1. A method of braking an elevator car, characterized in that the method is applied in a brake control mounted to an elevator car, which elevator car also comprises a brake for gripping an elevator guide rail, the method comprising:

obtaining movement data of an elevator car;

judging whether the elevator car has accident risk or not according to the motion data;

if the elevator car is judged to have the accident risk, determining braking force data according to the motion data;

and controlling the brake to apply corresponding braking force according to the braking force data so that the operation of the elevator car reaches a safe state under the action of the brake.

2. The method of claim 1, wherein the elevator car further comprises a motion sensor, the acquiring motion data of the elevator car comprising:

receiving motion data of the elevator car transmitted by the motion sensor that is collected in real time.

3. The method of claim 1 or 2, wherein the motion data comprises a running speed;

the according to the motion data, judge whether there is accident risk in the elevator car, include:

and if the running speed meets a preset risk condition, judging that the elevator car has accident risk.

4. The method of claim 3, wherein determining braking force data from the motion data comprises:

acquiring the current load of the elevator car;

determining a safe deceleration distance of the elevator car and determining a deceleration of the safe deceleration of the elevator car based on the safe deceleration distance and the operating speed;

and determining braking force data according to the current load and the deceleration.

5. The method of claim 1, wherein the number of brakes is two or more; the brake comprises a coil and a clamper;

the controlling the brake to apply the corresponding braking force according to the braking force data comprises the following steps:

determining sub-braking force data of each brake according to the braking force data and the number of the brakes;

determining a current value applied to a coil of each brake according to the sub-braking force data of each brake;

and according to the current value, the corresponding coil is electrified with current with corresponding magnitude so as to promote the corresponding clamping device to apply clamping force to the elevator guide rail.

6. The method of claim 5, wherein the brake further comprises a clamping force sensor that controls the brake to apply a corresponding braking force based on the braking force data, further comprising:

the method comprises the steps that clamping force data applied to an elevator guide rail by a clamping device are collected by adopting clamping force sensors;

comparing the clamping force data with the sub-braking force data;

and adjusting the current passing through the corresponding coil according to the comparison result.

7. Method according to claim 1 or 2 or 5 or 6, characterized in that the brake controller is connected with the main control system of the elevator, the method further comprising:

acquiring state data of the elevator car, and generating a braking request according to the state data;

and sending the braking request to the main control system so that the main control system performs braking processing on the elevator car.

8. Braking device for an elevator car, characterized in that the device is applied in a brake control mounted in an elevator car, which elevator car also comprises a brake for gripping an elevator guide rail, the device comprising:

the motion data acquisition module is used for acquiring motion data of the elevator car;

the accident risk judging module is used for judging whether the elevator car has accident risks or not according to the motion data;

the braking force data determining module is used for determining braking force data according to the motion data if the elevator car is judged to have accident risk;

and the braking force application module is used for controlling the brake to apply corresponding braking force according to the braking force data so that the operation of the elevator car reaches a safe state under the action of the brake.

9. Elevator installation comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1-7 when executing the program.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

Background

In recent years, an accident of the elevator bumping or falling occurs. The accidents are caused by various reasons, such as the aging of a steel wire rope, the failure of a speed limiter, the insufficient braking force of a brake of a main machine, the artificial misoperation and the like.

In the related art, one of the elevator braking schemes for preventing the above-mentioned accidents is: the elevator car is decelerated through the linkage action of the elevator speed limiter and the safety tongs. In the scheme, the elevator drives the eccentric wheel to rotate through the steel wire rope to run, when the elevator host machine detects that the elevator is overspeed through the elevator speed limiter, the eccentric wheel can be controlled to clamp the steel wire rope, the clamped steel wire rope can pull the safety gear on the car, the tensioned safety gear can clamp the elevator guide rail, and the elevator is decelerated through the friction force between the safety gear and the guide rail. But when the steel wire rope slips, the speed measuring effect of the speed limiter is greatly reduced. And because the steel wire rope has certain elasticity, the braking protection action has larger delay, so that the probability of accidents is increased. On the other hand, the above-described braking solution fails when the elevator machine malfunctions.

Disclosure of Invention

The application provides a braking method and a braking device for an elevator car, which aim to solve the problem of braking delay or braking failure when the elevator car is braked in the related technology.

