A method for monitoring the safety of a derrick structure

Abstract

This invention relates to a method for monitoring the safety of a derrick structure, comprising: acquiring gravitational acceleration data; performing Kalman filtering; and converting the low-interference, real-time voltage digital signal X... nmed and Y nmed The basic unit spatial state is restored to obtain the real-time basic unit spatial state; the structural state of the research group is calculated using the real-time basic unit spatial state, obtaining the overall tilt vector and structural offset rate of the research group, i.e., the layer; the overall structural state is calculated; and the judgment result of the safety of the derrick structure is output, which is divided into three levels: dangerous, abnormal, and normal. This invention features timeliness: the gravity sensor uses an analog accelerometer, enabling timely data acquisition; the second MCU controller has a built-in ADC converter, separating calculation and acquisition, effectively improving the data processing speed of the entire system compared to traditional integrated acquisition and calculation systems.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevator monitoring technology, and in particular to a monitoring method for the safety of a derrick structure. BACKGROUND

[0002] According to reported data, most of the accidents of construction site elevators are caused by the lack of supervision of the construction site personnel, the lack of related building facility safety protection, and the lack of self-safety awareness of the construction personnel. The building elevator safety derrick protection system can monitor various data of the elevator derrick in real time, effectively reducing the occurrence of safety accidents.

[0003] After the building elevator is used for a period of time, the elevator derrick may be bent and deformed, so that the elevator shakes during the lifting process, or the elevator is overloaded, and the goods are not evenly placed, etc., which will also cause safety hazards. After installing high-precision inclination and pressure monitoring equipment, the passengers and safety supervisors can observe the various data of the elevator in real time. If the elevator derrick is bent and deformed, the load exceeds the limit, or the center of gravity of the goods is not at the geometric center, an alarm information will be immediately sent out to avoid the occurrence of elevator safety accidents.

[0004] At present, the market is lacking in methods for detecting the structural safety of elevator derricks. Most of them use manual detection methods to determine whether the derrick is in a safe state when the detection period expires, but they cannot collect the attitude data of the derrick in real time and make corresponding processing in a timely manner. SUMMARY

[0005] To solve the problem that the prior art cannot collect the attitude data of the derrick in real time, the purpose of the present application is to provide a monitoring method for the safety of a derrick structure that can monitor the elevator derrick in real time, and if the derrick is bent and deformed, an alarm can be sent out in a timely manner.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a monitoring method for the safety of a derrick structure, which comprises the following sequential steps:

[0007] (1) Collecting gravity acceleration data: collecting the gravity acceleration of a gravity sensor installed at each layer of the elevator derrick frame at four corners, and processing the gravity acceleration to obtain an average voltage digital signal and

[0008] (2) Kalman filtering: Kalman filtering the average voltage digital signal and to obtain a voltage digital signal X nmed and Y nmed with less interference and in real time.

[0009] (3) Perform basic unit space state restoration: restore the real-time voltage digital signal X with less interference. nmed and Y nmed Perform basic unit space state restoration to obtain the real-time basic unit space state;

[0010] Each gravity sensor unit is a basic unit. The four gravity sensor units on each floor are located at the four vertices of a planar rectangle. The steel beam between each two adjacent gravity sensor units, i.e. the line connecting the two vertices of the planar rectangle, is called the connecting edge. These four basic units are regarded as a research group, that is, each floor corresponds to a research group, and all the research groups included in the entire elevator shaft frame are the research whole.

[0011] (4) Calculate the structural state of the study group: Calculate the structural state of the study group using the real-time spatial state of the basic unit to obtain the overall tilt vector and structural offset rate of the study group, i.e., the layer.

[0012] (5) Estimating the overall structural state: Averaging the overall tilt vectors of all research groups yields the overall structural deformation θ. and overall offset ζ;

[0013] (6) Compare the results and output the judgment results: Compare the structural offset rate obtained in step (4) and the overall offset rate ζ obtained in step (5) with the acceptable offset of the set structural offset rate and overall offset rate ζ, and output the judgment results of the safety of the derrick structure. The judgment results are divided into three levels: dangerous, abnormal and normal.

