A device deviation correction method based on UWB signal and TODA algorithm

Abstract

The invention relates to the technical field of equipment deviation correction, and discloses an equipment deviation correction method based on UWB signals and a TODA algorithm. The method comprises: collecting the time when each base station receives a UWB signal emitted by a detection point, and calculating the time difference when the UWB signal reaches each base station; calculating the distance difference between each base station according to the time difference and the propagation speed of the UWB signal, and calculating the coordinate information of each detection point by using the TODA algorithm; comparing the relative positions of each wheel of the equipment to be corrected according to the coordinate information of each detection point, and making deviation correction adjustment on the frequency of the wheel variable frequency motor according to the comparison result. The invention transmits a UWB signal through the detection point, and the base station receives the UWB signal. The signal transmission is stable and reliable and has strong anti-interference ability. The detection point is located by using the time difference when the signal reaches different base stations, and the positions of different detection points are compared in real time. The frequency of the wheel variable frequency motor is corrected and adjusted, so as to improve the deviation correction efficiency of the equipment and avoid the occurrence of the rail gnawing phenomenon.

Description

Technical Field

[0001] The present invention relates to the technical field of device deviation correction, and in particular to a device deviation correction method based on UWB signals and TODA algorithm. Background Art

[0002] During long-term operation, large-span equipment is prone to rail gnawing due to the asynchronous operation of the wheels on both sides. The wheel speed on both sides of the equipment needs to be adjusted at any time. Rail gnawing will cause abnormal friction on the contact surface between the wheel and the track, resulting in increased wear of the wheel and track. The wheel rim and tread will wear and deform, reducing the service life of the wheel. The track will also wear and deform due to long-term uneven lateral force, affecting the flatness and accuracy of the track. Rail gnawing will cause additional resistance during the operation of the equipment and increase the load on the transmission system, which may cause transmission components such as motors, reducers, couplings, etc. to wear faster or even damage.

[0003] In the prior art, Figure 1 and Figure 2 As shown, a swing device is provided, one end of which is fixed on the fixed side and the other end is fixed on the floating side. When the speed of one side is too fast or too slow, the limit device will be triggered. However, during debugging, one side needs to be deliberately swung to the side to determine the limit trigger position. During actual operation, the position of the entire equipment needs to be adjusted to locate the limit position, which makes debugging difficult and leads to difficulty in correcting the deviation of the equipment. Summary of the invention

[0004] In view of this, the present invention provides a device deviation correction method based on UWB signals and TODA algorithm to solve the problem of difficulty in device deviation correction in the prior art.

[0005] In a first aspect, the present invention provides a device correction method based on UWB signals and TODA algorithms, which is applied to a device correction system based on UWB signals and TODA algorithms, the system comprising a base station arranged around a device to be corrected, and a detection point is arranged on the device to be corrected, the method comprising:

[0006] Collect the time when each base station receives the UWB signal transmitted by the detection point, and calculate the time difference when the UWB signal arrives at each base station;

[0007] According to the time difference and the propagation speed of UWB signals, the distance difference between each base station is calculated, and the coordinate information of each detection point is calculated using the TODA algorithm;

[0008] The relative positions of the wheels of the device to be corrected are compared according to the coordinate information of each detection point, and the frequency of the wheel variable frequency motor is adjusted for correction according to the comparison result.

[0009] The present invention transmits UWB signals through detection points, and the base station receives the UWB signals transmitted by the detection points, so as to give full play to the advantages of stable and reliable transmission and strong anti-interference ability of UWB signals. The TODA algorithm is used to locate the detection points using the time difference between UWB signals reaching different base stations, and the relative positions of the wheels on the sides of different detection points are compared in real time. The frequency of the wheel variable frequency motor is adjusted for deviation correction, thereby improving the deviation correction efficiency of the equipment to avoid frequent track gnawing.

[0010] In an optional implementation, the distance difference between each base station is calculated according to the time difference and the UWB signal propagation speed, and the coordinate information of each detection point is calculated using the TODA algorithm, including:

[0011] The time difference and the UWB signal propagation speed are multiplied to obtain the calculation expression of the distance difference between each base station;

[0012] Substitute the coordinate information of each base station into the calculation expression of the distance difference between each base station to form a set of equations to solve the coordinate information of each detection point.

