WO2019069665A1 - Measurement system, control system, and measurement method - Google Patents

Abstract

Provided are: a measurement system capable of highly accurately measuring an altitude difference with respect to a predetermined altitude; a control system; and a measurement method. A reference atmospheric pressure sensor is disposed at a predetermined altitude, an object atmospheric pressure sensor is attached to a movable object, and an altitude difference calculation unit calculates the altitude difference between the altitude of the object atmospheric pressure sensor and the altitude of the reference atmospheric pressure sensor on the basis of the atmospheric pressure measurement values measured at one time by means of the reference atmospheric pressure sensor and the object atmospheric pressure sensor. The present embodiment is provided as a measurement system or a control system or a measurement method.

Description

Measurement system, control system and measurement method Cross-reference to related applications

This application claims the priority of Japanese Patent Application No. 2017-192801 filed on Oct. 2, 2017, the entire disclosure of the prior application is incorporated herein by reference.

The present disclosure relates to a measurement system, a control system, and a measurement method, for example, an altitude difference between an altitude of an object and a predetermined reference altitude based on an air pressure measured by an air pressure sensor.

At work sites involving work processes for raising and lowering objects, such as construction, introduction of position monitoring of objects involved in work is being considered for the prevention of accidents. In general, barometric pressure sensors have high resolution and are economical. Therefore, an atmospheric pressure sensor may be employed in altitude measurement and vertical position measurement as part of position monitoring. More specifically, the barometric pressure sensor is utilized for altitude measurement in a portable terminal device such as a multi-function mobile phone, measurement of altitude change before and after work by a swing element such as a hoist, and the like.

For example, the method for determining the working height of a working device provided with a pivoting element described in Patent Document 1 determines the reference pressure corresponding to zero working height of the pivoting element before pivoting the pivoting element before the pivoting operation. After pivoting of the pivoting element in which the angle of the pivoting element relative to the device and the length of the pivoting element are changed, the pressure occurring at the freely movable end of the pivoting element is measured. Then, the method calculates the working height of the turning element from the differential pressure obtained from the height difference which the turning element has advanced, and calculates the length of the turning element as a trigonometric function from the calculated working height and the angle of the turning element. Calculated by

Patent No. 5638077 gazette

However, environmental fluctuations such as barometric pressure, temperature and humidity are sources of error in the measured altitude. This makes it difficult to monitor a slight change in height of the object with high accuracy. For example, the method described in Patent Document 1 includes a step of obtaining a differential pressure from pressure measurement values measured at different times before and after turning. Temporal changes in the environment due to changes such as the weather cause an error between the calculated work height and the actual work height. The atmospheric pressure change of 1 hPa of the International Civil Aviation Organization (ICAO) standard atmosphere due to weather change corresponds to an elevation change of 8 m at 0 m above sea level. Such errors are not acceptable for high accuracy altitude monitoring.

Therefore, the present disclosure aims to provide a measurement system, a control system, and a measurement method that can measure the altitude difference from a predetermined altitude with high accuracy.

(1) A measurement system according to some embodiments includes a reference barometric sensor installed at a predetermined height, an object barometric sensor attached to a movable object, the reference barometric sensor, and the object barometric sensor And a height difference calculating unit configured to calculate a height difference between the height of the object pressure sensor and the height of the reference pressure sensor based on the measurement value of the pressure measured at the same time.
Thus, the sea level pressure information is calculated by calculating the difference between the height of the object pressure sensor and the height of the reference pressure sensor based on the measurement value of the pressure measured simultaneously by the reference pressure sensor and the object pressure sensor. It is possible to obtain the height of the object attached with the object pressure sensor without using it, and the influence of the pressure fluctuation on the calculated height difference is mitigated or eliminated, so the height difference can be determined with high accuracy It becomes.

(2) In one embodiment, the measurement system includes at least one auxiliary reference pressure sensor installed at an altitude different from the altitude at which the reference air pressure sensor is installed, the reference air pressure sensor, and the auxiliary reference pressure sensor. And a parameter calculation unit that calculates a parameter of a function indicating a relationship between altitude and pressure based on the measured value of air pressure measured at the same time, and the height difference calculation unit calculates the parameter by the parameter calculation unit. The difference between the height of the object barometric pressure sensor and the height at which the reference barometric pressure sensor is installed may be calculated using the function to which the parameter is applied.
Thus, the parameters of the function indicating the relationship between altitude and barometric pressure are calculated based on the measured values of the barometric pressure simultaneously measured by the reference barometric pressure sensor and the auxiliary reference barometric pressure sensor, and using the calculated parameters, the object barometric pressure By calculating the difference between the height of the sensor and the height at which the reference barometric sensor is installed, the influence of the change in weather conditions is mitigated or eliminated, so that the accuracy of the difference in height can be improved.

(3) In one embodiment, in the measurement system, the number of the auxiliary reference pressure sensors is n (n is an integer greater than or equal to 1), and the function calculates the pressure based on the pressure measured by the reference pressure sensor as a reference value It may be an n-order function of
As described above, by setting the function as an n-order function temperature of the barometric pressure with the barometric pressure measured by the reference barometric pressure sensor as a reference value, the influence of changes in meteorological conditions such as humidity can be mitigated or eliminated. Since the altitude includes high-order components of the barometric pressure with the reference measurement value as the reference value, the accuracy of the altitude difference can be further improved.

(4) In one embodiment, the measurement system is a difference between measurement values of barometric pressure measured by the object barometric pressure sensor and the reference barometric pressure sensor when the object is disposed at a preset reference position. The reference position differential pressure storage unit may further include a reference position differential pressure storage unit, and the height difference calculation unit may calculate the height difference between the reference position and the object by further using the reference position differential pressure.
Thus, when the object is placed at the reference position by calculating the difference in height between the reference position and the object using the reference position differential pressure, the heights of the object pressure sensor and the reference pressure sensor are different. Even if the difference in height between the object barometric pressure sensor and the reference barometric pressure sensor is kept constant, the difference in height between the height of the object and the height of the reference position is calculated. Thus, it is possible to omit the work relating to the attachment and detachment.

(5) In one embodiment, the measurement system may further include a notification unit that notifies the height difference.
Thus, by further providing the notification unit for notifying the difference in altitude, the pilot can grasp the difference in altitude without making a call with another worker.

(6) The control system according to some embodiments controls the measurement system, the drive unit for moving the object, and the altitude difference so as to approach the target altitude difference that is the target value of the altitude difference. And a control unit.
As described above, by further including the control unit, it is possible to control the height of the object on which the object pressure sensor is installed.

(7) A measurement method according to some embodiments includes: a first step of measuring air pressure with a reference air pressure sensor installed at a predetermined height and an object air pressure sensor attached to a movable object; And a second step of calculating a difference in height between the height of the object barometric pressure sensor and the height of the reference barometric pressure sensor based on the measurement value of the barometric pressure simultaneously measured by the reference barometric pressure sensor and the object barometric pressure sensor.
Thus, the sea level pressure information is calculated by calculating the difference between the height of the object pressure sensor and the height of the reference pressure sensor based on the measurement value of the pressure measured simultaneously by the reference pressure sensor and the object pressure sensor. It is possible to obtain the height of the object attached with the object pressure sensor without using it, and the influence of the pressure fluctuation on the calculated height difference is mitigated or eliminated, so the height difference can be determined with high accuracy It becomes.