[0014] Step (1) specifically includes the following steps:

[0015] (1a) The m-th gravity sensor located on the n-th floor of the elevator shaft frame collects the gravitational acceleration along the x-axis and y-axis. The analog signals collected by the gravity sensor are converted by an ADC to convert the gravitational acceleration on the x-axis into a digital voltage signal X. nm The gravitational acceleration on the y-axis is converted into a digital voltage signal Y. nm Where n represents the layer number where the gravity sensor is located, and m represents the m-th gravity sensor;

[0016] (1b) Determine the voltage digital signal X nm and Y nm The validity of the data is determined by comparing the result read by the second MCU controller of the computing unit with the set error value. If the read result is not within the range of the error value, the data is considered valid and retained, while invalid data is discarded. The error value is 0xFF.

[0017] (1c) Take three valid data points as a group, and take the average value of the entire group of data as the final acquisition result, i.e., the average voltage digital signal. and

[0018] Step (2) specifically includes the following steps:

[0019] (2a) Calculate the coefficients in the Kalman filter. Q :

[0020]

[0021] Among them, Error Meas The constants obtained from the ADC sensor datasheet are measurement errors, calculated based on the voltage and acceleration ratio ranges specified in the ADC sensor datasheet. These ratio ranges correspond to the sensitivity in the ADC sensor datasheet, with a minimum sensitivity value of ε. min The maximum sensitivity is ε max The typical value for sensitivity is ε. mid Error Est For error;

[0022] Error Meas The calculation formula is:

[0023]

[0024] (2b) Calculate the current filter value kermal in the Kalman filter. t :

[0025] kermal t =kermal t-1 +Kalman Q ×(Get_ADC-kermal t-1 )

[0026] Here, Get_ADC is the raw data without Kalman filtering, and its value is equal to X. nm Or Y nm kermal t This is the filtered result at time t, and its value is X. nmed Or Y nmed kermal t-1 It is the filtered result of the previous time step at time t;

[0027] (2c) Update Error Est The calculation formula is as follows:

[0028] Error Est= (1 - Kalman Q ) x Error Est-1

[0029] Error Est-1 Error Est Error

[0030] The step (3) specifically comprises the following steps:

[0031] (3a) converting X nmed and Y nmed into corresponding gravity acceleration values through a transfer equation:

[0032]

[0033] wherein the voltage value V0 and the transfer ratio K are constant values, the voltage value V0 represents the 0-point voltage returned by the gravity sensor at the time when the gravity accelerations on the x-axis and y-axis are both 0; the transfer ratio K represents the proportional coefficient of the voltage and acceleration at the time when the gravity accelerations on the x-axis and y-axis are both 0, and the proportional coefficient can be regarded as a constant value when the gravity acceleration does not exceed the range of the gravity sensor; V in1 represents the voltage input to the transfer equation on the x-axis, V in2 represents the voltage input to the transfer equation on the y-axis; and V in1 = X nmed , V in2 = Y nmed , g nm represents the gravity acceleration vector of the mth gravity sensor on the nth layer;

[0034] (3b) calculating the gravity acceleration component on the Z-axis of the basic unit to obtain the module length |z [nm] | of the gravity acceleration component on the Z-axis:

[0035]

[0036] wherein |g| is the actual gravity acceleration, g nm [x] is the gravity acceleration x-axis component of the mth basic unit on the nth layer, g nm [y] is the gravity acceleration y-axis component of the mth basic unit on the nth layer, and z [nm] is the gravity acceleration Z-axis component of the mth basic unit on the nth layer;

[0037] (3c) calculating the offset of the half actual connecting edge relative to the axis on the X-axis and Y-axis of the basic unit:

[0038]

[0039] wherein h x[nm]is the offset distance between the basic unit and the x-axis, h y[nm] is the offset distance between the basic unit and the y-axis; h x[nm] , h y[nm] Commonly represent the real-time basic unit space state; the actual connection edge refers to the edge connecting two basic units in the actual elevator shaft frame corresponding to the steel structure.