[0013] The present invention utilizes the time difference of UWB signals arriving at different base stations through the TODA algorithm to calculate the distance difference between each base station, so as not to be restricted by the time synchronization of the transmitting source and the receiving point, and utilizes the coordinate information of each base station and the distance difference between each base station to locate each detection point, so as to realize the positioning of the detection point, thereby facilitating the adjustment of the frequency of the wheel variable frequency motor of the device to be corrected.

[0014] In an optional embodiment, the system further includes a track, the device to be corrected moves on the track, and the relative positions of the wheels of the device to be corrected are compared according to the coordinate information of each detection point, including:

[0015] If the Y axis in the coordinate information of the detection point is in the same direction as the track, then compare the Y values ​​of each detection point;

[0016] If the Y value of the first detection point is greater than the Y value of the second detection point, it is determined that the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side.

[0017] The present invention determines the relative position of the wheel on the detection point side by comparing the coordinate information of the detection point to monitor the position change of the wheel, and utilizes the high-precision characteristic of UWB technology to ensure the accuracy of wheel position judgment.

[0018] In an optional implementation, the frequency of the wheel variable frequency motor is corrected and adjusted according to the comparison result, including:

[0019] If the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side, the frequency of the variable frequency motor of the wheel on the first detection point side is reduced until the position of the wheel on the first detection point side is consistent with the position of the wheel on the second detection point side, and then the motor frequencies of the wheels on both sides are adjusted to be consistent.

[0020] The present invention compares the wheel positions at different detection points, reduces the frequency of the wheel variable frequency motor on the side where the wheel position exceeds the limit, ensures synchronous operation of the wheels on both sides, reduces abnormal friction between the wheels and the rails, avoids the occurrence of rail gnawing, and improves the stability of equipment operation.

[0021] In an optional implementation, reducing the frequency of the variable frequency motor of the wheel on the first detection point side includes:

[0022] Real-time detection of the shunting distance, setting of the shunting time, and calculation of the change in shunting speed based on the set shunting time;

[0023] The frequency change of the wheel variable frequency motor is calculated according to the deviation distance and the set deviation time, and the frequency of the variable frequency motor of the wheel on the first detection point side is controlled to be adjusted according to the frequency change.

[0024] The present invention calculates the frequency variation to accurately adjust the frequency of the variable frequency motor of the wheel, thereby ensuring that the frequency of the variable frequency motor of the wheel is adjusted according to the frequency variation and stably adjusted according to the deviation time.

[0025] In a second aspect, the present invention provides a device correction device based on UWB signals and TODA algorithm, the device comprising:

[0026] The first calculation module is used to collect the time when each base station receives the UWB signal transmitted by the detection point, and calculate the time difference when the UWB signal arrives at each base station;

[0027] The second calculation module is used to calculate the distance difference between each base station according to the time difference and the UWB signal propagation speed, and calculate the coordinate information of each detection point using the TODA algorithm;

[0028] The deviation correction module is used to compare the relative positions of the wheels of the device to be corrected according to the coordinate information of each detection point, and to make deviation correction adjustments to the frequency of the wheel variable frequency motor according to the comparison result.

[0029] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the device correction method based on UWB signal and TODA algorithm of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the device correction method based on UWB signals and TODA algorithms of the above-mentioned first aspect or any corresponding embodiment thereof.

[0031] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, wherein the computer instructions are used to enable a computer to execute the device correction method based on UWB signals and TODA algorithm according to the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the overall structure of the traditional correction method in the background technology;

[0034] Figure 2 It is a schematic diagram of the limiting structure of the traditional deviation correction method in the background technology;

[0035] Figure 3 is a flow chart of a device deviation correction method based on UWB signals and TODA algorithm according to an embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of a device correction structure based on UWB signals and TODA algorithm according to an embodiment of the present invention;

[0037] Figure 5 is a structural block diagram of a device deviation correction device based on UWB signals and TODA algorithm according to an embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below 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.

[0040] Use Figure 1 and Figure 2 The swing device shown in the figure is used for deviation correction, and its main disadvantages are as follows:

[0041] (1) During debugging, one side needs to be deliberately tilted to determine the limit trigger position. In actual operation, the position of the entire equipment needs to be adjusted to locate the limit position, making debugging difficult;

[0042] (2) Long-term working limit may cause displacement, resulting in errors;

[0043] (3) Since the deviation is adjusted by mechanical limit, the limit must be triggered after a certain deviation. It can only be adjusted within a certain range and cannot respond in real time.

