Elevator operation detection device based on six-axis directional gyroscope

Abstract

The utility model discloses an elevator operation detection device based on a six-axis directional gyroscope. The device comprises a central processor, a six-axis directional gyroscope, a sonic sensor, a leveling sensor and a laser range finder, the six-axis directional gyroscope, the sonic sensor, the leveling sensor and the laser range finder are electrically connected with the central processor; the laser range finder is electrically connected with the six-axis directional gyroscope; the six-axis directional gyroscopes are arranged at the top of an elevator car, and the number of the six-axis directional gyroscopes is at least one; the sound wave sensor is arranged at the top in the lift car and radiates sound waves in a first direction; the leveling sensor is arranged on the edge of the outer top face of the lift car. The number of the laser range finders is at least two, and each laser range finder is composed of a set of emitter and receiver. According to the utility model, whether some elevator cars exist or not can be detected, and the acceleration, the speed, the gradient and the vibration frequency of the elevator car can be obtained through the six-axis directional gyroscope.

Description

TECHNICAL FIELD

[0001] The utility model relates to elevator operation detection technical field especially, it relates to a kind of elevator operation detection device based on six-axis directional gyroscope. BACKGROUND

[0002] Elevator safety is one of the important links of eight components of elevator, and is related to the life and property safety of passengers. In recent years, with the acceleration of urbanization process in China, high-rise buildings in large and medium-sized cities are gradually increasing, and elevators, as an indispensable vertical transportation tool in modern urban construction, are increasingly used by people. At the same time, the safety, stability and comfort of elevator operation have gradually become the focus of attention, but in recent years, due to elevator safety accidents, there have been cases of death and injury, and accidents have occurred frequently, causing great loss of life and property of the people, not to mention stability and comfort.

[0003] The elevator operation detection sensor on the market generally detects elevator floor, whether it is flat layer and other information, but the state information obtained is very limited, and the acceleration, speed, inclination and vibration frequency of the elevator car cannot be obtained, and whether there is someone in the elevator car and whether it is malfunction cannot be analyzed. UTILITY MODEL CONTENT

[0004] Therefore, the purpose of the utility model is to provide an elevator operation detection device based on six-axis directional gyroscope, which can detect whether there is someone and obtain the acceleration, speed, inclination and vibration frequency of the elevator car through the six-axis directional gyroscope.

[0005] An elevator operation detection device based on six-axis directional gyroscope, the device comprises a central processor, a six-axis directional gyroscope, an acoustic sensor, a flat layer sensor and a laser range finder; the six-axis directional gyroscope, the acoustic sensor, the flat layer sensor and the laser range finder are electrically connected to the central processor.

[0006] The utility model provides the following technical scheme, an elevator operation detection device based on six-axis directional gyroscope,

[0007] The six-axis directional gyroscope is arranged on the top of the elevator car, and there is at least one;

[0008] The acoustic sensor is arranged on the top of the car, and radiates acoustic waves in a first direction;

[0009] The flat layer sensor is arranged on the edge of the top surface of the car outside;

[0010] The laser range finders are at least two, each of which is composed of a set of transmitting instrument and receiving instrument; the transmitting instruments of the at least two laser range finders are respectively installed at the top or bottom of the elevator shaft, the receiving instruments of the at least two laser range finders are respectively installed at the top or bottom of the elevator car, and there is no obstruction between the transmitting instrument and the receiving instrument.