According to the present disclosure, it is possible to provide a measurement system, a control system, and a measurement method capable of measuring an altitude difference from a predetermined altitude with high accuracy.

It is a figure which shows the application example of the measurement system which concerns on 1st Embodiment. It is a block diagram showing an example of functional composition of a measurement system concerning a 1st embodiment. It is a flow chart which shows an example of height difference measurement processing concerning a 1st embodiment. It is a figure which shows the application example of the measurement system which concerns on 2nd Embodiment. It is a block diagram showing an example of functional composition of a measurement system concerning a 2nd embodiment. It is a flow chart which shows an example of height difference measurement processing concerning a 2nd embodiment. It is a figure which shows the application example of the measurement system which concerns on 3rd Embodiment. It is a block diagram showing an example of functional composition of a measurement system concerning a 3rd embodiment. It is a flow chart which shows an example of height difference measurement processing concerning a 3rd embodiment. It is a block diagram showing an example of functional composition of a measurement system concerning a 4th embodiment. It is a figure which shows the application example of the measurement system which concerns on 4th Embodiment. It is a figure which shows the application example of the measurement system which concerns on 4th Embodiment. It is a flow chart which shows an example of height difference measurement processing concerning a 4th embodiment. It is a block diagram showing a modification of height difference measurement processing concerning a 1st-4th embodiment.

Hereinafter, embodiments of a measurement system according to the present invention will be described with reference to the drawings. In the following description, in order to facilitate understanding, the measurement system according to the present embodiment is applied to measurement of the height of an object transported at a construction site such as a building. In this example, it is assumed that the altitude changes as the object is transported by the crane. In addition, the measurement system which concerns on this embodiment may be applied to measurement of the altitude of the moving object in the other work site. Further, the object to be measured at high altitude may be a powered and autonomously moving object, or may be an object that is not powered and is moved along with another object.

First Embodiment
First, a measurement system 1 according to a first embodiment of the present invention will be described.
FIG. 1 is a view showing an application example of the measurement system 1 according to the present embodiment.
The measurement system 1 according to the present embodiment is configured to include an object pressure sensor 11, a reference pressure sensor 12, and an arithmetic device 20.

In the example shown in FIG. 1, the object barometric sensor 11 is equipped with a mounting tool that can be attached to and detached from an object whose height is to be measured, and is mounted on the surface of a load 78 that is a movable object. By this arrangement, the object pressure sensor 11 measures the pressure at the surface of the load 78. Hereinafter, the measurement value of the air pressure measured by the object air pressure sensor 11 and the altitude of the object air pressure sensor 11 may be referred to as an “object measurement value” and an “object altitude”, respectively.
The reference air pressure sensor 12 is installed on the ground as an example of a reference position which is a reference of the height of the measurement object. By this arrangement, the reference pressure sensor 12 measures the pressure on the ground. Hereinafter, the measurement value of the air pressure measured by the reference air pressure sensor 12 and the altitude of the reference air pressure sensor 12 may be referred to as a “reference measurement value” and a “reference altitude”, respectively.

The object air pressure sensor 11 and the reference air pressure sensor 12 are, for example, absolute pressure gauges in which the vacuum state is a pressure reference (0 [Pa]). The object barometric pressure sensor 11 and the reference barometric pressure sensor 12 each include a time information acquisition unit (not shown) for acquiring time information on synchronization of measurement times. The time information acquisition unit sequentially receives time information indicating GPS time from, for example, a GPS (Global Positioning System) satellite. GPS time is a reference time adopted by GPS satellites. The reference time is used to calibrate the time measured by a timer provided with each of the object air pressure sensor 11 and the reference air pressure sensor 12. The object air pressure sensor 11 and the reference air pressure sensor 12 measure an object measurement value and a reference measurement value at a predetermined measurement cycle (for example, 0.1 to 0.3 seconds). The object air pressure sensor 11 and the reference air pressure sensor 12 add time information indicating the time at that time to the measured object measurement value and reference measurement value, respectively, and transmit the result to the arithmetic device 20.

The arithmetic device 20 receives, from the object pressure sensor 11 and the reference pressure sensor 12, an object measurement value to which time information is added and a reference measurement value. The arithmetic unit 20 refers to time information added to each of the received object measurement value and the reference measurement value, and identifies the object measurement value and the reference measurement value measured at the same time. The arithmetic unit 20 calculates the height difference ΔH between the object height and the reference height based on the object measurement value and the reference measurement value measured simultaneously with the object measurement value. The height difference ΔH corresponds to the height of the object pressure sensor 11 based on the reference height. For example, the computing device 20 may be configured as a dedicated device including a computing device such as a CPU (Central Processing Unit), or a multi-function mobile phone (including a so-called smart phone) including such a computing device, a tablet terminal device It may be configured as a general-purpose electronic device such as a personal computer (PC: Personal Computer).
The object barometric pressure sensor 11, the reference barometric pressure sensor 12, and the computing device 20 may be connected wirelessly or wired so as to enable transmission and reception of various information.

In the example shown in FIG. 1, the computing device 20 is disposed on the swing body 72 of the hoist 70 which transports the load 78. The pivoting body 72 is pivotably supported at the distal end of the leg 71, and the base end of the leg 71 is supported on the ground. The swivel body 72 is provided with a cockpit which allows an operator who is a user to enter the room, and is provided with a control member for operating the operation of the hoist 70. The operation of the hoist 70 includes raising and lowering the load 78 by the hoisting device 73, horizontal turning of the turning body 72, raising and lowering in the vertical direction, and extension and contraction of the jib 74. The load 78 is suspended by a hanger 76 attached to one end of the hoisting rope 75 by a suspension wire 77. The rotating body of the hoisting device 73 installed on the revolving body 72 winds the other end of the hoisting rope 75 stretched along the jib 74 by rotating in a predetermined rotational direction (forward direction), and the load 78 Can be raised. In addition, the rotating body of the hoisting device 73 can unwind the other end of the hoisting rope 75 and rotate the load 78 by rotating in the direction opposite to the forward direction. The raising and lowering of the load 78 is instructed by the operation of the operator. The measurement system 1 according to the present embodiment can measure and notify the height difference ΔH between the object height that can change due to work and the reference height, and can help to improve the work efficiency of the worker who gets into the cockpit.

(Functional configuration)
Next, a functional configuration example of the measurement system 1 according to the present embodiment will be described.
FIG. 2 is a block diagram showing an example of a functional configuration of the measurement system 1 according to the present embodiment.
The time information providing unit 10 provides time information indicating the time at that point in time to the object pressure sensor 11 and the reference pressure sensor 12. The time information providing unit 10 is mounted on, for example, a GPS satellite, generates time information indicating GPS time as a reference time of a predetermined reference time period (for example, 1 second), and transmits a radio wave carrying the generated time information. Do.

The object pressure sensor 11 includes a timer (not shown) that counts the current time sequentially. The timer includes a time adjustment unit (not shown) that adjusts the time counted by the own unit to a reference time indicated by the time information acquired from the time information providing unit 10.
The object atmospheric pressure sensor 11 measures the atmospheric pressure at a predetermined measurement interval, and adds the time information indicating the time (current time) at that point in time measured by the timer to the object measurement value which is the measurement value of the measured atmospheric pressure Send to 20.
The reference pressure sensor 12 includes a timer (not shown) that counts the current time sequentially, similarly to the object pressure sensor 11. The timer includes a time adjustment unit (not shown) that adjusts the time counted by the own unit to a reference time indicated by the time information acquired from the time information providing unit 10.
The reference atmospheric pressure sensor 12 measures atmospheric pressure at a predetermined measurement interval, adds time information indicating the time at that time measured by the timer to the reference measurement value which is the measurement value of the measured atmospheric pressure, and transmits it to the arithmetic device 20 .