[0044] Ultra Wide Band (UWB) technology is a wireless communication technology that transmits data by sending and receiving extremely narrow pulses. Its characteristics include:

[0045] (1) UWB transmitters transmit information by sending extremely narrow pulse signals at the nanosecond or sub-nanosecond level. These pulses are very short in the time domain and have a wide spectrum bandwidth, covering a frequency range from several kilohertz to several gigahertz;

[0046] (2) The receiving end recovers the transmitted information by detecting the pulse's arrival time, amplitude, and phase.

[0047] (3) UWB technology can use the time of flight (ToF) of pulse signals for high-precision positioning. The transmitter sends a pulse signal, and the receiver records the arrival time of the signal. By calculating the propagation time and speed of the signal in the air, the distance between the transmitter and the receiver can be determined.

[0048] According to an embodiment of the present invention, an embodiment of a device correction method based on UWB signals and a TODA algorithm is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] In this embodiment, a device correction method based on UWB signals and TODA algorithms is provided, which is applied to a device correction system based on UWB signals and TODA algorithms. The system includes a base station arranged around the device to be corrected, and a detection point is arranged on the device to be corrected. In the embodiment of the present invention, a roller reclaimer is taken as an example of the device to be corrected. Figure 3 is a flow chart of a device deviation correction method based on UWB signal and TODA algorithm according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0050] Step S301, collecting the time when each base station receives the UWB signal transmitted by the detection point, and calculating the time difference when the UWB signal reaches each base station.

[0051] In the embodiment of the present invention, Figure 4 As shown, the detection point transmits UWB signals, and base stations S1, S2, and S3 receive UWB signals. The times when the three base stations receive UWB signals are t1, t2, and t3, respectively. The time difference between the UWB signals reaching base stations S1 and S2 is △t12=t2-t1, and the time difference between the UWB signals reaching base stations S1 and S3 is △t13=t3-t1.

[0052] Step S302, calculating the distance difference between each base station according to the time difference and the UWB signal propagation speed, and calculating the coordinate information of each detection point using the TODA algorithm.

[0053] In an embodiment of the present invention, the distance difference between base station S1 and base station S2 is calculated based on the time difference △t12 between the UWB signal reaching base station S1 and base station S2 and the UWB signal propagation speed, and the distance difference between base station S1 and base station S3 is calculated based on the time difference △t13 between the UWB signal reaching base station S1 and base station S3 and the UWB signal propagation speed.

[0054] The advantages of the TODA (Time Difference of Arrival) algorithm include:

[0055] (1) High positioning accuracy: Positioning is performed using the time difference between signals reaching different base stations. It is not restricted by the time synchronization between the transmitting source and the receiving point. The time difference information is used to reduce errors, and the accuracy can reach 10-30 cm.

[0056] (2) Low requirements for tags: Tags only need to send signals and do not require complex time synchronization, which reduces tag complexity and cost and extends battery life;

[0057] (3) Strong scalability: Base stations can be added without changing the system settings, making it easy to expand the positioning area and increase the number of positioning targets;

[0058] (4) Good resistance to multipath effects: Based on time difference measurement, multipath delays may partially offset each other in the time difference calculation.

[0059] The current TWR (Two-Way Ranging) algorithm has the following advantages: (1) No need for base station synchronization: There is no requirement for strict time synchronization between positioning base stations, the system is more robust, and easier to implement in actual deployment; (2) High accuracy: The distance is calculated by using the round-trip flight time between the tag and the base station, which can reduce the error caused by environmental factors in the speed of light, and the accuracy is usually between 10 and 30 centimeters; (3) Simple calculation: The calculation process mainly involves the measurement and averaging of the round-trip flight time, and then the position is determined through the three-sided positioning algorithm, which is relatively easy to understand and calculate.

[0060] However, the disadvantages are: (1) High energy consumption of the device: the tag needs to send and receive signals multiple times, such as a typical 9-time message exchange, which consumes a lot of energy and reduces the standby time of battery-powered devices; (2) Limited scalability: the positioning area is limited by the communication area between the base station and the main base station. When adding base stations or tags, the server algorithm needs to be modified to integrate new devices; (3) Limited tag capacity: Multiple communications between devices result in a small number of tag transmission signals within the refresh rate.