[0011] In the above technical scheme, the six-axis directional gyroscope is installed on the top of the elevator car, and its function is to measure the acceleration and angular velocity of the elevator car in three axial directions, and then monitor the motion state of the elevator in real time, including acceleration and deceleration conditions, instantaneous speed values, top collision conditions, stall situations and trapped people in the elevator. The principle of the device follows Newtonian mechanics, and the angular momentum conservation law of the rotating shaft and the Coriolis force effect are used. When the elevator car moves, the rotor of the gyroscope maintains the original direction unchanged due to inertia, causing the shell to rotate relative to the rotor. By accurately detecting this relative rotation, the angular velocity and acceleration information of the elevator car can be obtained. The sound wave sensor is installed on the top of the car, and emits sound waves in a specific direction. Its working principle is based on the emission and reception of sound wave signals, and by measuring the time and frequency change of the sound wave propagation in the medium, the environmental information in the elevator car is detected, such as whether there is abnormal sound in the car, whether the passengers send a distress signal, etc. When the sound wave encounters obstacles or reflecting surfaces, reflection and scattering phenomena occur, and the sensor receives these changed sound wave signals, which can judge the relevant conditions in the car. The leveling sensor is arranged at the edge of the top surface of the car, and is mainly used to detect whether the elevator car reaches the leveling position. Its working principle is generally based on electromagnetic induction or photoelectric effect. When the elevator car gradually approaches the leveling position, the leveling sensor can sense the leveling sensor or light shield plate markers arranged in the shaft, and then send corresponding signals to control the leveling accuracy of the elevator, ensuring that the elevator can accurately stop at the preset leveling position. The laser range finder is equipped with at least two groups, each consisting of a transmitter and a receiver. The transmitter is installed on the top and bottom of the elevator shaft, and the receiver is installed on the top and bottom of the elevator car, and there is no obstruction between the transmitter and the receiver. Its working principle is to make full use of the high directionality and high precision measurement characteristics of laser, and to accurately calculate the specific position information of the elevator car in the shaft by measuring the time taken by the laser to propagate from the transmitter to the receiver, combined with the physical constant of the speed of light, so as to realize real-time and accurate monitoring of the running position of the elevator. In summary, the detection device integrates a variety of sensors to obtain relevant data information during the running of the elevator from different dimensions, and builds a multi-dimensional and all-round monitoring system. Among them, the six-axis directional gyroscope provides key support for the motion state data of the elevator, the sound wave sensor focuses on the sound environment in the car, and the leveling sensor and the laser range finder work together to ensure the leveling accuracy of the elevator and the accurate monitoring of the running position, effectively improving the accuracy and reliability of the detection work. The six-axis directional gyroscope is installed on the top of the elevator car, which has relative stability and can effectively capture the overall motion state of the car, minimizing measurement errors caused by improper installation of the sensor. The sound wave sensor is arranged on the top of the car, which is conducive to the reception and collection of sound signals in the car.The floor level sensor is arranged at the outer top edge of the car, which is convenient for precise matching with the related markers arranged in the shaft, and plays a role in detecting the floor level. The transmitting instrument and the receiving instrument of the laser range finder are respectively installed at the top and bottom of the shaft and the car, and are kept in an unobstructed state. This installation layout fully guarantees the stable transmission and reliable reception of the laser signal, and further improves the accuracy and stability of the ranging work. The laser range finder is provided with at least two groups, and measures from the top and bottom of the shaft respectively. This redundant design idea further enhances the accuracy and reliability of position measurement. Even if one group of laser range finders is affected by failure or external interference, the other group of laser range finders can still maintain normal operation state and continuously provide accurate position information, thereby enhancing the fault tolerance and stability performance of the entire detection system.

[0012] In some embodiments, the at least two laser range finders are symmetrically arranged.

[0013] In the above technical solution, the symmetrically arranged laser range finders can simultaneously obtain the position information of the elevator car from multiple angles. This redundant design can effectively reduce the measurement error caused by the failure or interference of a single sensor, and improve the stability and reliability of the system. By comparing and analyzing the measurement data obtained by the two laser range finders, the system can quickly identify and handle potential faults or abnormal conditions, such as the inclination or swing of the elevator car, thereby enhancing the safety performance of the elevator operation. The symmetric arrangement makes the installation position of the laser range finder relatively fixed and symmetric, which is conducive to the precise alignment and debugging work of the installation personnel, thereby ensuring the stable transmission and accurate reception of the laser signal. If one of the laser range finders fails, the other laser range finder can immediately serve as a backup to continue working, ensuring the continuity of the elevator operation detection, and effectively avoiding the monitoring blind area caused by sensor failure.

[0014] In some embodiments, the six-axis directional gyroscope is horizontally arranged with the top plane of the elevator car, and the six-axis directional gyroscope adopts a cylindrical packaging shell.

[0015] In the above technical solution, the six-axis directional gyroscope is installed horizontally with the top plane of the elevator car. This installation method can ensure that the measurement axis of the sensor is consistent with the actual motion direction of the elevator car, thereby reducing measurement errors caused by installation angle deviations. Through horizontal installation, the sensor can more effectively capture the acceleration and angular velocity changes of the elevator car in three axial directions, thereby improving the accuracy and reliability of the measurement. The six-axis directional gyroscope adopts a cylindrical packaging shell design, which makes the volume more compact and facilitates installation on the top of the elevator car. This effectively utilizes the limited space and avoids the impact of a large sensor volume on the internal layout of the elevator car. Generally, the cylindrical packaging shell has good electromagnetic shielding performance, which can reduce the influence of external electromagnetic interference on the sensor measurement results. In the complex electromagnetic environment of the elevator, this feature is particularly important and can significantly improve the stability and reliability of the sensor operation. In addition, the relatively large surface area of the cylindrical packaging shell is beneficial for heat dissipation, which can reduce the temperature rise of the sensor during long-term operation, thereby reducing measurement errors caused by temperature changes.

