Method and apparatus for accurately identifying target reflectors when using radar sensors in elevator hoistways - Patents.com

Abstract

To provide systems and methods for training a radar sensor to determine the position of an elevator car within an elevator system.SOLUTION: A method disclosed herein comprises: calibrating a target reflector signal: calibrating one or more reference reflector signals; comparing the frequency of the target reflector signal and the frequency of one or more reference reflector signals; determining, for each of the one or more reference reflector signals, a frequency distance between the target reflector signal and the reference reflector signal; and generating a distance measuring signal pattern based on the frequency distance of each of the one or more reference reflector signals.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] Exemplary embodiments of the present disclosure relate generally to elevator systems, and more particularly, to an improved elevator positioning system with radio detection and ranging ("radar") sensors. [Background technology]

[0002] In conventional / existing elevator positioning systems, obstacles may exist within the elevator hoistway, which may prevent the radar sensor from functioning properly. Specifically, the obstacles may introduce signal noise within the elevator hoistway, which may result in errors when using the radar sensor in such an environment. Therefore, there is a need to overcome such challenges and difficulties in elevator positioning systems. Summary of the Invention

[0003] Various embodiments described herein relate to components, devices, and systems for identifying signals from reflectors in a radar-based elevator positioning system.

[0004] According to various embodiments of the present disclosure, a method is provided for training a radar sensor to determine a position of an elevator car in an elevator system. In some embodiments, the method includes calibrating a target reflector signal by the radar sensor, calibrating one or more reference reflector signals by the radar sensor, comparing a frequency of the target reflector signal to a frequency of the one or more reference reflector signals by the radar sensor, determining a frequency distance between the target reflector signal and the reference reflector signal for each of the one or more reference reflector signals by the radar sensor, and generating a ranging signal pattern based on the frequency distances of each of the one or more reference reflector signals by the radar sensor.

[0005] In some embodiments, the target reflector signal may include a signal from a reflection of an electromagnetic wave emitted by the radar sensor by a primary reflector. In some embodiments, the target reflector signal may be associated with a static location corresponding to the primary reflector. In some embodiments, calibrating the target reflector signal may include emitting, by the radar sensor, an electromagnetic wave including a transmission signal, and monitoring, by the radar sensor, a target reflector signal from a reflection of the electromagnetic wave by the primary reflector. In some embodiments, the one or more reference reflector signals may include one or more signals from a reflection of the electromagnetic wave emitted by the radar sensor by one or more corresponding reference reflectors. In some embodiments, the one or more reference reflector signals may be associated with a static location corresponding to the one or more reference reflectors. In some embodiments, calibrating the target reflector signal may include emitting, by the radar sensor, an electromagnetic wave including a transmission signal, and monitoring, by the radar sensor, one or more reference reflector signals from a reflection of the electromagnetic wave by one or more corresponding primary reflectors. In some embodiments, the frequency distance may include the difference in signal frequency between the target reflector signal and the reference reflector signal.

[0006] In some embodiments, the method includes receiving a position request; emitting electromagnetic waves comprising a transmission signal in response to the position request; monitoring signals from reflection of the electromagnetic waves by a main reflector and one or more reference reflectors; recording signals detectable by the radar sensor; and for each recorded signal, detecting a frequency range f1, f2, ...f n Frequency difference F (n-1)n =f n-1 -f nIteratively calculating, searching for a match of the ranging signal pattern with the calculated frequency difference, determining a match with the ranging signal pattern, identifying a target reflector signal based on the match, and determining a distance based on the target reflector signal. In some embodiments, the location request may include a request for the radar sensor to determine the height of the elevator car. In some embodiments, the method may further include adding the recorded frequency differences for each signal from the signal in a given frequency domain to a matrix row for each frequency domain. In some embodiments, the method may further include matching the frequency distance of the ranging signal pattern with the calculated frequency difference by frequency domain.

[0007] According to another embodiment, a system for training a radar sensor to determine a position of an elevator car in an elevator system is provided. In some embodiments, the system includes a memory device having executable instructions stored thereon, and a processor configured to, in response to the executable instructions, calibrate a target reflector signal, calibrate one or more reference reflector signals, compare a frequency of the target reflector signal to a frequency of the one or more reference reflector signals, determine for each of the one or more reference reflector signals a frequency distance between the target reflector signal and the reference reflector signal, and generate a ranging signal pattern based on the frequency distance of each of the one or more reference reflector signals.

[0008] In some embodiments, the frequency distance may include a difference in signal frequency between the target reflector signal and the reference reflector signal. In some embodiments, the processor receives a position determination request, emits electromagnetic waves comprising a transmission signal in response to the position determination request, monitors signals from reflection of the electromagnetic waves by the main reflector and one or more reference reflectors, records signals detectable by the radar sensor, and for each recorded signal, calculates a frequency range f1, f2, ...f n Frequency difference F (n-1)n =f n-1 -f nIteratively calculate frequency differences, search for a match of the ranging signal pattern with the calculated frequency differences, determine a match with the ranging signal pattern, identify the target reflector signal based on the match, and determine a distance based on the target reflector signal. In some embodiments, the processor may be further configured to add the frequency differences for each recorded signal from the signal in a given frequency region to a matrix row for each frequency region.

