CN1840461B - Position detection system for moving objects - Google Patents

Abstract

A position detection system and a position detection method of a moving body. Devices (IC tags, etc.) (141-146) for transmitting unique information are arranged along the moving passage of moving bodies such as elevator cars (2), and couplers (13) are arranged on the side of moving bodies. , the unique information is obtained by the coupler (13). In addition, the position of the moving object is estimated according to the unique information and the second relative position information, and the inference result is used as a control instruction sent to the system, or comprehensively utilized as management data. In this way, while reducing the intensity of the installation work, improving the accuracy of the installation work, saving the installation space and reducing the cost, the position of the moving body can be accurately detected in a simple and convenient way. It is possible to accurately estimate the arrival position of a moving object such as an elevator car, and to effectively use this information in generating commands for controlling a system and obtaining monitoring data.

Description

Position detection system for moving objects

technical field

The present invention relates to a position detection system and a position detection method of a mobile body, in particular to a method for detecting a position based on information obtained by a receiver disposed on the side of the mobile body from a plurality of setting devices provided with unique position information on the fixed side. A position detection system and a position detection method that detect the position of a moving body and use the detection result as a command to the moving body.

Background technique

As an example of a moving body position detection system, a position detection system for detecting the position of an elevator car has been disclosed. As a prior art, such as the invention disclosed in Patent Document 1, a plurality of photoelectric sensors are arranged in the elevator car, and a plurality of opposite detection boards are respectively arranged on the side of the elevator passage, and a complex sensor signal is obtained by combining various sensor signals. position information, and use this signal as a movement command sent to the elevator car.

In the invention disclosed in Patent Document 2, a specific position is detected by combining a plurality of sensors and a shielding plate. In addition, the invention disclosed in Patent Document 3 uses a sensor to detect the elevator threshold of the building's elevator hall and the protective plate to prevent foreign objects from falling into the hoistway to identify each floor.

Moreover, if the scope of the moving body is further expanded to the general technical field, such as the invention disclosed in Patent Document 4, based on the position detection information of the moving body in a certain area, the position of the moving body is measured in three dimensions in real time on the monitor. Display and manage the movement of the objects carried by the mobile body in three dimensions.

In addition, as in the invention disclosed in Patent Document 5, a mobile robot reads work instructions from IC tags (tags) provided in a dispersed manner, and changes direction according to the instructions. Another example is the location-related information acquisition method disclosed in Patent Document 6, which uses a mobile terminal such as a PC to detect the location ID set in an area that cannot be identified by GPS, and when the mobile terminal arrives at a specific area, the location information is sent to upper system. The upper system that has received the location information retrieves the information associated with the received ID and sends the data to the corresponding mobile terminal.

Patent Document 1: JP-A-2004-67252

Patent Document 2: Japanese Unexamined Patent Publication No. 6-135648

Patent Document 3: JP-A-2001-39639

Patent Document 4: JP-A-2004-196553

Patent Document 5: JP-A-2004-108782

Patent Document 6: JP-A-2002-228481

In the prior art of detecting the position of the elevator car as an example of the moving body, a plurality of photoelectric switches are arranged on the side of the elevator car, and shielding plates or a plurality of shielding plates of various shapes are respectively arranged in the elevator passage, through which Combined logic etc. to detect the position of the elevator car. However, in this combination detection method, if it is necessary to increase the detection points, it is necessary to increase the logical combination for identification, and therefore, a lot of photoelectric switches and shielding plates must be provided. Therefore, there are problems in that the installation takes labor, the accuracy is insufficient, and the space occupied is large.