The arithmetic device 20 is configured to include a communication unit 21, an operation unit 22, a notification unit 23, a storage unit 24, and a control unit 25.
The communication unit 21 is communicably connected to another device such as the object barometric pressure sensor 11 and the reference barometric pressure sensor 12 via the network NW, and transmits / receives various data wirelessly or by wire based on the control of the control unit 25. . The communication unit 21 is, for example, a communication interface and an input / output interface.
The operation unit 22 receives an operation of the user, and outputs an operation signal generated according to the received operation to the control unit 25. The operation unit 22 may be, for example, a dedicated input member such as a dedicated button or a lever, or may be a general-purpose input member such as a mouse, a pointing device such as a touch sensor, or a keyboard.

The notification unit 23 notifies various notification information input from the control unit 25, for example, the height difference. The notification unit 23 includes, for example, output members such as a display panel and a speaker. In addition, the touch pad which comprises the operation part 22, and the display which comprises the notification part 23 may be comprised as a touch panel integrated mutually.

The storage unit 24 stores various types of information used for processing executed by the control unit 25, various types of information acquired by the processing, and a program for executing the processing. The storage unit 24 includes, for example, a storage medium such as an HDD (Hard Disk Drive), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read only Memory), or a RAM (Random Access Memory). .

The control unit 25 controls various functions of the arithmetic device 20. The control unit 25 may include an arithmetic device, and may execute a process instructed by various instructions described in a program stored in advance in the storage unit 24 to realize a part or all of the function. The control unit 25 is configured to include an altitude difference calculation unit 251 and a notification control unit 252.

The altitude difference calculation unit 251 receives an object measurement value and a reference measurement value from the object pressure sensor 11 and the reference pressure sensor 12 via the communication unit 21 respectively. The altitude difference calculating unit 251 refers to the time information added to each of the object measurement value and the reference measurement value, and associates the object measurement value to which the time information indicating the same time is added mutually and the reference measurement value. Then, the height difference calculation unit 251 uses the object measurement value P _st and the reference measurement value P _r associated with the object measurement value to obtain a function indicating the relationship between the height and the air pressure exemplified in Equation (1). calculating the altitude difference _H st -H _r of the reference altitude Hr from the object height _{H st} used. The calculated height difference H _st -H _r corresponds to the height difference ΔH shown in FIG.

In the formula (1), _{T 0} represents the surface temperature. The ground temperature T ₀ is, for example, 288.15 [K]. L shows the temperature decrease rate. The rate of temperature decrease L is, for example, -0.0065 [K / m]. g ₀ represents gravitational acceleration. The gravitational acceleration g ₀ is, for example, 9.80665 [m / s ² ]. M represents the molar mass of the atmosphere. The molar mass M is, for example, 0.02899644 [kg / mol]. R shows a gas constant. The gas constant R is, for example, 8.3144598 [J / K / mol]. The above ground temperature T ₀ and the temperature reduction rate L are each defined as part of the constants of the ICAO standard atmosphere. The reference height H _r may be set in advance in the height difference calculation unit 251. Further, the altitude difference calculation unit 251 may set the altitude instructed by the operation signal from the operation unit 22 as the reference altitude H _r .
The altitude difference calculation unit 251 outputs the calculated altitude difference to the notification control unit 252.

The notification control unit 252 outputs the information on the height difference input from the height difference calculation unit 251 to the notification unit 23. The notification control unit 252 outputs, for example, a numerical value indicating the difference in height that is input to the notification unit 23 as height difference information, and causes the display panel constituting the notification unit 23 to display the numerical value. The notification control unit 252 may output a graphic screen indicating the difference in height as the difference in height information to the notification unit 23, and may display the screen on the display panel.
The notification control unit 252 enables setting of the target altitude difference instructed by the operation signal from the operation unit 22, and determines whether or not the absolute value of the difference between the input altitude difference and the target altitude difference has reached a predetermined range. You may When the notification control unit 252 reaches the predetermined range, the notification control unit 252 may output the target altitude notification information to the notification unit 23, and may cause the speakers constituting the notification unit 23 to ring a predetermined cue sound, or the target altitude may be set. A guidance voice indicating approach may be played back.

(Derivation of calculation formula)
Next, the process of deriving equation (1), which is an equation for calculating the height difference, will be described.
Assuming that the atmosphere is in equilibrium, the differential pressure dP between the air pressure on the surface of the micro air column at the vertical height dH and the air pressure at the bottom is, as shown in equation (2), the atmospheric pressure in the micro air column. It corresponds to the pressure applied in the vertical direction by the gravity generated by the mass.

Equation (2) shows that the differential pressure dP is the product of the density ρ of the atmosphere, the gravitational acceleration g ₀ and the height dH. On the right side of the equation (2), a sign (-) indicating a negative value indicates that the direction of the differential pressure dP is applied in the vertical direction.
The equation of state of gas is generally given by equation (3).

Equation (3) shows that the product of density ρ, gas constant R and air temperature T is equal to the product of molar mass M and pressure P. Substituting equation (2) into equation (3), equation (4) is obtained.

Here, it is assumed that the temperature T changes linearly with the height H, that is, T ₀ + LH. Under this assumption, equation (4) is transformed as shown in equation (5).

In the equation (5), as shown in the equation (6), the left side is a function of the air pressure P, and the right side is a function of the air temperature T.

Then, it is assumed that the adiabatic expansion occurs as the atmosphere rises. Under this assumption, the left side of equation (6) is integrated from the reference measurement value P _r to the object measurement value P _st for the air pressure P, and the right side is the object from the reference height H _r when the reference measurement value P _r is given. When integration is performed up to the object height H _st when the measured value P _st is given, Expression (7) is obtained.

Formula (1) is obtained by arranging Formula (7).

(Alt difference measurement processing)
Next, the height difference measurement process according to the present embodiment will be described.
FIG. 3 is a flowchart showing an example of the height difference measurement process according to the present embodiment.
(Step S12) The object barometric pressure sensor 11 and the reference barometric pressure sensor 12 each acquire time information, and measure the same time on the basis of the acquired time information.
(Step S14) The object atmospheric pressure sensor 11 and the reference atmospheric pressure sensor 12 measure the atmospheric pressure at the same time with each other in a predetermined measurement cycle, and transmit them to the control unit 25 of the arithmetic device 20 as the object measurement value and the reference measurement value.
(Step S16) The height difference calculation unit 251 of the arithmetic device 20 is a reference measurement that is an object measurement value received from the object pressure sensor 11 and a reference measurement value received from the reference pressure sensor 12, and is measured simultaneously with the object measurement value. From the values, the height difference is calculated using the relationship shown in equation (1). Thereafter, the height difference calculation unit 251 outputs height difference information indicating the calculated height difference to the notification unit 23, and causes the notification unit 23 to notify.

As described above, the measurement system 1 according to the present embodiment includes the reference pressure sensor 12 installed at a predetermined height, the object pressure sensor 11 attached to a movable object, and the height difference calculation unit 251. And. The altitude difference calculation unit 251 calculates an altitude difference between the altitude of the object atmospheric pressure sensor 11 and the altitude of the reference atmospheric pressure sensor 12 based on the measurement value of the atmospheric pressure simultaneously measured by the reference atmospheric pressure sensor 12 and the object atmospheric pressure sensor 11.

