CN110510463A - A kind of elevator control system and method based on UWB - Google Patents
A kind of elevator control system and method based on UWB Download PDFInfo
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- CN110510463A CN110510463A CN201910652158.XA CN201910652158A CN110510463A CN 110510463 A CN110510463 A CN 110510463A CN 201910652158 A CN201910652158 A CN 201910652158A CN 110510463 A CN110510463 A CN 110510463A
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- uwb
- elevator
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- label
- positioning
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- 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
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
-
- 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
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The present invention relates to field of elevator control, in particular to a kind of elevator control system and method based on UWB.Label, several UWB locating base stations, UWB software locating module, elevator controlling module are positioned including UWB, UWB locating base station receives the signal of UWB positioning label；UWB positioning software module receives the signal from UWB locating base station, obtains the position of UWB positioning label；Elevator controlling module receives the location information for the UWB positioning label that UWB positioning software module is sent, and carries out elevator controlling.The present invention can be based on UWB location technology, realize and calculate to the motion profile of personnel, and the motion profile based on personnel carries out the movement of calling elevator automatically, realize that the Intelligent elevator without operation bidirectional controls.
Description
Technical field
The present invention relates to field of elevator control, in particular to a kind of elevator control system and method based on UWB.
Background technique
With the continuous development of technology of Internet of things and being constantly progressive for UWB location technology, the essence of current indoor location technology
Degree is improved, and current positioning accuracy can achieve a centimetre rank, but the development of indoor positioning technologies is not
It is applied in field of elevator control.
The way of current elevator controlling remotely controls elevator simply by means such as elevator push button or APP, still
Artificial operation is needed, does not accomplish that intelligentized elevator automatically controls.
Summary of the invention
The embodiment of the invention provides a kind of elevator control system and method based on UWB can be based on UWB location technology,
It realizes and the motion profile of personnel is calculated, the motion profile based on personnel carries out the movement of calling elevator automatically, realizes the volume of being not necessarily to
The Intelligent elevator of outer operation controls.
According to a first aspect of the embodiments of the present invention, a kind of elevator control system based on UWB, including UWB positioning label,
Several UWB locating base stations, UWB software locating module, elevator controlling module, UWB locating base station receive the letter of UWB positioning label
Number；UWB positioning software module receives the signal from UWB locating base station, obtains the position of UWB positioning label；Elevator controlling mould
Block receives the location information for the UWB positioning label that UWB positioning software module is sent, and carries out elevator controlling.
UWB locating base station at least 3.
A kind of elevator control method based on UWB, comprising:
Pedestrian position is measured, if pedestrian is in lift port region, calculates the time T2 for being in lift port region；
Calculated by moving condition of the pedestrian position information to pedestrian；
Calculate pedestrian moving direction be to the close duration T 1 of elevator, when duration T 1 is more than preset time T a,
Or it is more than preset time T b that the position of pedestrian, which is in the time T2 in lift port region, issues calling elevator to elevator controlling module
Signal.
UWB is worn by pedestrian and positions label, and the position of label is positioned by UWB to measure the position of pedestrian.
The pedestrian position information carries out measuring and calculating to the moving condition of pedestrian
Establish the absolute coordinate system of indoor map；
Demarcate the coordinate of elevator door；
Path coordinate in calibration building defines road with the coordinate points of Origin And Destination, by all calibration roads
Set be counted as UL；
The position of t2 moment record location label in the position P1 of t1 moment record location label, and after time Δt
P2, according to the position P1, P2, it may be determined that the mobile motion profile P1P2 of the positioning label at t1 to t2 moment；
By motion profile P1P2, each path coordinate in path coordinate set UL is successively compared, and determines dynamic rail
The road and the direction of motion that mark P1P2 is presently in.
It is described calculate pedestrian moving direction be to the close duration T 1 of elevator, specifically:
Defined variable value T1, T1 initial value is 0, judges every Δ t time interval motion profile, judges whether to transport
It is dynamic the result is that close to elevator door position, if movement the result is that close to elevator door position, by T1 plus Δ t；If movement
The result is that separate to elevator door position H, set 0 for T1；
The calculating time T2, specifically:
Defined variable value T2, T2 initial value is 0, judges every Δ t time interval position, judges that position is whether
In lift port region, if lift port region is in, by T1 plus Δ t；If being not at lift port region, 0 is set by T2.
