UWB-based lift car accurate positioning and self-rescue communication method and system

Abstract

The invention relates to a UWB-based lift car accurate positioning and self-rescue communication method and system, and relates to the field of wireless communication technologies, and the method comprises the steps: obtaining the position of a lift car in response to a fault signal; searching a corresponding anti-falling device number based on the position of the lift car; the anti-falling device corresponding to the anti-falling device number is controlled to execute the fixing scheme; determining a sliding scheme according to the position of the lift car and the number of the anti-falling device; after the anti-falling device is fixed, the lift car is controlled to execute the sliding scheme; and after the sliding scheme is executed, the elevator car floor is determined and output according to the number of the anti-falling device. The method has the effects that the rescue safety is improved when the elevator breaks down, and the UWB is fully utilized to accurately position the lift car.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a UWB-based method and system for precise car positioning and self-rescue communication. Background Technology

[0002] Real-time accurate positioning of the elevator car and reliable communication during malfunctions are core elements for ensuring personnel safety and improving rescue efficiency. Accurate car location data is a prerequisite for maintenance personnel to quickly formulate rescue plans, while continuous and stable communication is a key guarantee for calming trapped personnel and transmitting rescue instructions. The synergy of these two aspects can significantly shorten rescue time and reduce secondary risks.

[0003] Currently, various technical solutions for car positioning and rescue communication have been developed in the industry. Some of these solutions have attempted to introduce UWB (Ultra-Wideband) technology to achieve precise car positioning. The UWB positioning module collects real-time car location data and transmits it to the back-end system. Staff then use the positioning data to develop rescue plans and carry out rescue of trapped personnel and equipment maintenance.

[0004] Regarding the aforementioned technologies, the entire process relies on the teamwork and professional skills of the personnel, as well as the mechanical condition of the safety gear. When the staff does not cooperate properly or the safety gear malfunctions, the danger factor of the elevator increases sharply, which can easily cause secondary impacts on the trapped personnel, and the safety of the rescue needs to be improved. Summary of the Invention

[0005] To improve the safety of rescue operations and avoid secondary impacts on trapped personnel, this invention provides a UWB-based method and system for precise car positioning and self-rescue communication.

[0006] In a first aspect, the present invention provides a UWB-based method for precise positioning and self-rescue communication of a car, employing the following technical solution: A UWB-based method for precise car positioning and self-rescue communication includes: Step 1: In response to a preset fault signal, obtain the car position; Step 2: Locate the corresponding anti-fall device number based on the car's location; Step 3: Control the anti-drop device corresponding to the anti-drop device number to execute the preset fixing scheme; Step 4: Determine the slippage plan based on the car's location and the anti-fall device number; Step 5: After the anti-fall device is secured, control the car to execute the sliding plan; Step 6: After the slippage plan is completed, determine the car floor based on the anti-fall device number and output the result.

[0007] By adopting the above technical solution, the anti-fall device is obtained and fixed according to the position of the car. Then, the sliding scheme is determined and the car is controlled to slide onto the anti-fall device, so that the car can slide to the location corresponding to the floor and be fixed at that location. This avoids the problem of only using the safety clamp to fix the elevator when it malfunctions without other fixing means, and improves the safety and stability of the elevator car during rescue.

[0008] Optionally, a method for detecting the anti-drop device may also be included, the method comprising: Step 60: Obtain standard time; Step 61: When the standard time falls within the preset detection time range, obtain the car running status; Step 62: When the car is in a preset stopped state, acquire an aisle image; Step 63: Obtain character information based on the corridor image and preset character features; Step 64: When the character information is missing, control all anti-drop devices to execute a fixed scheme to obtain the abnormal device and its corresponding abnormal device number; Step 65: If the abnormal device number exists, obtain and output the abnormal alarm signal based on the abnormal device number.

[0009] By adopting the above technical solution, using the standard time as the trigger node, and under the safe premise that the car is in a stopped state and there are no people in the aisle, batch fixing action detection of all anti-fall devices can be carried out. Abnormal devices can be accurately identified and corresponding alarms can be generated, avoiding the situation where the anti-fall devices malfunction when they need to be fixed. This ensures the reliable response of the anti-fall devices in the event of elevator failure and improves the safety and stability of the elevator self-rescue system.

[0010] Optionally, it also includes a method for controlling the car to execute a sliding scheme when an abnormal device number exists, the method comprising: Step 66: When the abnormal device number and the anti-drop device number are the same, find the normal device number based on the abnormal device number; Step 67: Obtain the location of the normal device based on the normal device number; Step 68: Calculate the anti-fall distance based on the normal device position and the car position; Step 69: If the anti-fall distance falls within the preset safe slip distance range, use the normal device number as the anti-fall device number; Step 70: If the fall prevention distance is not within the safe sliding distance range, the sliding plan will not be executed.