[0009] According to yet another embodiment, a method for calibrating a signal frequency signature by a radar sensor in an elevator system is provided. In some embodiments, the method includes emitting, by the radar sensor, electromagnetic waves including a transmission signal to perform a calibration procedure with a reflector configured at a first position, receiving, by the radar sensor, a first signal including a reflection of the electromagnetic waves by the reflector, recording, by the radar sensor, the first signal corresponding to the first position of the reflector, actuating, by the radar sensor, an electromechanical device coupled to the reflector to move the reflector to a second position, receiving, by the radar sensor, a second signal including a reflection of the electromagnetic waves by the reflector configured at the second position, recording, by the radar sensor, the second signal corresponding to the second position of the reflector, comparing, by the radar sensor, the first signal with the second signal, and determining, by the radar sensor, a reference frequency difference usable by the radar sensor to identify a signal corresponding to the reflector from among a plurality of signals.

[0010] In some embodiments, comparing the first signal to the second signal may further include comparing an initial frequency associated with the first signal to a second frequency associated with the second signal. In some embodiments, actuating the electromechanical device may cause an adjustment of the height of the reflector.

[0011] In some embodiments, the method may further include actuating the electromechanical device to move the reflector to a first position; receiving a third signal including a reflection of the electromagnetic wave by the reflector configured at the first position; recording the third signal corresponding to the first position of the reflector; comparing the second signal to the third signal; and ascertaining a reference frequency difference based on a comparison of the second signal and the third signal.

[0012] The foregoing illustrative summary, as well as other exemplary objects and / or advantages of the present disclosure, and the manner in which the same are accomplished, are further described in the following detailed description and its accompanying drawings. [Brief description of the drawings]

[0013] The description of the illustrated embodiments may be read in conjunction with the accompanying drawings. It will be understood that, unless otherwise noted, for simplicity and clarity of illustration, elements shown in the drawings have not necessarily been drawn to scale. For example, unless otherwise noted, dimensions of some of the elements may be exaggerated relative to other elements. Embodiments incorporating the teachings of the present disclosure are illustrated and described in conjunction with the figures presented herein.

[0014] [Figure 1] 1 illustrates an exemplary elevator system. [Diagram 2] 4 shows an exemplary comparison of a signal transmitted from a radar sensor and a signal received from a reflector. [Diagram 3] 1 shows an exemplary diagram of frequency versus distance. [Figure 4] 1 shows an exemplary series of signal frequency measurements. [Diagram 5] 1 shows an exemplary diagram of an elevator system. [Figure 6] 4 illustrates an exemplary signal received from the reflection of an electromagnetic wave within an elevator system. [Figure 7] FIG. 1 illustrates an example diagram of an elevator system, according to certain example embodiments described herein. [Figure 8]1 illustrates an example method for training a radar sensor, according to certain example embodiments described herein. [Figure 9] 4 illustrates example frequencies of a target reflector signal according to certain example embodiments described herein. [Figure 10] 4 illustrates an example frequency difference according to certain example embodiments described herein. [Figure 11] 1 illustrates an example method for identifying a ranging signal, according to certain example embodiments described herein. [Figure 12] 4 illustrates an example frequency difference calculation according to certain example embodiments described herein. [Figure 13] 1 illustrates an example frequency difference matrix data object, according to certain example embodiments described herein. [Figure 14] 1 illustrates an example of an exemplary frequency difference search, according to certain exemplary embodiments described herein. [Figure 15] 1 illustrates an example ranging signal pattern according to certain example embodiments described herein. [Figure 16] 1 illustrates an example elevator system, according to certain example embodiments described herein. [Figure 17] 1 illustrates an example method for calibrating a signal frequency signature by a radar sensor in an elevator system, according to certain example embodiments described herein. [Figure 18] 1 illustrates an example signal during calibration according to certain example embodiments described herein. [Figure 19] 4 illustrates an example signal frequency signature according to certain example embodiments described herein. [Figure 20] FIG. 1 shows a schematic diagram illustrating an example radar sensor, according to certain example embodiments described herein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Certain embodiments of the present disclosure will now be described in more detail below with reference to the accompanying drawings, which illustrate some, but not all, embodiments of the present disclosure. Indeed, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout.

[0016] As used herein, terms such as "front," "rear," "top," and the like are used for explanatory purposes to describe the relative locations of particular components or portions of components in the examples provided below. Additionally, as will be apparent to one of ordinary skill in the art in view of this disclosure, the terms "substantially" and "approximately" indicate that the referenced element or associated description is accurate to within applicable engineering tolerances.

[0017] As used herein, the term "comprising" means including, but not limited to, and should be interpreted in the manner typically used in patent context. The use of broader terms such as "comprises," "includes," and "having" should be understood to provide support for narrower terms such as "consisting of," "consisting essentially of," and "comprised substantially of."

