of the electric field rotation in elliptic polarization, it can be further divided into left-handed and right-handed polarization.

[0030] When an antenna emits electromagnetic waves, the polarization direction of the electromagnetic waves becomes the polarization direction of the antenna. When the antenna receives electromagnetic waves, the closer the polarization directions are to each other, the higher the efficiency of the antenna in receiving signals; the further apart the polarization directions are, the lower the efficiency of the antenna in receiving signals. The degree of matching between the antenna and the signal is represented by isolation.

[0031] For example, if both the transmitting and receiving antennas are linearly polarized, then when their polarization directions differ by 90°, almost no signal can enter the antennas. When their polarization directions differ by 0°, the signal can be received by the antennas with maximum efficiency.

[0032] Therefore, both the main millimeter-wave radar and the slave millimeter-wave radar receive each other's signals (requiring the antenna polarization directions to match), and suppress the signals they emit that are reflected by interference in the wellbore (requiring the antenna polarization directions to be as mismatched as possible).

[0033] In one scenario, if the antennas in the primary millimeter-wave radar and the antennas in the secondary millimeter-wave radar use linear polarization, then the antennas in the primary and secondary millimeter-wave radars satisfy at least one of the following polarization conditions: In the main millimeter-wave radar, the transmitting antenna TX is polarized in the X direction, and the receiving antenna RX is polarized in the Y direction. In millimeter-wave radar, the transmitting antenna TX is polarized in the Y direction, and the receiving antenna RX is polarized in the X direction. or, In the main millimeter-wave radar, the transmitting antenna TX is polarized in the Y direction, and the receiving antenna RX is polarized in the X direction. In millimeter-wave radar, the transmitting antenna TX is polarized in the X direction, and the receiving antenna RX is polarized in the Y direction.

[0034] In another case, if the antennas in the primary millimeter-wave radar and the antennas in the secondary millimeter-wave radar use circular polarization, then the antennas in the primary millimeter-wave radar and the antennas in the secondary millimeter-wave radar satisfy at least one of the following polarization conditions: In the main millimeter-wave radar, both the transmitting antenna TX and the receiving antenna RX are left-handed polarized. Both the transmitting antenna TX and the receiving antenna RX in the millimeter-wave radar are left-handed polarized. or, In the main millimeter-wave radar, both the transmitting antenna TX and the receiving antenna RX are right-handed polarized. In millimeter-wave radar, both the transmitting antenna TX and the receiving antenna RX are right-handed polarized.

[0035] Reference Figure 4 The diagram illustrates an elevator positioning method provided by an embodiment of the present invention, which may specifically include the following steps: Step 401: Control the main millimeter-wave radar to transmit the main frequency modulated continuous wave signal to the slave millimeter-wave radar.

[0036] During elevator operation, the main millimeter-wave radar can be controlled to transmit FMCW signals to the secondary millimeter-wave radar, referred to as the main frequency modulated continuous wave signal.

[0037] The master frequency modulated continuous wave signal includes multiple chirped signals (Master Tx chirp).

[0038] Step 402: When the main frequency modulated continuous wave signal is received from the millimeter-wave radar, control the transmission of the secondary frequency modulated continuous wave signal from the millimeter-wave radar to the main millimeter-wave radar.

[0039] When the main frequency modulated continuous wave signal (Slave Rx chirp) is received from the millimeter-wave radar, the FMCW signal can be transmitted from the millimeter-wave radar to the main millimeter-wave radar, denoted as the slave frequency modulated continuous wave signal.

[0040] The frequency-modulated continuous wave signal includes multiple chirped signals (Slave Tx chirp).

[0041] In practical applications, some elevator shafts are open shafts with no walls separating them. Both the main frequency modulation continuous wave signal and the slave frequency modulation continuous wave signal can propagate from one shaft to another, causing mutual interference.

[0042] Therefore, different signal parameters can be configured for the main millimeter-wave radar and the slave millimeter-wave radar in different groups (i.e., different shafts), reducing mutual interference between the main frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal in different shafts and improving the accuracy of elevator positioning.

[0043] The signal parameters include at least one of the following: 1. Starting frequency and bandwidth like Figure 5 As shown, the main millimeter-wave radar and the slave millimeter-wave radar in different groups (i.e., different wells) use different starting frequencies and bandwidths.

[0044] The method for measuring the distance d between the master millimeter-wave radar and the slave millimeter-wave radar is: d = (c × f) IF ) / 2S, where c is the speed of light, f IF The frequency peak value is the main millimeter-wave radar transmit and receive signal (intermediate frequency signal after mixing), sampling, and FFT (Fast Fourier Transform) processing. S is the frequency change rate in the FMCW signal. S=B / T, where B is the bandwidth and T is the scanning period.

[0045] For example, when the measurement range is 200m, S=B / T=3GHz / 200μs=1.5×10 3 Hz / s, then, f IF Given a frequency of 10MHz, and considering isolation, we can multiply S by 2. Therefore, we can set the starting frequency of the primary and secondary millimeter-wave radars in the first group (i.e., the first silo) to 60.00GHz and the bandwidth to 3GHz; the starting frequency of the primary and secondary millimeter-wave radars in the second group (i.e., the second silo) to 60.02GHz and the bandwidth to 3GHz; the starting frequency of the primary and secondary millimeter-wave radars in the third group (i.e., the third silo) to 60.04GHz and the bandwidth to 3GHz, and so on.

