An intelligent power saving method for roller positioning system

Abstract

The present invention discloses a roller positioning system and an intelligent power saving method thereof, comprising: when a trolley hoists a roller, a three-axis accelerometer in the roller generates an acceleration value and a three-axis gyroscope indicates an acceleration direction, and the roller calculates the rotation speed of the roller through the acceleration value generated by the three-axis accelerometer and the acceleration direction indicated by the three-axis gyroscope; a positioning engine collects the acceleration value, acceleration direction and rotation speed in the roller within a sampling period; and the positioning engine determines the roller state according to a plurality of acceleration values, acceleration directions and rotation speeds and a preset acceleration threshold. By adopting the technical solution of the present invention, through a positioning base station set on the trolley and a radio frequency module set in the roller, a terminal management platform can determine the hoisting position of the roller according to the position of the trolley, so as to distinguish the vibration of the workshop from the hoisting of the roller and the rotation of the roller during rolling, reduce the roller from mistakenly entering a mobile power consumption state with high power consumption, and save electricity costs.

Description

Technical Field

[0001] The invention relates to the technical field of roller structures, in particular to a roller positioning system and an intelligent power saving method thereof. Background Art

[0002] Rollers in steel mills usually need to be deployed between different locations, so they need to be positioned. Currently, due to factors such as rolling steel, motor rotation, and overhead crane movement, the workshop of the steel mill has large ground vibrations, which may produce accelerations higher than the set threshold, thus affecting the normal operation of the positioning device.

[0003] When the existing roller structure is in use, the roller will mistakenly judge that the roller is in a moving state when the roller is stationary but there is ground vibration, thereby mistakenly entering a mobile power consumption state with high power consumption, which is not conducive to long-term use. Summary of the invention

[0004] The present invention provides a roller positioning system, comprising a terminal management platform, a roller with a positioning function and a trolley for hoisting the roller; a positioning base station is installed on the trolley, and the positioning base station communicates with the terminal management platform, a radio frequency module is arranged in the roller, and the roller communicates with the Bluetooth module in the trolley positioning base station through the Bluetooth module in the radio frequency module.

[0005] In the roller positioning system as described above, a positioning engine is also provided between the positioning base station of the navigator and the terminal management platform.

[0006] The roller positioning system as described above, wherein the roller includes a roller body, a circular groove is provided on one end face of the roller body, one end of the radio frequency module is a circular structure, and the other end is a triangular structure, the size of the circular end of the radio frequency module matches the size of the circular groove of the roller body, the circular end of the radio frequency module with a positioning function is detachably embedded in the circular groove, and the triangular end of the radio frequency module is exposed outside the roller body, so as to facilitate disassembly and replacement.

[0007] The roller positioning system as described above, wherein the radio frequency module includes a base, a circuit board, an intermediate fixing seat, a battery and a top cover which are arranged in sequence.

[0008] As described above, the roller positioning system has a triangular fixed block at one end of the base and a cylindrical structure at the other end. A groove is provided on the cylindrical structure, and the bottom of the groove matches the size of the circuit board. The circuit board is mounted at the bottom of the groove provided on one side of the base.

[0009] As described above, the roller positioning system, wherein a plurality of buckles are arranged on the inner edge of the bottom groove, a plurality of slots corresponding to the buckles of the base groove are arranged on the outer edge of one end of the intermediate fixing seat installed in the base groove, and the slots of the intermediate fixing seat are inserted into the buckles of the base groove.

[0010] As described above, the roller positioning system has multiple slots on the upper inner edge of the base groove, and multiple buckles matching the slots in the base groove are set on one side edge of the top cover, which is snapped into the slots of the base through the buckles of the top cover.

[0011] In the roller positioning system as described above, a Bluetooth module and a six-axis sensor are arranged on the circuit board, and the six-axis sensor includes a three-axis accelerometer and a three-axis gyroscope.

[0012] The present invention further provides an intelligent power saving method for a roll positioning system, the method being applied to any of the above roll positioning systems, the method comprising:

[0013] When the crane hoists the roller, the three-axis accelerometer in the roller generates an acceleration value and the three-axis gyroscope indicates the acceleration direction. The roller determines the current action behavior category according to the three-axis accelerometer and the three-axis gyroscope, and the roller calculates the rotation speed of the roller through the acceleration value generated by the three-axis accelerometer and the acceleration direction indicated by the three-axis gyroscope;

[0014] The positioning engine collects the acceleration value, acceleration direction and rotation speed of the roller in the sampling period, and the roller uploads multiple acceleration values, acceleration directions and rotation speeds in one sampling period to the positioning engine through the data transmission base station;

[0015] The positioning engine determines the state of the roller based on multiple acceleration values, acceleration directions and rotation speeds. If all acceleration values ​​exceed the acceleration threshold and the acceleration direction does not change, the roller is deemed to have entered a moving state. If not all acceleration values ​​exceed the acceleration threshold or the acceleration direction changes, the roller is deemed not to have moved.