[0040] The step (4) specifically comprises the following steps:

[0041] (4a) Calculate the structural state of each connection edge of the research group According to the shape of the research group, the h x[nm] and h y[nm] are grouped according to the adjacent to obtain the research group connection edge matrix, each group contains two values, and the grouping and the value corresponding to each element in the matrix are as follows:

[0042]

[0043] In the formula, H n represents the research group connection edge matrix of the nth layer, h ij represents an element in the research group connection edge matrix, wherein i takes 1, 2 to represent that a connection edge is divided into left half and right half two components, and j takes 1, 2, 3, 4 to represent that the research group is divided into four connection edge research groups, each group corresponding to a connection edge;

[0044] (4b) Calculate the structural offset rate η of each connection edge of the research group nj :

[0045]

[0046] Wherein, L is the width of the elevator shaft frame, and it is assumed that the length and width of the elevator shaft frame are equal; h 1j is the left half of a connection edge of the jth group of the connection edge research group, h 2j is the right half of a connection edge of the jth group of the connection edge research group;

[0047] (4c) Calculate the overall tilt vector of the research group, add the respective axes of all basic units in the group to obtain the overall tilt vector of the nth research group, i.e. the nth layer:

[0048]

[0049] Wherein, g n represents the overall tilt vector of the nth layer, g ni [x] is the gravity acceleration x-axis component of the ith basic unit of the nth layer, g ni [y] is the gravity acceleration y-axis component of the ith basic unit of the nth layer.

[0050] Step (5) specifically includes the following steps:

[0051] (5a) Calculate the average of the overall tilt vector for all study groups:

[0052]

[0053] In the formula, The average of the skew vectors of all research groups is represented by N, where N represents the total number of research groups.

[0054] (5b) Calculate the unit vector and magnitude M of the overall structural deformation. g And calculate θ and θ of the unit vector in spherical coordinates.

[0055]

[0056] In the formula, θ represents the average angle between the tilt vector of all research groups and the x-axis in the xOy plane. The angle between the average tilt vector of all research groups and the xOy plane;

[0057] (5c) Calculate the overall offset rate ζ:

[0058]

[0059] In the formula, M g The magnitude of the average value of the slant vector representing all study groups.

[0060] Step (6) specifically includes the following steps:

[0061] (6a) Set the structural offset rate η nj The acceptable offset for the overall offset rate ζ is defined as follows: a% of the range from the initial value to the maximum value is set as the normal range for acceptable offset; a% of the maximum value to b% of the maximum value is set as the abnormal range for acceptable offset; and b% of the maximum value to the maximum value is set as the warning range for acceptable offset. <b;

[0062] (6b) The calculated structural offset ratio η nj Overall offset rate ζ and the set structural offset rate η nj Compared with the acceptable offset of the overall offset rate ζ, based on the structural offset rate η nj Alternatively, if the overall offset rate ζ is within the acceptable offset range, the judgment result is output: when the structural offset rate η nj When the overall offset rate ζ is within the normal range, a "normal" message is output; when the structural offset rate η is within the normal range, a "normal" message is output. njor the overall offset rate ζ is in the abnormal interval, a message of "abnormal" is outputted to the outside, when the structure offset rate η nj or the overall offset rate ζ is in the warning interval, a message of "warning" is outputted to the outside.

[0063] From the above technical solutions, the beneficial effects of the present application are: first, the present application has timeliness: the gravity sensor uses an analog acceleration sensor, which can collect data in time, and the second MCU controller has a built-in ADC converter, which separates calculation and collection, compared with the traditional integrated collection and calculation system, effectively improving the data processing speed of the entire system; second, the specific parameters of the present application are sensitive, the gravity sensor is distributed on each corner of each layer of the elevator shaft frame, the deformation of the connecting edge between any two adjacent gravity sensors of each layer will be collected, and the collected results will be sent to the calculation unit to calculate the structure offset rate η nj , which makes all parameters that may affect the safety of the elevator shaft frame on each layer be detected; third, the result is simple and easy to understand, a large number of professional parameters are packaged through the data analysis process, and the entire system finally returns only the result after judgment; fourth, it has traceability, important intermediate variables and results calculated by the calculation unit will be stored as evidence for accident accountability. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 It is a schematic diagram of the installation position of the hardware of the present application in the actual elevator shaft frame.