[0018] The phrases "in one embodiment," "according to one embodiment," and similar phrases generally mean that the particular feature, structure, or characteristic that follows the phrase may be included in at least one embodiment of the present disclosure, and may be included in more than one embodiment of the present disclosure (importantly, such phrases do not necessarily refer to the same embodiment).

[0019] As used herein, the word "example" or "exemplary" means "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" should not necessarily be construed as preferred or advantageous over other implementations.

[0020] When the specification states that a certain component or feature "may include," "can include," "could include," "should include," "will include," "preferably include," "possibly include," "typically include," "optionally include," "for example include," "often include," or "may include" (or other such language), or has a certain characteristic, that particular component or feature is not required to be included or to have that characteristic. Such components or features may be optionally included or excluded in some embodiments.

[0021] 1, elevator system 100 includes elevator car 106, pulley system 108, counterweight 110, elevator supports 112A and 112B, and elevator hoistway 114. Elevator system 110 further includes radar sensor 102 that may be configured to determine a distance from a top of elevator hoistway 114. According to the illustrated embodiment, radar sensor 102 is configured on a top of elevator car 106 and reflector 104 is configured on a top of elevator hoistway 114. Reflector 104 may include a metal object that can reflect electromagnetic waves, such as radio waves, that may be emitted from radar sensor 102. Radio waves may be distorted when reflected by reflector 104. For example, certain attributes, such as amplitude and frequency of radio waves, may be altered when reflected from reflector 104.

[0022] The radar sensor 102 may emit electromagnetic waves including a transmission signal to perform ranging with the reflector 104. The radar sensor 102 may be configured to determine a height D1 between the radar sensor 102 and the reflector 104, where the height D1 represents the distance between the radar sensor 102 and the top of the elevator hoistway 114. For example, the electromagnetic waves may be reflected from the reflector 104 and received as a signal by the radar sensor 102. The radar sensor 102 may then compare the received signal to the transmission signal. The received signal may include a signal similar to the transmission signal, but may be frequency shifted.

[0023] 2 illustrates an example comparison between a signal transmitted from a radar sensor and a signal received from a reflector. The transmitted signal 202 may represent a signal transmitted from the radar sensor 102. The received signal 204 may represent the transmitted signal 202 reflected by the reflector 104 and then received by the radar sensor 102. The received signal 204 may represent a signal resulting from reflection of the transmitted signal 202 from the reflector 104. As illustrated, the received signal 204 includes a similar pattern to the transmitted signal 202, except for the difference in frequency. The difference in frequency Δf may correspond to the distance between the radar sensor 102 and the reflector 104.

[0024] Therefore, the distance D1 can be calculated according to:

number

[0025] 3 shows an example diagram of the relationship between frequency and distance. The distance of a reflector (e.g., reflector 104) relative to the radar sensor 102 can be determined by analyzing the received signal with reference to the transmitted signal according to the frequency domain. In particular, the value of Δf can be used to estimate the approximate distance between the reflector of the received signal and the radar sensor 102.

[0026] 4 shows an example series of signal frequency measurements. The distance from the radar sensor 102 and the reflector 104 may be directly proportional to Δf. As an example, as the elevator car moves during operation, the distance between the radar sensor 102 and the reflector 104 changes. Thus, the Δf of the signal received by the radar sensor 102 changes with respect to the distance between the radar sensor 102 and the reflector 104.

[0027] 4, frequency shifts related to distance are shown. Specifically, the distances between the radar sensors 402A, 402B, 402C and the reflectors 404A, 404B, 404C are shown in terms of frequency difference (e.g., Δf). In general, the distance between the radar sensors and the reflectors is directional relative to Δf. Note that the amplitude of the received signal may be inversely proportional to the distance (e.g., the signal amplitude decreases as the distance between the radar sensors and the reflectors increases).

[0028] As described above, electromagnetic waves reflected by a reflector may be used by a radar sensor to determine an approximate distance between the reflector and the radar sensor. However, elevator hoists may present challenges to such radar sensors. Specifically, obstacles in the transmission path between the radar sensor and the reflector may interfere with the radar sensor's ability to receive signals from the electromagnetic waves reflected by the reflector. For example, obstacles such as electrical boxes and support structures are common in elevator hoists and may interfere with the reflection of radio waves from the radar sensor.

[0029] 5 shows an example diagram of an elevator system. The elevator system 500 includes an elevator car 506, a pulley system 508, a counterweight 510, elevator supports 512A and 512B, and an elevator hoistway 514. The elevator system 500 further includes a radar sensor 502 configured on the top of the elevator car 506, and a reflector 504 configured on the top of the elevator hoistway 514. According to the illustrated embodiment, an obstacle 516 is between the radar sensor 502 and the reflector 504 and causes at least one of interfering with (e.g., not obscuring), partially obscuring, or completely obscuring the radio wave transmission and / or reflection between the radar sensor 502 and the reflector 504. An example of the obstacle 516 may include an electrical box or an elevator support structure capable of reflecting electromagnetic waves from the radar sensor 502.