[0046] 2. Rise time and fall time of frequency like Figure 6 As shown, the main millimeter-wave radar and the slave millimeter-wave radar in different groups (i.e., different shafts) can use the same bandwidth. The main millimeter-wave radar and the slave millimeter-wave radar in different groups (i.e., different shafts) use different frequency rise times and different frequency fall times, so that the frequency rise time and frequency fall time are staggered.

[0047] For example, the rise time and fall time of the frequencies set for the primary and secondary millimeter-wave radars in the first group (i.e., the first shaft) are 200 μs; the rise time and fall time of the frequencies set for the primary and secondary millimeter-wave radars in the second group (i.e., the second shaft) are 210 μs; the rise time and fall time of the frequencies set for the primary and secondary millimeter-wave radars in the third group (i.e., the third shaft) are 220 μs, and so on. 3. Interval between chirp signals like Figure 7 As shown, the main millimeter-wave radar and the slave millimeter-wave radar in different groups (i.e., different wells) use different chirped signal intervals to stagger the time between chirped signals within the frame.

[0048] The starting frequency and bandwidth, the rise time and fall time of the frequency, and the interval between chirped signals can be used individually or arbitrarily superimposed. This embodiment does not impose any restrictions on this.

[0049] Of course, the above signal parameters are merely examples. When implementing this embodiment, other signal parameters can be set according to actual conditions, and this embodiment does not impose any limitations on this. Furthermore, in addition to the above signal parameters, those skilled in the art can use other signal parameters as needed, and this embodiment does not impose any limitations on this either.

[0050] Therefore, when controlling the main millimeter-wave radar to transmit the main frequency modulated continuous wave signal to the slave millimeter-wave radar, the signal parameters configured for the main millimeter-wave radar in the current group can be determined, thereby controlling the main millimeter-wave radar in the current group to transmit the main frequency modulated continuous wave signal to the slave millimeter-wave radar in the current group according to the signal parameters.

[0051] Accordingly, when controlling the transmission of frequency-modulated continuous wave signals from the millimeter-wave radar to the main millimeter-wave radar, the signal parameters configured for the millimeter-wave radar in the current group can be determined, thereby controlling the millimeter-wave radar in the current group to transmit frequency-modulated continuous wave signals to the main millimeter-wave radar in the current group according to the signal parameters.

[0052] Step 403: For the slave millimeter-wave radar, control the slave millimeter-wave radar to synchronize with the master millimeter-wave radar based on the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal.

[0053] like Figure 8 As shown, when the target being measured is a reflector or other passive object, when the main frequency modulated continuous wave signal (Tx chirp) emitted by the main millimeter-wave radar reaches the target, the target will reflect a signal, which the main millimeter-wave radar will receive (Rx chirp).

[0054] When the main millimeter-wave radar is stationary relative to the target, the reflected signal and the transmitted main frequency modulated continuous wave signal maintain the same characteristics in terms of start frequency, end frequency, and frequency rise / fall rate (slope). The distance between the main millimeter-wave radar and the target determines the time difference and phase difference between the transmitted main frequency modulated continuous wave signal and the reflected signal.

[0055] When using master-slave radar for ranging, the slave millimeter-wave radar should be able to emit a slave frequency-modulated continuous wave signal. When this slave frequency-modulated continuous wave signal reaches the master millimeter-wave radar, its characteristics (such as start frequency, end frequency, slope, time difference and phase difference between it and the master frequency-modulated continuous wave signal) should be consistent with the characteristics of the signal received by the master millimeter-wave radar when measuring the target.

[0056] Therefore, for the millimeter-wave radar, the main frequency modulated continuous wave signal received by the main millimeter-wave radar and the secondary frequency modulated continuous wave signal transmitted by the secondary millimeter-wave radar can be controlled to continuously synchronize with the main millimeter-wave radar. Thus, when the secondary millimeter-wave radar receives the main frequency modulated continuous wave signal, it transmits a secondary frequency modulated continuous wave signal with the same configuration as the main frequency modulated continuous wave signal. At this time, the main frequency modulated continuous wave signal and the secondary frequency modulated continuous wave signal are the same.

[0057] In one embodiment of the present invention, both the primary frequency modulated continuous wave signal and the secondary frequency modulated continuous wave signal include multiple chirps with different bandwidths. The multiple chirps in the primary and secondary frequency modulated continuous wave signals can be arranged in any fixed order. For example, the bandwidth of the chirps in the primary frequency modulated continuous wave signal gradually decreases / increases, the bandwidth of the chirps in the frequency modulated continuous wave signal gradually decreases / increases, and so on.

[0058] Therefore, in this embodiment, step 403 may further include the following steps: Step 4031: Detect the error information between the current chirped signal in the master frequency modulated continuous wave signal and the current chirped signal in the slave frequency modulated continuous wave signal.

[0059] Since the master millimeter-wave radar and the slave millimeter-wave radar each generate master frequency modulated continuous wave (FM-MC) signals based on independent clock sources, the slave millimeter-wave radar synchronizes with the master millimeter-wave radar by detecting the error information between the chirped signals in the master FM-MC signal and the chirped signals in the slave FM-MC signal.

[0060] For example, such as Figure 9 As shown, the error information between the chirped signal in the master frequency-modulated continuous wave signal and the chirped signal in the slave frequency-modulated continuous wave signal includes: A. The difference in startup time between the two clock sources, i.e., the start time difference t of chirp. d ; B. The frequency difference between the two clock sources, i.e., the starting frequency difference f of chirp. d .