[0065] Figure 2 It is a circuit block diagram of the present application.

[0066] Figure 3 It is an offset explanation diagram of a half of the actual frame relative to the shaft.

[0067] Figure 4 It is a method flow chart of the present application.

[0068] Figure 5 It is a hierarchical diagram of the research object. DETAILED DESCRIPTION

[0069] As shown in Figure 1 , 2 , 4, a method for monitoring the safety of a shaft structure, the method comprising the following sequential steps:

[0070] (1) Collecting gravity acceleration data: collecting the gravity acceleration of the gravity sensor, the gravity sensor is installed at four corners of each layer of the elevator shaft frame, and the average voltage digital signal is obtained by processing the gravity acceleration and

[0071] (2) Kalman filtering is performed: the average voltage digital signal and Kalman filtering is performed to obtain the real-time voltage digital signal X nmed and Y nmed with less interference;

[0072] (3) Basic unit space state restoration is performed: the real-time voltage digital signal X nmed and Y nmed with less interference is subjected to basic unit space state restoration to obtain the real-time basic unit space state;

[0073] Each gravity sensor unit is a basic unit, and the four gravity sensor units on each layer are located at the four vertices of a planar rectangle. The steel beam between each two adjacent gravity sensor units, i.e., the connecting line between the two vertices of the planar rectangle, is referred to as a connecting edge. The four basic units are regarded as a research group, i.e., each layer corresponds to a research group, and all the research groups included in the entire elevator shaft frame are the research whole, as shown in Figure 5 ;

[0074] (4) Research group structure state is calculated: the real-time basic unit space state is used to calculate the research group structure state to obtain the overall tilt vector and the structure displacement rate of the research group, i.e., the layer;

[0075] (5) Overall structure state is calculated: the overall tilt vectors of all the research groups are averaged to obtain the deformation vector θ and the overall displacement rate ζ of the overall structure;

[0076] (6) Result comparison is performed, and a judgment result is output: the structure displacement rate obtained in step (4) and the overall displacement rate ζ obtained in step (5) are compared with the acceptable displacement amounts of the structure displacement rate and the overall displacement rate ζ, and a judgment result of the safety of the shaft structure is output. The judgment result is divided into three levels of danger, abnormality, and normality.

[0077] As shown in Figure 2 , the gravity sensor unit includes a first power supply, a first WIFI module, a gravity sensor, and a first MCU controller, the calculation unit includes a second WIFI module, a second power supply, and a second MCU controller, the first power supply supplies power to the first WIFI module, the gravity sensor, and the first MCU controller respectively, the output end of the gravity sensor is connected to the input end of the first MCU controller, the first MCU controller and the first WIFI module are in bidirectional communication, the first WIFI module and the second WIFI module are in wireless communication, the second power supply supplies power to the second WIFI module and the second MCU controller respectively, and the second WIFI module and the second MCU controller are in bidirectional communication.

[0078] The step (1) specifically comprises the following steps:

[0079] (1a) The mth gravity sensor on the nth floor of the elevator shaft frame collects the gravity acceleration on its x-axis and y-axis, converts the analog signals collected by the gravity sensor into digital signals through ADC, and converts the gravity acceleration on the x-axis into a voltage digital signal X nm , and converts the gravity acceleration on the y-axis into a voltage digital signal Y nm , wherein n represents the number of floors where the gravity sensor is located, and m represents the mth gravity sensor;

[0080] (1b) Determine the validity of the voltage digital signals X nm and Y nm , compare the results read by the second MCU controller of the calculation unit with the set error value, and if the read results are not within the interval of the error value, consider the data valid and retain it, and the invalid data will be discarded; the error value is 0xFF;

[0081] (1c) Take the average value of the entire group of data as the final collection result, i.e. the average voltage digital signal and

[0082] The step (2) specifically comprises the following steps:

[0083] (2a) Calculate the coefficient Kalman Q in Kalman filtering:

[0084]