In a first aspect, the present embodiments provide a braking method for an elevator car, the method being applied in a brake controller mounted on the elevator car, the elevator car further including a brake for clamping an elevator guide rail, the method including:

obtaining movement data of an elevator car;

judging whether the elevator car has accident risk or not according to the motion data;

if the elevator car is judged to have the accident risk, determining braking force data according to the motion data;

and controlling the brake to apply corresponding braking force according to the braking force data so that the operation of the elevator car reaches a safe state under the action of the brake.

In a second aspect, the present application also provides a braking device for an elevator car, the device being applied in a brake controller mounted to the elevator car, the elevator car further including a brake for clamping an elevator guide rail, the device including:

the motion data acquisition module is used for acquiring motion data of the elevator car;

the accident risk judging module is used for judging whether the elevator car has accident risks or not according to the motion data;

the braking force data determining module is used for determining braking force data according to the motion data if the elevator car is judged to have accident risk;

and the braking force application module is used for controlling the brake to apply corresponding braking force according to the braking force data so that the operation of the elevator car reaches a safe state under the action of the brake.

In a third aspect, an embodiment of the present application further provides an elevator apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method of the first aspect when executing the program.

In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method of the first aspect.

The application has the following beneficial effects:

in this embodiment, acquire elevator car's motion data through brake controller, calculate and analyze the motion data, judge whether there is accident risk in elevator car, when judging that elevator car has accident risk, confirm braking force data according to the motion data, and exert corresponding braking force to the elevator guide rail according to braking force data control stopper, make the elevator reach safe running state under the effect of stopper, thereby realize the self-braking of the elevator car independent of elevator master control, even when the master control system became invalid, elevator car still can exert the braking action alone, the biggest prevention is because of the top-rushing or the accident of falling that elevator speed anomaly leads to, the promptness of braking has been promoted, passenger's safety has been ensured better.

Drawings

Fig. 1 is a flowchart of an embodiment of a braking method for an elevator car according to an embodiment of the present disclosure;

fig. 2 is a schematic view of a braking architecture of an elevator car according to an embodiment of the present disclosure;

fig. 3 is a flowchart of an embodiment of a braking device of an elevator car according to a second embodiment of the present application;

fig. 4 is a schematic structural diagram of an elevator apparatus according to a third embodiment of the present application.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of an embodiment of a braking method for an elevator car according to an embodiment of the present application, and this embodiment can implement deceleration of the car by self-braking of the elevator car, that is, the braking action of this embodiment is a braking action independent of an elevator master control, and even if a master control system of the elevator fails, the braking action can be performed by the car alone, so as to prevent a top-rushing or falling accident caused by an abnormal elevator speed to the maximum extent, and ensure safety of passengers.

In order to achieve self-braking of the elevator car, this embodiment can be fitted with a brake controller as well as a brake in the elevator car. The brake control can be mounted inside the car and the brake can be mounted in a sufficiently strong connection to the side of the car near the elevator guide rails. The brake controller is used for controlling the brake to brake the elevator car when braking is needed; the brake serves to increase the friction with the elevator guide rails by gripping them, thereby slowing down the elevator. The brake may apply different amounts of clamping force to the guide rail under the control of the brake controller.

As shown in fig. 1, the present embodiment may include the following steps:

step 110, motion data of the elevator car is obtained.

For example, the movement data of the elevator car may include the running speed, running acceleration, running direction, etc. of the car. The movement data of the elevator car can be detected by corresponding sensors and then transmitted to the brake control.

In one embodiment, the elevator car may also have a motion sensor mounted therein, the motion sensor being connected to the brake controller, then step 110 may include the steps of:

receiving motion data of the elevator car transmitted by the motion sensor that is collected in real time.

In the step, the motion sensor can acquire the motion data of the car in real time and transmit the motion data to the brake controller, and the brake controller performs real-time data analysis on the received motion data.

The type of the motion sensor may be determined according to the type of the motion data required, for example, when the motion data is an operation speed, the motion sensor may include a speed sensor; when the motion data is a running acceleration, then the motion sensor may comprise an acceleration sensor.

And step 120, judging whether the elevator car has accident risk or not according to the motion data.

In the step, after the brake controller obtains real-time motion data, the motion data is calculated and analyzed in real time, and whether the elevator car has accident risks can be judged, wherein the accident risks can be accident risks such as top rushing or falling of the elevator caused by abnormal speed of the elevator.

In one embodiment, if the motion data is a running speed, step 120 may further include the steps of:

and if the running speed meets a preset risk condition, judging that the elevator car has accident risk.

In this step, the risk of accident is considered to be present if the running speed of the elevator meets a preset risk condition.