[0061] like Figure 10 As shown, to facilitate the calculation of the time difference t from the start time... d Difference from the starting frequency f d The main frequency modulated continuous wave signal received from the millimeter-wave radar and the secondary frequency modulated continuous wave signal transmitted from the millimeter-wave radar are triangular waves, and the upward slope and downward slope of the triangular waves are equal.

[0062] In this way, for millimeter-wave radar, each chirp signal in the main frequency modulated continuous wave signal and each chirp signal in the slave frequency modulated continuous wave signal can be traversed in sequence to calculate the first frequency difference f1 in the rising band and the second frequency difference f2 in the falling band between the current chirp signal (Slave Rxchirp) in the main frequency modulated continuous wave signal and the current chirp signal (Slave Tx chirp) in the slave frequency modulated continuous wave signal.

[0063] The elevator car's operating status is queried, and based on this status, the starting frequency difference f between the primary frequency-modulated continuous wave signal and the secondary frequency-modulated continuous wave signal is calculated using the first frequency difference and the second frequency difference. d and the start time difference t d .

[0064] In one scenario, if the operating state is static, the average value between the first frequency difference f1 and the second frequency difference f2 is calculated to obtain the starting frequency difference f between the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal. d .

[0065] Multiplying the reciprocal of the waveform slope by half the frequency deviation value yields the initial time difference t between the master FM continuous wave signal and the slave FM continuous wave signal. d The frequency deviation value is the difference between the second frequency difference f2 and the first frequency difference f1.

[0066] Furthermore, f1 = -B / T × t d +f d f2 = B / T × t d +f d Then f d =(f1+f2) / 2, t d=T / B×(f2-f1) / 2, where B is the bandwidth, T is the scan period, B / T is the waveform slope, and t d f is the starting time difference. d This represents the difference in starting frequencies.

[0067] In practical applications, when designing waveforms, the efficiency and accuracy of synchronization should be considered.

[0068] like Figure 11 As shown, the time difference between the master millimeter-wave radar and the slave millimeter-wave radar (i.e., the time difference between Slave Rxchirp and Slave Txchirp) is f. IF f IF =t d ×B / T, where B is the bandwidth, T is the scan period, and t d Given the initial time difference, then t d =f IF ×T / B, at this time, t d resolution Δt d For Δt d = f IF ×T / (Bp), where p is the number of sampling points (i.e., the number of points in the FFT).

[0069] For the initial time difference t d The following two requirements are put forward for the measurement. A. We hope to calculate the starting time difference t using FFT. d The accuracy should be as high as possible (FFT calculation start time difference t) d The minimum step size is small, while the time difference f between the master millimeter-wave radar and the slave millimeter-wave radar is not synchronized. IF The minimum value is determined by the sampling frequency f. s The decision is made, and the typical sampling frequency f is... s Since it is tied to the scan period T (which is also the general frequency sweep period), the bandwidth B should be selected as large as possible to obtain the most accurate time difference, i.e., high precision requires a large bandwidth.

[0070] B. It is desirable for millimeter-wave radar to cover the largest possible start time difference t. d This allows the slave radar to quickly search for the signal from the master millimeter-wave radar (Slave Rx chirp), while the time difference f between the master and slave millimeter-wave radars is reduced. IF The maximum value is also affected by the sampling frequency f. s Due to constraints, the smallest possible bandwidth B is selected to obtain the largest possible range; that is, a large range requires a small bandwidth.

[0071] The above two points are contradictory. In this embodiment, chirps with different bandwidths are designed within a frame (master frequency modulated continuous wave signal and slave frequency modulated continuous wave signal) to achieve this.

[0072] In another case, such as Figure 12 As shown, synchronization is achieved when the elevator car is stationary. If the car is in motion, the signal received from the millimeter-wave radar (Slave Rx chirp) and the signal transmitted from the millimeter-wave radar (Slave Tx chirp) will lose synchronization. Considering that the crystal oscillator frequency has been adjusted in the stationary state, the starting frequency f between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal is set. d The difference is set to 0 (the difference does not exceed the minimum adjustable step size).

[0073] In reality, even after frequency fine-tuning, the crystal oscillator frequency may still change. There are two main possibilities: a) the random frequency error of the crystal oscillator itself, which is generally very small and will not have an impact; b) the crystal oscillator frequency changes with temperature: since temperature generally changes slowly and the continuous running time of the elevator car is relatively short, it can be assumed that the temperature drift of the crystal oscillator frequency is very small during a single car run and will not affect the measurement. When the elevator car is stationary, it enters a static calibration calculation, that is, the crystal oscillator frequency is corrected each time it is stationary. Therefore, the accuracy of the crystal oscillator can be guaranteed to meet the requirements throughout the entire working process (whether the elevator car is stationary or moving).

[0074] So, suppose that in the i-th frame, due to a slight change in distance between the master and slave millimeter-wave radars, the time when the slave radar actually receives the signal (Slave Rx chirp) differs from the predicted time when it will receive the signal (Slave Tx chirp), and the change is t. di Then f 1i =f 2i ≠0 (f) 1i f is the first frequency difference of the i-th frame. 2i If the second frequency difference is the second frequency difference of the i-th frame, then the inverse of the waveform slope can be multiplied by the first or second frequency difference to obtain the starting time difference t between the main FM continuous wave signal and the slave FM continuous wave signal. di , t di =T / B×f 1i =T / B×f 2i B is the bandwidth, T is the scan period, and B / T is the waveform slope.