[0011] By adopting the above technical solution, when the originally selected anti-fall device malfunctions, the system automatically searches for a normal anti-fall device and calculates its anti-fall distance from the car. The anti-fall device is replaced only when the distance meets the safe sliding range, and the sliding plan is continued. Otherwise, the sliding is terminated. This avoids the problem of the elevator being unable to flexibly adapt to the rescue plan due to the malfunction of the anti-fall device during the self-rescue process, and improves the fault tolerance of the self-rescue process and the safety and stability of the car in emergency situations.

[0012] Optionally, it also includes a method for determining whether the car will execute a sliding plan, the method comprising: Step 71: Upon receiving a fault signal, acquire an image of the interior of the car; Step 72: Obtain information about the trapped personnel based on images inside the elevator car and human characteristics; Step 73: If the information of the trapped personnel is not available, control the car to execute the descent plan; Step 74: If information about trapped personnel exists, analyze the information to obtain information about vulnerable personnel; Step 75: When information about vulnerable personnel exists, do not control the car to execute the descent plan; Step 76: When the information on vulnerable personnel is not available, generate the car sliding projection based on the sliding scheme; Step 77: Control the preset car projection device to output the car sliding projection and control the car to execute the sliding plan.

[0013] By adopting the above technical solution, the system identifies trapped and vulnerable individuals based on images inside the elevator car, and develops targeted strategies for implementing the descent plan. This avoids the problem that traditional elevator self-rescue descent plans fail to differentiate between the individuals inside the car and pose safety hazards to vulnerable individuals. It enhances the humanization and safety of the self-rescue process and protects the lives of different trapped groups during emergency rescue.

[0014] Optionally, if the information on trapped personnel is unavailable, the methods for controlling the car to execute the descent plan include: Step 78: Calculate the distance to the bottom floor based on the car's position; Step 79: If the bottom distance falls within the safe slip distance range, the anti-fall device corresponding to the anti-fall device number will not be controlled to execute the fixed scheme; Step 80: Determine and execute the drop plan based on the car's position; Step 81: If the distance to the bottom floor does not fall within the safe sliding distance range, control the car to execute the sliding plan.

[0015] By adopting the above technical solution, the distance to the ground floor is calculated based on the car's location, and the anti-fall device is activated based on the distance. This achieves differentiated adaptation of rescue solutions in unmanned scenarios, improving the safety of the car in emergency situations and the overall response efficiency of elevator self-rescue.

[0016] Optionally, it also includes a method for controlling the car to continue executing the sliding plan, the method comprising: Step 770: When the car executes the sliding plan, obtain the car sliding status; Step 771: If the car's sliding state is the preset stuck state, re-acquire the car's position and use it as the stuck position of the car; Step 772: Locate the stamping device number based on the jammed position of the car; Step 773: When the stamping device number exists, determine and execute the vibration scheme based on the stamping device number and the jammed position of the car; Step 774: If the box stamping device number does not exist, the vibration scheme will not be executed and the car sliding state and the car jamming position will be output as danger signals; Step 775: If the car is not stuck during the sliding process, control the car to continue executing the sliding plan.

[0017] By adopting the above technical solution, the sliding status of the car is monitored in real time during the sliding process. When a jamming state occurs, the system can automatically match the puncturing device and execute the corresponding vibration program to attempt to release the jam. If there is no puncturing device, a danger signal is output in time. If no jamming occurs, the sliding program continues to advance, which improves the continuity of the self-rescue process and the emergency response capability, and ensures the safety and reliability of elevator malfunction rescue.

[0018] Optionally, it also includes a self-rescue method when the car is stuck in the sliding state, the method including: Step 7710: Determine the door opening area based on the jammed position of the car; Step 7711: If the door opening area reaches the preset exit area, find the best support point based on the door opening area and output it; Step 7712: After the support is completed according to the optimal support point, the escape plan is determined based on the door opening area and the escape projection is generated and output through the car projection device; Step 7713: If the door opening area does not reach the exit area, determine the upper car door number based on the car jamming position; Step 7714: Control the car projection device to output the preset climbing escape video projection; Step 7715: Upon receiving a confirmation climbing signal, control the opening of the escape hatch on the top of the car corresponding to the car and the door corresponding to the upper car door number.

[0019] By adopting the above technical solution, when the car slides down and gets stuck, a differentiated self-rescue strategy can be adopted according to whether the door opening area reaches the exit area. This avoids the problem that the car is stuck and can only be fixed by the safety clamp, resulting in no guarantee of safety. It realizes the precise adaptation and visual guidance of the rescue process in the stuck scenario, and improves the safety, orderliness and operability of self-rescue.