In addition, in a general three-dimensional position detection system of a moving body, in order to perform three-dimensional detection, a plurality of receivers are installed on the stationary side, a transmitter is installed on the moving body side, position detection is performed between these receivers and transmitters, and Real-time 3D display on a monitor. However, this detection system also has the problem of requiring a large number of receivers. In addition, in a system that manages the actions of mobile robots based on the information of distributed IC tags, there is a problem that it is necessary to take an appropriate method to input detailed work instructions in the IC tags, and its main purpose is to detect the direction, so there is a problem that it is difficult to grasp the movement. The problem of the correct detection of passing time. In addition, in a system that detects whether a mobile terminal such as a PC has reached a specified area through a wireless tag, and transmits the detection result to the upper system, and the mobile terminal receives the related information of the area from the upper system, since the purpose of the system is to obtain the relevant area The purpose of the detection is not to obtain the precise arrival position, but to obtain an area within a rough range, so it is different from the detection that requires high-precision detection of the position.

Contents of the invention

An object of the present invention is to provide a position detection system or method for a moving body that can estimate the position of a moving body such as an elevator car with high precision and use the detection result as a command sent to the system.

A feature of the present invention is that when detecting the position of the moving body, a device with unique information is installed near the moving channel, and a coupler is arranged on the side of the moving body. The unique information and other positional information estimate the position of the moving object, and use the inferred results as control commands and diagnostic data.

(effect of invention)

In a preferred embodiment of the present invention, the position of a moving object such as an elevator car can be estimated with high precision, and a command to be sent to a control system can be generated based on the estimation result, and the estimation result can be used as monitoring data.

Other objects and features of the present invention will be clarified in the description of the following examples.

Description of drawings

Fig. 1 is a schematic diagram of the system structure of an elevator position detection system in an embodiment of the present invention.

Fig. 2 is a flowchart of a process for performing an ascent measurement operation in an elevator position detection system according to an embodiment of the present invention.

Fig. 3 is a flowchart of a process for performing a descent measurement operation in the elevator position detection system according to an embodiment of the present invention.

Fig. 4 is a diagram showing a data table in an elevator position detection system according to an embodiment of the present invention.

Fig. 5 is a flowchart of the processing of changing the emergency deceleration command in the elevator position detection system according to an embodiment of the present invention.

Fig. 6 is a flow chart of the processing of elevator car position data compensation in the elevator position detection system according to an embodiment of the present invention.

Fig. 7 is a flow chart of the process of detecting the stop position of the elevator car in the elevator position detection system according to an embodiment of the present invention.

Fig. 8 is a flow chart of the process of running after the elevator car stops in the elevator position detection system according to an embodiment of the present invention.

In the figure: 1-main sling, 2-elevator car, 3-balance counterweight, 4-sheave, 5-electric motor, 6-pulse generator, 7-elevator control device, 8-inverter , 9, 10-equipment installation parts in the lifting channel, 12-tail code (tail code), 13-coupler receiving unique information, 141~146-components (IC tags, etc.) sending unique information, 15-spacer, 71-counter, 72-CPU, 75-storage device, 200-rising measurement operation processing, 300-falling measurement operation processing, 500-emergency deceleration command change processing, 600-elevator car position data compensation processing, 700-elevator car Stop position detection processing, 800-running processing after the elevator car stops.

Detailed ways

An embodiment of the present invention will be described below with reference to the drawings.

Fig. 1 is a schematic diagram of the system structure of an elevator car position detection system in an embodiment of the present invention. As shown in FIG. 1 , the main sling 1 is connected with the elevator car 2 and the counterweight 3 , and the main sling 1 is wound on a sheave 4 driven by a motor 5 . A pulse generator 6 that generates pulses as the motor 5 rotates is installed in the motor 5 . The pulses output by the pulse generator 6 are sent to the counter 71 in the elevator control device 7 . The counter 71 counts the pulses generated along with the movement of the elevator car 2, and the CPU 72 converts this information into relative position information or moving speed information of the elevator car 2, and the like. The CPU 72 determines the scheduled stop floor based on the information from the buttons on each floor not shown and the buttons in the elevator car, calculates the remaining travel distance based on the current position of the elevator car and the position of the scheduled stop floor, and generates a speed command to produce a specified Acceleration and deceleration target value. And, CPU 72 establishes a speed control system based on the speed command and the detected speed value of elevator car 2 obtained from pulse generator 6, and after establishing other current control systems, through interface 73, the inverter as a power conversion device Device 8 outputs PWM signal. Based on the PWM signal, the inverter 8 uses a commercial power supply (not shown) or a battery as a power supply to generate AC power with variable frequency and voltage, and supplies it to the motor 5 .

