WO2020147711A1

WO2020147711A1 - Elevator operation status monitoring method and device

Info

Publication number: WO2020147711A1
Application number: PCT/CN2020/071968
Authority: WO
Inventors: 赵阳; 李红星
Original assignee: 西人马帝言(北京)科技有限公司
Priority date: 2019-01-18
Filing date: 2020-01-14
Publication date: 2020-07-23
Also published as: CN109704163A; CN109704163B

Abstract

An elevator operation status monitoring method and device. The method comprises: obtaining an acceleration signal of an elevator car during operation of an elevator; performing standardizing processing on the acceleration signal to obtain a standard acceleration signal; removing noise from the standard acceleration signal to obtain a first acceleration signal; performing zero processing on the first acceleration signal to obtain a second acceleration signal, the first acceleration signal being less than a preset threshold; and calculating, according to the second acceleration signal, an elevator operation status related to an operation speed of the elevator car. The method can improve the accuracy of calculated speed signals to a certain degree, so as to accurately monitor the elevator operation status related to the operation speed of the elevator car.

Description

Method and device for monitoring elevator running state

Related public cross references

This disclosure claims the priority of Chinese Patent Publication No. 201910106136.3 entitled "Method and Device for Monitoring Elevator Operation State" filed on January 18, 2019, the entire content of which is incorporated herein by reference.

Technical field

The present disclosure relates to the technical field of elevators, in particular to a method and device for monitoring the running state of an elevator.

Background technique

In the process of urbanization in my country, high-rise buildings are an important part of urban construction. For high-rise buildings, the application of elevators is very common. Elevator is an indispensable part of modern architecture. It not only undertakes the transportation function, but is also an important way to solve the problem of high-rise residents' travel.

However, in real life, while elevators bring more convenience to people, their malfunctions will also seriously affect people's safety. In recent years, elevator safety accidents have occurred in many parts of our country. The frequent occurrence of elevator trapping, elevator squeezing and elevator falling has also caused a lot of casualties. The elevator safety problem has become one of the most concerned issues of the current society. One.

As the elevator needs to run for a long time, its safety hazards are great, which undoubtedly increases the difficulty of elevator safety management. Especially the elevator brake, it is the most important safety guarantee of the elevator, once a problem occurs, it will cause fatal consequences.

In addition, due to the difference of sensors, the standard value of each sensor is not the same, coupled with the influence of noise, there will often be errors between the collected signal and the real signal, and this error will continue when seeking speed Accumulation causes the speed to deviate from the true value, so that the elevator running status related to the running speed of the car cannot be accurately monitored.

Public content

The embodiments of the present disclosure provide a method and device for monitoring the running state of an elevator. By standardizing the acceleration signal and removing the noise of the standard acceleration signal, the accuracy of the calculated speed signal can be improved to a certain extent, thereby accurately monitoring The elevator running status related to the running speed of the car.

In the first aspect, the embodiments of the present disclosure provide a method for monitoring the running state of an elevator, and the method includes:

Obtain the acceleration signal of the elevator car during the operation of the elevator;

Standardize the acceleration signal to obtain a standard acceleration signal;

Removing the noise of the standard acceleration signal to obtain a first acceleration signal;

Performing zeroing processing on the first acceleration signal that is less than the preset threshold to obtain the second acceleration signal;

According to the second acceleration signal, the elevator running state related to the running speed of the car is calculated.

According to the elevator running state monitoring method of the present disclosure, the method further includes:

Acquiring the photoelectric detection signal collected by the photoelectric sensor set on the car; wherein the photoelectric detection signal changes according to the relative position between the baffle plate provided on the floor leveling and the photoelectric sensor;

According to the running speed of the car and the photoelectric detection signal, the elevator running status related to the floor where the car is located is determined.

According to the elevator operation status monitoring method of the present disclosure, the determining the elevator operation status related to the floor of the elevator car according to the operation speed of the elevator car and the photoelectric detection signal includes:

When the photoelectric detection signal is at a high level and the running speed of the car is zero, it is determined that the floor of the car is the floor corresponding to the baffle that shields the photoelectric sensor, and the elevator operation related to the floor of the car is determined status.

According to the elevator running state monitoring method of the present disclosure, the obtaining the acceleration signal of the elevator car during the elevator operation includes:

A three-axis acceleration sensor is used to obtain the acceleration signal corresponding to the running direction of the car.