[0075] Step 4032: If the detection error information fails, move from the start time of the frequency modulated continuous wave signal; return to step 4031.

[0076] In practical applications, there may be a time difference between the slave millimeter-wave radar and the master millimeter-wave radar that exceeds the measurement range. This may lead to the failure to calculate the first frequency difference f1 and the second frequency difference f2, resulting in the failure of detection error information. In this case, the start time of the slave frequency-modulated continuous wave signal is shifted (e.g., T / 4, where T is the scanning period), thereby adjusting the start time difference between the master millimeter-wave radar and the slave millimeter-wave radar so that the scanning period offset does not exceed the measurement range time.

[0077] Step 4033: If the error information is successfully detected, adjust the frequency-modulated continuous wave signal according to the error information.

[0078] In practical applications, if the error information is successfully detected, the frequency-modulated continuous wave signal can be adjusted based on this error information.

[0079] On the one hand, the starting frequency and ending frequency of the frequency modulated continuous wave signal are adjusted according to the starting frequency difference; on the other hand, the start time of the next frame of the frequency modulated continuous wave signal is adjusted according to the starting time difference.

[0080] Step 4034: Determine if there is a chirp signal for the next position in the sorting; if yes, proceed to step 4035; otherwise, proceed to step 4036.

[0081] Step 4035: Switch to the chirp signal of the next position in the sorting and return to step 4031.

[0082] Step 4036: Confirm that the main millimeter-wave radar has been synchronized with the secondary millimeter-wave radar.

[0083] In this embodiment, the frequency-modulated continuous wave signal can be adjusted according to the error information of the chirps signal, from small to large bandwidth. After multiple attempts, the peak value is found, thereby achieving synchronization without exceeding the resolution, so that the millimeter-wave radar can continuously synchronize with the main millimeter-wave radar.

[0084] For example, such as Figure 13 As shown, the chirps designed for the master FM continuous wave signal and the slave FM continuous wave signal are as follows: B1: Sampling rate frequency f s The sampling speed is 10 Mbps, the number of sampling points p is 4096, the waveform slope B / T is 0.09 MHz / μs, the scan period T is 425 μs, the bandwidth B is 3.76 MHz, and the asynchronous time range t is... dmax The time resolution is 113 μs, and the asynchronous time resolution is t. d It is 27.6 ns.

[0085] B2: Sampling rate frequency f sThe maximum speed is 10 Mbps, the number of sampling points p is 4096, the waveform slope B / T is 0.9 MHz / μs, the scan period T is 425 μs, the bandwidth B is 376 MHz, and the asynchronous time range t is... dmax The time interval is 11.3 μs, and the asynchronous time resolution is t. d It is 2.76 ns.

[0086] B3: Sampling rate frequency f s The maximum speed is 10 Mbps, the number of sampling points p is 4096, the waveform slope B / T is 9 MHz / μs, the scan period T is 425 μs, the bandwidth B is 3.76 GHz, and the asynchronous time range t is... dmax The time interval is 1.13 μs, and the asynchronous time resolution is t. d The value is 0.275 ns. During synchronization, if the initial frequency difference and initial time difference are not solved using B1 for the first time from the millimeter-wave radar, the process is moved by T / 4. If the initial frequency difference and initial time difference are solved using B1 again, the process is successful. At this point, the starting frequency, ending frequency, and start time of the frequency-modulated continuous wave signal are adjusted according to the initial frequency difference and initial time difference solved using B1.

[0087] Since the range of the next level is greater than the resolution of the previous level, the initial frequency difference and initial time difference are successfully solved using B2. At this point, the starting frequency, ending frequency, and start time of the frequency-modulated continuous wave signal are adjusted according to the initial frequency difference and starting time difference solved using B2. Also, the initial frequency difference and starting time difference are successfully solved using B3. At this point, the starting frequency, ending frequency, and start time of the frequency-modulated continuous wave signal are adjusted according to the initial frequency difference and starting time difference solved using B3, ultimately achieving synchronization of no more than 0.275ns.

[0088] Because the start time adjustment for each frame references the start time difference calculated from the previous frame, this synchronization method introduces measurement errors during motion, with the error being t. f ×v, where t f Let v be the frame period and v be the velocity. There are three methods to handle this introduced error: A. Main millimeter-wave radar based on velocity v and frame period t f Correct the measurement results; B. The start time difference t calculated from each frame by the millimeter-wave radar. d Predict the occurrence time of the next frame and correct the start time of sending chirp; C. Since the measurement error is small at low speeds and large at high speeds, but the elevator has a higher tolerance for measurement error when moving at high speeds, it can be left untreated.

[0089] Taking a frame period of 10ms and a car speed of 5m / s as an example, after each correction, the remaining error is 50ms. However, when the car speed drops to 0.1m / s, the remaining error is 1mm. When the car is about to level with the floor, the required accuracy is the highest, and at this time, the remaining error is also the smallest.

[0090] Step 404: If synchronization is completed, calculate the distance between the main millimeter-wave radar and the slave millimeter-wave radar based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal for the main millimeter-wave radar.