During the generation of this command, the CPU 72 reads the following signals for processing. The receiver 13 as a coupler installed on the side of the elevator car 2 faces the IC tags 141-146 installed on the machine installation parts 9 and 10 in the elevator passage, so as to receive the ID signals generated by each IC tag. . And, from the interface 11 on the side of the elevator car, it is transmitted to the inside of the control device 7 via the suffix 12, and then to the CPU 72 via the interface 74 on the side of the control device 7. Here, a plurality of IC tags 141 to 146 are installed around the respective floors, near the highest or lowest floors, etc., as high-precision positional information transmitters facing the coupler 13 . Each IC tag can be configured with a very small setting space, and transmits different unique information to the coupler 13 through the unique information transmission method in digital form. For this reason, a plurality of IC tags can be installed close to the traveling direction of the moving object, and detailed position information can be provided. That is, by successively opposing one receiver 13 with a plurality of IC tags 141-146, detailed elevator car position information can be transmitted to the control device 7, and the position of the elevator car can be detected with high precision basically continuously. .

Furthermore, in the present embodiment, studies have been made on the relationship between the mounting members 9, 10 and the IC tag. First, as the mounting member 9, a magnetic body member such as a running rail is used. When the receiver 13 approaches, the IC tags 141 to 146 can receive power by electromagnetic induction from the receiver and operate to execute a series of processes such as returning an ID number. By attaching this IC tag to a magnetic body, the area where information can be transmitted to and from the receiver 13 is intentionally narrowed. Accordingly, even if the installation pitch of the IC tags in the moving direction of the moving object is set to be slightly smaller, the possibility of simultaneous responses can be reduced. Therefore, there is an effect that the installation density of the IC tags can be increased, and the position of the moving body can be detected continuously in an equivalent manner. In addition, when unique information from a plurality of IC tags is received at the same time, appropriate processing can be performed on the side of the coupler and the control device. That is, the following control device is provided. When the coupler receives a plurality of unique information at the same time, the control device generates a transmission according to the content of the unique information and the related information stored in the related information table (storage device) in the order of reception. Control command to the moving body driving device.

Also, the IC tag 142 is embedded in the groove of the mounting member 9 . Thus, the IC tag 142 will not receive enough electromagnetic induction force only when the receiver 13 is close, and only when the front is fully opposite to the receiver 13, the IC tag 142 can return the ID number to the receiver , so that the IC label can be further set closer. On the contrary, the IC tag 143 is intentionally spaced apart from the mounting member 9 by the spacer 15 at the time of mounting. This is because the IC tag 143 is a necessary tag for obtaining important positional information that cannot be lost. Therefore, the installation method that can avoid the attenuation of the electromagnetic induction force due to the magnetic body is adopted, and the reliability of the system is improved. Similarly, when the IC tag 144 is mounted, the method of mounting is studied, and a non-magnetic mounting member 10 is used in order to avoid detection omissions.

In this way, the IC tags 141, 142, 145, and 146 can not only be installed in high density to continuously detect the position of the moving object, but also the IC tags 143 and 144 adopt a highly reliable installation method from the viewpoint of preventing detection omissions. That is, according to the purpose of use of the IC tag, different setting methods are consciously adopted, thereby improving the reliability of the system.

