CN-122017818-A - Elevator positioning method, equipment and storage medium

CN122017818ACN 122017818 ACN122017818 ACN 122017818ACN-122017818-A

Abstract

The invention provides an elevator positioning method, equipment and a storage medium, wherein the method comprises the steps of controlling a main millimeter wave radar to emit a main frequency modulation continuous wave signal to a slave millimeter wave radar; when the slave millimeter wave radar receives the master frequency modulation continuous wave signal, the slave millimeter wave radar is controlled to emit the slave frequency modulation continuous wave signal to the master millimeter wave radar, the slave millimeter wave radar is controlled to synchronize the master millimeter wave radar according to the master frequency modulation continuous wave signal and the slave frequency modulation continuous wave signal, if the synchronization is completed, the distance between the master millimeter wave radar and the slave millimeter wave radar is calculated according to the master frequency modulation continuous wave signal and the slave frequency modulation continuous wave signal aiming at the master millimeter wave radar, and the position of the lift car in a well is positioned according to the distance. The embodiment is suitable for installing the millimeter wave radar with a smaller size in the elevator well to realize large-range high-precision positioning.

Inventors

LIU XIANZHAO
CHEN GANG
TANG QIWEI

Assignees

日立楼宇技术（广州）有限公司

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (10)

1. An elevator positioning method, characterized in that a set of master millimeter wave radar and slave millimeter wave radar is installed at the end of a car and a hoistway of an elevator, the method comprising: controlling the main millimeter wave radar to transmit a main frequency modulation continuous wave signal to the slave millimeter wave radar; When the slave millimeter wave radar receives the master frequency modulation continuous wave signal, controlling the slave millimeter wave radar to transmit a slave frequency modulation continuous wave signal to the master millimeter wave radar; for the slave millimeter wave radar, controlling the slave millimeter wave radar to synchronize the master millimeter wave radar according to the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal; If the synchronization is completed, calculating the distance between the master millimeter wave radar and the slave millimeter wave radar according to the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal aiming at the master millimeter wave radar; And positioning the position of the car in the hoistway according to the distance.
2. The method of claim 1, wherein the master millimeter wave radar and the slave millimeter wave radar in different groups are configured with different signal parameters; The signal parameters include at least one of: Starting frequency and bandwidth, rising time of frequency and falling time of frequency, interval time between chirp signals; The controlling the master millimeter wave radar to transmit a master frequency modulated continuous wave signal to the slave millimeter wave radar includes: determining signal parameters configured for the main millimeter wave radar in the current group; Controlling the main millimeter wave radar in the current group to transmit a main frequency modulation continuous wave signal to the slave millimeter wave radar in the current group according to the signal parameters; the controlling the slave millimeter wave radar to transmit a slave frequency modulated continuous wave signal to the master millimeter wave radar includes: determining signal parameters configured for the slave millimeter wave radar in the current group; and controlling the slave millimeter wave radars in the current group to transmit slave frequency modulation continuous wave signals to the master millimeter wave radars in the current group according to the signal parameters.
3. The method of claim 1, wherein the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal each comprise a plurality of chirp signals having different bandwidths; The controlling the slave millimeter wave radar to synchronize the master millimeter wave radar according to the master frequency modulation continuous wave signal and the slave frequency modulation continuous wave signal comprises the following steps: Detecting error information between the current chirp signal in the master frequency-modulated continuous wave signal and the current chirp signal in the slave frequency-modulated continuous wave signal; If the error information is detected to be failed, the starting time of the secondary frequency modulation continuous wave signal is moved; returning to execute the error information between the current chirp signal in the main frequency modulation continuous wave signal and the current chirp signal in the auxiliary frequency modulation continuous wave signal; if the error information is successfully detected, the secondary frequency modulation continuous wave signal is adjusted according to the error information; Judging whether the chirp signal of the next bit is ordered, if yes, switching to the chirp signal of the next bit, returning to execute the detection of error information between the current chirp signal in the master frequency-modulated continuous wave signal and the current chirp signal in the slave frequency-modulated continuous wave signal, and if not, determining that the slave millimeter wave radar has synchronized the master millimeter wave radar.