[0016] In some embodiments, at least two layers of vibration isolation pads are provided between the cylindrical packaging shell and the top mounting position of the elevator car.

[0017] In the above technical solution, the elevator generates vibrations and noise during operation, and the vibration isolation pads can isolate the vibrations on the top of the car, thereby reducing the adverse effects of vibrations on the measurement accuracy of the six-axis directional gyroscope. Given the sensitivity of the six-axis directional gyroscope to vibrations, the vibration isolation pads can effectively reduce vibration interference factors and ensure measurement accuracy. The application of vibration isolation pads not only increases the stability of the installation structure, but also reduces the loosening and displacement phenomena caused by vibrations, thereby improving the reliability of the entire detection device during elevator operation. At the same time, this design also facilitates later maintenance and calibration work.

[0018] In some embodiments, the six-axis directional gyroscope is four, respectively arranged at the four edges of the top of the elevator car.

[0019] In the above technical solution, the four six-axis directional gyroscopes are installed at the four edges of the top of the elevator car, which can achieve multi-point measurement. This layout can capture the motion state of the car at different positions in all directions, improving the accuracy and reliability of the measurement. Multiple sensors can provide redundant data, so even if one or two sensors fail, the remaining sensors can still work normally, ensuring system stability and reliability.

[0020] In some embodiments, the acoustic wave sensors are arranged at edge positions of the top plane in the car, including two acoustic wave sensors arranged at one side edge, and two acoustic wave sensors arranged at at least one of the remaining three edges.

[0021] In the above technical solution, the acoustic wave sensors are installed at the edges of the top plane in the car, two at one side edge, and two at at least one of the remaining three edges. This layout, based on the characteristics of small radiation angle and beam width of about 55 degrees of the acoustic wave sensor, achieves comprehensive coverage of the interior space of the car by arranging acoustic wave sensors at multiple edge positions of the top plane in the car, and more accurately monitors the sound information in the car. The multiple acoustic wave sensors provide redundant data, and if one or two sensors fail, the remaining sensors can still work, ensuring system stability and reliability. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 is a structural schematic diagram of one embodiment of an elevator operation detection device based on a six-axis directional gyroscope according to the present application;

[0024] Figure 2 is a structural schematic diagram of another embodiment of an elevator operation detection device based on a six-axis directional gyroscope according to the present application;

[0025] Figure 3 is a structural schematic diagram of a third embodiment of an elevator operation detection device based on a six-axis directional gyroscope according to the present application;

[0026] Figure 4 is a structural schematic diagram of a fourth embodiment of an elevator operation detection device based on a six-axis directional gyroscope according to the present application;

[0027] Figure 5 is an electrical connection schematic diagram of one embodiment of an elevator operation detection device based on a six-axis directional gyroscope according to the present application. DETAILED DESCRIPTION

[0028] The utility model is further described in detail below in combination with the drawings and embodiments. It is particularly pointed out that the following embodiments are only used for illustrating the utility model and do not limit the scope of the utility model. Similarly, the following embodiments are only part of the embodiments of the utility model but not all the embodiments, and all other embodiments obtained by the ordinary skilled in the art without creative labor belong to the scope of the utility model protection.

[0029] The utility model provides a kind of based on six-axis directional gyroscope's elevator operation detection device, can detect whether some and pass through six-axis directional gyroscope to obtain the acceleration, speed, inclination and vibration frequency of elevator car.

[0030] One of the embodiments

[0031] Please refer to Figure 5 A kind of based on six-axis directional gyroscope's elevator operation detection device, the device includes central processor, six-axis directional gyroscope, sound wave sensor, flat layer sensor, laser range finder;Six-axis directional gyroscope, sound wave sensor, flat layer sensor, laser range finder are electrically connected with central processor.The laser range finder is electrically connected with six-axis directional gyroscope.It needs to be explained that laser range finder and six-axis directional gyroscope are connected together, facilitate the synchronous acquisition and transmission of data, reduce data transmission delay, improve the real-time performance of system.