In this way, by facing a plurality of small IC tags with one receiver, it is possible to accurately detect the position of an elevator car as a moving body, so that, for example, using this technology near an elevator hall can achieve the following effects. That is, by detecting the position of the elevator car substantially continuously in the vicinity of each elevator hall, a compensation operation command can be generated to compensate for the horizontal error caused by the expansion and contraction of the rope 1 caused by a large number of passengers getting on and off the elevator. Also, if this technique is used at both ends of the hoistway, the position of the elevator car can be detected substantially continuously and accurately, and the detection delay can be reduced. For this reason, by pairing and grasping the detection value of the traveling speed at the predetermined position of the end, it is possible to completely prevent the delayed execution of the emergency deceleration command generated to control the speed of collision with the end within the specified value when an abnormality occurs in the system produce. As a result, the emergency deceleration command can be set closer to the end, and the normal speed command and the emergency deceleration command can be set at a greater interval than before. Accidentally entering the emergency deceleration mode will cause the system to malfunction. And, if a plurality of IC tags are set in the area where the elevator door near the floor floor can be opened, thereby setting up a system that can repeatedly detect whether the elevator car has entered the area where the elevator door of the predetermined parking floor can be opened, it can improve Reliability of elevator door open commands.

Here, the elevator car is used as the moving body, but the elevator door can also be considered as the moving body. At this time, since the position of the elevator door can be accurately judged when the elevator door is opened and closed, even if the non-linear The connected elevator door, etc., can also realize the switch control smoothly.

If this technology is applied to the position detection of vehicles in the new traffic system that adopts automatic control from departure to stop, not only can the accuracy of the stop position when the vehicle stops on the platform be improved, but also the deceleration characteristics can be made gentle. This reduces the impact of deceleration on standing passengers.

The inherent characteristics of unique information imparting components such as IC tags will be described below. In an IC tag, a tag-specific ID number is stored in an internal storage device in advance. Thus, in response to an inquiry from the coupler 13, the processing device in the tag reads the dedicated ID number and returns the value to the coupler 13, thereby identifying whether the mobile body has reached the corresponding position through the ID number. In addition, the relationship between ID numbers and corresponding position information will be described later.

Fig. 2 is a flow chart of processing when an ascending measurement operation is performed in the elevator position detecting system according to an embodiment of the present invention. Here, the association (association) between the unique information imparting device installed on the non-moving object (stationary object) such as an IC tag and its installation location information is automatically performed. This processing is necessary preprocessing when the installation position of the device installed on the non-moving object side is not strictly managed. Next, processing related to the relationship between the coupler 13 and the IC tags 141 to 146 will be described. The processing for associating the position of the IC tag, that is, the ascending measurement operation processing 200 and the descending measurement operation processing 300 described later in FIG. start up. At this time, the value of the counter 71 used in the rising detection is reset before the start of the measurement to complete the measurement preparation.

First, in step 201, in order to prepare for the measurement, the elevator car 2 is lowered to the lowest part within the operable range at a low speed in the automatic operation mode. Thereafter, in step 202, the ascending operation is started at a low speed. In decision step 203 it is judged whether the elevator car has reached the uppermost part. If it has been reached, then in step 204, the end processing of the measurement operation of the ascending operation is performed, and after the execution returns to step 205, the operation of the operating system not shown enters the descending test operation ( FIG. 3 ).

And if it has not reached the uppermost part, then continue to detect, in the judgment step 206, judge whether there is a response interruption signal from the IC tag, if there is no response interruption signal, then return to the upstream and continue to measure. If the answer is affirmative, then in step 207, the ID number of the IC tag that has made a counter-response to the value of the unillustrated counter 71 is associated with the count value, and written into the storage device 75, and then returns to the upstream to continue Determination. The count value in step 207 is reset when the system is initialized, and the count value is added or subtracted according to the pulse generated by the pulse generator 6 along with the low-speed operation. That is, if it is assumed that there is no slip between the rope 1 and the sheave 4, the count value indicates the relative movement position of the elevator car 2 from the lowest position at that time. Therefore, in step 207, the installation position of the IC tag is measured by the operation of the elevator car (the position detected from the lowest part of the elevator car that can be operated), and this position is associated with the ID number of the IC tag. The sequence shown in FIG. 4 is stored in the storage device 75 . Through this process, when setting the IC tags on the non-moving body side, it is not necessary to detect the absolute position of each IC tag and set them one by one, so it is possible to save the setting time required for setting many IC tags and reduce the The danger of installation work at high altitude makes it possible to install many IC tags.

