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CN113720303A - UWB-based construction elevator height detection method - Google Patents

UWB-based construction elevator height detection method Download PDF

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Publication number
CN113720303A
CN113720303A CN202111030223.9A CN202111030223A CN113720303A CN 113720303 A CN113720303 A CN 113720303A CN 202111030223 A CN202111030223 A CN 202111030223A CN 113720303 A CN113720303 A CN 113720303A
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uwb
base station
tag
time
height
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陈本文
梁伟
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Chongqing Canyuan Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0037—Performance analysers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)

Abstract

本发明涉及升降机技术领域，尤其涉及一种基于UWB的施工升降机高度检测方法，包括安装在升降机提升笼底部的UWB标签、正对UWB标签下方地基上的UWB基站和安装在提升笼中的监测主机，所述监测主机与所述UWB标签连接，所述UWB标签和UWB基站均包括UWB收发芯片、RF天线和精准时钟，所述监测主机包括控制处理单元和与所述控制处理单元连接的显示屏UWB标签通过磁铁吸附安装在所述提升笼的底部。本发明的UWB标签和基站之间无遮挡物；故无需复杂的滤波、校正计算；减少了系统复杂度，使系统更稳定可靠，精度高。成本低，无需电池供电。解决了其它方案难安装、齿轮难匹配、安装后易松动、无法重复安装、易受干扰等机械问题，省去高度校准环节。

Figure 202111030223

The invention relates to the technical field of elevators, and in particular to a UWB-based construction elevator height detection method, comprising a UWB label installed at the bottom of the elevator lifting cage, a UWB base station facing the foundation below the UWB label, and a monitoring host installed in the lifting cage , the monitoring host is connected to the UWB tag, the UWB tag and the UWB base station both include a UWB transceiver chip, an RF antenna and a precise clock, and the monitoring host includes a control processing unit and a display screen connected to the control processing unit The UWB label is attached to the bottom of the lifting cage by magnet adsorption. There is no obstruction between the UWB tag and the base station of the present invention; therefore, complex filtering and correction calculations are not required; the system complexity is reduced, and the system is more stable, reliable, and high in precision. Low cost, no battery power required. It solves mechanical problems such as difficult installation of other solutions, difficult gear matching, easy loosening after installation, inability to repeat installation, and easy interference, eliminating the need for height calibration.