[0020] Optionally, the method for controlling the car to execute the sliding scheme also includes: Step 50: Determine the ladder door number based on the anti-fall device number; Step 51: Determine the status of the corresponding door based on the door number; Step 52: If the elevator door is in the preset normal open state, determine the box receiving point according to the anti-fall device number; Step 53: Slide the car to the receiving point to execute the sliding plan; Step 54: If the elevator door is not in the normal open state, find the corresponding normal elevator door number and normal anti-fall device number based on the elevator door number and the elevator door status. Step 55: Update the anti-drop device number based on the normal anti-drop device number to obtain the updated receiving point; Step 56: Calculate the sliding distance based on the updated receiving point and the car position; Step 57: If the sliding distance falls within the safe sliding distance range, slide the car to the replacement receiving point to execute the sliding plan.

[0021] By adopting the above technical solution, the status of the corresponding elevator door is verified before the car slides down. If the elevator door can be opened normally, the car slides down directly. If the elevator door is abnormal, the system automatically matches the normal elevator door and the corresponding anti-fall device and calculates the new sliding distance. The car slides down only when the distance is within the safe range. This avoids the problem that the traditional self-rescue sliding down scheme is not associated with the status of the elevator door and is prone to the problem that the car cannot be opened smoothly after sliding down. This improves the integrity of the elevator self-rescue process and the convenience of evacuation for trapped personnel.

[0022] Optionally, it also includes a method for sliding the car to the replacement receiving point if the sliding distance does not fall within the safe sliding distance range, the method including: Step 570: Calculate the safe fall floor number based on the safe fall distance range and the car position; Step 571: Obtain the floor number of the door opening point by updating the receiving point; Step 572: Determine the door opening and sliding distance based on the safe sliding floor number and the door opening floor number; Step 573: If the door opening and sliding distance falls within the safe sliding distance range, slide the car to the safe sliding floor number and then slide it to the update receiving point to execute the sliding plan; Step 574: If the door opening and sliding distance does not fall within the safe sliding distance range, proceed to steps 570 to 572 to obtain the safe sliding floor number group; Step 575: Based on the updated receiving point and the safe sliding floor number group, the car will slide down sequentially to execute the sliding plan.

[0023] By adopting the above technical solution, when the distance to the replacement box point exceeds the safe range, the safe sliding floor is calculated and the segmented door opening sliding distance is determined. If the distance meets the requirements, the car falls to the safe floor first and then slides to the target box point. If the distance does not meet the requirements, a safe floor group is generated and the car slides down in segments. This avoids the problem in traditional self-rescue where the car cannot safely reach the target box point due to the single sliding distance exceeding the limit, which can easily cause the car to lose control. This improves the flexibility and safety of the self-rescue solution.

[0024] Secondly, the present invention provides a UWB-based car precise positioning and self-rescue communication system, which adopts the following technical solution: A UWB-based car precise positioning and self-rescue communication system includes: The acquisition module is used to acquire the car position, standard time, car running status, aisle image, car interior image, and car sliding status. The memory is used to store the program of the control method of the UWB-based car precise positioning and self-rescue communication method described above; The processor loads and executes programs from memory.

[0025] By adopting the above technical solution, the acquisition module can accurately collect rescue-related data such as car position and operating status. The memory completes the stable storage of the self-rescue control program, and the processor loads and executes the program to drive the orderly implementation of rescue strategies in each link. This solves the problems of single data acquisition dimension and fragmented command execution link in traditional elevator rescue systems, and improves the overall emergency response capability and rescue reliability of the system.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: 1. By analyzing the position of the car and the corresponding anti-fall device, once the anti-fall device is fixed, the car is controlled to slide down, so that the car can be further fixed, avoiding safety hazards caused by abnormal safety clamps during rescue, and improving the safety of rescue and the stability when the car malfunctions. 2. Based on the information of the trapped personnel, it is determined whether to control the car to slide down, so as to avoid blindly sliding down when the trapped personnel are elderly, weak, sick or disabled, which may cause secondary injury to the vulnerable personnel, thus improving the flexibility and reliability of the sliding plan. Attached Figure Description

[0027] Figure 1This is a flowchart of a UWB-based car precise positioning and self-rescue communication method according to an embodiment of this application; Figure 2 This is a scenario diagram of a UWB-based car precise positioning and self-rescue communication method according to an embodiment of this application. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] This invention discloses a UWB-based method for precise car positioning and self-rescue communication.

[0030] Reference Figure 1 A UWB-based method for precise car positioning and self-rescue communication includes: Step 1: In response to a preset fault signal, obtain the car position.