Fig. 3 is a flowchart of a descending measurement operation process 300 performed in the elevator position detection system according to an embodiment of the present invention. This process is performed following the ascending measurement operation process 200 . In step 301, it is judged whether the ascending measurement operation has been completed. If not, the processing is ended in step 305 without performing any processing related to the descending measurement. On the other hand, if the relevant measurement of the ascending operation has been completed, then in step 302, the operation is started at a low speed to reach the lowermost part. Then, in step 303, it is judged whether or not the lowest portion has been reached, and if the lowest portion has been reached, in step 304, the descending measurement operation stop process is performed, and in step 305, the measurement operation is terminated. If it has not reached the bottom, it is judged in step 306 whether or not an IC tag has been detected. If the answer is negative, then continue to run until the ID is detected, if it has been detected, then in step 307, the count value at this time is associated with the ID number, and as described later, the data is formulated in the storage device 75 table, and continue testing until reaching the bottom. At this time, in addition to the upward direction, the measurement operation is also carried out in the downward direction. The reason is that the ID signal may start to be transmitted before reaching the positional relationship between the IC tag and the receiver. Therefore, in order to eliminate Due to the error caused by the running direction, the count value is switched according to the running direction.

Fig. 4 shows the data table of the elevator position detection system in one embodiment of the present invention. This figure shows the ID value of the IC tag detected during the ascending operation and the descending operation of the plurality of IC tags installed, and the count value at the time of detection, that is, the ID value of the elevator car as a moving object. A data table formed by associating positions. In this figure, the signal output from the IC tag whose ID number is "XYZ1234" is received when the count value is "mmm" during the ascending operation, and the signal output from the IC tag with the ID number "XYZ1234" is received during the descending operation, when the count value is "mmX". When the signal output from the IC tag with the ID number "XYZ1234" was received. Here, the position where the receiver 13 receives the signal from the same IC tag "XYZ1234" differs depending on the running direction. This means that when the IC tag is not completely opposite to the receiver, the IC tag receives power and performs an ID sending action. The deviation between "mmm" and "mmX" can be improved by mounting or embedding IC tags on magnetic materials to improve accuracy, and the following methods can be used to prevent this disadvantage. That is, if the IC tag with the ID number "XYZ1234" is detected during the descending operation, its position is recognized as "mmX" instead of "mmm", and if the IC tag with the ID number "XYZ1234" is detected during the upward operation , its location is recognized as "mmm" instead of "mmX". In this way, by reading according to different directions of the moving body and rereading the count value, even if the IC tag sends a signal when it is not completely opposite, as long as the running direction is the same, the count value will not appear. contradiction. Furthermore, if the compensation is performed based on the difference in the passing speed of the moving object, the influence of the speed difference of the moving object between the detection of the signal before the complete relative and the detection of the signal at the complete relative can also be eliminated. If the deviation between the "mmm" and "mmX" is small, there is no need to change the count value according to the running direction, and only need to use the two count values "mmm" and "mmX" regardless of the running direction. The middle value of "(mmm+mmX)/2" is enough. This counter value "mmX", "mmm" and "(mmm+mmX)/2" can be used for compensation processing of the elevator car position data shown in FIG. 6 described later.

In addition, in the operation toward the highest or lowest floor, there is an emergency deceleration command in addition to the normal deceleration speed command. In the operation toward the lowest floor side in Figure 4, "78" set in the descending operation condition belongs to the emergency deceleration command, and in the operation toward the highest floor, "68" set in the ascending operation condition belongs to the emergency deceleration instruction. The speed command value during normal operation corresponding to "78" in the count value "mmX" is set to a value smaller than the "78", such as "70", which is different from "68" in the count value "nnnn". " corresponding to the speed command value during normal operation is set to a value smaller than the "68", such as "60".