[0016] The intelligent power saving method for the roller positioning system as described above, wherein an acceleration threshold is preset in the positioning engine, and when the acceleration of the roller reaches this threshold, it is considered that the roller enters a moving state; when the acceleration is less than the threshold, and the roller position remains unchanged or the roller rotation speed is zero, the roller enters a stationary state.

[0017] The intelligent power saving method of the roller positioning system as described above, wherein the roller radio frequency module is in a sleep state, and wakes up every 10 minutes to send a data packet to the UWB positioning base station; when the roller is in a moving state, the roller collects speed data every 2 seconds and uploads the speed data to the positioning engine through the data transmission module every 20 seconds, and the aerial vehicle collects position data every 2 seconds and uploads the position data to the positioning engine through the UWB positioning base station every 20 seconds.

[0018] The beneficial effects of the present invention are as follows: by adopting the roller positioning system provided by the present invention, through the positioning base station arranged on the trolley and the radio frequency module arranged in the roller, the terminal management platform can determine the hoisting position of the roller according to the position of the trolley, thereby realizing the distinction between the vibration of the workshop and the hoisting of the roller and the rotation of the roller during rolling, reducing the roller from accidentally entering a mobile power consumption state with higher power consumption, and saving electricity costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 Schematic diagram of the roller positioning system;

[0021] Figure 2 It is a schematic diagram of the structure of a roller with a positioning function;

[0022] Figure 3 It is the external structure diagram of the radio frequency module in the roller structure;

[0023] Figure 4 This is a disassembled diagram of the video module in the roller structure;

[0024] Figure 5 Flow chart of the intelligent power saving method for the roller positioning system.

[0025] In the figure: 1. Roller body; 2. RF module; 21. Base; 22. Circuit board; 23. Middle fixing seat; 24. Battery; 25. Top cover; 221. Three-axis accelerometer; 222. Three-axis gyroscope. DETAILED DESCRIPTION

[0026] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] Embodiment 1

[0028] See also Figure 1 An embodiment of the present application provides a roller positioning system, including a terminal management platform, a roller with a positioning function and a trolley for hoisting the roller; a positioning base station is installed on the trolley, and the positioning base station communicates with the terminal management platform through the positioning base station, and a radio frequency module is set in the roller, and the roller communicates with the Bluetooth module in the trolley positioning base station through the Bluetooth module in the radio frequency module.

[0029] In the embodiment of the present application, since there are metal objects on and around the rolling roller, the UWB signal has a strong shielding effect, which greatly reduces the positioning accuracy. Therefore, in order to improve the positioning accuracy and reduce the need to set up a UWB communication module in the rolling roller radio frequency module to save deployment costs, the present application does not install a positioning base station on the rolling roller, but chooses to install a UWB positioning base station on the skyhook of the aerial vehicle that hoistes the rolling roller. There are basically no objects between the UWB positioning base station on the aerial vehicle and other positioning base stations, especially no metal objects blocking the way, so signal shielding caused by objects blocking the way can be eliminated, so that the positioning accuracy can reach 10cm.

[0030] A positioning engine is set between the crane positioning base station and the terminal management platform, and the positioning base station and the positioning engine jointly provide the positioning data of the crane; since the roller and the crane communicate with each other via Bluetooth short-distance communication, when the crane's hoisting fixture is hoisting the roller, the crane sends the location of the crane to the terminal management platform through the positioning base station and the positioning engine, so that the terminal management platform can determine the position of the hoisted roller according to the position of the crane, that is, the positioning of the roller can be realized;

[0031] Figure 2 is a roller structure diagram provided in an embodiment of the present application, Figure 3 This is the external structure diagram of the RF module in the roller structure. Figure 4 This is a disassembled diagram of the video module in the roller structure.

[0032] See also Figure 2-4 The roller with positioning function includes a roller body 1, a circular groove is opened on one end face of the roller body 1, one end of the radio frequency module 2 is a circular structure, and the other end is a triangular structure. The size of the circular end of the radio frequency module matches the size of the circular groove of the roller body. The circular end of the radio frequency module 2 with positioning function is detachably embedded in the circular groove, and the triangular end of the radio frequency module is exposed outside the roller body, which is convenient for disassembly and replacement.