[0085] , wherein Error Meas is a constant obtained by querying the data manual of the ADC sensor, the constant is the measurement error, which is calculated according to the proportional range of voltage and acceleration in the data manual of the ADC sensor, the proportional range is the sensitivity in the data manual of the ADC sensor, the minimum value of the sensitivity is ε min , the maximum value of the sensitivity is ε max , and the typical value of the sensitivity is ε mid ; Error Est is an error;

[0086] The calculation formula of Error Meas is:

[0087]

[0088] (2b) Calculate the current time filtering value kermal t in Kalman filtering:

[0089] kermal t = kermal t-1 + Kalman Q × (Get_ADC - kermal t-1 )

[0090] Wherein, Get_ADC is the original data without Kalman filtering, the value is equal to X nm or Y nm ; kermal t is the filtered result at the t time, the value is X nmed or Y nmed ; kermal t-1 is the filtered result of the last time at the t time;

[0091] (2c) update the error Error Est , the calculation formula is as follows:

[0092] Error Est = (1 - Kalman Q ) × Error Est-1

[0093] In the formula, Error Est-1 represents the value of the error Error Est at t-1 time.

[0094] The step (3) specifically comprises the following steps:

[0095] (3a) convert X nmed and Y nmed into corresponding gravity acceleration values through the transfer equation:

[0096]

[0097] Wherein, the voltage value V0 and the transfer ratio K are constant values, the voltage value V0 represents the 0 point voltage returned by the gravity sensor at the time when the gravity acceleration of the x axis and the y axis is 0; the transfer ratio K represents the proportionality coefficient of the voltage and acceleration at the time when the gravity acceleration of the x axis and the y axis is 0, and the proportionality coefficient can be regarded as a constant value when the gravity acceleration does not exceed the range of the gravity sensor; V in1 represents the voltage input to the transfer equation on the x axis, V in2 represents the voltage input to the transfer equation on the y axis; and V in1 = X nmed , V in2 = Y nmed , g nm represents the gravity acceleration vector of the mth gravity sensor of the nth layer.

[0098] (3b) Calculate the gravity acceleration component on Z axis of the basic unit, get the module length of gravity acceleration component on Z axis |z [nm] :

[0099]

[0100] Where |g| is the actual gravity acceleration, g nm [x] is the gravity acceleration x axis component of the nth layer mth basic unit, g nm [y] is the gravity acceleration y axis component of the nth layer mth basic unit, g [nm] is the gravity acceleration Z axis component of the nth layer mth basic unit;

[0101] (3c) Calculate the offset of half of the actual connecting edge relative to the axis on the X and Y axes of the basic unit:

[0102]

[0103] Where h x[nm] is the offset distance between the basic unit and the x axis, h y[nm] is the offset distance between the basic unit and the y axis; h x[nm] , h y[nm] collectively represent the real-time spatial state of the basic unit; the actual connecting edge refers to the edge connecting two basic units in the actual elevator shaft frame corresponding to the steel structure.

[0104] The step (4) specifically comprises the following steps:

[0105] (4a) Calculate the structural state of each connecting edge of the study group According to the shape of the study group, h x[nm] and h y[nm] are grouped according to adjacent to obtain a connecting edge matrix of the study group, each group containing two values, and the grouping and the values of each element in the matrix are as follows:

[0106]

[0107] Where H n represents the connecting edge matrix of the nth layer of the study group, h ij represents an element in the connecting edge matrix of the study group, where i takes 1, 2 to represent that a connecting edge is divided into left half and right half two components, and j takes 1, 2, 3, 4 to represent that the study group is divided into four connecting edge study groups, each corresponding to a connecting edge;

[0108] (4b) Calculate the structural offset rate η of each connecting edge of the study group nj :

[0109]

[0110] where L is the width of the elevator shaft frame, and it is assumed that the length and width of the elevator shaft frame are equal; h 1j is the left half of the jth connection edge of the connection edge study group, h 2j is the right half of the jth connection edge of the connection edge study group;

[0111] (4c) Calculate the overall tilt vector of the study group, add the respective axes of all the basic units in the group, and obtain the overall tilt vector of the nth study group, i.e., the nth layer:

[0112]

[0113] where g n represents the overall tilt vector of the nth layer, g ni is the x-axis component of the gravitational acceleration of the ith basic unit of the nth layer, g ni is the y-axis component of the gravitational acceleration of the ith basic unit of the nth layer.