The preset risk condition may be determined according to an actual business requirement or according to experience, and this embodiment does not limit this. For example, a safe operating speed threshold may be preset, and the preset risk condition may be: the operating speed exceeds the safe operating speed threshold by 10%. That is, if the operation speed exceeds 10% of the safe operation speed threshold, it is determined that the operation speed satisfies the preset risk condition, thereby determining that the elevator car has an accident risk.

It should be noted that, in addition to the above-mentioned determination of whether the elevator car has an accident risk by the operation speed, it may also be determined whether the elevator car has an accident risk by the operation acceleration (for example, it is determined that the accident risk exists when the operation acceleration exceeds 10% of the preset acceleration threshold); or, the running speed and the running acceleration can be combined to jointly judge whether the elevator car has accident risk, for example, whether the elevator car has accident risk is judged when the running speed and the running acceleration both meet the conditions. The embodiment does not limit the realization of judging whether the elevator car has accident risk.

And step 130, if the elevator car is judged to have the accident risk, determining braking force data according to the motion data.

In this step, when the brake controller determines that there is a risk of an accident in the elevator car, it determines that the brake needs to be actuated, and at this time, it may first determine braking force data required to actuate the brake, the braking force data reflecting the magnitude of the braking force applied to the elevator guide rails.

The basic principle of braking force data determination is to give consideration to the comfort of passengers on the premise of ensuring safety preferentially. Therefore, when the braking force data is realized, the required braking force data can be calculated by combining the factors such as the load of the current car, the running speed of the car before braking, the safe deceleration distance, the deceleration of safe deceleration and the like.

In one embodiment, the determining braking force data according to the motion data in step 130 may further include the following steps:

and step 130-1, acquiring the current load of the elevator car.

In one implementation, a weight sensor may also be installed in the elevator car, which weight sensor is connected with the brake controller for measuring the real-time load of the elevator car. When the weight sensor has obtained the current load of the elevator car, this current load can be transmitted to the brake control.

Step 130-2, determining a safe deceleration distance of the elevator car, and determining a deceleration of the safe deceleration of the elevator car based on the safe deceleration distance and the operating speed.

In this step, the safe deceleration distance is the maximum deceleration distance from the start of deceleration to the stop of the car while ensuring that the car does not bump or bottom out. When the safe deceleration distance is achieved, the top impact position or the bottom impact position can be preset, the elevator car can obtain the real-time position of the elevator car, then the first distance between the real-time position and the top impact position and the second distance between the real-time position and the bottom impact position are respectively calculated, and the maximum distance is selected from the first distance and the second distance to serve as the safe deceleration distance. Wherein, can also install position sensor in the elevator car, the real-time position that the brake controller can obtain current car through this position sensor.

After the safe deceleration distance of the elevator car has been determined, the deceleration at which the elevator car is safely decelerated can be determined in conjunction with this safe deceleration distance and the current operating speed of the car. The deceleration of the safe deceleration is the deceleration which gives consideration to the comfort of passengers on the premise of ensuring the safety that the lift car cannot bump against the top or bottom. In one embodiment, the deceleration at which the elevator car decelerates safely can be determined as follows: and determining a proper deceleration time according to the safe deceleration distance and the preset maximum deceleration, and then calculating the deceleration of the safe deceleration of the elevator car according to the deceleration time, the safe deceleration distance and the current real-time running speed of the elevator car. The maximum deceleration, which is the maximum deceleration at which the normal person can be assured and the brake mechanism is not damaged or disabled, can be empirically set in advance. The deceleration time can be determined on the assumption that at maximum deceleration the time required for the elevator car to decelerate from the start to the stop within the safe deceleration distance.

In particular, the deceleration at which the elevator car decelerates safely can be determined as follows:

wherein: a is deceleration of safe deceleration, S is safe deceleration distance, V₀Is the running speed of the car before braking, and t is the deceleration time.

And step 130-3, determining braking force data according to the current load and the deceleration.

In this step, after the deceleration at which the elevator car decelerates safely is determined, braking force data can be determined in connection with the current load of the elevator car and the deceleration. In one implementation, the braking force data may be calculated using the following equation:

wherein, F' is braking force data, M is the current load of the car, a is the deceleration of safe deceleration, and beta is a braking efficiency conversion coefficient preset according to actual business requirements or past experience.

And 140, controlling the brake to apply corresponding braking force according to the braking force data so that the operation of the elevator car reaches a safe state under the action of the brake.