According to the elevator running state monitoring method of the present disclosure, the standardized processing of the acceleration signal to obtain a standard acceleration signal includes:

Calculate the average value of the historical signal according to the historical acceleration value as the standard value;

Subtract the standard value from the acceleration signal to obtain a standard acceleration signal.

According to the elevator running state monitoring method of the present disclosure, the removing the noise of the standard acceleration signal to obtain the first acceleration signal includes:

The Kalman filter algorithm is used to remove the noise of the standard acceleration signal to obtain the first acceleration signal.

According to the elevator running state monitoring method of the present disclosure, the zeroing processing of the first acceleration signal smaller than the preset threshold to obtain the second acceleration signal includes:

Using a mechanical filtering algorithm, the first acceleration signal that is less than the preset threshold is reset to zero to obtain the second acceleration signal.

According to the elevator running state monitoring method of the present disclosure, the calculating the elevator running state related to the running speed of the car according to the second acceleration signal includes:

Performing integral calculation on the second acceleration signal to obtain the car running speed and running direction as the elevator running state related to the running speed of the car.

According to the elevator running state monitoring method of the present disclosure, the calculating the elevator running state related to the running speed of the car further includes:

Perform a fitting calculation on the running speed of the car to remove the trend term of the running speed of the car.

In a second aspect, embodiments of the present disclosure provide an elevator running state monitoring device, the device including:

The acceleration sensor is used to obtain the acceleration signal of the elevator car during the operation of the elevator;

A standardization processing module is used to perform standardization processing on the acceleration signal to obtain a standard acceleration signal;

A noise processing module for removing the noise of the standard acceleration signal to obtain a first acceleration signal;

The zero return processing module is used to perform zero return processing on the first acceleration signal smaller than the preset threshold to obtain the second acceleration signal;

The calculation module is used to calculate the elevator running state related to the running speed of the car according to the second acceleration signal.

The elevator running state monitoring device according to the present disclosure further includes:

The photoelectric sensor is arranged on the elevator car;

The baffle is set at the corresponding position of the photoelectric sensor on each floor of the building where the elevator is located;

The calculation module is also used to obtain the photoelectric detection signal collected by the photoelectric sensor, wherein the photoelectric detection signal changes according to the relative position between the baffle and the photoelectric sensor; according to the running speed of the car and The photoelectric detection signal determines the elevator running state related to the floor where the car is located.

The elevator running state monitoring method and device provided by the embodiments of the present disclosure can filter and reset the standard acceleration signal to remove noise in the standard acceleration signal, and then calculate the speed signal based on the acceleration signal from which the noise has been removed. The accuracy of the calculated speed signal is improved to a certain extent, so as to accurately monitor the elevator running status related to the running speed of the car.

BRIEF DESCRIPTION

The features, advantages, and technical effects of exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings.

Fig. 1 shows a schematic flow chart of a method for monitoring elevator running status according to an embodiment of the present disclosure;

FIG. 2A shows a schematic diagram of a voltage signal curve of an embodiment of the present disclosure;

FIG. 2B shows a schematic diagram of a curve of a speed signal of an embodiment of the present disclosure;

FIG. 2C shows a schematic diagram of a curve of a displacement signal according to an embodiment of the present disclosure;

Figure 3 shows a schematic flow chart of a method for monitoring elevator running status according to another embodiment of the present disclosure;

Fig. 4 shows a schematic flow chart of a method for monitoring elevator running status according to another embodiment of the present disclosure;

FIG. 5 shows a schematic diagram of photoelectric detection signal output according to an embodiment of the present disclosure;

FIG. 6 shows a schematic diagram of floor change monitoring results according to an embodiment of the present disclosure;

Figure 7 shows a schematic structural diagram of an elevator running state monitoring device according to an embodiment of the present disclosure.

detailed description

The embodiments of the present disclosure will be described in further detail below with reference to the drawings and examples. The detailed description and drawings of the following embodiments are used to exemplarily illustrate the principles of the present disclosure, but cannot be used to limit the scope of the present disclosure, that is, the present disclosure is not limited to the described embodiments.

In the description of the present disclosure, it should be noted that, unless otherwise specified, "plurality" means two or more; the terms "upper", "lower", "left", "right", etc. indicate the orientation or position The relationship is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second", etc. are for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

In the description of the present disclosure, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, they may be fixed connections or Disassembly connection, or integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present disclosure can be understood according to specific circumstances.