[0032] Please refer to Figure 1 Six-axis directional gyroscope 2 is arranged on the top of elevator car 1.

[0033] In the embodiment, the at least two laser range finders 2 are symmetrically arranged along the central axis of the top surface of the car 1. The symmetrically arranged laser range finders can simultaneously obtain the position information of the elevator car from multiple angles. This redundant design can effectively reduce the measurement errors caused by the failure or interference of a single sensor, and improve the stability and reliability of the system. By comparing and analyzing the measurement data obtained by the two laser range finders, the system can quickly identify and handle potential faults or abnormal conditions, such as the tilting or swinging of the elevator car, thereby enhancing the safety performance of the elevator operation. The symmetric arrangement ensures that the installation positions of the laser range finders remain relatively fixed and symmetric, which facilitates the accurate alignment and debugging operations of the installation personnel, thereby ensuring the stable transmission and accurate reception of the laser signals. If one of the laser range finders fails, the other laser range finder can immediately serve as a backup to continue working, ensuring the continuity of the elevator operation detection and effectively avoiding the monitoring blind area caused by sensor failure.

[0034] In this embodiment, the six-axis orientation gyroscope 2 is kept horizontal with the top plane of the elevator car 1, and the six-axis orientation gyroscope 2 adopts a cylindrical packaging shell. The six-axis orientation gyroscope is installed horizontally with the top plane of the elevator car, which can ensure that the measurement axis of the sensor is consistent with the actual motion direction of the elevator car, thereby reducing the measurement error caused by the deviation of the installation angle. Through horizontal installation, the sensor can more effectively capture the acceleration and angular velocity changes of the elevator car in three axial directions, thereby improving the accuracy and reliability of the measurement. The six-axis orientation gyroscope adopts a cylindrical packaging shell design, which makes the volume more compact, facilitating installation on the top of the elevator car, effectively utilizing the limited space, and avoiding the impact on the internal layout of the elevator car due to the large volume of the sensor. Generally, the cylindrical packaging shell has good electromagnetic shielding performance, which can reduce the influence of external electromagnetic interference on the measurement results of the sensor. In the complex electromagnetic environment of the elevator, this feature is particularly important, which can significantly improve the stability and reliability of the sensor operation. In addition, the relatively large surface area of the cylindrical packaging shell is beneficial to heat dissipation, which can reduce the temperature rise of the sensor during long-term operation, thereby reducing the measurement error caused by temperature changes.

[0035] In this embodiment, at least two layers of vibration isolation pads (not shown in the figure) are arranged between the cylindrical packaging shell and the top mounting position of the elevator car 1. When the gyroscope mass is 50 grams and the working frequency range is 100 Hz to 1000 Hz, the system natural frequency should be lower than 50 Hz to ensure effective isolation of high-frequency vibration through the vibration transmission rate formula T = 1 / (1-(f / fn)^2), where f is the working frequency and fn is the system natural frequency. The rubber vibration isolation pad with an elastic modulus of 5 MPa and a thickness of 2 mm is selected, and the natural frequency of each layer of pad is about 50 Hz through calculation. Therefore, by using two layers of vibration isolation pads with a total thickness of 4 mm, the system natural frequency can be reduced to 35.36 Hz, significantly improving the vibration isolation effect. The elevator generates vibration and noise during operation, and the vibration isolation pad can isolate the vibration of the top of the car, thereby reducing the adverse effects of vibration on the measurement accuracy of the six-axis orientation gyroscope. Since the six-axis orientation gyroscope is sensitive to vibration, the vibration isolation pad can effectively reduce the vibration interference factor and ensure the measurement accuracy. The application of the vibration isolation pad not only increases the stability of the installation structure, but also reduces the loosening and displacement phenomenon caused by vibration, thereby improving the reliability of the entire detection device during the operation of the elevator. At the same time, this design also facilitates the later maintenance and calibration work.

[0036] In this embodiment, please refer to Figure 2The six-axis orientation gyroscope 2 is four, which is respectively arranged at the four edges of the top of the elevator car 1. The four six-axis orientation gyroscopes are respectively installed at the four edges of the top of the elevator car, which can realize multi-point measurement. This layout can capture the motion state of the car at different positions in all directions, and improve the accuracy and reliability of measurement. Multiple sensors can provide redundant data, and even if one or two sensors fail, the remaining sensors can still work normally, ensuring system stability and reliability.