[0091] When the master millimeter-wave radar and the slave millimeter-wave radar are synchronized, and the master millimeter-wave radar receives the slave frequency-modulated continuous wave signal transmitted by the slave millimeter-wave radar, the distance between the master millimeter-wave radar and the slave millimeter-wave radar is calculated based on the master frequency-modulated continuous wave signal (Master Tx chirp) transmitted by the master millimeter-wave radar and the slave frequency-modulated continuous wave signal (Master Rx chirp) received by the master millimeter-wave radar.

[0092] In the specific implementation, for the main millimeter-wave radar, the phase difference Δφ between the main frequency modulated continuous wave signal (Master Txchirp) transmitted by it and the secondary frequency modulated continuous wave signal (Master Rxchirp) received by it is statistically analyzed, and the change Δφ' between the phase difference Δφ between two adjacent frames is calculated.

[0093] The relative movement Δd between the master millimeter-wave radar and the slave millimeter-wave radar is calculated based on the change Δφ' between the phase difference Δφ of two adjacent frames. The movement Δd is positively correlated with the change Δφ' between the phase difference Δφ of two adjacent frames, such as Δd=(λ×Δφ') / 4π, where λ is the wavelength of the FMCW signal.

[0094] By integrating the movement Δd over time, the distance between the main millimeter-wave radar and the slave millimeter-wave radar is obtained.

[0095] Step 405: Determine the position of the car in the hoistway based on the distance.

[0096] The distance between the main millimeter-wave radar and the slave millimeter-wave radar is a relative distance. In this embodiment, the absolute position of the car in the hoistway can be determined based on other prior information and the distance between the main millimeter-wave radar and the slave millimeter-wave radar.

[0097] For example, a table can be set up in advance to record the mapping relationship between each floor and its interval range, and to determine the floor in the building where the car is located within its distance interval range.

[0098] In this embodiment, the main millimeter-wave radar is controlled to transmit a main frequency modulated continuous wave signal to the slave millimeter-wave radar; when the slave millimeter-wave radar receives the main frequency modulated continuous wave signal, it is controlled to transmit a slave frequency modulated continuous wave signal to the main millimeter-wave radar; for the slave millimeter-wave radar, the slave millimeter-wave radar is controlled to synchronize with the main millimeter-wave radar based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; if synchronization is completed, for the main millimeter-wave radar, the distance between the main millimeter-wave radar and the slave millimeter-wave radar is calculated based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; the position of the car in the hoistway is located based on the distance. In this embodiment, both the main millimeter-wave radar and the slave millimeter-wave radar are responsible for half of the electromagnetic wave propagation distance. This reduces the propagation distance of the electromagnetic waves by half, effectively lowering the requirements for the half-power angle of the millimeter-wave radar antenna and the area of ​​the reflector when the range increases. Furthermore, the slave millimeter-wave radar is synchronized with the main millimeter-wave radar in real time, maintaining the same waveform between the main frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal, thus maintaining the accuracy of elevator car positioning. This improves the feasibility of positioning the elevator car based on millimeter-wave radar and is suitable for installing a small-sized millimeter-wave radar in the elevator shaft to achieve high-precision positioning over a large range.

[0099] Reference Figure 14 The diagram illustrates another elevator positioning method provided by an embodiment of the present invention, which may specifically include the following steps: Step 1401: Control the main millimeter-wave radar to transmit the main frequency modulated continuous wave signal to the slave millimeter-wave radar.

[0100] Step 1402: When the main frequency modulated continuous wave signal is received from the millimeter-wave radar, control the transmission of the secondary frequency modulated continuous wave signal from the millimeter-wave radar to the main millimeter-wave radar.

[0101] The master frequency modulated continuous wave signal is the same as the slave frequency modulated continuous wave signal.

[0102] Step 1403: If the antennas of the main millimeter-wave radar and the secondary millimeter-wave radar are aligned in the horizontal direction, then measure the strength of the secondary frequency-modulated continuous wave signal for the main millimeter-wave radar.

[0103] Step 1404: When the intensity is maximized, confirm that the antennas of the main millimeter-wave radar and the slave millimeter-wave radar are aligned in the vertical direction.

[0104] During the initial installation and maintenance of the main and secondary millimeter-wave radars, the antennas of the main and secondary millimeter-wave radars can be aligned.

[0105] For aligning the antennas of the main millimeter-wave radar and the slave millimeter-wave radar in the horizontal direction, the lofting method or the method of setting a plumb line on one side can be used for alignment.

[0106] For aligning the antennas of the main millimeter-wave radar and the slave millimeter-wave radar in the vertical direction, i.e., in the same direction as the car's movement, since the half-power angles of both the main and slave millimeter-wave radars are very small, using methods such as plumb lines alone cannot achieve the best alignment effect.

[0107] Therefore, when the antennas of the main millimeter-wave radar and the slave millimeter-wave radar are aligned horizontally, a level or plumb line is used to roughly align the antennas of the main millimeter-wave radar and the slave millimeter-wave radar vertically.

[0108] The strength of the received frequency-modulated continuous wave (FM-CW) signal is measured on the main millimeter-wave radar side. The strength of the FM-CW signal is displayed in real time on the operator's handheld device. The operator fine-tunes the angle of the antenna of the main millimeter-wave radar and / or the antenna of the slave millimeter-wave radar until the strength of the FM-CW signal is maximized globally. At this point, it is confirmed that the antennas of the main millimeter-wave radar and the slave millimeter-wave radar are aligned in the vertical direction, and the main millimeter-wave radar and the slave millimeter-wave radar are fixed.