The embodiment of the present disclosure may provide a method for monitoring the running state of an elevator. Referring to FIG. 1, FIG. 1 shows a schematic flow chart of a method 100 for monitoring the running state of an elevator according to an embodiment of the present disclosure. The method includes the following steps: steps S110, S120, S130, S140 and S150.

S110. Obtain the acceleration signal of the elevator car during the operation of the elevator.

As an example, the acceleration sensor can be installed on the top of the car, and the acceleration sensor can be a three-axis acceleration sensor. Specifically, a three-axis acceleration sensor may be used to collect voltage signals in multiple directions of the car (for example, X-axis, Y-axis, and Z-axis directions, etc.), and convert the voltage signals into acceleration signals. In some embodiments, when the elevator car moves in the vertical direction, the voltage signal in the Z-axis direction of the three-axis acceleration sensor needs to be obtained. In other embodiments, the car can also run in the horizontal direction, and at this time, it is necessary to obtain the voltage signal in the horizontal direction (for example, the X axis or the Y axis).

For example, referring to FIG. 2A, FIG. 2A shows a schematic diagram of a voltage signal curve of an embodiment of the present disclosure. Next, according to the sensitivity of the acceleration sensor, the voltage signal in multiple directions is converted into acceleration signals in multiple directions. Represents the correspondence between the voltage signal and the acceleration signal. For example, the voltage signal in the Z-axis direction is converted into an acceleration signal in the Z-axis direction, and the acceleration signal is the acceleration signal during the operation of the elevator.

S120: Perform standardization processing on the acceleration signal to obtain a standard acceleration signal.

For ease of description, the following uses each signal in the Z-axis direction as an example for description. It should be noted that the technical concept of the present disclosure is also applicable to other directions (for example, X-axis and Y-axis directions, etc.) except the Z-axis.

As an example, standardizing the acceleration signal (which can be understood as removing the DC component) includes: calculating the average value of the historical acceleration value in the Z axis direction as the standard value of the acceleration sensor in the Z axis direction (which can be understood as the DC component), The acceleration signals in the Z-axis direction collected later need to be subtracted from the standard value of the acceleration sensor in the Z-axis direction to obtain the standard acceleration signal.

In other embodiments, the average value of the historical acceleration value in the X-axis direction can be calculated, and the average value can be used as the standard value of the acceleration sensor in the X-axis direction. The acceleration signal in the X-axis direction collected later is subtracted from the X-axis. The standard value of the acceleration sensor in the direction.

In the embodiments of the present disclosure, the acceleration signal curve collected by the three-axis acceleration sensor fluctuates up and down around the standard value, but through standardization processing, the standard acceleration signal curve can fluctuate up and down around the X axis (ie y=0). The obtained acceleration signal contains the standard value of the acceleration sensor, so that the obtained acceleration signal has a certain error. Therefore, the standard deviation is removed to further improve the accuracy of the calculated operating speed of the car.

S130: Remove noise from the standard acceleration signal to obtain a first acceleration signal.

As an example, a series of filtering algorithms (for example, Kalman filtering algorithm, etc.) can be used to filter the standard acceleration signal to remove noise in the standard acceleration signal, such as environmental noise, background noise, etc., to obtain the first acceleration signal.

Among them, a typical example of the Kalman filter algorithm is to predict the coordinate position and velocity of an object from a set of finite, noisy, observation sequences of the object position (with possible deviations).

S140: Perform zero return processing on the first acceleration signal that is less than a preset threshold to obtain a second acceleration signal.

As an example, in order to further reduce the error, a series of filtering algorithms (for example, mechanical filtering, etc.) can be used to threshold the Kalman filtered value (ie, the first acceleration signal), such as the first acceleration signal that is less than the preset threshold. The acceleration signal is reset to zero to obtain the second acceleration signal, which can be understood as a real acceleration signal, where the real acceleration signal is the actual acceleration signal after filtering.

Therefore, by using such as Kalman filter algorithm and mechanical filter algorithm to filter the standard acceleration signal multiple times, the noise in the standard acceleration signal can be removed to obtain the true acceleration signal of the car.

S150: Calculate the elevator running state related to the running speed of the car according to the second acceleration signal.

As an example, by integrating the real acceleration signal, the running speed of the elevator (hereinafter referred to as the speed signal of the elevator) can be obtained, thereby obtaining the running state of the elevator related to the running speed of the elevator.