[0031] A fault signal refers to a signal indicating an elevator malfunction. The response method here is that the system collects data through sensors, and the main control unit judges and identifies the fault. First, sensors such as speed, door position, and temperature in the traction machine, car, and door operator collect operating data in real time. Then, the main control unit compares the data with normal thresholds. Once the data exceeds the limit or triggers fault logic (such as overspeed or door not locking), a fault signal is immediately generated.

[0032] The car position refers to the real-time spatial orientation of the elevator car relative to the floor within the elevator shaft. This is achieved using UWB positioning technology. UWB positioning base stations are deployed at key locations within the elevator shaft (such as above the landing doors, the top and bottom of the shaft), and a UWB positioning tag is installed on the top of the car. When the system receives a fault signal, the UWB tag transmits ultra-wideband wireless signals to each base station. After receiving the signals, the base stations calculate the time-of-flight or time-of-arrival (TOF or TDOA) to accurately determine the relative distance between the car and each base station. The main control unit then integrates the data from multiple base stations to calculate the car's real-time vertical height within the shaft (e.g., the exact distance from the first-floor sill), the deviation from the nearest floor level, and other orientation information, ultimately generating high-precision car position data.

[0033] Step 2: Locate the corresponding anti-fall device number based on the car's location.

[0034] The anti-fall device number refers to the unique number of the device that prevents the car from falling rapidly within the hoistway. The lookup method is as follows: each floor has an anti-fall device. Staff assign a unique number to each anti-fall device on each floor and input it into the system. When the system receives a fault signal, it determines the floor where the car is located based on the car's position, and then outputs the number of the first anti-fall device located below the car as the anti-fall device number.

[0035] Step 3: Control the anti-drop device corresponding to the anti-drop device number to execute the preset fixing scheme.

[0036] The fixed solution refers to the solution of fixing the anti-fall device corresponding to the number of the anti-fall device. The execution method here is that the system sends an action command to the anti-fall device with the corresponding number, and the drive device completes the mechanical locking and structural fixation to execute the plan.

[0037] Step 4: Determine the slippage plan based on the car's location and the anti-fall device number.

[0038] The sliding plan refers to the scheme in which the car slides down to the anti-fall device. The method for determining this is as follows: the system first matches the real-time position of the car with the spatial parameters such as the receiving height and coverage area of ​​the corresponding numbered anti-fall device to confirm whether the car is within the safe area. Then, based on the height difference between the two, the sliding strategy is matched, and the core parameters such as the brake release sequence and the car's downward movement range are determined as the sliding plan.

[0039] Step 5: After the anti-fall device is fixed, control the car to execute the sliding plan.

[0040] The execution method here is as follows: the system verifies that the anti-fall device is securely locked, then cuts off the circuit of the faulty component and triggers the emergency safety circuit, sends a command to the emergency execution component, controls the car to descend slowly and uniformly, and monitors the speed in real time, so that the elevator car slides smoothly to the anti-fall device bearing surface to execute the sliding plan.

[0041] Step 6: After the slippage plan is completed, determine the car floor based on the anti-fall device number and output the result.

[0042] The elevator car floor refers to the floor the elevator car lands on smoothly. This is determined by staff mapping the anti-fall device numbers to different floors and inputting this information into the system. After the fall prevention procedure is executed, the system uses the anti-fall device numbers to locate the corresponding floor as the elevator car floor. The system outputs the matched floor information synchronously across multiple devices, including the elevator control cabinet display, hoistway floor indicator lights, and the monitoring center terminal. It can also send floor notification SMS messages or app notifications to the mobile devices of maintenance and rescue personnel, and automatically announce the current floor in the elevator car's emergency intercom system.

[0043] This also includes a detection method for the anti-drop device, which includes: Step 60: Obtain standard time.

[0044] Standard time refers to the current time. Here, the system obtains accurate UTC time by connecting to a standard time server via the Network Time Protocol (NTP) and converting it to local time. Simultaneously, it calibrates the built-in Real-Time Clock (RTC) module. If the network is disconnected, the system directly reads the time from the RTC module.

[0045] Step 61: When the standard time falls within the preset detection time range, obtain the car's operating status.

[0046] The detection time range refers to the time interval during which the anti-drop device is checked for abnormalities. This range is set by those skilled in the art based on actual human lifestyles, for example, 1 AM to 3 AM.

[0047] The car's operating status refers to the real-time operating condition of the elevator car. This is obtained by the system directly retrieving the operating status signals from the elevator traction machine's contactor, frequency converter, or brake to determine whether the car is running and thus acquire the car's operating status.

[0048] When the standard time falls within the detection time range, it means that the anti-fall device can be tested to see if it can start normally, so as to avoid malfunctions and damage during use. However, the normal operation of the elevator cannot be affected before the test, so the car operation status is obtained.

[0049] Step 62: When the car is in the preset stopped state, acquire the aisle image.