[0061] The current TOA (Time of Arrival) algorithm has the following advantages: (1) High theoretical upper limit of accuracy: Under ideal high-precision time synchronization and without multipath effects, the positioning accuracy is extremely high, reaching the meter level, which is suitable for scenarios with high precision requirements; (2) The principle is simple and intuitive: The distance is calculated by measuring the signal flight time, and the position is determined by geometric relationships, which is easy to understand and implement.

[0062] Its advantages are: (1) Strict requirements for time synchronization: The tag and base station are required to maintain high-precision time synchronization, which is difficult to achieve in practical applications. Small synchronization errors will lead to large positioning deviations; (2) Affected by multipath effects: It is susceptible to multipath effects caused by reflection and refraction of obstacles, which causes the received signal to have multiple delay paths, reducing the arrival time measurement accuracy and positioning accuracy; (3) High implementation cost: In order to achieve high-precision time synchronization, high-precision clock equipment and complex time synchronization protocols are required, which increases system cost and complexity; (4) High equipment energy consumption: Tags need to perform operations such as time synchronization. Energy consumption varies depending on the device and scenario, but is relatively high; (5) Poor scalability: When adding a base station, time synchronization needs to be reconfigured, which is more troublesome.

[0063] Step S303, comparing the relative positions of the wheels of the device to be corrected according to the coordinate information of each detection point, and making correction adjustments to the frequency of the wheel variable frequency motor according to the comparison result.

[0064] In the embodiment of the present invention, the calculated coordinates of each detection point are used to determine which side of the wheel position of the device to be corrected is exceeded, and the frequency of the variable frequency motor of the wheel that exceeds the position is reduced to perform correction adjustment.

[0065] The device deviation correction method based on UWB signals and TODA algorithm provided in this embodiment transmits UWB signals through detection points, and the base station receives the UWB signals transmitted by the detection points, so as to give full play to the advantages of stable and reliable transmission and strong anti-interference ability of UWB signals. The TODA algorithm is used to locate the detection points using the time difference between UWB signals arriving at different base stations, and the relative positions of the wheels on different detection points are compared in real time, and the frequency of the wheel variable frequency motor is adjusted for deviation correction, thereby improving the equipment deviation correction efficiency and avoiding frequent track gnawing.

[0066] In this embodiment, a device correction method based on UWB signal and TODA algorithm is provided, and the process includes the following steps:

[0067] Step S401, collecting the time when each base station receives the UWB signal transmitted by the detection point, and calculating the time difference when the UWB signal reaches each base station.

[0068] For details, please see Figure 3 Step S301 of the illustrated embodiment will not be described in detail here.

[0069] Step S402, calculating the distance difference between each base station according to the time difference and the UWB signal propagation speed, and calculating the coordinate information of each detection point using the TODA algorithm.

[0070] Specifically, the above step S402 includes:

[0071] Step S4021, multiplying the time difference and the UWB signal propagation speed to obtain a calculation expression for the distance difference between each base station.

[0072] Step S4022, the coordinate information of each base station is substituted into the calculation expression of the distance difference between each base station to form an equation group, and the coordinate information of each detection point is solved.

[0073] In the embodiment of the present invention, in the ultra-wideband UWB technology, the UWB signal propagation speed is approximately the speed of light C. The time difference and the UWB signal propagation speed are multiplied, that is, the distance difference between base stations S1 and S2 △d12=△t12×C, and the distance difference between base stations S1 and S3 △d13=△t13×C.

[0074] The distance difference between base station S1 and base station S2 can also be expressed as △d12=d2-d1, then d2-d1=△t12×C, and the following formula is obtained by expansion:

[0075]

[0076] By squaring both sides of the above formula and shifting the terms, we get:

[0077]

[0078] Among them, base stations S1, S2 and S3 are known coordinate values. The spatial coordinates of base station S1 are (X1, Y1, Z1), the spatial coordinates of base station S2 are (X2, Y2, Z2), and the spatial coordinates of base station S3 are (X3, Y3, Z3). The coordinates of the detection point A that transmits the UWB signal are (X, Y, Z). Substituting them into the above formula, we get

[0079] AX 2 +BY 2 +CZ 2 +DXY+EXZ+FYZ+GX+HY+IZ+J=0

[0080] Among them, A, B, C, D, E, F, G, H, I, and J are coefficients determined by parameters such as base station coordinates and △d12 distance difference.