The data table of Figure 4, in addition to generating an emergency deceleration command near the highest or lowest floor, is also related to the elevator door area that allows the elevator door to open. For example, assume that the position with the count value "n010" is exactly the floor position of the N floor, where there is an IC tag with the ID number "ABC5674", and the elevator door area is within the range of ±10 relative to the count value "n010". Here, it is also assumed that the IC tag with the ID number "ABC5670" is at the position of "n000", and the IC tag with the ID number "ABC5678" is at the position of "n020". In this way, the symbol "D" is marked in the column of the elevator door area within the range from ID number "ABC5670" including ID number "ABC5676" to ID number "ABC5678", which indicates that the elevator is in operation to the N floor. , you can perform the action of opening the elevator door in this area. After the count value and the ID value are generated, the deceleration command is stored based on the count value corresponding to the ID value among the speed commands for emergency deceleration. Here, for the convenience of description, only the command value "78" for the lowering operation and "68" for the upward operation are shown, but since more IC tags are actually installed, the command values are shown in detail. set continuously. And, at this time, corresponding to the count value, there should be all deceleration commands, but since only the value corresponding to the position of the elevator car and the ID value can be used in the detection, so only the value corresponding to the ID value is calculated and stored here. Corresponding values, other parts are marked with "-" to indicate that there is no corresponding value.

The following describes how to use this information when the mobile body is moving and the coupler attached to the mobile body is close to and facing each other to detect the position of the mobile body when the system is in operation.

Fig. 5 is a flowchart of the processing of changing the emergency deceleration command in the elevator position detection system according to an embodiment of the present invention. Shown is the command utilization operation in step 500 of changing the deceleration command from a normal value to an emergency deceleration command when the deceleration command when the mobile body passes a predetermined point is greater than a predetermined value while traveling to the highest or lowest floor. This emergency deceleration command change process 500 is started when an interrupt signal is generated when the IC tag approaches and faces the receiver, or when the level input changes. In step 501, identify the ID number of the IC tag relative to the receiver, and in step 502, find out the position corresponding to the ID number of the mobile body according to the data table in Figure 4, that is, the count value, and retrieve the value corresponding to the ID number. The emergency deceleration command value and the current speed command value not shown in the figure. For example, when the ID number "XYZ1234" is detected during the descending operation to the lowest floor, the counter value "mmX" is obtained, and the emergency deceleration command value "78" corresponding to the position is obtained. In addition, a deceleration command value not shown in the data table and used for normal operation is further obtained. Generally, the speed command value used in this normal operation is smaller than the emergency deceleration command value. In step 503, the size of the deceleration command value used in normal operation is compared with the size of the emergency deceleration command value. If the former is smaller than the latter (when the answer is negative), it means that there is no problem in the generation of the command. After step 504 is finished, the operation is continued with the current normal deceleration command value. On the other hand, if the deceleration command value for normal operation is larger than the emergency deceleration command value, it is judged that the deceleration is likely to be insufficient if the operation is continued. For this reason, in step 505, the speed command used to control the speed of the elevator car is changed from a normal deceleration command to an emergency deceleration command, so as to speed up the deceleration speed of the elevator car.

In the present embodiment, since the IC tags are arranged in a high density, especially in the highest and lowest layer parts, the detection is performed more efficiently compared with the prior art in which a rough inspection is only performed in a limited area. for details. Therefore, the execution delay of the emergency deceleration command for the highest or lowest floor is also reduced, so that the impact on the drive system during emergency deceleration is also small, so there is an effect of avoiding slipping between the sling 1 and the sheave 4 .