For example, an integration method (for example, trapezoidal integration) can be used to integrate the real acceleration signal obtained in the foregoing steps to obtain the speed signal of the elevator, where the speed signal includes the magnitude and direction of the speed.

For example, referring to Fig. 2B, Fig. 2B shows a schematic diagram of a speed signal curve of an embodiment of the present disclosure. When the speed signal is positive, it means that the elevator is running upward, and when the speed signal is negative, it means that the elevator is running downward.

Among them, it should be noted that the trapezoidal integration law uses a trapezoid to estimate the area under the curve, which is equivalent to approximating the integrand to a linear function, and the integrand is approximate to a trapezoid. In order to obtain a more accurate value, the required product can be The interval is divided into multiple cells.

In summary, by using integration methods such as trapezoidal integration to calculate the real acceleration signal, the elevator speed signal can be obtained, and then the elevator speed and acceleration can be warned according to the elevator national standard. If the speed and acceleration exceed Relevant national standards, that is, elevator traction machines, etc., have certain safety hazards and need to be overhauled in time. The plus or minus of the speed is the running direction of the elevator.

In addition, by performing integral calculation on the velocity signal, a displacement signal curve can be obtained, as shown in FIG. 2C, which shows a schematic diagram of the displacement signal curve of an embodiment of the present disclosure.

Using the above-mentioned solution provided by the present disclosure, by standardizing the acceleration signal and removing the noise of the standard acceleration signal, the accuracy of the calculated speed signal can be improved to a certain extent, so that the precise monitoring is related to the running speed of the car The elevator running status.

Therefore, by monitoring the elevator running state related to the running speed of the elevator, an early warning can be given when various failures occur in the elevator, so as to effectively prevent major elevator safety accidents.

Fig. 3 shows a schematic flow chart of a method 300 for monitoring elevator operating conditions according to another embodiment of the present disclosure. The method includes the following steps: S110, S120, S130, S140, S150, and S160. The steps in FIG. 3 and FIG. 1 use the same numbers. As shown in FIG. 3, the elevator operation status monitoring method 300 is basically the same as the elevator operation status monitoring method 100 shown in FIG. 1, except that the elevator operation status monitoring The method 300 further includes: S160.

S160: Perform a fitting calculation on the running speed of the car to remove the trend item of the running speed of the car.

As an example, currently commonly used methods for finding speed in the field of signal processing mainly include time-domain integration and frequency-domain integration, among which the aforementioned trapezoidal integration belongs to time-domain integration.

It should be noted that the time domain integral constant term may produce a larger trend term after integration, and as the number of integration increases, the error will continue to accumulate and will deviate more and more from the baseline. Therefore, in order to avoid errors, the accuracy of the speed signal of the elevator obtained by further calculation can be detrended by the fitting method, that is, according to the principle of least squares, a polynomial fitting calculation is performed to eliminate the trend term.

Fig. 4 shows a schematic flow chart of a method 400 for monitoring elevator operating conditions according to another embodiment of the present disclosure. The method includes the following steps: S110, S120, S130, S140, S150, and S170. The steps in Figure 4 and Figure 1 use the same numbers. As shown in Figure 4, the elevator running state monitoring method 400 is basically the same as the elevator running state monitoring method 100 shown in Figure 1, except that the elevator running state monitoring The method 400 further includes: S170.

S170: Obtain the photoelectric detection signal collected by the photoelectric sensor set on the car; where the photoelectric detection signal changes according to the relative position between the baffle set on the floor leveling and the photoelectric sensor; according to the running speed of the car and the photoelectric detection Signal to determine the elevator running status related to the floor where the car is located.

As an example, the installation positions of the baffle and the photoelectric sensor in the embodiments of the present disclosure include: the photoelectric sensor can be arranged on the top of the car, wherein the photoelectric sensor can be a component with a "concave" shape, and the baffle is set on each floor of the building where the elevator is located. At leveling, it should be noted that the position of the baffle is fixed and does not move with the operation of the car, and when the elevator passes or stays on any floor, the baffle is inserted into the "notch" of the photoelectric sensor, that is, the baffle blocks the photoelectric The sensor makes the output of the photoelectric sensor change, and collects the photoelectric detection signal output of the elevator.

It should be noted that the photoelectric sensor is controlled by changing the change of light intensity to the change of electrical signal. In some embodiments, the photoelectric sensor includes: a slot photoelectric sensor, a through-beam photoelectric sensor, a reflective photoelectric switch, and a diffuse reflective photoelectric switch.