According to this configuration, the height difference between the height of the object pressure sensor 11 and the height of the reference pressure sensor 12 is calculated using the measurement values of the pressure measured by the reference pressure sensor 12 and the object pressure sensor 11. Therefore, the altitude of the object attached with the object pressure sensor 11 can be obtained without using the sea surface pressure information.
Further, even if the atmospheric pressure fluctuates due to a fluctuation factor such as weather fluctuation, the altitude difference is calculated using the measurement value of the atmospheric pressure simultaneously measured by the reference atmospheric pressure sensor 12 and the object atmospheric pressure sensor 11. Therefore, the influence of the pressure fluctuation on the calculated height difference is alleviated or eliminated, so the height difference can be determined with high accuracy.

The measurement system 1 includes a notification unit 23 that notifies the user of the height difference calculated by the height difference calculation unit 251. Here, it is assumed that the measurement system 1 is applied to a dismantling site of a high-rise building, and a process in which a hoist 70 (FIG. 1) lifts a member dismantled from the top floor of the high-rise building on the ground as a load 78 at the dismounting site. In this process, conventionally, a worker other than the operator of the hoist 70 observes the height of the disassembled member on the ground floor, and the height of the member is located in the cockpit using a wireless terminal device such as a mobile phone. It may be transmitted by voice to the pilot's wireless terminal device. The pilot adjusts the height of the member based on the information transmitted from the worker, determines the landing on the ground, and stops the movement of the member. The work efficiency has been reduced because the pilot relies on the information transmitted from the operator when determining the adjustment of the altitude of the member and the stop of the movement.

In this respect, in the present embodiment, the object pressure sensor 11 is attached to the load 78, and the reference pressure sensor 12 is installed on the ground. The object barometric pressure sensor 11 and the reference barometric pressure sensor 12 respectively measure an object measurement value and a reference measurement value under time synchronization based on time information. Then, the height difference calculation unit 251 calculates the height of the load 78 from the ground as the height difference, based on the measured object measurement value and the reference measurement value. By applying the display panel installed in the cockpit of the hoist 70 as the notification unit 23, the calculated height difference is notified. Since the pilot can grasp the height of the disassembled member without making a call with another worker, the working efficiency for adjusting the height of the member is significantly improved.

Second Embodiment
Next, a measurement system 1 according to a second embodiment of the present invention will be described. The following description mainly focuses on differences from the first embodiment, and the same configuration as in the first embodiment is denoted by the same reference numeral, and the description is incorporated unless otherwise specified.
FIG. 4 is a view showing an application example of the measurement system 1 according to the present embodiment.
The measurement system 1 according to the present embodiment is configured to further include an auxiliary reference pressure sensor 13 in the object pressure sensor 11, the reference pressure sensor 12, and the arithmetic device 20. The auxiliary reference pressure sensor 13 is installed at an altitude different from that of the reference pressure sensor 12. In the following description, the measurement value and altitude of the air pressure measured by the auxiliary reference air pressure sensor 13 may be referred to as “auxiliary reference measurement value” and “auxiliary reference altitude”, respectively.

In the example shown in FIG. 4, the reference pressure sensor 12 and the auxiliary reference pressure sensor 13 are installed at different heights within a predetermined range close to the movable range of the load 78 on which the object pressure sensor 11 is installed. In this example, a support member 80 having an elongated shape is installed in the vicinity of the hoist 70 with its longitudinal direction parallel to the vertical direction. The reference atmospheric pressure sensor 12 and the auxiliary reference atmospheric pressure sensor 13 are respectively installed at the proximal end and the distal end of the support member.
The supporting member 80 may be a member having high rigidity such as metal, stone, concrete, etc., and capable of fixing the positions of the reference pressure sensor 12 and the auxiliary reference pressure sensor 13. As the support member 80, a scaffold temporarily installed at a work site, a constantly installed building, a bridge, a pole, etc. can be used.

(Example of functional configuration)
Next, a functional configuration example of the measurement system 1 according to the present embodiment will be described.
FIG. 5 is a block diagram showing an example of a functional configuration of the measurement system 1 according to the present embodiment.
Similar to the reference pressure sensor 12, the auxiliary reference pressure sensor 13 includes a timer (not shown) that counts the current time sequentially. The timer includes an adjustment unit that sets the time counted by the own unit as a reference time indicated by the time information acquired from the time information providing unit 10.
The auxiliary reference pressure sensor 13 measures the pressure at a predetermined measurement interval, uses the measured value of the measured pressure as a reference measurement value, adds time information indicating the time at that time counted by the timer, and adds the time information to the arithmetic device 20 Send.

The control unit 25 of the arithmetic device 20 further includes a parameter calculation unit 253 in addition to the height difference calculation unit 251 and the notification control unit 252.
The parameter calculation unit 253 receives the reference measurement value and the auxiliary reference measurement value from the reference pressure sensor 12 and the auxiliary reference pressure sensor 13 via the communication unit 21. The parameter calculation unit 253 refers to the time information added to each of the reference measurement value and the auxiliary reference measurement value, and associates the reference measurement value to which the time information indicating the same time is added with each other and the auxiliary reference measurement value. . Parameter calculation unit 253, the auxiliary reference measurement P _1, from the auxiliary reference measurement reference measurement value associated with the value P _r, calculates the parameters of a function showing the relationship between the altitude and atmospheric pressure. More specifically, the parameter calculation unit 253 sets the parameter A _{1 of the} linear function indicating the relationship to the auxiliary reference height H ₁ , the reference height H _r , the auxiliary reference measurement value P _1, and the reference measurement value P which are preset. It calculates using the relationship shown to Formula (8) from _r .

In equation (8), the parameter A ₁ is the ratio of the difference in height between the auxiliary reference height H ₁ to the reference height H _r with respect to the differential pressure P ₁ -P _r between the auxiliary reference measurement value P ₁ and the reference measurement value P _r (slope Indicates that it corresponds to). However, the differential pressure P ₁ -P _r indicated by the denominator on the right side of the equation (8) is normalized by the reference measurement value P _r . The parameter A ₁ is a variable having a high dimensionality. The parameter calculation unit 253 outputs the calculated parameter A ₁ to the height difference calculation unit 251. The auxiliary reference height H ₁ and the reference height H _r are set in the parameter calculation unit 253 in advance.

The altitude difference calculation unit 251 uses the parameter A ₁ input from the parameter calculation unit 253 and the object measurement value and the reference measurement value respectively received from the object pressure sensor 11 and the reference pressure sensor 12 to obtain the object height and the reference height. Calculate the altitude difference with More specifically, the height difference calculation unit 251 uses the function indicating the relationship between the height and the air pressure exemplified in the equation (9) to obtain the height difference H _st -H between the object height H _st and the reference height H _r. Calculate _r .

Equation (9), altitude difference _H st -H _r is proportional normalized reference measurements _{P r} from (division) is the object measured value _{P st} differential pressure _P st -P _r of the reference measured value _{P r} Indicates that it is a linear function. Proportional coefficient of the linear function is a parameter A _1. The altitude difference calculation unit 251 outputs the calculated altitude difference to the notification control unit 252.