Fig. 6 is a flow chart of elevator car position data compensation processing 600 in the elevator position detection system according to an embodiment of the present invention. The elevator car as a moving body is driven by the motor 5 as the driving device, the sheave 4 and the sling 1, and the position of the elevator car, as the moving distance from the bottom, is indirectly determined by the output pulse of the pulse generator 6 at regular intervals. Find the equivalent absolute position. However, due to a slight creep (creep) or the like existing between the rope 1 and the sheave 4, there may be a deviation between the detected position and the actual position. FIG. 6 shows the procedure of an elevator car position data compensation process 600 as a method of use when compensating the position data of the elevator car. First, when an interrupt signal occurs because the IC tag is close to and facing the receiver, step 600 enters into the working state quickly. In step 601, it is judged which IC tag among a plurality of IC tags distributedly arranged has sent the interruption signal. In step 602, the count value corresponding to the corresponding ID number in the table is read out, that is, the value indicating the correct position of the mobile body. In step 603, the elevator car position compensation process is performed by overwriting the elevator car position data with the correct count value read from the table. The position data of the running elevator car is calculated by integrating the output pulses of the pulse generator 6 at regular time intervals in other steps not shown in the figure. By rewriting the position data with the correct count value, the position of the elevator car is compensated, and after step 604 is executed, the management program is returned.

This elevator car position compensation process 600 is executed every time a plurality of installed IC tags face the receiver, and the execution interval is short. Therefore, the fluctuation amount of each compensation value itself is small, and as a result, by frequently performing corrections before the fluctuation amount of the speed command value generated using this value becomes large, the shock caused at the time of correction can be reduced.

Also, since this processing is started by an interrupt signal, etc., there is a possibility that the load may be too heavy if the capability of the microcomputer is not sufficient. At this time, by performing appropriate processing, such as masking based on the interval time and moving distance between receiving the interrupt signal and the next receiving interrupt signal, a balance point can be found between establishing the system and performing detailed corrections.

Fig. 7 is a flowchart of an elevator car stop position detection process 700 in the elevator position detection system according to an embodiment of the present invention. In this process, the stop position of the moving body is detected, and the error between the stop position and the original target value is grasped, which can be used in maintenance and other operations. This processing is one of processing periodically started by a timer interrupt signal or the like.

First, after the process 700 is started, it is judged in step 701 whether the mobile body is in a stopped state. If the mobile body is an elevator, it is judged whether the braking device is in a braking state or not. If the answer is negative, it means that the moving body is moving, and since the stop error cannot be judged, the processing ends after step 702 is executed. On the other hand, if the moving body is in a stopped state, then in step 703, the position where the moving body should stop, that is, the target stop position is retrieved from a system not shown in the figure, and in step 704, the actual stop where the moving body actually stops is obtained according to the output of the pulse generator. Location. In step 705, the stop error is calculated according to the difference between the target stop position and the actual stop position. In step 706, the stop error is calculated after referring to operating conditions such as parking floor, operating direction, maximum operating speed, and load. Organize storage and finish processing after sending to repair department.

According to the present embodiment, it is possible to grasp the state of the fixed-point stop control of the moving body. Moreover, in this process, the stop error is not actually measured in step 704, but after the position data is compensated, the signal of the pulse generator is counted until the moving object stops, that is, the indirect tracking method is used to calculate stop error. However, since the IC tags are arranged in high density, the possibility of discrepancy between the count value and the actual value after compensation until reaching the target layer is less than that of the prior art, so high-precision stop position detection can be performed.

Fig. 8 is a flow chart of the process 800 of running after the elevator car stops in the elevator position detection system according to an embodiment of the present invention. This process is started by an interrupt signal when the IC tag approaches and faces the receiver.