4. A method according to claim 3, wherein the error information comprises a start frequency difference and a start time difference; the detecting the error information between the current chirp signal in the master frequency-modulated continuous wave signal and the current chirp signal in the slave frequency-modulated continuous wave signal includes: Calculating a first frequency difference in an ascending wave band and a second frequency difference in a descending wave band between the current chirp signal in the master frequency-modulated continuous wave signal and the current chirp signal in the slave frequency-modulated continuous wave signal; determining a running state of a car of the elevator; respectively calculating a starting frequency difference and a starting time difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal according to the running state by using the first frequency difference and the second frequency difference; said adjusting said slave fm continuous wave signal in accordance with said error information, comprising: Adjusting the starting point frequency and the end point frequency of the secondary frequency modulation continuous wave signal according to the starting frequency difference; And adjusting the starting time of the secondary frequency modulation continuous wave signal of the next frame according to the starting time difference.
5. The method of claim 4, wherein calculating the start frequency difference and the start time difference between the master modulated continuous wave signal and the slave modulated continuous wave signal using the first frequency difference and the second frequency difference, respectively, according to the operating state comprises: If the running state is a static state, calculating an average value between the first frequency difference and the second frequency difference to obtain an initial frequency difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal; Multiplying the inverse of the waveform slope by half of a frequency deviation value to obtain a start time difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal, wherein the frequency deviation value is a difference value between the second frequency difference and the first frequency difference; If the running state is a moving state, setting an initial frequency difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal to be 0; multiplying the inverse of the waveform slope by the first frequency difference or the second frequency difference to obtain a start time difference between the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal.
6. The method of claim 1, wherein said calculating a distance of separation between the master millimeter wave radar and the slave millimeter wave radar from the master frequency modulated continuous wave signal and the slave frequency modulated continuous wave signal comprises: counting the phase difference between the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal; calculating the variation between the phase differences of two adjacent frames; Calculating the relative movement amount between the master millimeter wave radar and the slave millimeter wave radar based on the variation between the phase differences of two adjacent frames; and performing time integration on the movement quantity to obtain the distance between the master millimeter wave radar and the slave millimeter wave radar.
7. The method as recited in claim 1, further comprising: if the antenna of the master millimeter wave radar and the antenna of the slave millimeter wave radar are aligned in the horizontal direction, measuring the intensity of the slave frequency modulation continuous wave signal aiming at the master millimeter wave radar; and when the intensity is maximized, determining that the antenna of the master millimeter wave radar and the antenna of the slave millimeter wave radar are aligned in the vertical direction.
8. The method according to any one of claims 1 to 7, wherein, The antennas in the master millimeter wave radar and the slave millimeter wave radar each include at least one type of: Horn antenna, lens antenna, cassegrain antenna; The half power angle of the antenna in the main millimeter wave radar and the half power angle of the antenna in the auxiliary millimeter wave radar are both larger than the maximum angle offset generated when the elevator car shakes; If the antennas in the master millimeter wave radar and the slave millimeter wave radar use linear polarization, the antennas in the master millimeter wave radar and the slave millimeter wave radar satisfy at least one polarization condition as follows: The antenna responsible for transmitting in the main millimeter wave radar is polarized in the X direction, and the antenna responsible for receiving is polarized in the Y direction; the antenna responsible for transmitting from the millimeter wave radar is polarized in the Y direction, and the antenna responsible for receiving is polarized in the X direction; Or alternatively The antenna responsible for transmitting in the main millimeter wave radar is polarized in the Y direction, and the antenna responsible for receiving is polarized in the X direction; The antenna responsible for transmitting from the millimeter wave radar is polarized in the X direction, and the antenna responsible for receiving is polarized in the Y direction; If the antennas in the master millimeter wave radar and the slave millimeter wave radar use circular polarization, the antennas in the master millimeter wave radar and the slave millimeter wave radar satisfy at least one polarization condition as follows: the antenna responsible for transmitting and the antenna responsible for receiving in the main millimeter wave radar are both left-hand polarized; the antenna responsible for transmitting and the antenna responsible for receiving in the millimeter wave radar are both left-hand polarized; Or alternatively The antenna responsible for transmitting and the antenna responsible for receiving in the main millimeter wave radar are both right-hand polarized; The antenna responsible for transmitting and the antenna responsible for receiving in the millimeter wave radar are both right-hand polarized.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the elevator positioning method according to any of claims 1-8 when executing the computer program.
10. A computer-readable storage medium, which stores a computer program, characterized in that the computer program, when executed by a processor, implements the elevator positioning method according to any one of claims 1-8.