(Derivation of calculation formula)
Next, a process of deriving equation (8) is a formula for parameter A _1.
As shown in equation (10), it is assumed that the height difference between the reference altitude H _r from the auxiliary reference altitude H ₁ is proportional to the pressure difference reference measurements P _r from the auxiliary reference measurement P _1. The differential pressure P ₁ -P _r shown on the right side of the equation (10) indicates an auxiliary reference measurement value P ₁ with the reference measurement value P _r as a reference value, and is normalized by the reference measurement value P _r .

Formula (8) is obtained by arranging Formula (10).
In equation (10), equation (9) is obtained by replacing the auxiliary reference height H ₁ with the object height H _st and replacing the auxiliary reference measurement value P ₁ with the object measurement value P _st .

(Alt difference measurement processing)
Next, the height difference measurement process according to the present embodiment will be described.
FIG. 6 is a flowchart showing an example of the height difference measurement process according to the present embodiment.
(Step S22) The object atmospheric pressure sensor 11, the reference atmospheric pressure sensor 12, and the auxiliary reference atmospheric pressure sensor 13 each acquire time information, and measure the same time on the basis of the acquired time information.
(Step S24) The object barometric pressure sensor 11, the reference barometric pressure sensor 12, and the auxiliary reference barometric pressure sensor 13 measure the barometric pressure at the same time in a predetermined measurement cycle, and use them as an object measured value, a reference measured value, and an auxiliary reference measured value. It is transmitted to the control unit 25 of the arithmetic device 20.
(Step S26) The parameter calculation unit 253 of the arithmetic unit 20 uses the relationship shown in equation (8) from the reference measurement value and the auxiliary reference measurement value received from the reference air pressure sensor 12 and the auxiliary reference air pressure sensor 13, respectively. Calculate ₁
(Step S28) altitude difference calculating unit 251 shows the parameters A ₁ the reference measured value and the object measuring values received from each of the reference pressure sensor 12 and the object pressure sensor 11 and the parameter calculation unit 253 has calculated, the equation (9) The height difference H _st −H _r between the object height H _st and the reference height H _r is calculated using the relationship. Thereafter, the height difference calculation unit 251 outputs height difference information indicating the calculated height difference to the notification unit 23, and causes the notification unit 23 to notify.

The time interval parameter calculation unit 253 calculates the parameters A ₁ may be equal to the time interval that the altitude difference calculating unit 251 calculates the altitude difference H _st -H _r, may be longer. Time interval for calculating the parameters A ₁ is a time interval sufficient to follow the change of the correspondence between the altitude and atmospheric pressure due to climate change or the like (e.g., 1 minute to 10 minutes) may be any.

In the first embodiment, when calculating the difference in altitude, a function representing the relationship between the atmospheric pressure and the altitude shown in equation (1) is used, but predetermined ground temperature T ₀ and the rate of decrease in temperature as parameters of the function L, gravitational acceleration g ₀ and molar mass M are used. This means that the ground temperature T ₀ , the rate of decrease in temperature L and the molar mass M may change depending on actual weather conditions, in particular, temperature and humidity. Therefore, changes in weather conditions can cause errors in the measured altitude difference.

On the other hand, the measurement system 1 according to the present embodiment includes the auxiliary reference pressure sensor 13 at a height different from the height at which the reference pressure sensor 12 is installed. The measurement system 1 further includes a parameter calculation unit 253 that calculates a parameter of a function that indicates the relationship between altitude and pressure based on the measurement value of pressure that is simultaneously measured by the reference pressure sensor 12 and the auxiliary reference pressure sensor 13. Prepare. The altitude difference calculation unit 251 calculates the altitude difference between the altitude of the object pressure sensor 11 and the altitude at which the reference pressure sensor 12 is installed, using the function to which the parameter calculated by the parameter calculation unit 253 is applied.
With this configuration, the parameters of the function indicating the relationship between the altitude and the air pressure are calculated based on the measurement values of the air pressure simultaneously measured by the reference air pressure sensor 12 and the auxiliary reference air pressure sensor 13, and using the calculated parameters An altitude difference between the altitude of the object barometric pressure sensor 11 and the altitude at which the reference barometric pressure sensor 12 is installed is calculated. Therefore, since the influence of the change in weather conditions is mitigated or eliminated, the accuracy of the altitude difference is improved.

Third Embodiment
Next, a measurement system 1 according to a third embodiment of the present invention will be described. The following description mainly focuses on differences from the above embodiment, and the same configuration as the above embodiment is denoted by the same reference numeral, and the description is incorporated unless otherwise specified.
FIG. 7 is a view showing an application example of the measurement system 1 according to the present embodiment.
The measurement system 1 according to the present embodiment is configured to include n (n is an integer of 2 or more) auxiliary reference pressure sensors 13 in the object air pressure sensor 11, the reference air pressure sensor 12, and the arithmetic device 20. The n auxiliary reference pressure sensors 13-1 to 13-n are installed at different heights on the support member 80. Further, the altitudes of the n auxiliary reference pressure sensors 13-1 to 13-n are also different from the altitude of the reference pressure sensor 12, respectively. Reference numerals 13-1 to 13-n are attached to the ascending order of the altitude of the individual auxiliary reference pressure sensors.

(Example of functional configuration)
Next, a functional configuration example of the measurement system 1 according to the present embodiment will be described.
FIG. 8 is a block diagram showing an example of a functional configuration of the measurement system 1 according to the present embodiment.
The auxiliary reference pressure sensors 13-1 to 13-n each include the timer (not shown) described above.
Each of the auxiliary reference pressure sensors 13-1 to 13-n measures the pressure at a predetermined measurement interval, uses the measured value of the measured pressure as a reference measurement value, and adds time information indicating the time measured by the timer. Then, it transmits to the arithmetic unit 20.

The control unit 25 of the arithmetic device 20 includes an altitude difference calculation unit 251, a notification control unit 252, and a parameter calculation unit 253.
The parameter calculation unit 253 receives the reference measurement value from the reference pressure sensor 12 via the communication unit 21 and receives the auxiliary reference measurement values from the auxiliary reference pressure sensors 13-1 to 13-n. The parameter calculation unit 253 refers to the time information added to each of the reference measurement value and the n auxiliary reference measurement values, and adds the reference measurement values and n pieces of time information to each other indicating the same time. Associate the auxiliary reference measurement value. The parameter calculation unit 253 calculates parameters A ₁ to A _n of an n-order function indicating the relationship between the barometric pressure and the altitude from the auxiliary reference measurement values P ₁ to P _n correlated with each other and the reference measurement value P _r Do. More specifically, the parameter calculation unit 253 calculates the formula from the auxiliary reference heights H ₁ to H _n and the reference height H _r set in advance and the auxiliary reference measurement values P ₁ to P _n and the reference measurement value P _r. calculating the parameters _a 1 ~ _{a n} of n-th order function which satisfies the relationship shown in (11).

In formula (11), i represents an integer of 1 to n. That is, the parameters A ₁ to _An are calculated by simultaneously setting n equations (11) obtained by substituting 1 to n into i. The left side of the equation (11) indicates the difference in height between the auxiliary reference pressure H _i of the auxiliary reference pressure sensor 13-i and the reference height H _r . In the right side of the equation (11), ΔP _ir indicates a differential pressure P _i -P _r which is a difference between the reference measurement value P _i measured from the auxiliary reference pressure sensor 13 _-i and the reference measurement value P _r . That is, equation (11) is an n-th-order function of normalized atmospheric pressure (P−P _r ) / P _r obtained by normalizing the atmospheric pressure P whose altitude is the reference measurement value P _r as a reference value with the reference measurement value P _r Based on the assumption that The n-th order function corresponds to the function of the pressure applied by Taylor expansion with pressure P a reference measured value P _r in the reference altitude H _r the height H as the reference value. The i-th parameter A _i is a parameter to be multiplied by the i-th power value of normalized atmospheric pressure (P−P _r ) / P _r and has a dimension of height H.
The parameter calculation unit 253 outputs the calculated parameters A ₁ to _An to the height difference calculation unit 251. The auxiliary reference heights H ₁ to H _n and the reference height H _r are set in the parameter calculation unit 253 in advance.