[0109] Step 1405: For the slave millimeter-wave radar, control the slave millimeter-wave radar to synchronize with the master millimeter-wave radar based on the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal.

[0110] Step 1406: If synchronization is completed, calculate the distance between the main millimeter-wave radar and the slave millimeter-wave radar based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal for the main millimeter-wave radar.

[0111] Step 1407: Determine the position of the car in the hoistway based on the distance.

[0112] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0113] Reference Figure 15 The diagram illustrates an elevator positioning device according to an embodiment of the present invention. A set of main millimeter-wave radar and slave millimeter-wave radar are installed at the ends of the elevator car and shaft. The device may specifically include the following modules: The main signal transmitting module 1501 is used to control the main millimeter-wave radar to transmit a main frequency-modulated continuous wave signal to the slave millimeter-wave radar. The signal transmitting module 1502 is used to control the secondary millimeter-wave radar to transmit the secondary frequency-modulated continuous wave signal to the primary millimeter-wave radar when the primary frequency-modulated continuous wave signal is received from the secondary millimeter-wave radar. Radar synchronization module 1503 is used to control the slave millimeter-wave radar to synchronize with the main millimeter-wave radar based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal. The distance calculation module 1504 is used to calculate the distance between the main millimeter-wave radar and the slave millimeter-wave radar based on the main frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal, if synchronization is completed. The position positioning module 1505 is used to locate the position of the car in the hoistway based on the distance.

[0114] In one embodiment of the present invention, the main millimeter-wave radar and the slave millimeter-wave radar in different groups are configured with different signal parameters; The signal parameters include at least one of the following: Starting frequency and bandwidth, frequency rise time and frequency fall time, and interval between chirped signals; The main signal transmitting module 1501 includes: The main parameter determination module is used to determine the signal parameters configured for the main millimeter-wave radar in the current group; The main parameter control module is used to control the main millimeter-wave radar in the current group to transmit the main frequency modulated continuous wave signal to the slave millimeter-wave radar in the current group according to the signal parameters; The signal transmitting module 1502 includes: The parameter determination module is used to determine the signal parameters configured for the millimeter-wave radar in the current group. The parameter control module is used to control the secondary millimeter-wave radar in the current group to transmit frequency-modulated continuous wave signals to the primary millimeter-wave radar in the current group according to the signal parameters.

[0115] In one embodiment of the present invention, both the primary frequency-modulated continuous wave signal and the secondary frequency-modulated continuous wave signal include multiple frames of chirped signals with different bandwidths. The radar synchronization module 1503 includes: An error information detection module is used to detect the error information between the current chirped signal in the main frequency modulated continuous wave signal and the current chirped signal in the slave frequency modulated continuous wave signal; A phase shift module is used to move the starting position of the frequency-modulated continuous wave signal if the error information detection fails; and return to the execution of the error information detection module. The signal adjustment module is used to adjust the frequency-modulated continuous wave signal according to the error information if the error information is successfully detected. The chirp signal determination module is used to determine whether the chirp signal for the next position in the sorting exists; if yes, the chirp signal switching module is executed; if no, the synchronization completion determination module is executed. The chirp signal switching module is used to switch to the chirp signal of the next position in the sorting and return to the execution of the error information detection module; The synchronization completion determination module is used to determine that the slave millimeter-wave radar has synchronized with the master millimeter-wave radar.

[0116] In one embodiment of the present invention, the error information includes the starting frequency difference and the starting time difference; The error information detection module includes: The frequency difference calculation module is used to calculate the first frequency difference in the rising band and the second frequency difference in the falling band between the current chirped signal in the main frequency modulated continuous wave signal and the current chirped signal in the slave frequency modulated continuous wave signal; The operating status determination module is used to determine the operating status of the elevator car; The error information calculation module is used to calculate the starting frequency difference and the starting time difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal based on the operating state using the first frequency difference and the second frequency difference, respectively. The signal adjustment module includes: A frequency adjustment module is used to adjust the starting frequency and ending frequency of the frequency-modulated continuous wave signal according to the starting frequency difference. The time adjustment module is used to adjust the start time of the next frame of the frequency-modulated continuous wave signal according to the start time difference.

[0117] In one embodiment of the present invention, the error information calculation module includes: The frequency difference calculation module is used to calculate the average value between the first frequency difference and the second frequency difference if the operating state is a static state, so as to obtain the starting frequency difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal. The first time difference calculation module is used to multiply the reciprocal of the waveform slope by half of the frequency deviation value to obtain the starting time difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; the frequency deviation value is the difference between the second frequency difference and the first frequency difference. The frequency difference setting module is used to set the starting frequency difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal to 0 if the operating state is a moving state. The second time difference calculation module is used to multiply the reciprocal of the waveform slope by the first frequency difference or the second frequency difference to obtain the starting time difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal.

[0118] In one embodiment of the present invention, the distance calculation module 1504 includes: The phase difference statistics module is used to calculate the phase difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal. The change calculation module is used to calculate the change in the phase difference between two adjacent frames. The motion calculation module is used to calculate the relative motion between the main millimeter-wave radar and the slave millimeter-wave radar based on the change in phase difference between two adjacent frames; the motion is positively correlated with the change in phase difference between two adjacent frames. The motion integration module is used to integrate the motion over time to obtain the distance between the main millimeter-wave radar and the slave millimeter-wave radar.