[0033] The radio frequency module 2 includes a base 21, a circuit board 22, an intermediate fixing base 23, a battery 24 and a top cover 25 which are arranged in sequence;

[0034] Specifically, one end of the base 21 is a triangular fixing block, and the other end is a cylindrical structure. A groove is opened on the cylindrical structure. The bottom of the groove matches the size of the circuit board 22. The circuit board 22 is clamped at the bottom of the groove opened on one side of the base 21. One end of the intermediate fixing seat 23 is installed in the base groove. The inner edge of the bottom groove is provided with a plurality of buckles corresponding to the slots on the outer edge of the intermediate fixing seat 23, which are used to clamp the intermediate fixing seat 23 in the base 21; a circular groove is opened at the other end of the intermediate fixing seat 23, and the battery 24 is placed in the circular groove; a plurality of card slots are arranged on the upper part of the inner edge of the base groove, and a plurality of buckles matching the card slots in the base groove are arranged on one side edge of the top cover 25, and the top cover 25 is clamped in the card slot of the base 21 through the buckles;

[0035] Among them, a six-axis sensor and a Bluetooth module are arranged on the circuit board 22. The six-axis sensor includes a three-axis accelerometer 221 and a three-axis gyroscope 222. The three-axis accelerometer 221 is used to detect the acceleration of the roller when the roller is lowered or lifted, and the three-axis gyroscope 222 is used to measure the moving direction of the roller. The Bluetooth module is used to transmit the roller data to the outside.

[0036] In the embodiment of the present application, in addition to the above-mentioned snap-on or plug-in method, multiple components of the RF module can also be combined by threaded connection, and the sizes of the components match each other to ensure that the internal components will not shake after installation.

[0037] Embodiment 2

[0038] Embodiment 2 of the present invention provides an intelligent power saving method for a roller positioning system, which is applied to Figure 1 In the roller positioning system shown, which includes a roller with positioning function, a trolley for hoisting the roller, and a terminal management platform, the roller and the terminal management platform communicate with each other through a data transmission module and a positioning engine, the trolley and the terminal management platform communicate with each other through a positioning base station and a positioning engine, and the roller and the trolley communicate with each other through a Bluetooth module;

[0039] In the embodiment of the present application, due to the rolling of steel, motor rotation, overhead crane movement and other reasons at the steel plant workshop, the workshop will have a large ground vibration, and the vibration of the rollers caused by these vibrations is likely to be regarded as the rollers being lifted and in a moving state. Therefore, in order to prevent the rollers from mistakenly entering a mobile power consumption state with high power consumption in this case, the present application designs the following technical solutions, such as Figure 5 As shown, the intelligent power saving method of the roller positioning system includes:

[0040] Step 510: When the crane hoists the roller, the three-axis accelerometer in the roller generates an acceleration value and the three-axis gyroscope indicates the acceleration direction. The roller determines the current action behavior category according to the three-axis accelerometer and the three-axis gyroscope, and the roller calculates the rotation speed of the roller through the acceleration value generated by the three-axis accelerometer and the acceleration direction indicated by the three-axis gyroscope.

[0041] In an embodiment of the present application, a radio frequency module installed on the end face of the roller in the roller radio frequency module has a built-in six-axis sensor, including a three-axis accelerometer and a three-axis gyroscope. When the roller is lifted or lowered by the vehicle, the three-axis acceleration generates an acceleration value, and the acceleration direction indicated by the three-axis gyroscope is also different when the roller is lifted and lowered; the current action behavior category of the roller is judged by the value of the six-axis sensor, such as the roller being lifted, lowered, rotating, etc.

[0042] Step 520: The positioning engine collects the acceleration value, acceleration direction and rotation speed of the roller within the sampling period, and the roller uploads multiple acceleration values, acceleration directions and rotation speeds within one sampling period to the positioning engine via the data transmission base station;

[0043] Specifically, after the crane hoists the roller, the positioning engine collects multiple acceleration values ​​of the three-axis accelerometer and the acceleration direction corresponding to the three-axis gyroscope uploaded by the roller radio frequency module within one sampling period.

[0044] Step 530: The positioning engine determines the state of the roller according to the multiple acceleration values, acceleration directions and rotation speeds. If all acceleration values ​​exceed the acceleration threshold and the acceleration direction does not change, it is determined that the roller enters the moving state. If not all acceleration values ​​exceed the acceleration threshold or the acceleration direction changes, it is determined that the roller does not move.

[0045] Since the frequency of ground vibration is generally high, and the direction of acceleration is changing, that is, the acceleration is periodic, alternating between positive and negative; and when the roller is hoisted or rotated, the acceleration is in the same direction when it is started, and the acceleration lasts for a long time; therefore, an acceleration threshold is preset in the positioning engine. When the acceleration of the roller reaches this threshold, the roller is considered to be in a moving state; when the acceleration is less than the threshold, and the roller position remains unchanged or the roller rotation speed is zero, the roller enters a stationary state;

[0046] Specifically, the positioning engine determines whether all acceleration values ​​exceed the set acceleration threshold and whether the acceleration direction has not changed. If the collected data meets the above two collection conditions at the same time, it is determined that the roller has entered a moving state. In addition, if the above two conditions are not met or partially not met, it is determined that the roller has not moved. In this way, the interference caused by ground vibration can be filtered out to achieve the purpose of intelligent power saving.