Technical solution provided in an embodiment of the present invention can include the following benefits:
It is positioned using personnel of the UWB technology to distribution positioning label, positioning accuracy is high, up to the essence of falling centimeter-level positioning
Degree, more accurately calculates to can do to the movement of personnel.
The personnel of not needing operate, and can be called automatically elevator, and the degree of elevator controlling automation is improved；
A kind of method for determining how automatic calling elevator is proposed, it is simple and convenient, it is easy to operate and easy to accomplish.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of elevator control system structural schematic diagram based on UWB of the present invention；
Fig. 2 is a kind of elevator control method flow chart based on UWB of the embodiment of the present invention one；
Fig. 3 is a kind of elevator control method flow chart based on UWB of the embodiment of the present invention two；
Fig. 4 is a kind of elevator control method flow chart based on UWB of the embodiment of the present invention three；
Fig. 5 is moving condition measuring and calculating schematic diagram.
Specific embodiment
UWB (Ultra Wideband) is a kind of no-load communication techniques, and the non-sinusoidal waveform using nanosecond to Microsecond grade is narrow
Data are transmitted in pulse.UWB is being used to apply in short distance high speed data transfer in early days, starts to be used for precision indoor in recent years
Positioning.
UWB location technology is one kind of indoor positioning technologies, it is that development prospect is higher in indoor positioning technologies now
One kind is with penetration power is strong, low in energy consumption, anti-multipath effect is good, highly-safe, system complexity is low, can provide accurate positioning precision
The advantages that.
The principle of the indoor positioning of UWB is the people that needs to position by the locating base station of the several known coordinates of indoor arrangement
Member or object carry positioning label, and label emits pulse according to certain frequency, and constantly and several base stations carry out ranging, pass through one
Fixed exact algorithm makes the position of label.The precision of UWB positioning can reach the positioning accuracy of Centimeter Level.
The main method of UWB positioning is TOA technology and TDOA technology.
TOA technology, which refers to from locating base station to positioning label, issues specific ranging order or command signal, and requires to determine
Position label responds the instruction.Locating base station, which can be noted down down, to be spent by sending distance measuring instruction to positioning confirmation signal is received
Time, the time mainly propagation delay by radiofrequency signal on loop, the response delay of terminal and processing delay, base station
Processing delay composition.If response and the processing delay of terminal and base station can be accurately obtained, so that it may calculate radiofrequency signal
Loop propagation delay.Because radio wave is in air with light velocity propagation, the distance between base station and terminal can be estimated
It calculates.When participating in measuring there are three base station, so that it may determine the region where terminal according to triangulation.
TDOA technology is a kind of method positioned using the time difference, is reached by the signal that measurement and positioning label emits
The time of locating base station can determine the distance of positioning label, can be really using the distance of positioning label to multiple locating base stations
Position the position of label.It the time difference that multiple locating base stations are reached by comparing the signal of positioning label transmitting, can make
It is the hyp intersection point of long axis by focus, range difference of locating base station, which is the position for positioning label.
As shown in Figure 1, the present invention provides a kind of elevator control system based on UWB, including it is UWB positioning label, multiple
UWB locating base station, UWB software locating module, elevator controlling module；Several UWB locating base stations receive the letter of UWB positioning label
Number；UWB positioning software module receives the signal from UWB locating base station, and UWB is calculated using TOA or TDOA algorithm and determines
The position of position label；Elevator controlling module receives the location information for the UWB positioning label that UWB positioning software module is sent, and carries out
Elevator controlling.
Preferably, UWB locating base station at least there are three.
UWB positioning label is wearable with personnel, and UWB positions label and sends signal to UWB locating base station, and receives and
From the signal of UWB locating base station.
UWB locating base station is arranged in fixed position, and UWB locating base station sends signal to UWB positioning label, and receives and come from
UWB positions the signal of label, while UWB locating base station will be sent to UWB positioning software with the communication data of UWB label.
UWB positioning software module receives the signal from UWB locating base station, and is calculated using TOA or TDOA algorithm
The position of UWB positioning label；Further, WUB positioning software positions the location information of label different time, Ke Yiji according to UWB
It calculates and obtains the motion track of UWB positioning label, and can calculate whether its moving direction is to elevator door according to its motion track
Carry out it is close, if calculate the result is that positioning label is continuing close to elevator door direction, UWB positioning software is to elevator controlling
Module sends instruction, controls elevator controlling calls elevator.