The altitude difference calculation unit 251 uses the parameters A ₁ to A _n input from the parameter calculation unit 253 and the object measurement value and the reference measurement value respectively received from the object pressure sensor 11 and the reference pressure sensor 12 to obtain the object height. Calculate the difference between the height and the reference height. More specifically, the altitude difference calculating unit 251, altitude difference H _st of the reference altitude H _r and the object height H _st with n-order function indicating the relationship between the altitude and atmospheric pressure illustrated in Equation (12) -H Calculate _r .

Equation (12) shows a height difference _H st -H _r is, n-order function of the differential pressure of the reference measured value _{P r} by the reference measured value _{P r} from the normalized object measuring value _{P st.} The equation (12) is the difference in height H _st of the sum of the first to n-th multiplication values obtained by multiplying the i-th power of the differential pressure normalized by the reference measurement value P _r by the i-th parameter A _i -H Calculated as _r .
The altitude difference calculation unit 251 outputs the calculated altitude difference to the notification control unit 252.

(Modification)
The parameter calculation unit 253 may calculate the parameters _A 1 ~ _{A n} using the relationship shown in equation (13).

In formula (13), m represents an integer of 1 to n. The calculation of the parameters A ₁ to A _n according to the equation (13) can be performed independently, and it is not necessary to combine n equations as in the above example. However, the variable C ₁ is given by equation (14).

(Derivation of calculation formula)
Next, the process of deriving formula (13) is a formula for parameter A _m.
The auxiliary reference height H _i is calculated by substituting the auxiliary reference measurement value P _i for the object measurement value P _st of the equation (1), as shown in the equation (15).

By substituting _{P r} + [Delta] P _ir the _{P i} of formula (15), and substituting _{C 1} to -RL / _{g 0} M, formula (15) is modified as shown in equation (16).

On the other hand, (1 + ΔP _ir / P _r ) ^C1 is expanded to a power series by (ΔP _ir / P _r ) as shown in equation (17).

Substituting equation (17) into (1 + ΔP _ir / P _r ) ^C1 of equation (16), equation (16) is transformed as shown in equation (18).

Compared to equation (11) Equation _{(18), (ΔP ir /} P r) is multiplied by ^m m following parameters _{A m} is derived that given by equation (13).

(Alt difference measurement processing)
Next, the height difference measurement process according to the present embodiment will be described.
FIG. 9 is a flowchart showing an example of the height difference measurement process according to the present embodiment.
(Step S32) The object barometric pressure sensor 11, the reference barometric pressure sensor 12, and the n auxiliary reference barometric sensors 13-1 to 13-n acquire time information, and measure the same time on the basis of the acquired time information Do.
(Step S34) The object air pressure sensor 11, the reference air pressure sensor 12, and the n auxiliary reference air pressure sensors 13-1 to 13-n measure the air pressure at the same time in a predetermined measurement cycle, and measure the object measured value It transmits to the control part 25 of the arithmetic unit 20 as a reference measurement value and n auxiliary reference measurement values.
(Step S36) The parameter calculation unit 253 of the arithmetic device 20 is represented by the equation (11) from the reference measurement value and the auxiliary reference measurement value respectively received from the reference pressure sensor 12 and the auxiliary reference pressure sensors 13-1 to 13-n. Parameters A ₁ to _An are calculated by simultaneously establishing n relationships.
(Step S38) The height difference calculation unit 251 calculates the object measurement value P _st received from the object air pressure sensor 11 and the reference air pressure sensor 12, the reference measurement value P _r , and the parameters A ₁ to A _n calculated by the parameter calculation unit 253. From the equation (12), the height difference H _st −H _r between the object height H _st and the reference height H _r is calculated using the relationship shown in equation (12). Thereafter, the height difference calculation unit 251 outputs height difference information indicating the calculated height difference to the notification unit 23, and causes the notification unit 23 to notify.

As described above, the measurement system 1 according to the present embodiment includes n auxiliary reference pressure sensors 13-1 to 13-n (n is an integer of 2 or more) at mutually different altitudes. These altitudes are all different from the altitude at which the reference barometric sensor 12 is installed. The parameter calculation unit 253 determines the reference measurement value as the relationship between the altitude and the pressure based on the pressures P _r and P ₁ to P _n simultaneously measured by the reference pressure sensor 12 and the auxiliary reference pressure sensors 13-1 to 13-n. calculating the parameters _a 1 ~ _{a n} of n-th order function of pressure as a reference value P _r. The altitude difference calculation unit 251 uses an n-order function to which parameters A ₁ to A _n are applied for the object measurement value P _st measured by the object pressure sensor 11 with the reference measurement value P _r as a reference value. An altitude difference between the altitude of 11 and the altitude at which the reference pressure sensor 12 is installed is calculated.
With this configuration, the influence of changes in weather conditions such as temperature and humidity is alleviated or eliminated, and the calculated altitude includes high-order components of barometric pressure with the reference measurement value P _r as a reference value. Therefore, the accuracy of the height difference calculated is improved compared to the second embodiment.

Fourth Embodiment
Next, a measurement system 1 according to a fourth embodiment of the present invention will be described. The following description mainly focuses on differences from the first embodiment, and the same configuration as in the first embodiment is denoted by the same reference numeral, and the description is incorporated unless otherwise specified. The present embodiment described below is an example in which the first embodiment is applied, but the second embodiment or the third embodiment may be applied.

FIG. 10 is a block diagram showing an example of a functional configuration of the measurement system 1 according to the present embodiment. The control unit 25 of the arithmetic device 20 further includes a reference position setting unit 254 in the height difference calculation unit 251 and the notification control unit 252.
When the reference position setting signal is input as the operation signal input from the operation unit 22, the reference position setting unit 254 sets the position of the load 78, which is the measurement object, at that time as a predetermined reference position. At this time, the reference position setting unit 254 calculates the difference between the object measurement value received from the object barometric pressure sensor 11 and the reference measurement value received from the reference barometric pressure sensor 12 as the reference position differential pressure, and calculates the calculated reference position differential pressure. The reference position differential pressure information shown is stored in the storage unit 24. The storage unit 24 functions as a reference position differential pressure storage unit. For example, the operation unit 22 may include a predetermined reference position setting button, and may output a reference position setting signal to the reference position setting unit 254 when pressing of the reference position setting button is detected.