[0081] Similarly, base stations S1 and S3 can obtain the following equations:

[0082] A'X 2 +B'Y 2 +C'Z 2 +D'XY+E'XZ+F'YZ+G'X+H'Y+I'Z+J'=0

[0083] The coordinates of detection point A can be solved by forming an equation system with the two equations. Similarly, the coordinates of detection point B, detection point C, and detection point D can be solved to obtain the coordinate information of each detection point.

[0084] The TODA algorithm uses the time difference between UWB signals reaching different base stations to calculate the distance difference between each base station. This is not limited by the time synchronization between the transmitting source and the receiving point. The coordinate information of each base station and the distance difference between each base station are used to locate each detection point, so as to achieve the positioning of the detection point, thereby facilitating the adjustment of the frequency of the wheel variable frequency motor of the device to be corrected.

[0085] Step S403, comparing the relative positions of the wheels of the device to be corrected according to the coordinate information of each detection point, and making correction adjustments to the frequency of the wheel variable frequency motor according to the comparison result.

[0086] Specifically, the system further includes a track, and the device to be corrected moves on the track. The step S403 of comparing the relative positions of the wheels of the device to be corrected according to the coordinate information of each detection point includes:

[0087] Step S4031, if the Y axis in the coordinate information of the detection point is in the same direction as the track, then compare the Y values ​​of each detection point.

[0088] Step S4032: If the Y value of the first detection point is greater than the Y value of the second detection point, it is determined that the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side.

[0089] In an embodiment of the present invention, when the Y axis in the coordinate information of the detection point is in the same direction as the track, the Y values ​​of each detection point are directly compared, and the coordinates of detection point A and detection point B, detection point C and detection point D relative to the track are compared. Assuming that the Y value of detection point A exceeds the Y value of detection point B by 10 cm, it is determined that the position of the wheel on the detection point A side exceeds the position of the wheel on the detection point B side.

[0090] It should be noted that if Figure 4 As shown, if the Y axis in the coordinate information of the detection point is different from the direction of the track, a perpendicular line can be drawn from the spatial coordinate point to the projection of the track on the XY plane to compare the values ​​of distance 1 and distance 2.

[0091] The relative position of the wheel on the detection point side is determined by comparing the coordinate information of the detection point to monitor the position change of the wheel. The high-precision characteristics of UWB technology are used to ensure the accuracy of wheel position judgment.

[0092] Specifically, in the above step S403, the frequency correction adjustment of the wheel variable frequency motor according to the comparison result includes:

[0093] Step S4031, if the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side, reduce the frequency of the variable frequency motor of the wheel on the first detection point side until the position of the wheel on the first detection point side is consistent with the position of the wheel on the second detection point side, and then adjust the motor frequencies of the wheels on both sides to be consistent.

[0094] In an embodiment of the present invention, if the position of the wheel on the detection point A side exceeds the position of the wheel on the detection point B side, the frequency of the variable frequency motor of the wheel on the detection point A side is reduced until the frequency of the variable frequency motor of the wheel on the detection point A side is adjusted to be consistent with the frequency of the variable frequency motor of the wheel on the detection point B side, and the deviation correction is completed.

[0095] By comparing the wheel positions at different detection points, the frequency of the wheel inverter motor on the side where the wheel position exceeds the limit is reduced to ensure synchronous operation of the wheels on both sides, thereby reducing abnormal friction between the wheels and the track, avoiding the occurrence of rail gnawing, and improving the stability of equipment operation.

[0096] Specifically, reducing the frequency of the variable frequency motor of the wheel at the first detection point in the above step S4031 includes:

[0097] Step S40311, real-time detection of the shunting distance, setting of the shunting time, and calculation of the change in shunting speed according to the set shunting time.

[0098] Step S40312, calculate the frequency change of the wheel variable frequency motor according to the detected deviation distance and the set deviation time, and control the frequency of the variable frequency motor of the wheel on the first detection point side to adjust according to the change.

[0099] The frequency change x calculation formula can be calculated as follows:

[0100] It should be noted that in practical applications, the values ​​input to the inverters of the wheels on both sides are theoretically consistent. However, since the wheels on both sides run independently, errors are difficult to avoid during actual driving, resulting in the accumulation of running errors of the wheels on both sides. When the error is within a certain error range, no adjustment is required. When it exceeds a certain error range, adjustment is required.