In step (b), after the braking force data is obtained, the brake controller can control the brake to apply corresponding braking force by referring to the braking force data, and the elevator car can be decelerated to a safe state under the action of the friction force generated by the braking force.

When braking, the brake controller can supply current with corresponding magnitude to the coil according to the magnitude of braking force data, so that the friction plate of the brake clamps the elevator guide rail, and the car is decelerated through the friction force between the friction plate and the elevator guide rail.

In one embodiment, the number of the brakes can be two or more, and as shown in the braking framework schematic diagram of the elevator car of fig. 2, the brakes can be symmetrically arranged near the guide rails on two sides of the elevator to realize the uniform braking effect. In this scenario, step 140 may further include the steps of:

and step 140-1, determining sub-braking force data of each brake according to the braking force data and the number of the brakes.

In carrying out this step, the brake controller may obtain the number of brakes installed in the elevator car, which may be obtained from a parameter table of the elevator car. The quantity of the installed brakes of each elevator can be reasonably selected according to different parameters of the rated load, the rated speed and the like of the elevator. And then dividing the braking force data by the number of the brakes to calculate the sub-braking force data of each brake.

That is, the calculation formula of the sub braking force data is as follows:

wherein: n is the number of brakes.

And step 140-2, determining a current value applied to the coil of each brake according to the sub-braking force data of each brake.

In this step, after the sub braking force data of the brake is determined, the current value applied to the coil of the present brake may be determined according to the sub braking force data. In one implementation, the current value applied to the coil of the current brake may be calculated by the following equation:

wherein, I is a current value, F is the sub-braking force data of the current brake, and k is a preset output coefficient according to the actual business requirement or past experience.

And 140-3, according to the current value, applying current with corresponding magnitude to the corresponding coil so as to prompt the corresponding clamping device to apply clamping force to the elevator guide rail.

In the step, after the current value of the coil of each brake is calculated according to the sub-braking force data of each brake, the current with the corresponding magnitude can be introduced to the corresponding coil, after the current is introduced to the coil, the friction plate of the clamping device clamps the guide rail, and the lift car is decelerated through the friction force between the friction plate and the guide rail.

In one embodiment, the brake may further include a clamping force sensor, and step 140 may further include the steps of:

and 140-4, acquiring clamping force data applied to the elevator guide rail by the clamping device by each clamping force sensor.

In this step, the brake controller energizes the coil while the clamp force sensor of each brake can collect clamp force data applied by the clamp to the elevator guide rail and then transmit the clamp force data to the brake controller.

And 140-5, comparing the clamping force data with the sub-braking force data, and adjusting the current passing through the corresponding coil according to the comparison result.

In this step, if the brake controller obtains the clamping force data transmitted by the clamping force sensor as the current data, the clamping force data may be converted, and the converted clamping force data may be compared with the sub-braking force data of the corresponding brake. And if the clamping force data is consistent with the sub-braking force data value, controlling the coil current to keep the output value. If the clamping force data is inconsistent with the sub-braking force data, adjusting the current introduced into the coil, for example, if the clamping force data is smaller than the corresponding sub-braking force data, increasing the current, otherwise, if the clamping force data exceeds the corresponding sub-braking force data, decreasing the current until the subsequently returned clamping force data is consistent with the corresponding sub-braking force data value.

In an embodiment, the brake controller is further connected to a main control system of the elevator, and the embodiment may further include the following steps:

acquiring state data of the elevator car, and generating a braking request according to the state data; and sending the braking request to the main control system so that the main control system performs braking processing on the elevator car.

In this embodiment, while achieving self-braking of the elevator car, the brake controller may also communicate with the main control system of the elevator by way of wired or wireless communication to request the main control system to provide brake protection at the same time. Specifically, the brake controller may first obtain status data of the elevator car, generate a brake request according to the status data, and send the brake request to the master control system. If the master control system is still working normally at this time, the state data can be analyzed from the braking request, and braking protection is provided by performing electromagnetic braking or band-type brake braking on the host according to the state data. The aforementioned status data may comprise, for example, the current load of the elevator car, the current real-time position at which it is currently located, the safe deceleration distance, the deceleration of the safe deceleration, etc.

