阅读说明：本技术 一种基于uwb的施工升降机高度检测方法 (UWB-based construction elevator height detection method ) 是由 陈本文 梁伟 于 2021-09-03 设计创作，主要内容包括：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。(The invention relates to the technical field of elevators, in particular to a construction elevator height detection method based on UWB, which comprises a UWB tag arranged at the bottom of an elevator lifting cage, a UWB base station just opposite to a foundation below the UWB tag and a monitoring host arranged in the lifting cage, wherein the monitoring host is connected with the UWB tag, the UWB tag and the UWB base station respectively 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 UWB tag connected with the control processing unit, and the UWB tag is arranged at the bottom of the lifting cage in an adsorption mode through a magnet. There is no shelter between UWB label and base station of the invention; therefore, complex filtering and correction calculation are not needed; the complexity of the system is reduced, and the system is more stable and reliable and has high precision. Low cost and no need of battery power supply. The mechanical problems that other schemes are difficult to install, gears are difficult to match, the gears are easy to loosen after installation, cannot be repeatedly installed, are easy to interfere and the like are solved, and a height calibration link is omitted.)

1. A construction hoist height detection method based on UWB is characterized in that: including installing UWB label, the UWB basic station just on UWB label below ground in elevator lift cage bottom and installing the monitoring host computer in the lift cage, the monitoring host computer with the UWB label is connected, UWB label and UWB basic station all include UWB transceiver chip, RF antenna and accurate clock, the monitoring host computer include control processing unit and with the display screen that control processing unit connects.

2. The UWB-based construction hoist height detection method according to claim 1, wherein:

the 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).

3. The UWB-based construction elevator height detection method of claim 2, wherein the one-way flight time is TOF, and the calculation is as formula (1) and formula (2);

according to formula (1) and formula (2), obtaining

(T_RR-T_SP)×(T_RF-T_SR)＝(2TOF+(T_SR-T_RP))(2TOF+(T_SF-T_RR) Formula (3)

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.

4. The UWB-based construction hoist height detection method as claimed in claim 2, wherein the TSP to TSF time interval of the invention is 20ms to complete one complete hoist height data measurement sampling.

5. The UWB-based construction hoist height detection method of claim 3, wherein: using the last 10 times of data (H1, H2, … …, H10), the effective height H is obtained, as shown in formula (6):

wherein h is the effective height;

and obtaining the height information of the current construction elevator according to the obtained effective height h.

6. The UWB-based construction hoist height detection method of claim 1 wherein the UWB tag is mounted at the bottom of the lifting cage by magnetic attraction.

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;

according to formula (1) and formula (2), obtaining

(T_RR-T_SP)×(T_RF-T_SR)＝(2TOF+(T_SR-T_RP))(2TOF+(T_SF-T_RR) Formula (3)

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):

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;

according to formula (1) and formula (2), obtaining

(T_RR-T_SP)×(T_RF-T_SR)＝(2TOF+(T_SR-T_RP))(2TOF+(T_SF-T_RR) Formula (3)

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):

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.