[0050] The stopped state refers to the elevator car being stationary within a preset detection time range, where the traction machine has no drive output, the brake is fully locked, and the car position has not undergone any displacement.

[0051] The corridor image refers to a picture of the corridor leading to the elevator car door. This image is obtained by the system using high-definition cameras installed in the corridor.

[0052] When the car is in a stopped state, it means that the elevator is not running. However, in order to prevent people from needing to use the elevator, the corridor image is captured.

[0053] Step 63: Obtain character information based on the corridor image and preset character features.

[0054] Human features refer to key visual identifiers used to identify people within the aisle area. These features include, but are not limited to, core visual information such as human silhouette, body posture, facial features, and clothing characteristics. Human information refers to core status and distribution data regarding people within the aisle. This includes, but is not limited to, the presence of people, their approximate number, and their activity status. This information is obtained by the system inputting the acquired aisle images into the image recognition module. Image preprocessing optimizes the image quality, and then a pre-defined human feature recognition model is invoked to scan the image region by region, extracting visual features such as human silhouettes and body postures. Algorithms filter and eliminate misidentified non-human targets, ultimately integrating the data to obtain the human information.

[0055] Step 64: When the character information is missing, control all anti-drop devices to execute a fixed scheme to obtain the abnormal device and its corresponding abnormal device number.

[0056] An abnormal device refers to an anti-fall device that fails to complete the fixation plan. The abnormal device number is a unique identifier for each anti-fall device that fails to complete the fixation plan. This is obtained by the system issuing a unified fixation action command to all anti-fall devices, then transmitting real-time action status data via built-in position and pressure sensors. After receiving the feedback data, the system verifies whether each device has fully completed the fixation plan according to the completion judgment criteria. Anti-fall devices that fail to fully complete the fixation plan are identified as abnormal devices, and their identifiers are used as the abnormal device number.

[0057] When the character information is not available, it means that no one will be using the elevator at this time, and it will not affect the normal operation of the elevator. Therefore, control all anti-fall devices to execute the fixed scheme to obtain the abnormal device and the corresponding abnormal device number.

[0058] Step 65: If the abnormal device number exists, obtain and output the abnormal alarm signal based on the abnormal device number.

[0059] An abnormal alarm signal refers to an alarm signal highlighting a malfunctioning device. This is obtained by the system retrieving the basic information of the malfunctioning device (such as its floor and device type) corresponding to its number. Then, according to the alarm signal encoding rules, the system embeds the malfunctioning device number, its floor, and other core information into the alarm signal's data packet, generating an abnormal alarm signal containing the specific identifier of the malfunctioning device. The output method involves the system pushing the abnormal alarm signal to the dedicated maintenance terminal for maintenance personnel and the maintenance headquarters' security monitoring platform.

[0060] If an abnormal device number exists, it indicates that an anti-drop device is malfunctioning and needs maintenance. To prevent the anti-drop device from failing to operate properly when needed, an abnormal alarm signal is generated and output based on the abnormal device number.

[0061] This also includes a method for controlling the car to execute a sliding plan when an abnormal device number exists, the method comprising: Step 66: When the abnormal device number and the anti-drop device number are the same, find the normal device number based on the abnormal device number.

[0062] The "normal device number" refers to the number of the anti-drop device that can complete the fixed plan. The search method here is that the system filters the anti-drop device numbers based on the "abnormal device number" to obtain the normal device number.

[0063] If the number of the abnormal device matches the number of the anti-fall device, it means that the anti-fall device is abnormal and cannot be opened normally to prevent the car from falling. Therefore, the normal device number should be found based on the number of the abnormal device.

[0064] Step 67: Obtain the location of the normal device based on the normal device number.

[0065] The normal device location refers to the specific location of the normal device. Here, the normal device location is the floor where the device is located. The method for obtaining this is the same as the method for obtaining the car floor described in step 6. Here, only the anti-fall device number is changed to the normal device number, and the car floor is changed to the normal device location.

[0066] Step 68: Calculate the anti-fall distance based on the normal device position and the car position.

[0067] The anti-fall distance refers to the distance from the elevator car to the anti-fall device that can be properly secured. The calculation method here involves the system converting the floor where the normal anti-fall device is located and the real-time position of the car into a unified absolute height with the bottom of the shaft as zero. Then, the vertical height difference between the two is calculated using an absolute value formula as the anti-fall distance.

[0068] Step 69: If the anti-fall distance falls within the preset safe slip distance range, use the normal device number as the anti-fall device number.

[0069] The safe fall distance range refers to the vertical distance within which the elevator car can smoothly fall onto the bearing surface of the normal anti-fall device without significant damage or impact to the car structure, internal equipment, or any trapped personnel. This safe fall distance is determined by professionals in the field through numerous experiments, and any distance within this limit is considered the safe fall distance and input into the system.