[0119] In one embodiment of the present invention, it further includes: The signal strength measurement module is used to measure the strength of the slave frequency-modulated continuous wave signal for the main millimeter-wave radar if the antenna of the main millimeter-wave radar and the antenna of the slave millimeter-wave radar are aligned in the horizontal direction. The alignment determination module is used to determine, when the intensity is maximized, that the antenna of the main millimeter-wave radar and the antenna of the slave millimeter-wave radar are aligned in the vertical direction.

[0120] In one embodiment of the present invention, both the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar include at least one of the following types: Horn antenna, lens antenna, Cassegrain antenna; The half-power angle of the antenna in the main millimeter-wave radar and the half-power angle of the antenna in the slave millimeter-wave radar are both greater than the maximum angular offset caused by the swaying of the elevator car. If the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar use linear polarization, then the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar satisfy at least one of the following polarization conditions: In the main millimeter-wave radar, the antenna responsible for transmitting is polarized in the X direction, and the antenna responsible for receiving is polarized in the Y direction. The antenna responsible for transmitting from the millimeter-wave radar is Y-polarized, and the antenna responsible for receiving is X-polarized. or, In the main millimeter-wave radar, the antenna responsible for transmitting is polarized in the Y direction, and the antenna responsible for receiving is polarized in the X direction. The antenna responsible for transmitting from the millimeter-wave radar is polarized in the X direction, and the antenna responsible for receiving is polarized in the Y direction. If the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar use circular polarization, then the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar satisfy at least one of the following polarization conditions: Both the transmitting and receiving antennas in the main millimeter-wave radar are left-handed polarized. Both the transmitting and receiving antennas from the millimeter-wave radar are left-handed polarized. or, Both the transmitting and receiving antennas in the main millimeter-wave radar are right-handed polarized. Both the transmitting and receiving antennas from the millimeter-wave radar are right-handed polarized.

[0121] The present invention provides an elevator positioning device, which can be used to realize the steps in the aforementioned elevator positioning method embodiments.

[0122] It should be noted that the module division in the various elevator positioning devices provided in the above embodiments is illustrative and only represents a logical functional division. In actual implementation, other division methods may also be used. Furthermore, the functional modules in the various embodiments of this invention can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0123] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of the embodiments of the present invention can be embodied in the form of a computer program product, which is stored in a computer storage medium and includes several instructions to cause an electronic device or processor to execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned computer storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] Furthermore, the elevator positioning device and elevator positioning method provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0125] Reference Figure 16 The diagram illustrates an electronic device according to an embodiment of the present invention. Figure 16As shown, the electronic device in this embodiment of the invention includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the elevator positioning method embodiment described above. Alternatively, when the processor executes the computer program, it implements the functions of each module in the elevator positioning device embodiment described above.

[0126] For example, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to complete this application. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which can be used to describe the execution process of the computer program in the electronic device.

[0127] The electronic device may be a desktop computer, a cloud server, or other computing device. The electronic device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 16 This is merely one example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0128] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0129] The memory can be an internal storage unit of the electronic device, such as a hard drive or RAM. Alternatively, it can be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. Furthermore, the memory can include both internal and external storage units. The memory is used to store the computer program and other programs and data required by the electronic device. The memory can also be used to temporarily store data that has been output or will be output.

[0130] This invention also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the elevator positioning method as described in the foregoing embodiments.

[0131] This invention also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the elevator positioning method as described in the foregoing embodiments.

[0132] This invention also discloses a computer program product that, when run on a computer, causes the computer to execute the elevator positioning method described in the foregoing embodiments.

[0133] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An elevator positioning method, characterized in that, The method involves installing a main millimeter-wave radar and a slave millimeter-wave radar at the ends of the elevator car and shaft. Control the main millimeter-wave radar to transmit a main frequency-modulated continuous wave signal to the slave millimeter-wave radar; When the main frequency modulated continuous wave signal is received from the millimeter-wave radar, the slave millimeter-wave radar is controlled to transmit the slave frequency modulated continuous wave signal to the main millimeter-wave radar; For the aforementioned millimeter-wave radar, the slave millimeter-wave radar is controlled to synchronize with the master millimeter-wave radar based on the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; If synchronization is completed, then for the main millimeter-wave radar, the distance between the main millimeter-wave radar and the slave millimeter-wave radar is calculated based on the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal. The position of the car in the shaft is determined based on the distance.

2. The method according to claim 1, characterized in that, The primary millimeter-wave radar and the secondary millimeter-wave radar in different groups are configured with different signal parameters; The signal parameters include at least one of the following: Starting frequency and bandwidth, frequency rise time and frequency fall time, and interval between chirped signals; The control of the main millimeter-wave radar to transmit a main frequency-modulated continuous wave signal to the slave millimeter-wave radar includes: Determine the signal parameters configured for the primary millimeter-wave radar in the current group; Control the main millimeter-wave radar in the current group to transmit a main frequency-modulated continuous wave signal to the slave millimeter-wave radar in the current group according to the signal parameters; The control of transmitting a frequency-modulated continuous wave signal from the millimeter-wave radar to the main millimeter-wave radar includes: Determine the signal parameters configured from the millimeter-wave radar in the current group; Control the transmission of frequency-modulated continuous wave signals from the millimeter-wave radar in the current group to the main millimeter-wave radar in the current group according to the signal parameters.