Figure 202111030223

Description

UWB-based construction elevator height detection method
Technical Field
The invention relates to the technical field of elevators, in particular to a construction elevator height detection method based on UWB.
Background
Construction elevators are generally referred to as construction elevators, but construction elevators comprise a broader definition and construction platforms also belong to the construction elevator series. The simple construction elevator consists of a lift car, a driving mechanism, a standard knot, an attached wall, a chassis, a fence, an electrical system and the like, is a manned cargo-carrying construction machine frequently used in buildings, is comfortable and safe to ride due to the unique box body structure, is usually matched with a tower crane to use on a construction site, generally has the carrying capacity of 0.3-3.6 tons, and has the running speed of 1-96M/min and the like. Construction elevators produced in China are more and more mature and gradually move to the international world.
The traditional height sensor is arranged at the top of a lifting cage of the elevator, and the height sensor is connected with a guide rail frame of the elevator in a gear meshing way; the movement of the lift cage is transmitted to the height sensor via the gear wheel, whereby the current height of the elevator is measured.
Has the following disadvantages:
1. the sensor is not well installed, and a dovetail self-tapping screw is needed to attach the sensor to the lifter; and a plurality of holes are reserved on the lifter when the sensor is assembled and disassembled once, so that the sensor is inconvenient to assemble and disassemble for the second time.
2. The construction elevator has larger vibration during operation and is limited by the installation position; the sensor is easy to fall off; safety accidents are easy to happen after the sensor falls off.
3. The mounting position is very close to the lifting motor, and the sensor signal is easily interfered.
4. Because the specifications of the gears of the elevators are different, the gears of the height sensors need to be matched with the gears of the elevators, so that the gears cannot be unified in specification and need to be customized.
5. The height sensor needs to be calibrated after being installed, but field personnel do not know the total height of the elevator, and the field height is difficult to measure; therefore, the estimation method is basically adopted in field implementation, and the calibration error is larger.
Disclosure of Invention
In view of the above, the invention aims to provide a construction elevator height detection method based on UWB, the construction elevator height detection method comprises a UWB tag installed at the bottom of an elevator lifting cage, a UWB base station facing a foundation below the UWB tag, and a monitoring host installed in the lifting cage, wherein the monitoring host is connected with the UWB tag, the UWB tag and the UWB base station both comprise a UWB transceiver chip, an RF antenna and a precision clock, and the monitoring host comprises a control processing unit and a display screen connected with the control processing unit; the UWB tag is installed at the bottom of the lifting cage through magnet adsorption.
Further, the UWB-based construction hoist height detection method specifically comprises the following steps:
S1the UWB base station records the time TRP of receiving the information, returns the information to the UWB tag after delaying a short time and records the sending time TSR;
S2after receiving the reply information, the UWB tag records the receiving time TRR, and transmits the time TSP, TRR and TSF time information recorded by the tag to the base station at the TSF moment after delaying for a short time;
S3UWB tag sends and receives the time difference (TRR-TSP); UWB base station delay time ═ (TSR-TRP);
S4the transmission time of the UWB signal from the tag to the UWB base station and then from the UWB base station back to the tag is (TRR-TSP) - (TSR-TRP);
S5UWB base station transmission/reception time difference (TRF-TSR), UWB tag delay time (TSF-TRR);
S6the transmission time of the UWB signal from the base station to the UWB tag and then from the UWB tag back to the UWB base station is (TRF-TSR) - (TSF-TRR); calculating the formula (1) and the formula (2) by taking the one-way flight time as TOF;
Figure BDA0003244872830000021
Figure BDA0003244872830000022
according to formula (1) and formula (2), obtaining
(TRR-TSP)×(TRF-TSR)＝(2TOF+(TSR-TRP))(2TOF+(TSF-TRR) Formula (3)
Figure BDA0003244872830000023
The distance from the UWB tag to the UWB base station is as shown in formula (5), and the distance is the height of the construction elevator from the ground;
h ═ TOF ═ C; formula (5)
Wherein H is the height and C is the speed of light. The TSP to TSF time interval of the present invention is 20ms to complete one complete elevator height data measurement sample.
Further, using the last 10 times of data (H1, H2, … …, H10), the effective height H is obtained, as shown in formula (6):
Figure BDA0003244872830000024
wherein h is the effective height;
and obtaining the height information of the current construction elevator according to the obtained effective height h.
The UWB-based construction hoist height detection method has the beneficial effects that:
1. the UWB tag and the UWB base station are conveniently connected with a power supply at the installation positions, and the power supply of a battery is not needed; low power consumption and charging problems are not considered; therefore, the receiving and transmitting frequency of the label and the base station can be free from the limit of the battery power, and the precision can be higher. The UWB tag does not have any shielding object between the UWB tag and the base station, does not need complex filtering (such as Kalman filtering) calculation, has low requirement on MCU operation performance, and can be realized at low cost. Only simple median filtering is needed. The application scene is not limited by power, so that the TOF can be measured for multiple times at high frequency, and then the data is filtered to improve the detection precision. The highest speed of the construction elevator is 0.6m/s, and GB/T28264 and 2017 stipulate that the sampling frequency is not more than 100 ms; we increase this standard to 20ms to complete one complete elevator height data measurement. If the construction elevator is running at full speed, the measurement period of 20ms produces an error of only 1.2cm (0.6 x 100 x 0.02); 7 TOF measurements can be carried out within 20ms, then seven times of data are sequenced, and the middle measurement value is taken as an effective value TOFM in the measurement period; the current height H of the elevator is TOFM C. The precision of the product can be within 10cm through actual measurement.