In this embodiment, acquire elevator car's motion data through brake controller, calculate and analyze the motion data, judge whether there is accident risk in elevator car, when judging that elevator car has accident risk, confirm braking force data according to the motion data, and exert corresponding braking force to the elevator guide rail according to braking force data control stopper, make the elevator reach safe running state under the effect of stopper, thereby realize the self-braking of the elevator car independent of elevator master control, even when the master control system became invalid, elevator car still can exert the braking action alone, the biggest prevention is because of the top-rushing or the accident of falling that elevator speed anomaly leads to, the promptness of braking has been promoted, passenger's safety has been ensured better.

Example two

Fig. 3 is a block diagram of an embodiment of a braking device for an elevator car provided in an embodiment of the present application, the device being applied to a brake controller installed in the elevator car, the elevator car further including a brake for clamping an elevator guide rail, the device including:

a motion data acquisition module 210 for acquiring motion data of the elevator car;

the accident risk judging module 220 is used for judging whether the elevator car has accident risks or not according to the motion data;

a braking force data determination module 230, configured to determine braking force data according to the motion data if it is determined that the elevator car has an accident risk;

and a braking force application module 240 for controlling the brake to apply a corresponding braking force according to the braking force data, so that the operation of the elevator car reaches a safe state under the action of the brake.

In one embodiment, the elevator car further comprises a motion sensor, and the motion data acquisition module 210 is specifically configured to:

receiving motion data of the elevator car transmitted by the motion sensor that is collected in real time.

In an embodiment, the motion data includes an operation speed, and the accident risk determining module 220 is specifically configured to:

and if the running speed meets a preset risk condition, judging that the elevator car has accident risk.

In one embodiment, the braking force data determination module 230 further includes the following sub-modules:

the elevator car current load obtaining submodule is used for obtaining the current load of the elevator car;

a safe deceleration distance determination submodule for determining a safe deceleration distance of the elevator car;

a deceleration determination submodule for determining a deceleration at which the elevator car is safely decelerated based on the safe deceleration distance and the running speed;

and the braking force determining submodule is used for determining braking force data according to the current load and the deceleration.

In one embodiment, the number of the brakes is two or more; the brake comprises a coil and a clamper; the braking force application module 240 may include the following sub-modules:

the sub-braking force data determining submodule is used for determining sub-braking force data of each brake according to the braking force data and the number of the brakes;

a coil current value determination submodule for determining a current value applied to the coil of each brake based on the sub-braking force data of each brake;

and the current applying submodule is used for applying current with corresponding magnitude to the corresponding coil according to the current value so as to prompt the corresponding clamping device to apply clamping force to the elevator guide rail.

In one embodiment, the brake further includes a clamping force sensor, and the braking force application module 240 further includes the following sub-modules:

the clamping force data acquisition submodule is used for acquiring clamping force data applied to the elevator guide rail by the clamping device by adopting each clamping force sensor;

a comparison submodule for comparing the clamping force data with the sub-braking force data;

and the coil current adjusting submodule is used for adjusting the magnitude of the current introduced into the corresponding coil according to the comparison result.

In one embodiment, the brake controller is connected to the main control system of the elevator, the arrangement further comprising the following modules:

the braking request generation module is used for acquiring state data of the elevator car and generating a braking request according to the state data;

and the braking request sending module is used for sending the braking request to the main control system so that the main control system performs braking processing on the elevator car.

The elevator car braking device provided by the embodiment of the present application can execute the elevator car braking method provided by the first embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

EXAMPLE III

Fig. 4 is a schematic structural diagram of an elevator apparatus according to a third embodiment of the present application, as shown in fig. 4, the elevator apparatus includes a processor 310, a memory 320, an input device 330, and an output device 340; the number of the processors 310 in the elevator apparatus may be one or more, and one processor 310 is taken as an example in fig. 4; the processor 310, the memory 320, the input device 330 and the output device 340 in the elevator installation can be connected by a bus or in another way, which is exemplified in fig. 4 by a bus connection.

Memory 320 is provided as a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to method embodiments in the embodiments of the present application. The processor 310 executes various functional applications of the elevator apparatus and data processing, i.e., implements the above-described method, by executing software programs, instructions, and modules stored in the memory 320.

The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 320 may further include memory located remotely from the processor 310, which may be connected to the elevator installation via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the elevator apparatus. The output device 340 may include a display device such as a display screen.

Example four

A storage medium containing computer-executable instructions for performing the method in the method embodiments when executed by a computer processor is also provided.

From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.

It should be noted that, in the embodiment of the foregoing apparatus, the modules and modules included in the apparatus are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional modules are only used for distinguishing one functional module from another, and are not used for limiting the protection scope of the application.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.