[0114] The step (5) specifically comprises the following steps:

[0115] (5a) Calculate the average of the overall tilt vectors of all the study groups:

[0116]

[0117] wherein represents the average of the tilt vectors of all the study groups, and N represents the total number of N study groups;

[0118] (5b) Calculate the unit vector and the module length M g of the deformation vector of the overall structure, and calculate the and of the unit vector in the spherical coordinate system

[0119]

[0120]

[0121] wherein represents the angle between the average of the tilt vectors of all the study groups and the x-axis in the xOy plane, represents the angle between the average of the tilt vectors of all the study groups and the xOy plane;

[0122] (5c) Calculate the overall offset rate ζ:

[0123]

[0124] wherein M g represents the magnitude of the value of the average of the tilt vectors of all the study groups.

[0125] Step (6) specifically includes the following steps:

[0126] (6a) Set the structural offset rate η nj The acceptable offset for the overall offset rate ζ is defined as follows: a% of the range from the initial value to the maximum value is set as the normal range for acceptable offset; a% of the maximum value to b% of the maximum value is set as the abnormal range for acceptable offset; and b% of the maximum value to the maximum value is set as the warning range for acceptable offset. <b;

[0127] (6b) The calculated structural offset ratio η nj Overall offset rate ζ and the set structural offset rate η nj Compared with the acceptable offset of the overall offset rate ζ, based on the structural offset rate η nj Alternatively, if the overall offset rate ζ is within the acceptable offset range, the judgment result is output: when the structural offset rate η nj When the overall offset rate ζ is within the normal range, a "normal" message is output; when the structural offset rate η is within the normal range, a "normal" message is output. nj If the overall offset rate ζ is in the abnormal range, an "abnormal" message will be output. If the structural offset rate η is in the abnormal range, an "abnormal" message will be output. nj If the overall offset rate ζ is in the warning range, output a "warning" message.

[0128] like Figure 3 The diagram illustrates the calculation process for the offset of half of the actual connecting edge relative to the axis. The gray shaded area represents the actual connecting edge; point A is the midpoint of the actual connecting edge; and the circle is the tangent circle with radius R and tangent point A. R represents the radius of the tangent circle; h x[nm] It is the offset distance between the basic unit and the x-axis; z [nm] It is the Z-axis component of the gravitational acceleration of the m-th basic unit in the n-th layer; g nm [x] is the x-axis component of the gravitational acceleration of the m-th basic unit in the n-th layer.

[0129] In summary, this invention offers several advantages: First, it provides timely data acquisition using an analog accelerometer. Second, the second MCU controller integrates an ADC converter, separating computation and data acquisition. This significantly improves the overall data processing speed compared to traditional integrated acquisition and computation systems. Third, the invention is sensitive to specific parameters. Gravity sensors are distributed on every corner of every floor of the elevator shaft frame. The deformation of the connecting edge between any two adjacent gravity sensors on each floor is collected, and the results are sent to the calculation unit to calculate the structural offset rate η. njThis makes the elevator shaft frame every layer of all possible influence on the safety of the structure parameters are detected; the results show simple and easy to understand, through the data analysis process, a large number of professional parameters are encapsulated, the whole system finally returns the result after judgment; with traceability, important intermediate variables and results calculated by the calculation unit will be stored as evidence for accident accountability.