[0037] Please refer to Figure 3 The sound wave sensor 3 is arranged at the inner top of the car, radiates sound waves along a first direction G, and the included angle between the radiation center line and the inner top plane of the car is 40°-60°. In this embodiment, the sound wave sensor 3 is arranged at the edge of the inner top plane of the car 1, which includes two sound wave sensors 3 arranged at one side edge, and two sound wave sensors arranged at at least one of the remaining three edges (not shown in the figure). The sound wave sensor is installed at the edge of the inner top plane of the car, two are arranged at one side edge, and two are arranged at at least one of the remaining three edges. According to the characteristics of small radiation angle and beam width of about 55 degrees of the sound wave sensor, by arranging the sound wave sensor at multiple edge positions of the inner top plane of the car, the sound wave sensor can realize comprehensive coverage of the internal space of the car, and can more accurately monitor the sound information in the car. Multiple sound wave sensors provide redundant data, and even if one or two sensors fail, the remaining sensors can still work, ensuring system stability and reliability.

[0038] The levelling sensor 4 is arranged at the edge of the outer top surface of the car 1.

[0039] The laser range finder is four, please refer to Figure 4 Each laser range finder 5 is composed of a group of transmitting instrument (not shown in the figure) and receiving instrument 51; the transmitting instrument of at least four laser range finders is respectively installed at the top and bottom of the elevator shaft, and the receiving instrument 51 of the four laser range finders is respectively installed at the top and bottom of the elevator car 1, and there is no obstruction between the transmitting instrument and the receiving instrument.

[0040] In this embodiment, a six-axis directional gyroscope is installed on the top of the elevator car, which functions to monitor the motion state of the elevator in real time by measuring the acceleration and angular velocity of the elevator car in three axes, including acceleration and deceleration conditions, instantaneous speed values, top collision conditions, stall situations, and trapped passenger situations. The principle of this device follows Newtonian mechanics, relying on the law of conservation of angular momentum of rotating axes and the Coriolis force effect. When the elevator car moves, the rotor of the gyroscope maintains its original direction unchanged due to inertia, causing the shell to rotate relative to the rotor. By accurately detecting this relative rotation, the angular velocity and acceleration information of the elevator car can be obtained. The sound wave sensor is installed on the top inside of the car and radiates sound waves in a specific direction. Its working principle is based on the emission and reception of sound wave signals, which detects environmental information inside the elevator car by measuring the time and frequency changes of sound waves propagating in the medium, such as whether there is abnormal sound inside the car, whether passengers are making distress calls, etc. When sound waves encounter obstacles or reflective surfaces, reflection and scattering phenomena occur. After the sensor receives these changed sound wave signals, it can make judgments about the relevant conditions inside the car. The leveling sensor is placed on the edge of the top surface of the car outside, mainly used to detect whether the elevator car reaches the leveling position. Its working principle is generally based on electromagnetic induction or photoelectric effect. When the elevator car gradually approaches the leveling position, the leveling sensor can sense the leveling sensor or light shield installed in the shaft, and immediately send a corresponding signal to control the leveling accuracy of the elevator to ensure that the elevator can accurately stop at the preset leveling position. The laser range finder is equipped with at least two groups, each consisting of a transmitter and a receiver. The transmitter is installed on the top and bottom of the elevator shaft, and the receiver is installed on the top and bottom of the elevator car, with no obstructions between the transmitter and the receiver. Its working principle is to fully utilize the high directionality and high precision measurement characteristics of laser, and accurately calculate the specific position information of the elevator car in the shaft by measuring the time taken for the laser to propagate from the transmitter to the receiver, combined with the physical constant of the speed of light, thereby realizing real-time and accurate monitoring of the running position of the elevator. In summary, this detection device integrates multiple types of sensors to obtain relevant data information during the running process of the elevator from different dimensions, building a multi-dimensional and comprehensive monitoring system. Among them, the six-axis directional gyroscope provides key support for the motion state data of the elevator, the sound wave sensor focuses on the sound environment inside the car, the leveling sensor and the laser range finder work together to ensure the leveling accuracy of the elevator and the accurate monitoring of the running position, effectively improving the accuracy and reliability of the detection work. The six-axis directional gyroscope is installed on the top of the elevator car, which has relative stability and can effectively capture the overall motion state of the car, minimizing measurement errors caused by improper installation of the sensor. The sound wave sensor is arranged on the top inside of the car, which is conducive to the reception and collection of sound signals inside the car.The flat layer sensor is arranged at the outer top surface edge of the car, facilitates accurate cooperation with the related markers arranged in the shaft, and plays a function of detecting the flat layer position. The transmitting instrument and the receiving instrument of the laser range finder are respectively installed at the top and the bottom of the shaft and the car, and are kept in an unobstructed state. This installation layout fully guarantees the stable transmission and reliable reception of the laser signal, and further improves the accuracy and stability of the ranging work. The laser range finder is provided with at least two groups, and measures from the top and the bottom of the shaft respectively. This redundant design idea further strengthens the accuracy and reliability of position measurement. Even if one group of laser range finders is affected by failure or external interference, the other group of laser range finders can still maintain normal operation state and continuously provide accurate position information, thereby enhancing the fault tolerance and stability performance of the whole detection system.