First, in step 801, it is judged whether the motor is in a stopped state. If the motor is rotating, it is judged that it does not belong to the case of stop and restart processing, and the processing ends after step 802 is executed. If the motor is in a stopped state, then in step 803, it is judged whether the interrupt signal from the IC tag comes from an IC tag other than the original stop predetermined position, if the answer is negative, then it is considered that it stops at the normal position, and in the execution step After 802, the processing ends. And if the answer is affirmative, then in step 804 the difference between the count value corresponding to the detected IC tag and the count value corresponding to the stop position is calculated. That is, once the driving device of the mobile body is stopped by the braking device, the sling will expand and contract due to the entry and exit of passengers. The small error d that occurs at the floor, and calculate the error d. Then, in step 805, an operation command commanded by the travel distance d is generated to compensate for errors due to the stretching of the sling or the like, and then the restart processing after stop is completed.

In this way, it is possible to detect in detail the change in the position of the moving body of the system in which the position of the moving body after stopping has changed subtly due to a driving device such as a sling. Since this information can be reflected in the position compensation operation in the form of a command, there is an effect that stable positioning control can be maintained.

Thus, according to the present embodiment, even a device installed on the non-moving body side where installation management is not strict can obtain detailed position detection data of the moving body.

In addition, according to the present embodiment, the obtained detailed position detection data of the mobile body can be effectively used as a control command of the mobile body to improve system performance.

Furthermore, according to this embodiment, the obtained detailed position detection data of the mobile body can be fully utilized as monitoring data of the mobile body.

Claims (9)

1. the position detecting system of a moving body has:

The detected body that is provided with along the movable passageway of moving body;

Be arranged on the moving body, be used for the detector that described detected body is detected;

Be used to form described detected body, have a plurality of peculiar information generator of peculiar message sending function separately; And

Coupler, it is used to form described detector, when approaching or relative with described peculiar information generator with described peculiar information generator, receives different separately peculiar information from a plurality of described peculiar information generators,

The position detecting system of described moving body is characterised in that,

Also possess the position apparatus for predicting, its according to described near the time or the content of the described peculiar information that receives relatively the time and with other relevant location informations of amount of movement or position of described moving body, infer described movable body position,

In a plurality of described peculiar information generators at least one is arranged on along on the magnetic substance of the movable passageway setting of moving body, and at least one in a plurality of described peculiar information generators is arranged on along on the non-magnetic material of the movable passageway setting of moving body.

2. movable body position checking system as claimed in claim 1 is characterized in that,

Further have control setup, the inferred position information that this control setup is inferred according to described position apparatus for predicting, generation sends to the control command of the actuating device of described moving body.

3. movable body position checking system as claimed in claim 1 is characterized in that,

Described moving body is the lift car or the elevator door of elevator, and described peculiar information generator comprises a kind of in the position before the removable end position of the final removable end position of the urgent decelerate position of the urgent stop position of the highest or bottom, the highest or bottom, the highest or bottom, the highest or bottom, the elevator door switch zone of recognizing site, each floor before each floor stop position or elevator door switch finish as peculiar information.

4. movable body position checking system as claimed in claim 1 is characterized in that,

On the assigned position that described peculiar information generator is arranged on its peculiar information is associated.

5. movable body position checking system as claimed in claim 1 is characterized in that,

A plurality of described peculiar information generators are arranged on its peculiar information not to be had on the related optional position.

6. movable body position checking system as claimed in claim 1 is characterized in that,

A plurality of described peculiar information generators are configured to forbid that described coupler receives peculiar information from a plurality of described peculiar information generators simultaneously.

7. movable body position checking system as claimed in claim 1 is characterized in that,

Described peculiar information generator is an IC tag, and described coupler comprises a kind of receptor, and this receptor has to the function of supplying power of described IC tag power supply and the function that receives peculiar information from described IC tag.

8. movable body position checking system as claimed in claim 2 is characterized in that,

Also comprise a kind of device, this device is used for according to described inferred position information, generates the speed command or the position command that send to described movable body driving device.

9. movable body position checking system as claimed in claim 1 is characterized in that,

Other location informations relevant with the amount of movement of described moving body or position are the mobile messages that change along with moving of described moving body.

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