3. The method according to claim 1, characterized in that, Both the primary frequency-modulated continuous wave signal and the secondary frequency-modulated continuous wave signal include multiple chirped signals with different bandwidths; The step of controlling the slave millimeter-wave radar to synchronize with the master millimeter-wave radar based on the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal includes: Detect the error information between the current chirped signal in the primary frequency modulated continuous wave signal and the current chirped signal in the secondary frequency modulated continuous wave signal; If the error information detection fails, then the start time of the slave frequency-modulated continuous wave signal is moved; the process returns to detecting the error information between the current chirped signal in the master frequency-modulated continuous wave signal and the current chirped signal in the slave frequency-modulated continuous wave signal. If the error information is successfully detected, the frequency-modulated continuous wave signal is adjusted according to the error information. Determine if the chirp signal to be sorted next exists; if yes, switch to sorting the chirp signal to be sorted next, and return to the step of detecting the error information between the current chirp signal in the main frequency modulated continuous wave signal and the current chirp signal in the slave frequency modulated continuous wave signal; if no, determine that the slave millimeter-wave radar has synchronized with the main millimeter-wave radar.

4. The method according to claim 3, characterized in that, The error information includes the starting frequency difference and the starting time difference; The step of detecting the error information between the current chirp signal in the primary frequency-modulated continuous wave signal and the current chirp signal in the secondary frequency-modulated continuous wave signal includes: Calculate the first frequency difference in the rising band and the second frequency difference in the falling band between the current chirped signal in the master frequency-modulated continuous wave signal and the current chirped signal in the slave frequency-modulated continuous wave signal; Determine the operating status of the elevator car; Based on the operating state, the starting frequency difference and starting time difference between the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal are calculated using the first frequency difference and the second frequency difference, respectively. The step of adjusting the frequency-modulated continuous wave signal based on the error information includes: The starting and ending frequencies of the frequency-modulated continuous wave signal are adjusted according to the starting frequency difference. Adjust the start time of the next frame of the frequency-modulated continuous wave signal according to the aforementioned start time difference.

5. The method according to claim 4, characterized in that, The step of calculating the starting frequency difference and starting time difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal based on the operating state using the first frequency difference and the second frequency difference respectively includes: If the operating state is a static state, the average value between the first frequency difference and the second frequency difference is calculated to obtain the starting frequency difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal; The inverse of the waveform slope is multiplied by half the frequency deviation value to obtain the start time difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal; the frequency deviation value is the difference between the second frequency difference and the first frequency difference. If the operating state is a moving state, then the starting frequency difference between the main frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal is set to 0; Multiplying the reciprocal of the waveform slope by the first frequency difference or the second frequency difference yields the start time difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal.

6. The method according to claim 1, characterized in that, The calculation of the distance between the main millimeter-wave radar and the slave millimeter-wave radar based on the main frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal includes: The phase difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal is statistically analyzed. Calculate the change in phase difference between two adjacent frames; The relative movement between the master millimeter-wave radar and the slave millimeter-wave radar is calculated based on the change in phase difference between two adjacent frames; the movement is positively correlated with the change in phase difference between two adjacent frames. The distance between the main millimeter-wave radar and the slave millimeter-wave radar is obtained by integrating the movement over time.

7. The method according to claim 1, characterized in that, Also includes: If the antenna of the main millimeter-wave radar and the antenna of the slave millimeter-wave radar are aligned in the horizontal direction, then the intensity of the slave frequency-modulated continuous wave signal is measured for the main millimeter-wave radar. When the intensity is maximized, it is determined that the antenna of the main millimeter-wave radar and the antenna of the slave millimeter-wave radar are aligned in the vertical direction.

8. The method according to any one of claims 1-7, characterized in that, The antennas in both the main millimeter-wave radar and the slave millimeter-wave radar include at least one of the following types: Horn antenna, lens antenna, Cassegrain antenna; The half-power angle of the antenna in the main millimeter-wave radar and the half-power angle of the antenna in the slave millimeter-wave radar are both greater than the maximum angular offset caused by the swaying of the elevator car. If the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar use linear polarization, then the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar satisfy at least one of the following polarization conditions: In the main millimeter-wave radar, the antenna responsible for transmitting is polarized in the X direction, and the antenna responsible for receiving is polarized in the Y direction. The antenna responsible for transmitting from the millimeter-wave radar is Y-polarized, and the antenna responsible for receiving is X-polarized. or, In the main millimeter-wave radar, the antenna responsible for transmitting is polarized in the Y direction, and the antenna responsible for receiving is polarized in the X direction. The antenna responsible for transmitting from the millimeter-wave radar is polarized in the X direction, and the antenna responsible for receiving is polarized in the Y direction. If the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar use circular polarization, then the antenna in the main millimeter-wave radar and the antenna in the slave millimeter-wave radar satisfy at least one of the following polarization conditions: Both the transmitting and receiving antennas in the main millimeter-wave radar are left-handed polarized. Both the transmitting and receiving antennas from the millimeter-wave radar are left-handed polarized. or, Both the transmitting and receiving antennas in the main millimeter-wave radar are right-handed polarized. Both the transmitting and receiving antennas from the millimeter-wave radar are right-handed polarized.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the elevator positioning method as described in any one of claims 1-8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the elevator positioning method as described in any one of claims 1-8.

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