Therefore, the reference position to be the reference of the altitude is set according to the operation of the user. For example, as shown in FIG. 11A, when the load 78 is installed on the ground, the position of the load 78 is set as the reference position. The object air pressure sensor 11 does not have to be in contact with or close to the load 78, and may be installed at a position where the difference in height with the load 78 is kept constant regardless of the position of the load 78. In the example shown to FIG. 11A, B, the object air pressure sensor 11 is installed in the hanger 76 for hanging the load 78. As shown in FIG. As shown in FIG. 11B, even if the load 78 is lifted by the hoisting device 73 and is separated from the ground, the height difference between the object pressure sensor 11 and the load 78 is the height difference when the load 78 is installed on the ground It does not change from

Returning to FIG. 10, the altitude difference calculation unit 251 stores the measured value of the object received from the object pressure sensor 11 and the reference measurement value measured simultaneously with the measured value of the object and received from the reference pressure sensor 12 in the storage unit 24 The differential pressure information is used to calculate the height difference between the object height and the reference height. More specifically, the height difference calculation unit 251 subtracts the reference position differential pressure indicated by the reference position differential pressure information from the object measured value to calculate the corrected object measured value, and the corrected object measured value and reference measurement Substitute the value into equation (1) to calculate the altitude difference. The calculated altitude corresponds to the altitude of the object relative to the reference position.

(Alt difference measurement processing)
Next, the height difference measurement process according to the present embodiment will be described.
FIG. 12 is a flowchart showing an example of the height difference measurement process according to the present embodiment.
(Step S42) When the reference position setting signal is input from the operation unit 22, the reference position setting unit 254 sets the position of the object to be the measurement object at that time as a predetermined reference position.
(Step S44) The reference position setting unit 254 stores reference position differential pressure information indicating the reference position differential pressure, which is the difference between the object measurement value at that time and the reference measurement value, in the storage unit 24.
(Step S46) As in step S12, the object barometric pressure sensor 11 and the reference barometric pressure sensor 12 each acquire time information, and measure the same time on the basis of the acquired time information.
(Step S48) As in step S14, the object barometric pressure sensor 11 and the reference barometric pressure sensor 12 measure the barometric pressure at the same time in each predetermined measurement cycle, and control the arithmetic unit 20 as the object measured value and the reference measured value. Send to section 25.
(Step S50) The height difference calculation unit 251 of the arithmetic device 20 receives the object measurement value from the object pressure sensor 11, and reads out the reference position differential pressure information from the storage unit 24. The altitude difference calculation unit 251 subtracts the reference position differential pressure indicated by the read reference position differential pressure information from the received object measurement value to calculate the corrected object measurement value. The altitude difference calculation unit 251 calculates the altitude difference using the relationship shown in equation (1) from the reference measurement value received simultaneously with the object measurement value and received from the reference pressure sensor 12 after the correction. Do. Thereafter, the height difference calculation unit 251 outputs height difference information indicating the calculated height difference to the notification unit 23, and causes the notification unit 23 to notify.

In the above description, the measurement system 1 according to the first embodiment is provided with the reference position setting unit 254, and the reference position differential pressure information stored in the storage unit 24 by the reference position setting unit 254 is further used to Although the case of calculating the height difference from the reference height is taken as an example, the present invention is not limited to this. For example, the measurement system 1 according to the second embodiment or the third embodiment includes the reference position setting unit 254, and the reference position differential pressure information stored in the storage unit 24 by the reference position setting unit 254 is further used to An altitude difference with the reference altitude may be calculated. In that case, the altitude difference calculation unit 251 of the computing device 20 substitutes the object measurement value in steps S28 (FIG. 6) and S38 (FIG. 9) and makes reference based on the object measurement value received from the object pressure sensor 11 as described above. The height difference may be calculated using a corrected object measurement value obtained by subtracting the position differential pressure.

As described above, in the measurement system 1 according to the present embodiment, the storage unit 24 refers to the air pressure and the pressure measured by the object air pressure sensor 11 when the movable object is disposed at the preset reference position. The reference position differential pressure which is the difference between the measured values of the air pressure measured by the air pressure sensor 12 is stored. The altitude difference calculation unit 251 calculates the altitude difference by the method adopted in any of the first to third embodiments, further using the reference position differential pressure.
With this configuration, when the object is disposed at the reference position, even if the heights of the object pressure sensor 11 and the reference pressure sensor 12 are different, the difference in height between the object pressure sensor 11 and the reference pressure sensor 12 is constant. If maintained, the height difference between the height of the object and the height of the reference position is calculated. Therefore, the degree of freedom in the arrangement of the object barometric sensor 11 is increased, and it is permissible to omit the work relating to the attachment and detachment. This contributes to the improvement of the work efficiency of the worker involved in the movement of the object.

For example, it is assumed that the measurement system 1 is applied to a dismantling site of a high-rise building, and at the dismantling site, the hoist 70 lowers the dismantled member from the top floor of the high-rise building to the ground. This process requires an operation of attaching the member as the load 78 to the hanger 76 and an operation of removing the member from the hanger 76. In the measurement system 1 according to the first to third embodiments, it is necessary to attach the object pressure sensor 11 before transporting the member, and remove the object pressure sensor 11 from the member after transporting the member. However, in the present embodiment, it is sufficient if the difference in height between the object barometric pressure sensor 11 and the member being transported is kept constant, so the object barometric pressure sensor 11 is attached to the hanger 76 as shown in FIG. You may leave it alone. Therefore, the operation | work which concerns on attachment or detachment of the object air pressure sensor 11 and a member is not required. Also, even when the lengths of the hoisting rope 75 and the suspension wire 77 change, reference position differential pressure information is acquired each time according to the user's operation, and based on the acquired reference position differential pressure information. The difference between the height of the object and the height of the reference position is calculated.

(Modification)
Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to the above, and various design changes can be made without departing from the scope of the present invention. It is possible.
As shown in FIG. 13, the measurement system 1 may further include an altitude control unit 255. The altitude control unit 255 controls the altitude of the object on which the object barometric pressure sensor 11 is installed so that the altitude difference calculated by the altitude difference calculation unit 251 approaches a predetermined target altitude difference.

In the altitude control unit 255, the altitude input from the altitude difference calculating unit 251 as an output value is input as an output value, and a target altitude difference is set as a target value. The target height difference is indicated by an operation signal input from the operation unit 22, for example. The altitude control unit 255 uses the existing control method to calculate the amount of rotation of the rotor of the hoisting device 73 (FIG. 1) as an operation amount so that the magnitude of the difference between the target value and the output value decreases. The advanced control unit 255 can use, as a control method, a method such as PI (Proportional-Integral) control or PID (Proportional-Integral-Differential) control. The altitude control unit 255 supplies the hoisting device 73 with an amount of power that gives the calculated amount of rotation. The rotor of the hoisting device 73 rotates in accordance with the amount of power supplied from the height control unit 255, and winds up or unwinds the hoisting rope 75, and the load 78 is suspended via the hanger 76. Act as a drive to adjust the altitude of the

In the above embodiment, as the movable object on which the object barometric pressure sensor 11 is installed, the load 78 lifted and lowered by the hoist 70 and the lifting gear 76 are mainly exemplified. However, the present invention is not limited thereto. The object pressure sensor 11 may be, for example, a flying object such as a drone, an elevator such as an elevator or an escalator, a vehicle with a change in altitude due to movement of a ropeway, a cable car or the like, or other objects mounted on them. In addition, the object pressure sensor 11 is not limited to non-living things, and mounts living things directly on living things (including elderly people, infants, persons such as patients, animals other than persons such as pets, livestock, etc.) or those living things. It may be installed on an object. The measured altitudes may then be applied to a system that analyzes the activity state of organisms based on their altitudes. For example, a state such as a sleeping state, a fallen state, or the like may be detected due to a time-dependent change in altitude of a hospitalized patient. More specifically, in the case where the system continues a state in which the amount of change between altitude observation points (for example, 1 to 3 seconds) is within a predetermined amount of change for a predetermined period (for example, 1 to 3 minutes) or more The hospitalized patient is determined to be sleeping, and the amount of decrease in altitude between observation points exceeds a predetermined amount of decrease (for example, 0.4 to 0.7 m), and immediately thereafter, the amount of change in altitude is a predetermined change If the state of being within the amount continues for a predetermined period or more, it is determined that the hospitalized patient has fallen.