[0030] 6, signals received from reflections of electromagnetic waves from reflector 504 and obstacle 516 may look similar. Thus, radar sensor 502 may not be able to distinguish between signals from reflector 504 and obstacle 516. Because signals representing distances D1 (reflector 504) and D2 (obstacle 516) from radar sensor 503 may be scattered, radar sensor 502 may not be able to measure the height of elevator car 506.

[0031] Various exemplary embodiments of the present disclosure overcome such technical challenges and difficulties in current elevator positioning systems and provide various technical advances and improvements. According to various examples of the present disclosure, systems, apparatuses, and methods are disclosed for mitigating / reducing interference within an elevator hoistway of an elevator system. In at least one embodiment, one or more reference reflectors may be used to generate unique signal patterns in the frequency domain to distinguish target signals from noise signals. The one or more reference reflectors may be aligned with the radar sensor and configured between the main reflector and the radar sensor without blocking (the line of sight of) the main reflector.

[0032] 7 illustrates an elevator system according to various embodiments of the present disclosure. The elevator system 700 includes a radar sensor 702, a main reflector 704, an elevator car 706, a pulley system 708, a counterweight 710, elevator supports 712A and 712B, an elevator hoistway 714, and an obstacle 716. The radar sensor 702 is configured on top of the elevator car 706, and the main reflector 704 is configured on top of the elevator hoistway 714. The elevator system 700 further includes one or more reference reflectors 718. The one or more reference reflectors 718 may be used to generate a unique signal pattern in the frequency domain of the radar sensor 702. As an example, the unique signal pattern may be used to identify signals associated with the one or more reference reflectors 718.

[0033] The radar sensor 702 may include a signal transmitter, a signal receiver, a signal processing component, a network communication component, and / or a computing device including one or more processors and memory devices. The radar sensor 702 may be configured to emit electromagnetic waves including a transmission signal, monitor for reflections of the electromagnetic waves as reflected signals, analyze the reflected signals, and identify whether the reflected signals correspond to a particular signal frequency signature. The particular signal frequency signature may include frequency characteristics associated with the main reflector 704 and one or more reference reflectors 718. Based on the particular signal frequency signature, the radar sensor 702 may be further configured to determine a distance from the radar sensor 702 and the main reflector 704 (e.g., representing a distance from a top of the elevator car 706 to a top of the elevator hoistway 714).

[0034] As shown, the main reflector 704 is vertically aligned with the radar sensor 702. One or more reference reflectors 718 are positioned between the horizontal plane of the radar sensor 702 and the horizontal plane of the main reflector 704, but are not positioned in the vertical plane path between the radar sensor 702 and the main reflector 704. In addition, the obstacle 716 is configured not to be positioned in the vertical plane path between the radar sensor 702 and the main reflector 704, and not to be positioned in the vertical plane path between the radar sensor 702 and the reference reflector 718.

[0035] 8 and 11, an example flow diagram is provided illustrating an example method for determining a position of a radar reflector in an elevator system 700 according to some example embodiments of the present disclosure. It should be noted that each block of the flowchart, and combinations of blocks in the flowchart, may be implemented by various means, such as hardware, firmware, circuitry, and / or other devices associated with the execution of software that includes one or more computer program instructions. For example, one or more of the steps / operations described in FIG. 8 and 11 may be embodied by computer program instructions that may be stored by a non-transitory memory of an apparatus employing an embodiment of the present disclosure and executed by a processor component in the apparatus (such as, but not limited to, a radar sensor, a monitoring system, a client computing device, a remote computing server, and / or the like). For example, these computer program instructions may direct the processor component to function in a particular manner, such that the instructions stored in the computer-readable storage memory cause the processor component to perform activities that implement the functions specified in the blocks of the flowchart.

[0036] As described above and as will be understood based on the present disclosure, some embodiments of the present disclosure may include various means such as only hardware or any combination of software and hardware. Furthermore, the embodiments may take the form of a computer program product on at least one non-transitory computer-readable storage medium having computer-readable program instructions (e.g., computer software) embodied in the storage medium. Similarly, the embodiments may take the form of computer program code stored in at least one non-transitory computer-readable storage medium. Any suitable computer-readable storage medium may be utilized, including non-transitory hard disks, CD-ROMs, flash memories, optical storage devices, or magnetic storage devices.

[0037] 8, an example method 800 for training a radar sensor is shown, according to some example embodiments described herein. Training a radar sensor may include an initialization procedure in which the radar sensor "learns" to recognize signals corresponding to a primary reflector and one or more reference reflectors. Obstacles or barriers may be removed during the training process so that signals from reflections of electromagnetic waves by the primary reflector and one or more reference reflectors can be properly recognized.