[0070] If the anti-fall distance falls within the safe slip distance range, it means that the elevator can smoothly fall onto the new anti-fall device. Therefore, the normal device number is used as the anti-fall device number.

[0071] Step 70: If the fall prevention distance is not within the safe sliding distance range, the sliding plan will not be executed.

[0072] If the anti-fall distance does not fall within the safe slip distance range, it means that the elevator car cannot safely and smoothly land on the anti-fall device, and therefore the slip plan will not be executed.

[0073] This also includes a method for determining whether the car is to execute a sliding plan, the method comprising: Step 71: Upon receiving a fault signal, acquire an image of the interior of the car.

[0074] Images inside the elevator car refer to pictures taken inside the elevator car. These images are obtained in real-time by the system using cameras located inside the elevator car.

[0075] Upon receiving a fault signal, it is necessary to identify the trapped personnel; therefore, images of the interior of the elevator car are acquired first.

[0076] Step 72: Obtain information about the trapped personnel based on the images inside the elevator car and their characteristics.

[0077] Information on trapped personnel refers to the information of people trapped inside the elevator car. This information includes, but is not limited to, the number of people and their physical characteristics (whether they are children, pregnant women, etc.). The method for obtaining this information involves the system performing preprocessing on the images, such as noise reduction and de-glare removal, to improve recognition accuracy. Then, it uses a human feature recognition model to segment the image into regions and detect targets, extracting features such as personnel contours and body postures. Next, it compares multiple frames to count the number of people, while simultaneously identifying and marking the presence of special groups such as children, pregnant women, and people with disabilities. Finally, it integrates information such as the number of people and the types of special groups into the information on trapped personnel.

[0078] Step 73: If the information of the trapped personnel is not available, control the car to execute the descent plan.

[0079] If the information of trapped personnel is not available, it means that there are no people riding in the elevator car at this time, and there is no need to worry about whether there will be any casualties. Therefore, the elevator car is controlled to execute the sliding plan.

[0080] Step 74: If information about trapped personnel exists, analyze the information about trapped personnel to obtain information about vulnerable personnel.

[0081] Information on vulnerable individuals refers to data related to special groups among the trapped individuals whose physical functions are relatively weak and who require priority for targeted rescue and support. This information includes, but is not limited to, information on young children, pregnant women, the elderly, and other vulnerable, infirm, or disabled individuals. The information is obtained by comparing the trapped individuals' information with the vulnerable individuals' information according to the system's vulnerability identification rules to filter out those who meet the rules and designate them as vulnerable individuals.

[0082] If the information of trapped persons exists, it means that there are passengers inside the elevator car at this time. In order to avoid blindly implementing the sliding plan and causing panic or injury, the information of trapped persons is first analyzed to obtain the information of vulnerable persons.

[0083] Step 75: When information about vulnerable personnel exists, do not control the car to execute the descent plan.

[0084] When information about vulnerable individuals is present, it indicates that a passenger is susceptible to injury or fright. To avoid secondary injury caused by the elevator car sliding down, the elevator car is not controlled to execute the sliding plan.

[0085] Step 76: When the information of vulnerable personnel is not available, generate the car sliding projection based on the sliding scheme.

[0086] The car descent projection refers to a visual dynamic projection video used to demonstrate the entire process of the car descent to the landing surface of the anti-fall device. The generation method involves the system retrieving core parameters from the descent scheme (including the car's initial position, descent speed, buffer sequence, and the anti-fall device's landing posture), then calling the built-in 3D scene modeling module to load the digital models of the elevator shaft, car, and anti-fall device. Following the parameter-defined trajectory and timing, the model is driven to complete the dynamic simulation of the car descent to the anti-fall device's landing surface. Finally, the rendering engine generates a complete visual dynamic projection video of the car descent.

[0087] Step 77: Control the preset car projection device to output the car sliding projection and control the car to execute the sliding plan.

[0088] The elevator car projection device refers to the device that outputs a projection of the elevator car as it slides down. Examples include professional elevator advertising projectors and small short-throw projectors. The output method here involves the system sending a projection start command to the projection device. After receiving the command, the device uses its built-in light sensor to detect the real-time illuminance inside the car, automatically adjusting the projection brightness and contrast to match the lighting environment. Then, it calls up the elevator car's sliding projection video file and projects the image through the projection device. This execution method is consistent with step 5 and will not be repeated here.

[0089] If information about trapped personnel is unavailable, the methods for controlling the car to execute the descent plan include: Step 78: Calculate the distance to the bottom floor based on the car's position.

[0090] The distance to the bottom floor refers to the distance from the elevator car to the lowest floor. The calculation method here is the same as the method for calculating the anti-fall distance described in step 68, only the calculation object is changed to the lowest floor.