[0047] In addition, since the current reaches 150mA when the roller RF module and the UWB positioning base station of the aerial vehicle are in the transmitting state, in order to further achieve the purpose of intelligent power saving, in the embodiment of the present application, the battery of the roller RF module is 1000mAh, which meets the 18-month battery life; and the RF module is in a dormant state most of the time, waking up once every ten minutes to send a data packet to the UWB positioning base station. The data packet contains location data and serves as a heartbeat packet of the tag to indicate that it is in a normal state; when the roller is in a moving state, the roller collects speed data every 2 seconds and uploads the speed data to the terminal management platform through the data transmission module once every 20 seconds, and the aerial vehicle collects location data every 2 seconds and uploads the location data to the terminal management platform through the UWB positioning base station once every 20 seconds.

[0048] The above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or perform equivalent replacements on some of the technical features thereof; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. They should all be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An intelligent power saving method for a roller positioning system, characterized in that: The method is applied to a roller positioning system, which includes a terminal management platform, a roller with a positioning function and a trolley for hoisting the roller; a positioning base station is installed on the trolley, and the positioning base station communicates with the terminal management platform; a radio frequency module is arranged in the roller, and the roller communicates with the Bluetooth module in the trolley positioning base station through the Bluetooth module in the radio frequency module; the roller includes a roller body, a circular groove is arranged on one end surface of the roller body, one end of the radio frequency module is a circular structure, and the other end is a triangular structure, the size of the circular end of the radio frequency module matches the size of the circular groove of the roller body, the circular end of the radio frequency module with a positioning function is detachably embedded in the circular groove, and the triangular end of the radio frequency module is exposed outside the roller body, so as to facilitate disassembly and replacement; a Bluetooth module and a six-axis sensor are arranged on the circuit board, and the six-axis sensor includes a three-axis accelerometer and a three-axis gyroscope; The intelligent power saving method of the roller positioning system comprises: When the crane hoists the roller, the three-axis accelerometer in the roller generates an acceleration value and the three-axis gyroscope indicates the acceleration direction. The roller determines the current action behavior category according to the three-axis accelerometer and the three-axis gyroscope, and the roller calculates the rotation speed of the roller through the acceleration value generated by the three-axis accelerometer and the acceleration direction indicated by the three-axis gyroscope; The positioning engine collects the acceleration value, acceleration direction and rotation speed of the roller in the sampling period, and the roller uploads multiple acceleration values, acceleration directions and rotation speeds in one sampling period to the positioning engine through the data transmission base station; The positioning engine determines the state of the roller based on multiple acceleration values, acceleration directions and rotation speeds. If all acceleration values ​​exceed the acceleration threshold and the acceleration direction does not change, the roller is deemed to have entered a moving state. If some acceleration values ​​do not exceed the acceleration threshold or the acceleration direction changes, the roller is deemed not to have moved.

2. The intelligent power saving method for the roller positioning system according to claim 1, characterized in that: An acceleration threshold is preset in the positioning engine. When the acceleration of the roller reaches this threshold, the roller is considered to be in a moving state; when the acceleration is less than the threshold, and the roller position remains unchanged or the roller rotation speed is zero, the roller enters a stationary state.

3. The intelligent power saving method for the roller positioning system according to claim 2, characterized in that: The roller radio frequency module is in sleep mode and wakes up every 10 minutes to send data packets to the UWB positioning base station. When the roller is moving, it collects speed data every 2 seconds and uploads the speed data to the positioning engine through the data transmission module every 20 seconds. The drone collects position data every 2 seconds and uploads the position data to the positioning engine through the UWB positioning base station every 20 seconds.

4. The intelligent power saving method for a roller positioning system according to claim 1, characterized in that: A positioning engine is also provided between the positioning base station of the aerial vehicle and the terminal management platform.

5. The intelligent power saving method for a roller positioning system according to claim 1, characterized in that: The radio frequency module comprises a base, a circuit board, an intermediate fixing base, a battery and a top cover which are arranged in sequence.

6. The intelligent power saving method for the roller positioning system according to claim 5, characterized in that: One end of the base is a triangular fixed block, and the other end is a cylindrical structure. A groove is opened on the cylindrical structure. The bottom of the groove matches the size of the circuit board. The circuit board is mounted on the bottom of the groove opened on one side of the base.

7. The intelligent power saving method of the roller positioning system according to claim 6, characterized in that: The inner edge of the bottom groove is provided with a plurality of buckles, the outer edge of one end of the middle fixing seat installed in the base groove is provided with a plurality of slots corresponding to the buckles of the base groove, and the slots of the middle fixing seat are inserted into the buckles of the base groove.

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