2. The problem of traditional sensor installation is solved; the existing measuring methods are that a height sensor is arranged on a ceiling of an iron sheet of a lifter by using self-tapping screws with drill tails; due to long-term operation on the construction site, most of the ceilings have deformation or have a lot of falling objects, dust and oil stains on the ceilings; therefore, the sensor is difficult to be horizontally and vertically installed when being installed, and the problem of falling of the sensor can occur if the sensor is not horizontally installed and used; and the self-tapping screw at the drill tail is not suitable for the combination and fixation of metal and metal, so the height sensor often falls off in the practical use. The parts of the product have small volume and light weight, and a magnetic attraction installation method is adopted, so that the label and the base station are only required to be placed on the surface of the attached crop.
3. The problem of service life of the sensor is solved; the working environment of the construction elevator is severe, the height sensor is also arranged at the top of the construction elevator, and the construction elevator is subjected to wind and sunlight for a long time and has stronger vibration in the working engineering of the elevator, so the whole service life of the construction elevator is short; the method uses a pure electronic mode to measure the real-time height of the elevator to replace the original mechanical transmission mode, and the service life is at least doubled.
4. The problems of calibration and precision are solved; the existing elevator height measurement methods all need manual calibration, accurate standard height cannot be obtained to calibrate the sensor when field personnel calibrate, and the standard height is basically estimated manually; therefore, the existing scheme is difficult to implement and difficult to estimate the precision. The invention does not need manual calibration, reduces the influence of human factors on the precision and saves human resources; the highest precision can reach 10 cm.
Drawings
FIG. 1 is a view of the installation structure of the present invention;
FIG. 2 is a flow diagram of the computational data interaction of the present invention;
wherein, promote cage 1, monitor host computer 11, UWB label 2, ground 3, UWB basic station 4.
Detailed Description
The present invention will be described in detail with reference to the drawings and specific embodiments, and it is to be understood that the described embodiments are only a few embodiments of the present invention, rather than the entire embodiments, and that all other embodiments obtained by those skilled in the art based on the embodiments in the present application without inventive work fall within the scope of the present application.
In this embodiment, as shown in fig. 1-2, the monitoring system includes a UWB tag installed at the bottom of a lift cage of the elevator, a UWB base station directly facing a foundation below the UWB tag, and a monitoring host installed in the lift cage, the monitoring host is connected to the UWB tag, the UWB tag and the UWB base station both include a UWB transceiver chip, an RF antenna, and a precision clock, and the monitoring host includes a control processing unit and a display screen connected to the control processing unit; the UWB tag is installed at the bottom of the lifting cage through magnet adsorption.
In this embodiment, the UWB-based construction hoist height detection method of the present invention specifically includes the following steps:
S1the UWB base station records the time TRP of receiving the information, returns the information to the UWB tag after delaying a short time and records the sending time TSR;
S2after receiving the reply information, the UWB tag records the receiving time TRR, and transmits the time TSP, TRR and TSF time information recorded by the tag to the base station at the TSF moment after delaying for a short time;
S3UWB tag sends and receives the time difference (TRR-TSP); UWB base station delay time ═ (TSR-TRP);
S4the transmission time of the UWB signal from the tag to the UWB base station and then from the UWB base station back to the tag is (TRR-TSP) - (TSR-TRP);
S5UWB base station transmission/reception time difference (TRF-TSR), UWB tag delay time (TSF-TRR);
S6UWB signals from the base station to the UWB tag, in the UWB tagReturning to the UWB base station transmission time (TRF-TSR) - (TSF-TRR); calculating the formula (1) and the formula (2) by taking the one-way flight time as TOF;
Figure BDA0003244872830000041
Figure BDA0003244872830000042
according to formula (1) and formula (2), obtaining
(TRR-TSP)×(TRF-TSR)＝(2TOF+(TSR-TRP))(2TOF+(TSF-TRR) Formula (3)
Figure BDA0003244872830000051
The distance from the UWB tag to the UWB base station is as shown in formula (5), and the distance is the height of the construction elevator from the ground;
h ═ TOF ═ C; formula (5)
Wherein H is the height and C is the speed of light. The TSP to TSF time interval of the present invention is 20ms to complete one complete elevator height data measurement sample.
Using the last 10 times of data (H1, H2, … …, H10), the effective height H is obtained, as shown in formula (6):
Figure BDA0003244872830000052
wherein h is the effective height;
and obtaining the height information of the current construction elevator according to the obtained effective height h.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.