Elevator controlling module receives the control instruction from UWB positioning software, when elevator controlling module is received from UWB
It after the control instruction of positioning software, sends and instructs to elevator, calling elevator reaches.
Embodiment one
As shown in Fig. 2, a kind of elevator control method based on UWB, comprising:
Retrieval then continues to retrieve if it does not exist with the presence or absence of UWB positioning label；
It measures UWB and positions label position, if UWB positioning label position is in lift port region, calculates and be in elevator mouth region
The time T2 in domain；
Defined variable value T2, T2 initial value is 0, judges every Δ t time interval position, judges that position is whether
In lift port region, if lift port region is in, by T1 plus Δ t；If being not at lift port region, 0 is set by T2.
It is more than preset time T b that the position of UWB positioning label, which is in the time T2 in lift port region, to elevator controlling module
The signal of calling elevator is issued, Tb is the number greater than 0.
Embodiment two
As shown in figure 3, a kind of elevator control method based on UWB, comprising:
Retrieval then continues to retrieve if it does not exist with the presence or absence of UWB positioning label；
Label position information is positioned by UWB to calculate the UWB moving condition for positioning label；
The moving direction for calculating UWB positioning label is to the close duration T 1 of elevator, when duration T 1 is more than default
Time Ta issues the signal of calling elevator to elevator controlling module；Ta is the number greater than 0.
It positions label position information by UWB and the UWB moving condition for positioning label calculate and include:
As shown in figure 5, establish the absolute coordinate system of indoor map, in coordinate system the position at any point can be counted as P (x,
Y), wherein P represents the titles of coordinate points, and x represents P point abscissa value, and y represents the ordinate value of P point, the wherein foundation of coordinate system
GPS coordinate system or self-built coordinate system can be used；
The coordinate for demarcating elevator door, is counted as H (x1, y1)；
Path coordinate in calibration building defines road with the coordinate points of Origin And Destination, such as AB indicates A point A
(xA, yA) arrives the road of B point B (xB, yB), in the method road AB, BC, AD, BE, CF ... all in calibration building,
The set of all calibration roads is counted as UL,
T2 moment record location mark in the position P1 (xP1, yP1) of t1 moment record location label, and after time Δt
The position P2 (xP2, yP2) of label, according to the position P1, P2, it may be determined that the mobile track P1P2 of the positioning label at t1 to t2 moment；
By motion profile P1, P2, each path coordinate in path coordinate set UL is successively compared, and can determine that dynamic
The road and the direction of motion that track P1P2 is presently in, such as can determine that motion profile P1, P2 are in road AB in the diagram
On moved, the direction of motion is that direction is moved from A to B.
The moving direction for calculating UWB positioning label is to the close duration T 1 of elevator method particularly includes:
Defined variable value T1, T1 initial value is 0, judges every Δ t time interval motion profile, judges whether to transport
It is dynamic the result is that close to elevator door position H, if movement the result is that close to elevator door position H, by T1 plus Δ t；If fortune
It is dynamic the result is that separate to elevator door position H, set 0 for St.
Embodiment three
As shown in figure 4, a kind of elevator control method based on UWB, comprising:
Retrieval then continues to retrieve if it does not exist with the presence or absence of UWB positioning label；
Label position information is positioned by UWB to calculate the UWB moving condition for positioning label；
The moving direction for calculating UWB positioning label is to the close duration T 1 of elevator, when duration T 1 is more than default
It is more than preset time T b that the position of time Ta or UWB positioning label, which is in the time T2 in lift port region, to elevator controlling module
Issue the signal of calling elevator；Ta, Tb are the number greater than 0.
It positions label position information by UWB and the UWB moving condition for positioning label calculate and include:
As shown in figure 5, establish the absolute coordinate system of indoor map, in coordinate system the position at any point can be counted as P (x,
Y), wherein P represents the titles of coordinate points, and x represents P point abscissa value, and y represents the ordinate value of P point, the wherein foundation of coordinate system
GPS coordinate system or self-built coordinate system can be used；
The coordinate for demarcating elevator door, is counted as H (x1, y1)；
Path coordinate in calibration building defines road with the coordinate points of Origin And Destination, such as AB indicates A point A
(xA, yA) arrives the road of B point B (xB, yB), in the method road AB, BC, AD, BE, CF ... all in calibration building,
The set of all calibration roads is counted as UL,
T2 moment record location mark in the position P1 (xP1, yP1) of t1 moment record location label, and after time Δt
The position P2 (xP2, yP2) of label, according to the position P1, P2, it may be determined that the mobile track P1P2 of the positioning label at t1 to t2 moment；
By motion profile P1, P2, each path coordinate in path coordinate set UL is successively compared, and can determine that dynamic
The road and the direction of motion that track P1P2 is presently in, such as can determine that motion profile P1, P2 are in road AB in the diagram
On moved, the direction of motion is that direction is moved from A to B.