[0101] Taking the example that the accumulated error of the right wheel exceeds that of the left wheel by A meters, it is necessary to level both sides within time t, and the frequency of the variable frequency motor of the right wheel needs to be additionally reduced to achieve the goal. Assuming that the frequency can be reduced by x within time t to achieve this goal, the current motor frequency of the right wheel is mHz, and the working walking speed corresponding to the full frequency of 50Hz of the right vehicle is V, it can be obtained that {m / 50×V-(mx) / 50×V}×t=A, and the value of x is obtained. In actual operation, the working walking speed of the right wheel is adjusted to (mx) / 50×V. After time t, the error value is re-measured. Assuming that the error value is less than A, the motor frequency of the right wheel returns to the theoretical value m, and is continuously measured within the specified time. If it exceeds the range, the above calculation is performed for adjustment.

[0102] By calculating the frequency variation, the frequency of the wheel's variable frequency motor can be accurately adjusted, thereby ensuring that the wheel's variable frequency motor frequency is adjusted according to the frequency variation and stably adjusted according to the deviation time.

[0103] It should be noted that after the deviation correction, the position of each wheel is monitored again after a few seconds. If the coordinate values ​​of detection point A and detection point B are aligned, it is assumed that the frequency of the wheel variable frequency motors on the detection point A and detection point B does not need to be adjusted, and the vehicle continues to move. If the coordinate values ​​of detection point A and detection point B are still not aligned, the frequency of the wheel variable frequency motors on the detection point A and detection point B are inconsistent. Adjust the frequency change rate of the wheel variable frequency motors until the frequency of the wheel variable frequency motors on the detection point A and detection point B are adjusted to be consistent, and then continue to move to achieve the goal of consistent walking speed on both sides of the device to be corrected.

[0104] The device correction method based on UWB signals and TODA algorithm provided in this embodiment monitors the position of each wheel in real time and adjusts the frequency of the wheel variable frequency motor in time, thereby reducing the wear on the track during equipment operation and increasing the service life of the track.

[0105] Compared with the traditional correction method, the device correction method based on UWB signal and TODA algorithm in the embodiment of the present invention has the following main advantages:

[0106] (1) Signal transmission is stable and reliable. UWB signal transmission uses a very wide bandwidth and a very low power spectrum density. Compared with traditional narrowband communication systems, UWB signals have little interference with other wireless communication systems. At the same time, UWB signals also have strong anti-interference capabilities and can work stably in complex electromagnetic environments.

[0107] (2) Multiple equipment base stations and multiple signal sources can be set up to debug multiple devices;

[0108] (3) Real-time response, nanosecond signal transmission frequency, can monitor the distance between the two sides of the wheel in real time, and respond to the wheel speed in real time.

[0109] In this embodiment, a device correction device based on UWB signal and TODA algorithm is also provided, which is used to implement the above embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0110] This embodiment provides a device correction device based on UWB signal and TODA algorithm, such as Figure 5 As shown, including:

[0111] The first calculation module 501 is used to collect the time when each base station receives the UWB signal transmitted by the detection point, and calculate the time difference when the UWB signal reaches each base station.

[0112] The second calculation module 502 is used to calculate the distance difference between each base station according to the time difference and the UWB signal propagation speed, and calculate the coordinate information of each detection point by using the TODA algorithm.

[0113] The deviation correction module 503 is used to compare the relative positions of the wheels of the device to be corrected according to the coordinate information of each detection point, and to make deviation correction adjustments to the frequency of the wheel variable frequency motor according to the comparison result.

[0114] In some optional implementations, the second calculation module 502 includes:

[0115] The calculation unit is used to multiply the time difference and the UWB signal propagation speed to obtain a calculation expression for the distance difference between each base station.

[0116] The solving unit is used to substitute the coordinate information of each base station into the calculation expression of the distance difference between each base station to form an equation group and solve the coordinate information of each detection point.

[0117] In some optional implementations, the correction module 503 includes:

[0118] After all, the unit is used to compare the Y values ​​of each detection point if the Y axis in the coordinate information of the detection point is in the same direction as the track.

[0119] The determination unit is used to determine that the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side if the Y value of the first detection point is greater than the Y value of the second detection point.