For example, in the foregoing embodiments, a slot-type photoelectric sensor may be used, in which the slot-type photoelectric sensor has a light emitter and a receiver mounted face-to-face on both sides of a slot. The illuminator can emit infrared light or visible light, and the light receiver can receive light without obstruction. But when the detected object passes through the slot, the light is blocked and the photoelectric switch is activated. Output a switch control signal to cut off or switch on the load current to complete a control action. The detection distance of the slot switch is generally only a few centimeters due to the limitation of the overall structure.

For example, referring to FIG. 5, FIG. 5 shows a schematic diagram of photodetection signal output according to an embodiment of the present disclosure. Among them, the abscissa is time and the unit is ms (milliseconds). When the photoelectric sensor is blocked by the blocking sheet, the output of the photoelectric sensor is high level; when the photoelectric sensor is not blocked by the blocking sheet, the output of the photoelectric sensor is low level. For example, when the photoelectric detection signal output is 1, it means that the photoelectric sensor is blocked by the blocking sheet, and when the photoelectric detection signal output is 0, it indicates that the photoelectric sensor is not blocked by the blocking sheet.

Next, according to the elevator's speed signal and the elevator's photoelectric detection signal output, the floor of the elevator can be judged. According to the floor of the elevator, the elevator operation status related to the floor of the elevator can be determined.

As an example, when the photoelectric detection signal output is 1, and the elevator speed is 0, it can be determined that the elevator is located on the floor. And update the elevator floor in real time, for example, every second, so you can get the elevator floor in real time, so that when the elevator slide rail and elevator guide shoe are abnormal, such as when the elevator runs through a certain position and makes an abnormal noise causing shaking , You can locate the floor where the abnormal noise or shaking occurs based on the real-time elevator floor obtained above.

For example, referring to FIG. 6, FIG. 6 shows a schematic diagram of a floor change monitoring result of an embodiment of the present disclosure. Among them, the abscissa is time and the unit is ms (milliseconds).

As shown in Figure 6, the monitoring results show that the elevator descends from the 3rd floor to the 2nd floor. After staying on the 2nd floor for a period of time, it descends to the 1st floor, and then rises from the 1st floor to the 2nd floor. Continue to rise to the 3rd floor.

The embodiment of the present disclosure can provide an elevator running state monitoring device. Referring to FIG. 7, FIG. 7 shows a schematic structural diagram of an elevator running state monitoring device 700 of an embodiment of the present disclosure, and the device includes:

The acceleration sensor 710 is used to obtain the acceleration signal of the elevator car during the operation of the elevator;

The standardization processing module 720 is configured to perform standardization processing on the acceleration signal to obtain a standard acceleration signal;

The noise processing module 730 is used to remove the noise of the standard acceleration signal to obtain the first acceleration signal;

The zero-return processing module 740 is configured to perform zero-return processing on the first acceleration signal that is less than the preset threshold to obtain the second acceleration signal;

The calculation module 750 is configured to calculate the elevator running state related to the running speed of the car according to the second acceleration signal.

In some embodiments, the acceleration sensor 710 is specifically used for: the acceleration sensor can be installed on the top of the car, and the acceleration sensor can be a three-axis acceleration sensor. Specifically, a three-axis acceleration sensor may be used to collect voltage signals in multiple directions of the car (for example, X-axis, Y-axis, and Z-axis directions, etc.), and convert the voltage signals into acceleration signals. In some embodiments, when the elevator car moves in the vertical direction, the voltage signal in the Z-axis direction of the three-axis acceleration sensor needs to be obtained. In other embodiments, the car can also run in the horizontal direction, and at this time, it is necessary to obtain the voltage signal in the horizontal direction (for example, the X-axis or the Y-axis).

In some embodiments, the standardization processing module 720 is specifically configured to: perform standardization processing on the acceleration signal including: calculating the average value of the historical acceleration value in the Z-axis direction as the standard value of the acceleration sensor in the Z-axis direction, and the Z The acceleration signal in the axis direction needs to subtract the standard value of the acceleration sensor in the Z axis direction to obtain the standard acceleration signal.

For example, the acceleration signal curve fluctuates around the standard value, and by removing the standard value, the standard acceleration signal curve fluctuates around the X axis (ie, y=0).