Claims (6)

1.一种基于UWB的施工升降机高度检测方法，其特征在于：包括安装在升降机提升笼底部的UWB标签、正对UWB标签下方地基上的UWB基站和安装在提升笼中的监测主机，所述监测主机与所述UWB标签连接，所述UWB标签和UWB基站均包括UWB收发芯片、RF天线和精准时钟，所述监测主机包括控制处理单元和与所述控制处理单元连接的显示屏。1. A UWB-based construction elevator height detection method is characterized in that: comprising the UWB label installed at the bottom of the elevator lifting cage, the UWB base station facing the UWB base on the ground below the UWB label and the monitoring host installed in the lifting cage, the The monitoring host is connected to the UWB tag, the UWB tag and the UWB base station both include a UWB transceiver chip, an RF antenna and a precise clock, and the monitoring host includes a control processing unit and a display screen connected to the control processing unit. 2.根据权利要求1所述的一种基于UWB的施工升降机高度检测方法，其特征在于：2. a kind of construction elevator height detection method based on UWB according to claim 1 is characterized in that: 具体按以下步骤：Follow the steps below: S1:UWB标签在TSP时刻发出信息，UWB基站记录收到信息的时间TRP，延时一小段时间后返回信息给UWB标签标签且记录发送时间TSR；S1: The UWB tag sends information at TSP time, and the UWB base station records the time TRP when the information is received, returns the information to the UWB tag after a short delay, and records the sending time TSR; S2:当UWB标签收到回复信息后，记录接收时间TRR，延时一小段时间后在TSF时刻将标签记录的时间TSP、TRR、TSF时间信息发送给基站；S2 : when the UWB tag receives the reply information, the receiving time TRR is recorded, and after a short period of time delay, the time TSP, TRR, TSF time information recorded by the tag is sent to the base station at the TSF moment; S3:UWB标签发送接收时间差＝(TRR-TSP)；UWB基站延迟时间＝(TSR-TRP)；S 3 : UWB tag sending and receiving time difference=(TRR-TSP); UWB base station delay time=(TSR-TRP); S4:UWB信号从标签到UWB基站，再从UWB基站返回标签的传输时间＝(TRR-TSP)-(TSR-TRP)；S 4 : the transmission time of the UWB signal from the tag to the UWB base station, and then back to the tag from the UWB base station=(TRR-TSP)-(TSR-TRP); S5:UWB基站发送接收时间差＝(TRF-TSR)，UWB标签延迟时间＝(TSF-TRR)；S5: UWB base station sending and receiving time difference=(TRF - TSR), UWB label delay time=(TSF-TRR); S6:UWB信号从基站到UWB标签，再从UWB标签返回UWB基站的传输时间＝(TRF-TSR)-(TSF-TRR)。S 6 : the transmission time of the UWB signal from the base station to the UWB tag, and then from the UWB tag back to the UWB base station=(TRF-TSR)-(TSF-TRR). 3.根据权利要求2所述的一种基于UWB的施工升降机高度检测方法，其特征在于:单程飞行时间为TOF，计算如式(1)和式(2)；3. a kind of construction elevator height detection method based on UWB according to claim 2, is characterized in that: one-way flight time is TOF, calculates such as formula (1) and formula (2);
Figure FDA0003244872820000011
Figure FDA0003244872820000011
Figure FDA0003244872820000012
Figure FDA0003244872820000012
 根据式(1)和式(2)，得到According to formula (1) and formula (2), we get (TRR-TSP)×(TRF-TSR)＝(2TOF+(TSR-TRP))(2TOF+(TSF-TRR)) 式(3)(T RR -T SP )×(T RF -T SR )=(2TOF+(T SR -T RP ))(2TOF+(T SF -T RR )) Equation (3)
Figure FDA0003244872820000013
Figure FDA0003244872820000013
 UWB标签到UWB基站的距离如式(5)，此距离也就是施工升降机离地面的高度；The distance from the UWB tag to the UWB base station is shown in formula (5), which is the height of the construction elevator from the ground; H＝TOF*C； 式(5)H=TOF*C; formula (5) 其中，H为高度，C为光速。where H is the height and C is the speed of light. 4.根据权利要求2所述的一种基于UWB的施工升降机高度检测方法，其特征在于:本发明的TSP至TSF时刻的间距为20ms完成一次完整的升降机高度数据测量值采样。4. a kind of construction elevator height detection method based on UWB according to claim 2, is characterized in that: the interval from TSP of the present invention to TSF moment is that 20ms completes a complete elevator height data measurement value sampling. 5.根据权利要求3所述的一种基于UWB的施工升降机高度检测方法，其特征在于：利用最近10次数据(H1,H2,……,H10)，得到有效高度h,具体如式(6)所示：5. a kind of UWB-based construction elevator height detection method according to claim 3, is characterized in that: utilize the most recent 10 data (H1, H2, . . . , H10) to obtain effective height h, specifically as formula (6 ) as shown:
Figure FDA0003244872820000021
Figure FDA0003244872820000021
 其中，h为有效高度；Among them, h is the effective height; 根据得到的有效高度h，得出当前施工升降机所处的高度信息。According to the obtained effective height h, the height information of the current construction elevator is obtained. 6.根据权利要求1所述的一种基于UWB的施工升降机高度检测方法，其特征在于:所述UWB标签通过磁铁吸附安装在所述提升笼的底部。6. a kind of construction elevator height detection method based on UWB according to claim 1, is characterized in that: described UWB label is installed on the bottom of described lifting cage by magnet adsorption.
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