Claims

1. A method of monitoring the safety of a derrick structure, characterized by: The method comprises the following steps in sequence: (1) Collecting gravity acceleration data: Collecting gravity acceleration of gravity sensor, which is installed at four corners of each floor of elevator shaft frame, and processing the gravity acceleration to obtain average voltage digital signal and (2) Kalman filtering is performed: the average voltage digital signal and Kalman filtering is performed to obtain the interference- less, real-time voltage digital signals X nmed and Y nmed ; (3) Basic unit space state restoration is performed: the less disturbed and real-time voltage digital signal X nmed and Y nmed Basic unit space state restoration is performed to obtain real-time basic unit space state; Each gravity sensor unit is a basic unit, and the four gravity sensor units on each layer are located at four vertices of a planar rectangle. A steel beam between any two adjacent gravity sensor units, i.e., a connecting edge between two vertices of the planar rectangle, is provided. The four basic units are regarded as a research group, i.e., each layer corresponds to a research group, and all the research groups included in the entire elevator shaft frame form a research whole; (4) estimating the research group structure state: estimating the research group structure state by using the real-time basic unit space state, obtaining the overall inclination vector and the structure offset rate of the research group, i.e., the layer; (5) Estimate the overall structure state: the overall tilt vector of all research groups is averaged to obtain the deformation variable θ of the overall structure, and the overall offset rate ζ; (6) comparing the results and outputting a judgment result: comparing the structure offset rate obtained in step (4) and the overall offset rate ζ obtained in step (5) with the acceptable offset amount of the set structure offset rate and overall offset rate ζ, outputting a judgment result of the shaft structure safety, and the judgment result is divided into three levels of danger, abnormality and normality.

2. The method of monitoring the safety of a derrick structure according to claim 1, wherein: The step (1) specifically comprises the following steps: (1a) the mth gravity sensor on the nth floor of the elevator shaft frame collects the gravity acceleration of its x-axis and y-axis, converts the analog signal collected by the gravity sensor into digital signal through ADC, and converts the gravity acceleration on the x-axis into voltage digital signal X nm converts the gravity acceleration on the y-axis into voltage digital signal Y nm wherein n represents the number of floors where the gravity sensor is located, and m represents the mth gravity sensor; (1b) judging the validity of the voltage digital signal X nm and Y nm , comparing the result read by the second MCU controller of the computing unit with the set error value, if the read result is not in the interval of the error value, it is considered that the data is valid and retained, and the invalid data will be discarded; the error value is 0xFF; (1c) Taking the average value of the whole data set as the final acquisition result, i.e. the average voltage digital signal, in groups of every 3 valid data and 3. The method of monitoring the safety of a derrick structure of claim 1, wherein: The step (2) specifically comprises the following steps: (2a) Coefficients in the Kalman filter Kalman Q : wherein Error Meas is a constant obtained from the data sheet of the ADC sensor, said constant being a measurement error, calculated from the proportional range of voltage and acceleration in the data sheet of the ADC sensor, said proportional range being the sensitivity in the data sheet of the ADC sensor, the minimum value of the sensitivity being ε min , the maximum value of the sensitivity being ε max , and the typical value of the sensitivity being ε mid ; Error Est is an error; Error Meas The calculation formula is: (2b) computing a current time filter value kermal in a Kalman filter t : kermal t = kermal t-1 + Kalman Q × (Get_ADC - kermal t-1 ) Wherein, Get_ADC is the original data without Kalman filtering, the value is equal to X nm or Y nm ; kermal t is the filtered result at the t time, the value is X nmed or Y nmed ; kermal t-1 is the filtered result at the t time of the previous time. (2c) Update error Error Est The calculation formula is as follows: Error Est = (1 - Kalman Q ) x e r r o r Est-1 In the formula, Error Est-1 Error represents the error at time t-1. Est The value of .