The moving direction for calculating UWB positioning label is to the close duration T 1 of elevator method particularly includes:
Defined variable value T1, T1 initial value is 0, judges every Δ t time interval motion profile, judges whether to transport
It is dynamic the result is that close to elevator door position H, if movement the result is that close to elevator door position H, by T1 plus Δ t；If fortune
It is dynamic the result is that separate to elevator door position H, set 0 for T1.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (7)
1. a kind of elevator control system based on UWB, which is characterized in that including UWB positioning label, multiple UWB locating base stations,
UWB software locating module, elevator controlling module, wherein
The multiple UWB locating base station, for receiving the signal of UWB positioning label；
The UWB positioning software module show that UWB positions label for receiving the signal from the multiple UWB locating base station
Position；
The elevator controlling module, for receiving the position letter for the UWB positioning label that the UWB positioning software module is sent
Breath carries out elevator controlling.
2. as described in claim 1 based on the elevator control system of UWB, which is characterized in that the multiple UWB locating base station is extremely
Rare 3.
3. a kind of elevator control method based on UWB characterized by comprising
Search pedestrian whether there is, and if it does not exist, continue searching；
If judging, pedestrian position is in lift port region, or is calculated by moving condition of the pedestrian position information to pedestrian,
Judge that the moving direction of pedestrian is close to elevator；
Pedestrian position is then calculated to be in the time T2 in lift port region or calculate pedestrian to the close duration T 1 of elevator；
When duration T 1 is more than that preset time T a or pedestrian position are in the time T2 in lift port region more than preset time
Tb；
The signal of calling elevator is issued to elevator controlling module.
4. a kind of elevator control method based on UWB as claimed in claim 3, which is characterized in that worn by positioning pedestrian
The UWB positioning label worn judges that pedestrian whether there is, and measures row by positioning the position for the UWB positioning label that pedestrian is worn
People position.
5. a kind of elevator control method based on UWB as claimed in claim 4, which is characterized in that the pedestrian position information
Carrying out measuring and calculating to the moving condition of pedestrian includes:
Establish the absolute coordinate system of indoor map；
Demarcate the coordinate of elevator door；
Path coordinate in calibration building defines road with the coordinate points of Origin And Destination, by the collection of all calibration roads
It is total to make UL；
The position P2 of t2 moment record location label in the position P1 of t1 moment record location label, and after time Δt, root
According to the position P1, P2, the mobile motion profile P1P2 of the positioning label at t1 to t2 moment is determined；
By motion profile P1P2, each path coordinate in path coordinate set UL is successively compared, and determines dynamic rail mark
The road and the direction of motion that P1P2 is presently in.
6. a kind of elevator control method based on UWB as described in claim 3-5 any claim, which is characterized in that institute
Calculating prolongeding time T1 is stated, specifically:
T1 initial value be 0, motion profile is judged every Δ t time interval, judge whether movement the result is that close to electricity
Terraced door position, if movement the result is that close to elevator door position, by T1 plus Δ t；If movement the result is that elevator door
Position is separate, sets 0 for T1.
7. a kind of elevator control method based on UWB as claimed in claim 6, which is characterized in that the calculating time T2, tool
Body are as follows:
Defined variable value T2, T2 initial value is 0, judges every Δ t time interval position, judges that position is whether to be in
Lift port region, if lift port region is in, by T1 plus Δ t；If being not at lift port region, 0 is set by T2.
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| CN113279761A (en) * | 2021-05-11 | 2021-08-20 | 紫金矿业集团股份有限公司 | Mine truck management and dispatching system based on UWB technology |
| CN113347564A (en) * | 2021-06-01 | 2021-09-03 | 远峰科技股份有限公司 | Control signal generation method and system based on UWB positioning system |
| CN113489831A (en) * | 2021-06-29 | 2021-10-08 | 青岛海尔科技有限公司 | Equipment control method and device |
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Application publication date: 20191129 |