In some embodiments, the noise processing module 730 is specifically configured to: use a series of filtering algorithms (for example, Kalman filter algorithm, etc.) to filter the standard acceleration signal to remove noise in the standard acceleration signal, such as environmental noise, Background noise, etc., to obtain the first acceleration signal.

In some embodiments, the return-to-zero processing module 740 is specifically configured to: in order to further reduce the error, a series of filtering algorithms (for example, mechanical filtering, etc.) may be used to threshold the Kalman filtered value (ie, the first acceleration signal) The determination, such as performing zeroing processing on the first acceleration signal smaller than the preset threshold to obtain the second acceleration signal, can be understood as a real acceleration signal, where the real acceleration signal is the actual acceleration signal after filtering processing.

In some embodiments, the calculation module 750 is specifically used to integrate the real acceleration signal to obtain the running speed of the elevator (hereinafter referred to as the speed signal of the elevator), thereby obtaining the elevator running state related to the running speed of the elevator.

Other details of the elevator running state monitoring device according to the embodiment of the present disclosure are similar to the elevator running state monitoring method according to the embodiment of the present disclosure described above in conjunction with FIGS. 1 to 6, and will not be repeated here.

Another embodiment of the present disclosure may provide an elevator operating state monitoring device, which includes an acceleration sensor, a standardized processing module, a noise processing module, a return-to-zero processing module, a calculation module, a photoelectric sensor, and a baffle.

Wherein, the photoelectric sensor is arranged on the elevator car;

The calculation module is also used to obtain the photoelectric detection signal collected by the photoelectric sensor, where the photoelectric detection signal changes according to the relative position between the baffle and the photoelectric sensor; according to the operating speed of the car and the photoelectric detection signal, determine the floor where the car is located Related elevator running status.

To sum up, in an embodiment of the present disclosure, the running speed and running direction of the elevator are monitored based on the three-axis acceleration sensor, and the floor where the elevator is located is monitored online according to the calculated speed combined with the photoelectric detection signal. The monitoring data can be passed For example, uploading to the PTZ through the network can realize real-time monitoring of the elevator status, thereby avoiding elevator failure to a certain extent.

As an example, in order to obtain the true speed signal of the elevator, an acceleration sensor such as a three-axis acceleration sensor can be used to obtain the voltage signal, and the voltage signal can be subtracted from the standard value to obtain the standard acceleration signal. Next, a filtering algorithm (for example, Carl Mann filtering and mechanical filtering, etc.), the standard acceleration signal can be filtered to remove noise to obtain the first acceleration signal, and the first acceleration signal is reset to zero to obtain the second acceleration signal, which can be understood as a real acceleration signal . Then, the real acceleration signal is integrated to calculate the elevator running state related to the elevator running speed (which can be understood as the real speed signal), the real speed signal is fitted to remove the trend term, and the real speed signal and photoelectric detection signal can be used Judging the floor where the elevator is located provides a guarantee for the detection of other elevator faults (for example, elevator shaking and abnormal noise, etc.).

In addition, a device for limiting the speed of the elevator is installed on the upper part of the elevator. Once the abnormal speed of the elevator is detected, it can be determined that the speed limiter is out of order and the elevator will give an alarm to remind the elevator maintenance personnel to overhaul the speed limiter.

It should be noted that the three-axis acceleration sensor can be used in three directions of the elevator (such as X-axis, Y-axis and Z-axis, where the Z-axis direction is the vertical direction, the X-axis direction and the Y-axis direction are respectively perpendicular to the Z-axis direction. Measure the acceleration of gravity in two directions perpendicular to each other on the horizontal plane.

In an embodiment of the present disclosure, the main concern is the elevator running in the vertical direction. Therefore, it is necessary to detect the acceleration in the running direction of the elevator (that is, the Z-axis direction). The value collected by the sensor is the voltage value, so it needs to pass A series of calculations obtain the true gravitational acceleration value of the elevator.

Next, according to the calculated gravitational acceleration value, the acceleration value is integrated to obtain the operating speed of the elevator. It should be noted that due to the differences of the three-axis acceleration sensors, the standard value of each sensor is not the same. Coupled with the influence of noise, there is usually a certain error between the collected signal and the real signal. This error will continue to accumulate when integrating the speed, causing the speed to deviate from the true value, which makes it impossible to accurately monitor the operation of the car. Speed-related elevator running status.

Therefore, in order to ensure that the true speed of the elevator can be calculated, in some embodiments, preprocessing can be used to remove the standard value, and noises such as Kalman filtering and mechanical filtering can be used to remove the noise to obtain the true acceleration signal, which can be obtained according to the true acceleration signal. Real speed signal.