[0041] Further, in order to better use the device, the application proposes a use method according to the device. It should be noted that the application is to protect the overall installation structure, and the following use method is not protected. Specifically as follows:

[0042] (1) a central processor for collecting and processing sensor data, and judging the running state of the elevator car, the sensor data including but not limited to linear motion acceleration, inclination and vibration detection, analyzing whether there is a person in the elevator car, and the running state including but not limited to top collision and squat bottom motion state;

[0043] (2) a six-axis directional gyroscope electrically connected with the central processor, for acquiring the acceleration of the elevator car and tracking the motion state of the elevator car, and monitoring the attitude in real time;

[0044] (3) an acoustic sensor electrically connected with the central processor, using the acoustic wave signal detected by the acoustic sensor to analyze whether there is a person in the elevator car;

[0045] (4) a flat layer sensor electrically connected with the central processor, for judging whether the elevator car is flat;

[0046] (5) a laser range finder electrically connected with the central processor, for assisting to obtain the distance between the top and the bottom of the elevator car and the elevator shaft;

[0047] The control method comprises the following steps:

[0048] S1: the laser range finder comprises a transmitting instrument and a receiving instrument, the transmitting instrument and the receiving instrument are at least two, two transmitting instruments are respectively installed at the top and the bottom of the elevator shaft, and two receiving instruments are respectively installed at the top and the bottom of the elevator car, the distance between the elevator car and the bottom and top of the elevator shaft is calculated by measuring the time from the transmitting instrument to the receiving instrument, the laser range finder measures and records the position data of the elevator car in real time, the data are recorded in the form of time sequence, and the data are sent to the central processor;

[0049] The central processor calculates the speed and acceleration of the elevator car according to the data collected by the laser range finder;

[0050] The speed calculation formula of the elevator car at each time point is:

[0051]

[0052] d(t) is the distance at time t, d(t-1) is the distance at time t-1, and Δt is the time interval;

[0053] The acceleration calculation formula of the elevator car is:

[0054]

[0055] v(t) is the speed at time t, v(t-1) is the speed at time t-1, and Δt is the time interval;

[0056] The central processor analyzes the acceleration data trend curve and the sensor data to determine the running state of the elevator car and whether the elevator car has a fault, the running state includes a motion state, a top collision or bottom squatting state, and a fault trapped state, and the fault state includes a car tilting and an abnormal elevator vibration;

[0057] In the embodiment, the specific steps for determining the motion state of the elevator car include:

[0058] The acceleration data of the elevator car are obtained by the laser range finder and the central processor, and the acceleration values of the elevator car at different stages are analyzed;

[0059] When the acceleration value is not 0 and continuously positive or negative, it is determined that the elevator car is in an acceleration or deceleration state;

[0060] S10: if the acceleration value is 0, it is determined that the elevator car is in a uniform speed or static state;

[0061] The central processor is used for counting the acceleration and speed data, counting the change amount of the acceleration and speed, and judging whether the elevator car is in a static state or a uniform speed state through the change of the speed and acceleration during the working process of the elevator car;

[0062] If the speed is zero and the acceleration is zero, it is determined that the elevator car is in a stationary state;

[0063] If the speed is not zero, but the value of the speed remains constant in a certain time period and the acceleration is zero, it is determined that the elevator car is in a uniform speed state;

[0064] In an embodiment, the specific steps of determining whether the elevator car is in a top or bottom squat state include:

[0065] The laser range finder measures and records the position data of the elevator car in real time, and sends the data to the central processor;

[0066] The leveling sensor determines whether the elevator car reaches the predetermined floor position;

[0067] The central processor analyzes and determines whether the elevator car is in a top or bottom squat state by comprehensively analyzing the speed data of the six-axis directional gyroscope, the distance data obtained by the laser range finder, and the leveling sensor data.