[0038] In step 802, the radar sensor calibrates the target reflector signal. The target reflector signal may include a signal from the reflection of the electromagnetic waves emitted by the radar sensor by the main reflector. The target reflector signal may be used to establish a static location corresponding to the main reflector. For calibration of the target reflector signal, the main reflector may be positioned at a given calibration distance (e.g., 2 meters) from the radar sensor, for example, by moving the radar sensor and / or the main reflector. Upon positioning the main reflector at a given calibration distance from the radar sensor, the calibration may include the radar sensor emitting electromagnetic waves including the transmission signal and monitoring a corresponding signal from the reflection of the electromagnetic waves by the main reflector (i.e., the target reflector signal). The location of the main reflector may remain in a fixed position after calibration to establish a reference for identification by the radar sensor. Referring to FIG. 9, the frequency of the target reflector signal 900 may be recorded by the radar sensor and is denoted by α.

[0039] In some embodiments, monitoring the target reflector signal may include a radar sensing receipt of a signal and comparing the frequency of the received signal to an expected target reflector signal frequency. For example, the expected target reflector signal may include a frequency corresponding to a given calibration distance. If the frequency of the received signal is outside a given threshold of the expected target reflector signal frequency, the received signal may be determined to be a false signal and the radar sensor may resume calibration.

[0040] Referring back to FIG. 8, in some embodiments, following step 802, the exemplary method proceeds to step 804, where the radar sensor calibrates a reference reflector signal. The reference reflector signal may include a signal from the reflection of the electromagnetic waves emitted by the radar sensor by the reference reflector. The reference reflector signal may also be used to establish a static location corresponding to the reference reflector. The reference reflector may be configured at a given distance between the radar sensor and the main reflector while maintaining the given calibration distance from step 802. Upon configuring the reference reflector, calibrating the reference reflector signal may include the radar sensor emitting an electromagnetic wave including the transmission signal and monitoring a corresponding signal (i.e., the reference reflector signal) from the reflection of the electromagnetic waves by the main reflector and the reference reflector. The position of the reference reflector may remain in a fixed position after calibration to establish a reference for identification by the radar sensor. Thus, the frequency of the reference reflector signal may be recorded by the radar sensor in relation to the target reflector signal.

[0041] In some embodiments, following step 804, the exemplary method proceeds to step 806, where the radar sensor determines whether calibration of additional reference reflector signals is required. If yes, the exemplary method returns to step 804. If not, following step 806, the exemplary method proceeds to step 808, where the radar sensor compares the frequency of the target reflector signal to the frequency of one or more reference reflector signals.

[0042] In some embodiments, following step 808, the exemplary method proceeds to step 810, where the radar sensor determines, for each of the calibrated reference reflector signals, a frequency distance between the target reflector signal and the reference reflector signal. The frequency distance may include a difference in signal frequency between the target reflector signal and the reference reflector signal.

[0043] 10 illustrates an example frequency distance where the target reflector signal 1002 (from the primary reflector 704) is designated α, the first reference reflector signal 1004 (from the reference reflector 718A) is designated β, and the second reference reflector signal 1006 (from the reference reflector 718B) is designated γ. According to the illustrated example, the frequency distance f preset1 represents the frequency difference between the target reflector signal 1002 and the first reference reflector signal 1004. The frequency distance f preset1 is the frequency f of the target reflector signal 1002 α is the frequency f of the first reference reflector signal 1004. β Similarly, the frequency distance f preset2 is the frequency f of the target reflector signal 1002 α is the frequency f of the second reference reflector signal 1006. γ It can be calculated by subtracting

[0044] In some embodiments, following step 810, the exemplary method proceeds to step 812, where the radar sensor generates a ranging signal pattern based on the frequency distance. The frequency distance may include a unique signal pattern for identifying signals corresponding to the main reflector and the reference reflector. That is, assuming the positions of the main reflector and the reference reflector are fixed, the frequency distance between the target reflector signal and the reference reflector signal may be used as an identifiable signal constant for ranging. According to the previous example, the frequency distance f preset1 and frequency distance f preset2 may be used to generate a ranging signal pattern.

[0045] 11, an example method 1100 of identifying ranging signals by a radar sensor is shown, according to certain example embodiments described herein. At step 1102, the radar sensor receives a position request. The position request may include a request for the radar sensor to determine the height of an elevator car. For example, the elevator height may be used to control elevator operation, such as determining when to start or stop the elevator car from moving.

[0046] In some embodiments, following step 1102, the exemplary method proceeds to step 1104, where the radar sensor emits electromagnetic waves comprising a transmission signal in response to a position determination request.

[0047] In some embodiments, following step 1104, the exemplary method proceeds to step 1106, where the radar sensor receives signals from reflections of the electromagnetic waves, such as from the main reflector and one or more reference reflectors.