In addition, in order to further improve the speed accuracy, the trend item in the real speed signal can be removed by such as a fitting method. According to user needs, the real speed signal is combined with the photoelectric detection signal, or the speed signal after removing the trend item is combined with the photoelectric detection signal to determine The elevator is located on the floor, and according to the speed direction, the running direction of the elevator can be judged, and then the running state of the elevator related to the running speed of the elevator can be calculated, thus providing a guarantee for the fault diagnosis of the elevator.

Although the present disclosure has been described with reference to the preferred embodiments, without departing from the scope of the present disclosure, various modifications can be made thereto and the components therein can be replaced with equivalents. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any manner. The present disclosure is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

A monitoring method of elevator running status, including:

Obtain the acceleration signal of the elevator car during the operation of the elevator;

Standardize the acceleration signal to obtain a standard acceleration signal;

Removing the noise of the standard acceleration signal to obtain a first acceleration signal;

Performing zeroing processing on the first acceleration signal that is less than the preset threshold to obtain the second acceleration signal;

According to the second acceleration signal, the elevator running state related to the running speed of the car is calculated.
The method according to claim 1, wherein the method further comprises:

Acquiring the photoelectric detection signal collected by the photoelectric sensor set on the car; wherein the photoelectric detection signal changes according to the relative position between the baffle plate provided on the floor leveling and the photoelectric sensor;

According to the running speed of the car and the photoelectric detection signal, the elevator running status related to the floor where the car is located is determined.
The method according to claim 2, wherein the determining the elevator operation status related to the floor where the elevator car is located according to the operating speed of the elevator car and the photoelectric detection signal comprises:

When the photoelectric detection signal is at a high level and the running speed of the car is zero, it is determined that the floor of the car is the floor corresponding to the baffle that shields the photoelectric sensor, and the elevator operation related to the floor of the car is determined status.
The method according to claim 1, wherein said obtaining the acceleration signal of the elevator car during the operation of the elevator comprises:

A three-axis acceleration sensor is used to obtain an acceleration signal corresponding to the running direction of the car.
The method according to claim 1, wherein the standardizing the acceleration signal to obtain a standard acceleration signal comprises:

Calculate the average value of the historical signal according to the historical acceleration value as the standard value;

Subtract the standard value from the acceleration signal to obtain a standard acceleration signal.
The method according to claim 1, wherein the removing noise of the standard acceleration signal to obtain the first acceleration signal comprises:

The Kalman filter algorithm is used to remove the noise of the standard acceleration signal to obtain the first acceleration signal.
The method according to claim 1, wherein said performing zeroing processing on a first acceleration signal smaller than a preset threshold to obtain a second acceleration signal comprises:

Using a mechanical filtering algorithm, the first acceleration signal that is less than the preset threshold is reset to zero to obtain the second acceleration signal.
The method according to claim 1, wherein the calculating the elevator running state related to the running speed of the car according to the second acceleration signal comprises:

Performing integral calculation on the second acceleration signal to obtain the car running speed and running direction as the elevator running state related to the running speed of the car.
The method according to claim 1, wherein the calculating the elevator operating state related to the operating speed of the car further comprises:

Perform a fitting calculation on the running speed of the car to remove the trend term of the running speed of the car.
An elevator running state monitoring device, including:

The acceleration sensor is used to obtain the acceleration signal of the elevator car during the operation of the elevator;

A standardization processing module is used to perform standardization processing on the acceleration signal to obtain a standard acceleration signal;

A noise processing module for removing the noise of the standard acceleration signal to obtain a first acceleration signal;

A zero-return processing module, which is used to perform zero-return processing on a first acceleration signal smaller than a preset threshold to obtain a second acceleration signal;

The calculation module is used to calculate the elevator running state related to the running speed of the car according to the second acceleration signal.
The device according to claim 10, wherein the device further comprises:

The photoelectric sensor is arranged on the elevator car;

The baffle is set at the corresponding position of the photoelectric sensor on each floor of the building where the elevator is located;

The calculation module is also used to obtain the photoelectric detection signal collected by the photoelectric sensor, wherein the photoelectric detection signal changes according to the relative position between the baffle and the photoelectric sensor; according to the running speed of the car and The photoelectric detection signal determines the elevator running state related to the floor where the car is located.