When the object barometric sensor 11 is installed in an information collecting device (not shown) such as a photographing device or a measuring device or installed while maintaining a constant positional relationship with the information collecting device, the height difference calculation unit of the arithmetic device 20 251 can calculate the height difference between the height of the information collection device and the reference height. In that case, the computing device 20 may add the information on the calculated height difference to the collected information acquired from the information collecting device. For example, the control unit 25 of the computing device 20 adds the information on the altitude difference calculated by the altitude difference calculating unit 251 at that time to the image information received from the image sensor. Further, the control unit 25 adds the information on the altitude difference calculated by the altitude difference calculating unit 251 at that time to the temperature information received from the temperature sensor. The control unit 25 may store the collected information to which the information on the height difference is added in the storage unit 24 or may transmit it to a predetermined provision destination. Further, in addition to the information on the altitude difference, the control unit 25 may add time information received from the object pressure sensor 11 together with the altitude difference to the collected information. This can improve the efficiency of analysis based on altitude at the time of collection of collected information.

The object air pressure sensor 11, the reference air pressure sensor 12, and the auxiliary reference air pressure sensors 13 (13-1 to 13-n) described above may be air pressure sensors provided with vibration transducers. The vibration type transducer includes, for example, a vibrating beam provided on a substrate of silicon single crystal, and a shell made of a silicon material which encloses the vibrating beam so as to maintain a gap around the vibrating beam and which constitutes a vacuum chamber together with a base. An exciter for exciting the vibrating beam and a detector for detecting the vibration of the vibrating beam are provided, and the resonance frequency of the vibrating beam is measured to measure the strain applied to the vibrating beam. The vibrating beam is provided in a vacuum chamber, has tensile stress applied to the substrate, and has a cross-sectional shape in which the cross-sectional heat in the vertical direction is longer than the direction parallel to the substrate surface. In addition, the vibratory transducer includes first to third electrode plates and concave and convex portions. The first electrode plate is provided parallel to the substrate surface, has one end connected to the vibrating beam, and acts as an excitation electrode for exciting the vibrating beam. The second and third electrode plates are provided parallel to the substrate surface with the vibrating beam interposed therebetween, and are in direct planar bias with the vibrating beam and the first electrode plate in parallel to the substrate surface. It is used as a bias voltage electrode which applies a voltage, and is used as a vibration detection electrode which detects the vibration of a vibrating beam. The uneven portion is provided on the side wall surface facing the vibrating beam and the second and third electrode plates to prevent mutual adhesion. The resonant frequency to be detected depends on the pressure around it. With this configuration, the pressure is measured with high response speed and high accuracy (for example, 2.1 Pa). The configuration of the vibration type transducer is described in detail, for example, in Japanese Patent Application Laid-Open No. 2012-581727.

In addition, as long as the arithmetic device 20 is connected to one or both of the operation unit 22 and the notification unit 23 so as to be able to input and output various types of information, one or both of them may be omitted.
The time information provided to the object air pressure sensor 11, the reference air pressure sensor 12, and the auxiliary reference air pressure sensor 13 (13-1 to 13-n) is not limited to the time information conveyed by radio waves from GPS satellites, and may be NTP (Network Time) Protocol (Time Protocol) may be time information provided from a server via a network. The NTP server is a server device that transmits time information indicating a standard time. Thereby, the altitude difference between the object altitude and the reference altitude can be acquired with high accuracy even indoors where radio waves from the GPS satellites can not reach.
Also, instead of time information, synchronization signals indicating measurement timing may be provided to the object pressure sensor 11, the reference pressure sensor 12, and the auxiliary reference pressure sensors 13 (13-1 to 13-n). The object barometric pressure sensor 11, the reference barometric pressure sensor 12, and the auxiliary reference barometric pressure sensors 13 (13-1 to 13-n) each transmit the measured value of the barometric pressure at the measurement timing indicated by the synchronization signal to the arithmetic unit 20. In that case, the altitude difference calculation unit 251 and the parameter calculation unit 253 of the arithmetic device 20 can treat the measurement values received from the sensors as they are simultaneously measured, without referring to the time information. The arithmetic device 20 also generates a synchronization signal, and transmits the generated synchronization signal to the object barometric pressure sensor 11, the reference barometric pressure sensor 12 and the auxiliary reference barometric pressure sensors 13 (13-1 to 13-n) (Not shown) may be provided.

Reference Signs List 1 measurement system 11 object pressure sensor 12 reference pressure sensor 13 auxiliary reference pressure sensor 20 arithmetic device 21 communication unit 22 operation unit 23 notification unit 24 storage unit 25 ... control unit, 251 ... height difference calculation unit, 252 ... notification control unit, 253 ... parameter calculation unit, 254 ... reference position setting unit, 255 ... height control unit

Claims (7)

1. A reference pressure sensor installed at a predetermined altitude,
   An object pressure sensor attached to a movable object;
   An altitude difference calculation unit that calculates an altitude difference between the altitude of the object barometric pressure sensor and the altitude of the reference barometric pressure sensor based on the measurement value of the barometric pressure simultaneously measured by the reference barometric pressure sensor and the object barometric pressure sensor;
   Measurement system equipped with
2. At least one auxiliary reference pressure sensor installed at an altitude different from the altitude at which the reference pressure sensor is installed;
   A parameter calculation unit that calculates a parameter of a function indicating a relationship between altitude and barometric pressure based on the measurement value of barometric pressure simultaneously measured by the reference barometric pressure sensor and the auxiliary reference barometric pressure sensor;
   The height difference calculation unit
   The measurement system according to claim 1, wherein the difference in height between the height of the object barometric pressure sensor and the height at which the reference barometric pressure sensor is installed is calculated using the function to which the parameter calculated by the parameter calculator is applied. .
3. The number of the said auxiliary reference pressure sensors is n (n is an integer greater than or equal to 1), The said function is an n-order function of the barometric pressure which makes the standard value the barometric pressure measured by the said reference barometric pressure sensor. Measurement system.
4. Reference position differential pressure storage for storing a reference position differential pressure which is a difference between measured values of barometric pressure measured by the object barometric pressure sensor and the reference barometric pressure sensor when the object is disposed at a preset reference position Further equipped with
   The height difference calculation unit
   The measurement system according to claim 1, wherein the difference in altitude between the reference position and the object is calculated by further using the reference differential pressure.
5. The measurement system according to claim 1, further comprising a notification unit that notifies the height difference.
6. A measurement system according to claim 1;
   A drive unit for moving the object;
   A control unit that controls the height difference to approach a target height difference that is a target value of the height difference;
   Control system comprising:
7. A first step of measuring the air pressure with a reference air pressure sensor installed at a predetermined height and an object air pressure sensor attached to a movable object;
   A second step of calculating an altitude difference between the height of the object barometric pressure sensor and the height of the reference barometric pressure sensor based on measurement values of the barometric pressure simultaneously measured by the reference barometric pressure sensor and the object barometric pressure sensor;
   Measuring method with.
   

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