[0068] In an embodiment, the specific steps of determining whether the elevator car has a car tilt fault state include:

[0069] The six-axis directional gyroscope collects acceleration data of the car in X, Y, and Z directions and angular velocity data around X, Y, and Z axes in real time, and processes the data through Kalman filtering and complementary filtering methods;

[0070] S20: Calculate the tilt angle of the car according to the fused data;

[0071] The tilt angle calculation formula of the car is:

[0072] The horizontal tilt angle is:

[0073] The vertical tilt angle is:

[0074] The central processor analyzes the threshold value of the tilt angle, and immediately sends a car tilt fault alarm signal when the tilt angle exceeds the set threshold value.

[0075] In an embodiment, the specific steps of determining whether the elevator car has a vibration abnormality fault state include:

[0076] The six-axis directional gyroscope collects vibration acceleration data of the car in X, Y, and Z directions in real time, which reflects the vibration situation of the car in different directions. The collected vibration acceleration signals are filtered to remove noise and interference signals and retain useful vibration signals;

[0077] The central processor judges the threshold of the vibration acceleration, and when the vibration acceleration exceeds the threshold, it is judged that the elevator car has abnormal vibration, and an abnormal vibration fault early warning is sent out.

[0078] In the embodiment, the specific steps of judging the fault trapping state of the elevator car include:

[0079] S30: obtaining the position information of the current elevator car by the laser range finder;

[0080] The landing level sensor judges whether the elevator car reaches the predetermined floor position and whether it lands.

[0081] The sound wave sensor analyzes whether there is a person in the elevator car according to the detected sound wave signal.

[0082] The central processor judges whether the elevator is in the fault trapping state;

[0083] If it is judged that the elevator is in the fault trapping state, a fault trapping alarm signal is sent out.

[0084] The above only describes some embodiments of the utility model, and does not limit the protection scope of the utility model, and any equivalent device or equivalent process transformation or direct or indirect application in other related technical fields by using the contents of the utility model specification and drawings are also included in the patent protection scope of the utility model.

Claims

1. An elevator operation detecting device based on a six-axis orientation gyroscope, characterized by, The device comprises a central processor, a six-axis directional gyroscope, a sound wave sensor, a flat layer sensor, and a laser range finder; the six-axis directional gyroscope, the sound wave sensor, the flat layer sensor, and the laser range finder are electrically connected to the central processor; the laser range finder is electrically connected to the six-axis directional gyroscope; The six-axis directional gyroscope is arranged on the top of the elevator car, and there is at least one; The sound wave sensor is arranged on the top of the car, and radiates sound waves in a first direction; The flat layer sensor is arranged on the edge of the top surface of the car outside; The laser range finder is at least two, each laser range finder is composed of a group of transmitting instrument and receiving instrument; the transmitting instrument of the at least two laser range finders is respectively installed on the top or bottom of the elevator shaft, the receiving instrument of the at least two laser range finders is respectively installed on the top or bottom of the elevator car, and there is no obstruction between the transmitting instrument and the receiving instrument.

2. The elevator operation detection device based on the six-axis directional gyroscope according to claim 1, wherein The at least two laser range finders are symmetrically arranged.

3. The elevator operation detection device based on the six-axis directional gyroscope according to claim 1, wherein The six-axis directional gyroscope is kept horizontal with the top plane of the elevator car, and the six-axis directional gyroscope adopts a cylindrical packaging shell.

4. The elevator operation detection device based on the six-axis directional gyroscope according to claim 3, wherein At least two layers of vibration isolation pads are arranged between the cylindrical packaging shell and the mounting position of the top of the elevator car.

5. The elevator operation detection device based on the six-axis directional gyroscope according to claim 1, wherein The six-axis directional gyroscope is four, which are respectively arranged on the four edges of the top of the elevator car.

6. The elevator operation detection device based on the six-axis directional gyroscope according to claim 1, wherein The sound wave sensor is arranged on the edge of the top plane of the car, which includes two sound wave sensors arranged on one side edge, and two sound wave sensors arranged on at least one of the remaining three edges.

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