Description

Elevator positioning method, equipment and storage medium Technical Field The invention belongs to the technical field of elevators, and particularly relates to an elevator positioning method, equipment and a storage medium. Background In buildings such as houses, shops and office buildings, an elevator is one of the common vertical transportation means, and detecting the position of a car of the elevator in a hoistway is one of the basic conditions for implementing elevator control logic, such as acceleration and deceleration, door opening and closing, and the like, during the running of the elevator. Currently, one of the methods for detecting the position of an elevator car in a hoistway is to provide a millimeter wave radar and a high-emissivity reflector on the car and the hoistway, respectively, the millimeter wave radar has a transmitter and a receiver, the transmitter transmits FMCW (Frequency Modulated Continuous Wave ) signals, the signals reach the reflector to reflect the signals, the signals return to the receiver, and the position of the car in the hoistway is calculated according to the time difference between the transmitted signals and the received signals. When electromagnetic waves propagate in space, the signal intensity per unit area is reduced along with the increase of the distance, and the half power angle of the millimeter wave radar antenna and/or the reflection area of the reflector are/is generally reduced along with the increase of the distance (the lifting height of an elevator car) of a hoistway in consideration of the limit value of the self-emission power of the millimeter wave radar, but the feasibility of the two modes is low. For reducing the half power angle of the millimeter wave radar antenna, the directivity of the millimeter wave radar is stronger, the requirement on the installation accuracy of the millimeter wave radar is higher (the reflector is aligned at a far distance), the probability of the signal deviating out of the reflector is increased, and the size of the antenna is required to be increased, so that the size of the antenna may exceed the well limit of an elevator, and the millimeter wave radar cannot be installed. For increasing the reflective area of the reflector, since the hoistway space of the elevator is small, the reflective area of the increased reflector may exceed the hoistway limit of the elevator, resulting in failure to install the reflector. Disclosure of Invention In view of the above, the present invention provides an elevator positioning method, apparatus and storage medium for improving the feasibility of positioning an elevator based on millimeter wave radar. A first aspect of the present invention provides an elevator positioning method of installing a set of master millimeter wave radar and slave millimeter wave radar at ends of a car and a hoistway of an elevator, the method comprising: controlling the main millimeter wave radar to transmit a main frequency modulation continuous wave signal to the slave millimeter wave radar; When the slave millimeter wave radar receives the master frequency modulation continuous wave signal, controlling the slave millimeter wave radar to transmit a slave frequency modulation continuous wave signal to the master millimeter wave radar; for the slave millimeter wave radar, controlling the slave millimeter wave radar to synchronize the master millimeter wave radar according to the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal; If the synchronization is completed, calculating the distance between the master millimeter wave radar and the slave millimeter wave radar according to the master frequency-modulated continuous wave signal and the slave frequency-modulated continuous wave signal aiming at the master millimeter wave radar; And positioning the position of the car in the hoistway according to the distance. A second aspect of the present invention provides an elevator positioning apparatus that mounts a set of master millimeter wave radar and slave millimeter wave radar at ends of a car and a hoistway of an elevator, the apparatus comprising: the main signal transmitting module is used for controlling the main millimeter wave radar to transmit a main frequency modulation continuous wave signal to the slave millimeter wave radar; the slave signal transmitting module is used for controlling the slave millimeter wave radar to transmit the slave frequency modulation continuous wave signal to the master millimeter wave radar when the slave millimeter wave radar receives the master frequency modulation continuous wave signal; the radar synchronization module is used for controlling the slave millimeter wave radar to synchronize the master millimeter wave radar according to the master frequency modulation continuous wave signal and the slave frequency modulation continuous wave signal aiming at the slave millimeter wave radar; The distance calcula