[0048] In some embodiments, following step 1106, the exemplary method proceeds to step 1108, where the radar sensor calculates, for each received signal, a frequency domain f1, f2, ...f n Over the entire range, the frequency difference F (n-1)n =f n-1 -f n Iteratively calculate f1, f2, f3, f4, f5, f6, f7, f8, f9, and f10. FIG. 12 shows an example frequency difference calculation for frequency domain f1. The frequency differences for each signal from the signals in a given frequency domain may be calculated and added to the rows of the matrix data object. The frequency differences may be generated for the rows of the matrix data object for each frequency domain as shown in FIG. 13. Thus, the frequency differences may be recorded (e.g., in a memory storage device) in an ordered manner according to successive signal distance for each signal.

[0049] 11, in some embodiments, following step 1108, the exemplary method proceeds to step 1110, where the radar sensor searches for a match of the ranging signal pattern with the frequency difference. The ranging signal pattern may include one or more frequency distances determined from calibration of the target return signal and one or more reference return signals, as described above. Matching the ranging signal pattern with the frequency difference may further include matching the frequency distance of the ranging signal pattern with the calculated frequency difference by frequency domain. The radar sensor may search successive signal distances for each signal that matches the ranging signal pattern. As shown by FIG. 14, [f preset1 ,f preset2A search for two elements that match ] may be performed on a matrix data object containing frequency differences as described above from a first frequency region to frequency region n for n frequency regions.

[0050] 11, in some embodiments, following step 1110, the exemplary method proceeds to step 1112, where the radar sensor determines a match with the ranging signal pattern. A match of the ranging signal pattern with the calculated frequency distance may indicate the presence of a main reflector and one or more reference reflectors. In particular, the match may be used to identify which of the recorded signals correspond to the main reflector and one or more reference reflectors. With reference to FIG. 15, for example, 23 =f preset1 and f 25 =f preset2 , then signal "2" can be identified as the signal from the main reflector, and signals "3" and "5" can be identified as the signals from the two reference reflectors.

[0051] 11 , in some embodiments, following step 1112, the exemplary method proceeds to step 1114, where the radar sensor identifies the target reflector signal based on the match, i.e., the target reflector signal may be identified from multiple signals detected by the radar sensor.

[0052] In some embodiments, following step 1114, the exemplary method proceeds to step 1116, where the radar sensor uses the matched frequency difference to determine distance. Specifically, the radar sensor may identify the primary reflector from the matched frequency difference and determine the frequency difference between the transmit signal and the target reflector signal. The frequency difference between the transmit signal and the target reflector signal may be used to determine distance between the radar sensor and the primary reflector according to the techniques described above.

[0053] 16 illustrates an example diagram of an elevator system according to various embodiments of the present disclosure. The elevator system 1600 includes a radar sensor 1602, a reflector 1604, an elevator car 1606, a pulley system 1608, a counterweight 1610, elevator supports 1612A and 1612B, an elevator hoistway 1614, and an obstacle 1616. The radar sensor 1602 is configured on top of the elevator car 1606, and the reflector 1604 is configured on top of the elevator hoistway 1614. The reflector 1604 includes an electromechanical device 1618. The electromechanical device 1618 may include an oscillator or vibration motor that may be configured to reposition the height of the reflector 1604 (e.g., very quickly within a small range). Thus, in some embodiments of the present disclosure, the electromechanical device 1618 may move the reflector 1604 between alternating positions such that a unique signal frequency signature may be generated.

[0054] The radar sensor 1602 may include a signal transmitter, a signal receiver, a signal processing component, a network communication component, and / or a computing device including one or more processors and memory devices. The radar sensor 1602 may be configured to emit electromagnetic waves including a transmission signal, monitor the reflection of the electromagnetic waves as a reflected signal, analyze the reflected signal, and identify whether the reflected signal corresponds to a specific signal frequency signature. The specific signal frequency signature may include frequency characteristics associated with the movement of the reflector 1604 between staggered positions over a given time frame. Thus, the specific signal frequency signature of the reflector 1604 may be used to distinguish noise from signals corresponding to the reflector 1604. Based on the specific signal frequency signature, the radar sensor 1602 may be further configured to determine a distance from the radar sensor 1602 and the reflector 1604 (e.g., representing a distance from a top of the elevator car 1606 to a top of the elevator hoistway 1614).

[0055] According to some embodiments of the present disclosure, a particular signal frequency signature may be generated for the reflector 1604. Specifically, the height of the reflector 1604 from the top of the elevator hoistway 1614 may be manipulated via an electromechanical device 1618 to generate a particular signal frequency signature that may be recorded during a calibration procedure and identified by the radar sensor 1602 to distinguish noise signals from the reflected signals of the reflector 1604.

[0056] 17, an example method 1700 for calibrating a signal frequency signature by a radar sensor in an elevator system is shown, according to certain example embodiments described herein. In step 1702, the radar sensor 1602 emits electromagnetic waves including a transmission signal to perform a calibration procedure with the reflector 1604 in a first position.

[0057] In some embodiments, following step 1702, the exemplary method proceeds to step 1704, where the radar sensor receives a first signal. The first signal may include a reflection of an electromagnetic wave by a reflector. With reference to FIG. 18, an electromagnetic wave from the radar sensor 1602 may be reflected from a reflector 1604 and received by the radar sensor 1602 as a first signal 1802A.