[0120] In some optional implementations, the correction module 503 further includes:

[0121] The lowering unit is used to reduce the frequency of the variable frequency motor of the wheel on the first detection point side if the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side, until the position of the wheel on the first detection point side is consistent with the position of the wheel on the second detection point side, and then adjust the motor frequencies of the wheels on both sides to be consistent.

[0122] In some optional embodiments, the lowering unit comprises:

[0123] A subunit is set up to detect the shunting distance in real time, set the shunting time, and calculate the change in shunting speed according to the set shunting time.

[0124] The control subunit is used to calculate the frequency change of the wheel variable frequency motor according to the detected deviation distance and the set deviation time, and control the frequency of the variable frequency motor of the wheel on the first detection point side to adjust according to the change.

[0125] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0126] The device correction apparatus based on UWB signal and TODA algorithm in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0127] The embodiment of the present invention also provides a computer device having the above Figure 5 The device correction device based on UWB signal and TODA algorithm is shown.

[0128] See also Figure 6 , Figure 6is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0129] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0130] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0131] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0132] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0133] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0134] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the computer device, such as a touch screen, etc. The output device 40 can include a display device, etc.

[0135] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0136] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0137] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope of the present application.

Claims

1. A device correction method based on UWB signal and TODA algorithm, characterized in that: Applied to a device correction system based on UWB signals and TODA algorithm, the system includes a base station arranged around the device to be corrected, the device to be corrected is provided with a detection point, and the method includes: Collect the time when each base station receives the UWB signal transmitted by the detection point, and calculate the time difference when the UWB signal arrives at each base station; According to the time difference and the propagation speed of UWB signals, the distance difference between each base station is calculated, and the coordinate information of each detection point is calculated using the TODA algorithm; The relative positions of the wheels of the device to be corrected are compared according to the coordinate information of each detection point, and the frequency of the wheel variable frequency motor is corrected and adjusted according to the comparison result.

2. The method according to claim 1, characterized in that: The distance difference between each base station is calculated according to the time difference and the UWB signal propagation speed, and the coordinate information of each detection point is calculated using the TODA algorithm, including: The time difference and the UWB signal propagation speed are multiplied to obtain the calculation expression of the distance difference between each base station; Substitute the coordinate information of each base station into the calculation expression of the distance difference between each base station to form a set of equations to solve the coordinate information of each detection point.

3. The method according to claim 1, characterized in that The system also includes a track, and the device to be corrected moves on the track. The relative positions of the wheels of the device to be corrected are compared according to the coordinate information of each detection point, including: If the Y axis in the coordinate information of the detection point is in the same direction as the track, then compare the Y values ​​of each detection point; If the Y value of the first detection point is greater than the Y value of the second detection point, it is determined that the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side.

4. The method according to claim 3, characterized in that The step of correcting and adjusting the frequency of the wheel variable frequency motor according to the comparison result includes: If the position of the wheel on the first detection point side exceeds the position of the wheel on the second detection point side, the frequency of the variable frequency motor of the wheel on the first detection point side is reduced until the position of the wheel on the first detection point side is consistent with the position of the wheel on the second detection point side, and then the motor frequencies of the wheels on both sides are adjusted to be consistent.

5. The method according to claim 4, characterized in that The step of reducing the frequency of the variable frequency motor of the wheel at the first detection point side includes: Detect the deviation distance in real time, set the deviation time, and calculate the change in shunting speed based on the set deviation time; The frequency change of the wheel variable frequency motor is calculated according to the detected deviation distance and the set deviation time, and the frequency of the variable frequency motor of the wheel on the first detection point side is controlled to be adjusted according to the change.

6. A device correction device based on UWB signal and TODA algorithm, characterized in that: The device comprises: The first calculation module is used to collect the time when each base station receives the UWB signal transmitted by the detection point, and calculate the time difference when the UWB signal arrives at each base station; The second calculation module is used to calculate the distance difference between each base station according to the time difference and the UWB signal propagation speed, and calculate the coordinate information of each detection point using the TODA algorithm; The deviation correction module is used to compare the relative positions of the wheels of the device to be corrected according to the coordinate information of each detection point, and to make deviation correction adjustments to the frequency of the wheel variable frequency motor according to the comparison result.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the device correction method based on UWB signal and TODA algorithm according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the device correction method based on UWB signals and TODA algorithm according to any one of claims 1 to 5.

9. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute the device deviation correction method based on UWB signal and TODA algorithm according to any one of claims 1 to 5.

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