[0091] Step 79: If the distance to the bottom layer falls within the safe slip distance range, the anti-fall device corresponding to the anti-fall device number is not controlled to execute the fixed scheme.

[0092] If the distance to the bottom floor falls within the safe sliding distance range, it means that the elevator car can be controlled to slide directly to the bottom floor. Therefore, the anti-fall device corresponding to the anti-fall device number is not controlled to execute the fixed scheme.

[0093] Step 80: Determine and execute the drop plan based on the car's position.

[0094] The drop plan refers to the scheme for controlling the elevator car to slide to the lowest floor. The method here involves the system retrieving the absolute height reference value of the lowest floor, combining it with the real-time position of the car to accurately calculate the distance to the lowest floor, then analyzing whether the distance falls within the safe drop distance range, and simultaneously confirming that the elevator emergency braking system and buffer devices (such as the lowest floor car buffer) are in normal standby mode. Next, based on the car's own weight, internal load (including the weight of trapped personnel; if no personnel are trapped, it's just the car's own weight), and the load-bearing parameters of the lowest floor buffer device, the system automatically matches graded drop parameters (such as uniform descent speed and emergency braking trigger threshold), integrating them to form a directly executable drop plan. The execution method here is the same as the method described in step 5 for executing the drop plan, only changed to sliding to the lowest floor.

[0095] Step 81: If the distance to the bottom floor does not fall within the safe sliding distance range, control the car to execute the sliding plan.

[0096] If the distance to the bottom floor is not within the safe sliding distance range, it indicates that the distance between the car and the bottom floor is too large. In order to avoid the car sliding to the bottom floor and causing greater losses, the car is controlled to execute the sliding plan.

[0097] This also includes a method for controlling the car to continue executing the sliding plan, the method comprising: Step 770: When the car executes the sliding plan, obtain the car sliding status.

[0098] The car's sliding status refers to the combined state of its real-time operating parameters and attitude data during the execution of the sliding plan. This data is obtained by the system monitoring the displacement changes and velocity status of the car in real time during the sliding process using displacement sensors, velocity sensors on the car, and obstacle detection sensors in the hoistway.

[0099] When the car is executing the sliding plan, it is explained that the car is sliding down to the anti-fall device. In order to ensure the car slides stably, the sliding status of the car is obtained.

[0100] Step 771: If the car's sliding state is the preset stuck state, reacquire the car's position and use it as the stuck position of the car.

[0101] A stuck state refers to an abnormal state in which the car's sliding motion stops and it cannot move towards the anti-fall device. The stuck car position refers to the location of the car when it is stuck. The method for obtaining the car position here is the same as that described in step 1. After obtaining the car position again, this car position is used as the stuck car position.

[0102] If the car is stuck in the sliding state, it means that the car cannot slide down to the anti-fall device and is blocked in the hoistway. Therefore, the car position is re-acquired and used as the stuck position of the car.

[0103] Step 772: Locate the stamping device number based on the jammed position of the car.

[0104] The "poke box device number" is a unique identifier for a device that can slightly poke the elevator car, causing a slight horizontal movement. The system determines the floor where the elevator car is stuck based on its position, then identifies the corresponding anti-fall device based on that floor, and uses the anti-fall device's number as the poke box device number. In this case, the device corresponding to the poke box device number and the device corresponding to the anti-fall device number are the same device.

[0105] Step 773: When the stamping device number exists, determine the vibration scheme and execute it based on the stamping device number and the jammed position of the car.

[0106] The vibration scheme refers to the method for moving the elevator car horizontally. Here, the method of determination involves the system combining the hoistway space dimensions corresponding to the car's jammed position, the jamming orientation of the car and hoistway components, matching the corresponding device, and then setting the pawing frequency according to the degree of jamming. This is ultimately integrated into a vibration scheme for pawing the elevator car. The execution method involves the system sending a vibration scheme command to the corresponding numbered pawing device. After receiving the command, the device performs precise, small-amplitude horizontal pawing at the jammed contact points of the car according to the pawing frequency. During the pawing process, a position sensor simultaneously monitors the horizontal displacement of the car. Pawing immediately stops when the jamming state is detected to be resolved.

[0107] When the stamping device number exists, it indicates that the elevator car can be slightly adjusted by stamping the stamping device. Therefore, the vibration scheme is determined and implemented based on the stamping device number and the stuck position of the car.

[0108] Step 774: If the stamping device number does not exist, the vibration scheme is not executed and the car sliding state and the car jamming position are output as danger signals.

[0109] A danger signal is a signal that the elevator car cannot be further secured by the anti-fall device. Here, the system integrates the collected car jamming status information (including the stage of jamming and the type of jamming) with the precise coordinates of the car jamming location to generate a standardized alarm data packet to obtain the danger signal. The output method is that the system simultaneously pushes this danger signal to the elevator maintenance monitoring platform, the property security center, and the emergency rescue command terminal through the elevator emergency communication module.