[0058] 17, in some embodiments, following step 1704, the example method proceeds to step 1706, where the radar sensor records a first signal corresponding to a first position of the reflector. An initial frequency may be recorded for the reflector 1604 at the first position.

[0059] In some embodiments, following step 1706, the example method proceeds to step 1708, where the radar sensor actuates an electromechanical device coupled to the reflector. Actuating the electromechanical device may move the reflector from a first position to a second position. For example, the height of the reflector 1604 may be adjusted by the radar sensor 1602 actuating the electromechanical device 1618 such that the reflector 1604 moves to the second position. The radar sensor 1602 may again emit electromagnetic waves that include the transmit signal.

[0060] In some embodiments, following step 1708, the exemplary method proceeds to step 1710, where the radar sensor receives a second signal. The second signal may include a reflection of the electromagnetic wave by a reflector configured at a second location. With reference to FIG. 18, the electromagnetic wave may be reflected from the reflector 1604 and received as a second signal 1802B by the radar sensor 1602 to record the reflector 1604 at the second location.

[0061] 17, in some embodiments, following step 1710, the exemplary method proceeds to step 1712, where a second signal is recorded corresponding to a second position of the reflector. A second frequency may be recorded for the reflector 1604 in the second position.

[0062] In some embodiments, following step 1712, the example method proceeds to step 1714, where the radar sensor compares the first signal to the second signal. With reference to Figure 18, the radar sensor 1602 may compare the received second signal 1802B to the first signal 1802A. Specifically, the radar sensor 1602 may compare the initial frequency to the second frequency.

[0063] Referring again to FIG. 17, in some embodiments, following step 1714, the exemplary method proceeds to step 1716, where the radar sensor determines a reference frequency difference f between the first signal 1802A and the second signal 1802B. T is determined based on the comparison.

[0064] According to some embodiments, the height of the reflector 1604 may then be adjusted by the electromechanical device 1618 to return to the first position. The radar sensor 1602 may again emit electromagnetic waves including the transmission signal. With reference to FIG. 18, the electromagnetic waves may be reflected from the reflector 1604 and received by the radar sensor 1602 as a third signal 1802C to record the reflector 1604 returning to the first position. A third frequency may be recorded for the reflector 1604 returning to the first position. The radar sensor 1602 compares the third frequency to the second frequency and determines that the frequency difference between the third signal 1802C and the second signal 1802B is a reference frequency difference f T It can be confirmed that the reference frequency difference f T may be used by the radar sensor 1602 as a specific signal frequency signature to identify a signal corresponding to the reflector 1604 from among multiple signals.

[0065] 19 shows an example diagram of detecting signal frequency signatures according to various embodiments of the present disclosure. Noise and other interference (e.g., caused by an obstacle 1616) may be detected during radar sensor position determination during elevator operation. However, signals from noise or obstacle 1616 are unlikely to move or change frequency as disclosed with reference to FIGS. 16 and 17. For example, signals 1902A, 1902B, and 1902C corresponding to obstacle 1616 include signals having a constant frequency, while signals 1904A, 1904B, and 1904C corresponding to reflector 1604 include signals having a reference frequency difference f T It includes a signal that oscillates between two frequencies by

[0066] 20, a schematic diagram depicts an example radar sensor 2000 in accordance with various embodiments of the present disclosure. As shown, the radar sensor 2000 comprises a processing circuit 2001, a communication module 2003, an input / output module 2005, a memory 2007, and / or other components configured to perform various operations, procedures, functions, etc. described herein.

[0067] The processing circuit 2001 may be implemented as a variety of devices, including, for example, one or more microprocessors with digital signal processors, one or more processors without digital signal processors, one or more co-processors, one or more multi-core processors, one or more controllers, processing circuits, one or more computers, and various other processing elements (including integrated circuits such as ASICs or FPGAs, or certain combinations thereof). In some embodiments, the processing circuit 2001 may comprise one or more processors. In an exemplary embodiment, the processing circuit 2001 is configured to execute instructions stored in memory 2007 or accessible by the processing circuit 2001. When executed by the processing circuit 2001, these instructions may enable the radar sensor 2000 to perform one or more of the functions as described herein. Whether configured by hardware, firmware / software methods, or a combination thereof, the processing circuit 2001 may comprise an entity capable of performing operations according to embodiments of the present invention when correspondingly configured. Thus, for example, when processing circuitry 2001 is implemented as an ASIC, FPGA, etc., processing circuitry 2001 may comprise hardware that is specifically configured to perform one or more operations described herein. Alternatively, as another example, when processing circuitry 2001 is implemented as an actuator of instructions (such as instructions that may be stored in memory 2007), the instructions may specifically configure processing circuitry 2001 to execute one or more algorithms and operations described herein.