4. The method of monitoring the safety of a derrick structure of claim 1, wherein: The step (3) specifically comprises the following steps: (3a) X is transferred through the recurrence equation nmed and Y nmed Converted to the corresponding gravitational acceleration value: wherein the voltage value V0 is a constant value, and represents the 0-point voltage returned by the gravity sensor at the time when the gravity acceleration on the x-axis and y-axis is 0; the transfer ratio K represents the ratio coefficient of the voltage and acceleration at the time when the gravity acceleration on the x-axis and y-axis is 0, and the ratio coefficient can be regarded as a constant value when the gravity acceleration does not exceed the range of the gravity sensor; V in1 represents the voltage input to the transfer equation on the x-axis, V in2 represents the voltage input to the transfer equation on the y-axis; and V in1 = X nmed , V in2 = Y nmed , g nm represents the gravity acceleration vector of the mth gravity sensor on the nth layer; (3b) calculating the component of the gravitational acceleration in the basic unit Z axis, resulting in the modulus |z of the component of the gravitational acceleration in the Z axis [nm] | : where |g| is the actual gravity acceleration, g nm [x] is the gravity acceleration x-axis component of the nth layer mth basic unit, g nm [y] is the gravity acceleration y-axis component of the nth layer mth basic unit, z [nm] is the gravity acceleration z-axis component of the nth layer mth basic unit; (3c) calculating the offset of the half actual connecting edge relative to the axis on the X-axis and Y-axis of the basic unit: wherein h x[nm] is the offset distance between the basic unit and the x-axis, h y[nm] is the offset distance between the basic unit and the y-axis; h x[nm] , h y[nm] together represent the real-time basic unit space state; the actual connection edge refers to the edge connecting two basic units in the actual elevator shaft frame corresponding to the steel structure.

5. The method of monitoring the safety of a derrick structure of claim 1, wherein: The step (4) specifically comprises the following steps: (4a) Calculate the structural state of each connecting edge of the study group According to the shape of the study group, calculate h x[nm] and h y[nm] Group the adjacent edges to obtain the connecting edge matrix of the study group, each group contains two values, and the corresponding values of each element in the matrix are as follows: where H n The group connection edge matrix of the nth layer is represented as h ij The element in the group connection edge matrix is represented as h, where i takes 1, 2, which means that one connection edge is divided into two components of left half and right half, and j takes 1, 2, 3, 4, which means that the research group is divided into four connection edge research groups, each corresponding to one connection edge. (4b) Calculate the structural bias rate η of each connecting edge of the research group nj : where L is the width of the elevator shaft frame and it is assumed that the elevator shaft frame is square; h 1j h is the left half of the jth edge of the edge study group 2j h is the right half of the jth edge of the edge study group (4c) calculating the overall inclination vector of the research group: adding the axes of all the basic units in the group to obtain the overall inclination vector of the nth research group, i.e., the n layer: where g n represents the overall tilt vector of the nth layer, g ni [x] is the gravity acceleration x-axis component of the ith elementary cell of the nth layer, g ni [y] is the gravity acceleration y-axis component of the ith elementary cell of the nth layer.

6. The method of monitoring the safety of a derrick structure of claim 1, wherein: The step (5) specifically comprises the following steps: (5a) calculating the average value of the overall inclination vectors of all the research groups: wherein The average of the tilt vectors representing all study groups, N represents a total of N study groups; (5b) Calculate the unit vector of the deformation of the overall structure and the module length M g and calculate the θ and where θ represents the average angle between the xOy plane and the x axis of the inclination vectors of all the study groups, represents the average angle between the xOy plane and the inclination vectors of all the study groups; (5c) calculating the overall offset rate ζ: In the formula, M g The magnitude of the average of the tilt vectors representing all study groups.

7. The method of monitoring the safety of a derrick structure of claim 1, wherein: The step (6) specifically comprises the following steps: (6a) Set the structure offset rate η nj and the acceptable offset amount of the overall offset rate ζ, set a% from the interval initial value to the interval maximum value as the normal interval of the acceptable offset amount, set b% from a% of the interval maximum value to the interval maximum value as the abnormal interval of the acceptable offset amount, set c% from b% of the interval maximum value to the interval maximum value as the warning interval of the acceptable offset amount, and a < b < c. (6b) comparing the calculated structure deviation rate η nj with the set structure deviation rate η nj and the acceptable deviation range of the overall deviation rate ζ, according to the position of the structure deviation rate η nj or the overall deviation rate ζ in the acceptable deviation range, outputting a judgment result externally: when the structure deviation rate η nj or the overall deviation rate ζ is in the normal range, outputting a message of "normal" externally, when the structure deviation rate η nj or the overall deviation rate ζ is in the abnormal range, outputting a message of "abnormal" externally, and when the structure deviation rate η nj or the overall deviation rate ζ is in the warning range, outputting a message of "warning" externally.

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