[0068] Memory 2007 may comprise, for example, volatile memory, non-volatile memory, or some combination thereof. Although illustrated as a single memory in FIG. 20, memory 2007 may comprise multiple memory components. In various embodiments, memory 2007 may comprise, for example, a hard disk drive, a random access memory, a cache memory, a flash memory, a Compact Disc Read-Only Memory (CD-ROM), a Digital Versatile Disk Read-Only Memory (DVD-ROM), an optical disk, a circuit configured to store information, or some combination thereof. Memory 2007 may be configured to store information, data, application programs, instructions, etc., to enable radar sensor 2000 to perform various functions according to embodiments of the present disclosure. For example, in at least some embodiments, memory 2007 is configured to cache input data for processing by processing circuit 2001. Additionally or alternatively, in at least some embodiments, memory 2007 is configured to store program instructions for execution by processing circuit 2001. The memory 2007 may store information in the form of static and / or dynamic information. The stored information may be stored and / or used by the radar sensor 2000 when functions are performed.

[0069] The communication module 2003 may be implemented as any device included in a circuit, hardware, computer program product, or combination thereof, configured to receive and / or transmit data to another component or device. The computer program product includes computer readable program instructions stored on a computer readable medium (e.g., memory 2007) and executed by the radar sensor 2000 (e.g., processing circuit 2001). In some embodiments, the communication module 2003 (as well as other components described herein) may be at least partially implemented as or otherwise controlled by the processing circuit 2001. In this regard, the communication module 2003 may communicate with the processing circuit 2001, for example, via a bus. The communication module 2003 may comprise, for example, an antenna, a transmitter, a receiver, a transceiver, a network interface card, and / or supporting hardware and / or firmware / software, and is used to establish communication with another device. The communication module 2003 may be configured to receive and / or transmit any data that may be stored by the memory 2007 by using any protocol that may be used for communication between devices. The communications module 2003 may also transmit and receive electromagnetic waves containing signals, and transmit signals to the processing circuit 2001. The communications module 2003 may additionally or alternatively communicate with the memory 2007, the input / output module 2005, and / or any other components of the radar sensor 2000, for example, via a bus.

[0070] In some embodiments, the radar sensor 2000 may comprise an input / output module 2005. The input / output module 2005 may communicate with the processing circuit 2001 to receive instructions entered by a user and / or provide audio, visual, mechanical, or other output to the user. Thus, the input / output module 2005 may comprise a supporting device such as a keyboard, a mouse, a display, a touch screen display, and / or other input / output mechanism. Alternatively, at least some aspects of the input / output module 2005 may be implemented on a device used by a user to communicate with the radar sensor 2000. The input / output module 2005 may communicate with the memory 2007, the communication module 2003, and / or any other components, for example, via a bus. One or more input / output modules and / or other components may be included in the radar sensor 2000.

[0071] It is to be understood that the disclosure is not limited to the particular embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, unless otherwise indicated, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. 1. A method for training a radar sensor to determine a position of an elevator car in an elevator system, the method comprising: calibrating a target reflector signal by the radar sensor; calibrating, by the radar sensor, one or more reference reflector signals received from one or more reference reflectors configured to generate a unique signal pattern; comparing, by the radar sensor, a frequency of the target reflector signal with a frequency of the one or more reference reflector signals; determining, by the radar sensor, for each of the one or more reference reflector signals, a frequency distance between the target reflector signal and the reference reflector signal, the frequency distance including the unique signal pattern to identify a signal corresponding to the one or more reference reflectors; generating, by the radar sensor, a ranging signal pattern based on the frequency distance of each of the one or more reference reflector signals; A method comprising:

2. receiving a position request; emitting electromagnetic waves including a transmission signal in response to the location request; monitoring signals from reflections of the electromagnetic waves by a main reflector and one or more reference reflectors; recording a signal detectable by the radar sensor; Iteratively calculating the frequency difference F(n-1)n=fn-1-fn over the frequency range f1, f2, . . . fn for each recorded signal; searching for a match of the ranging signal pattern with the calculated frequency difference; determining a match with the ranging signal pattern; identifying the target reflector signal based on the match; determining distance based on the target reflector signal; The method of claim 1 further comprising:

3. 1. A method for calibrating a signal frequency signature by a radar sensor in an elevator system, the method comprising: performing a calibration procedure with the radar sensor by emitting electromagnetic waves including a transmission signal and using a reflector configured at a first position; receiving, by the radar sensor, a first signal comprising a reflection of the electromagnetic wave by the reflector, the first signal having an initial frequency; recording, by the radar sensor, the first signal corresponding to the first position of the reflector; actuating, via the radar sensor, an electromechanical device coupled to the reflector to move the reflector to a second position; receiving, by the radar sensor, a second signal comprising a reflection of the electromagnetic wave by the reflector configured at the second location, the second signal having a second frequency; recording, by the radar sensor, the second signal corresponding to the second position of the reflector; comparing, by the radar sensor, the initial frequency of the first signal to the second frequency of the second signal; determining, by the radar sensor, a reference frequency difference usable by the radar sensor to identify a signal corresponding to the reflector from among a plurality of signals.

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