[0110] If the stamp box device number is not present, it indicates that the elevator is stuck in a position that cannot be adjusted slightly by external force. In order to avoid accidents before rescue, the vibration plan will not be implemented and the car sliding state and the car stuck position will be output as danger signals.

[0111] Step 775: If the car is not stuck during the sliding process, control the car to continue executing the sliding plan.

[0112] If the car is not stuck during its descent, it means that the car can safely and smoothly slide onto the anti-fall device. Therefore, the car should continue to execute the descent plan.

[0113] This also includes a self-rescue method when the car is stuck in the sliding state, the method including: Step 7710: Determine the door opening area based on the jammed position of the car.

[0114] The door opening area refers to the area visible to the outside after the elevator car door is opened. This area is determined by the system using architectural layout data of the elevator shaft and building floors, combined with the precise coordinates of the car's stuck position to match the corresponding floor area. Then, based on the opening and closing range of the car door, the system filters out the external space aligned with the car door's opening direction and connected to the building corridor. The area within this connected space that passengers can directly observe (including horizontal viewing width and vertical viewing height) is designated as the door opening area.

[0115] Step 7711: If the door opening area reaches the preset exit area, find the best support point based on the door opening area and output it.

[0116] The exit area refers to the area with open doors that allows passengers to escape. The exit area is defined by researchers in the field based on numerous experiments, identifying a critical value suitable for most people to escape from the elevator car.

[0117] The optimal support point refers to a simple support position for the elevator to prevent unexpected support caused by the elevator shaking during an escape. The search method involves using different support positions corresponding to different door opening areas. Personnel skilled in the art create support positions for different opening areas, and the position that can temporarily stabilize the elevator is input into the system as the optimal support point. When the system needs to find the optimal support point, it searches for the corresponding support point based on the door opening area. The output method involves the system creating a support point model based on the standard model of the elevator car and the optimal support point, and then transmitting this model to the projection device for output.

[0118] If the door opening area reaches the exit area, it means that you can leave the car through the car door. At this time, in order to prevent the car from falling or other emergencies, the best support point is found and output based on the door opening area.

[0119] Step 7712: After the optimal support point is completed, the escape plan is determined based on the door opening area and an escape projection is generated and output through the car projection device.

[0120] An escape plan refers to a plan to help trapped people leave a malfunctioning elevator. The method for determining this plan is as follows: the system plans an escape route based on the building structure parameters of the door opening area (including the width of the corridor, the location of the escape exit, and the evacuation routes of each floor), combined with the door opening range at the jammed position of the car, the stability of the best support point, and the distribution of trapped people (especially the weak). Then, based on the characteristics of the route, the escape process is defined (such as the door opening sequence, the order of personnel evacuation, precautions for the protection of support points, and emergency refuge points) to form a targeted escape plan.

[0121] Escape projection refers to a projection demonstrating an escape plan to help trapped personnel escape from an elevator. The generation method here involves the system using core elements of a predetermined escape plan, including escape routes, door opening sequence, evacuation order, support point protection points, and emergency refuge locations. It then calls the built-in visualization modeling module to load digital scene models of the elevator car's jammed position, door opening areas, and corresponding floor corridors. Following the escape plan's process logic, the model dynamically renders the entire escape demonstration animation, ultimately generating an escape projection video that intuitively guides trapped personnel to evacuate. The output method here is consistent with step 77.

[0122] After the optimal support points are established, it indicates that the escape can begin. To make the escape smoother, an escape plan is determined based on the door opening area, an escape projection is generated, and the projection is output through the car projection device.

[0123] Step 7713: If the door opening area does not reach the exit area, determine the upper car door number based on the car jam position.

[0124] The upper-level car door number refers to the unique identifier of the car door corresponding to the floor directly above the elevator car. This is determined by the system obtaining the vertical height coordinates of the stuck position of the car, comparing them with the baseline height data of each floor, locating the two adjacent floors where the car is stuck, and then using the unique identifier of the car door corresponding to the floor with the higher vertical height as the upper-level car door number. For example, if the elevator is stuck between the 12th and 13th floors, then the upper-level car door number is 13.

[0125] If the door opening area does not reach the exit area, it means that it is not possible to leave the faulty elevator directly through the car door. Therefore, the upper car door number is determined based on the stuck position of the car.

[0126] Step 7714: Control the car projection device to output the preset climbing escape video projection.

[0127] Climbing escape video projection refers to a video projection that helps trapped people climb out from the top of the elevator car to escape. The output method here is the same as the output projection method described in step 77.

[0128] Step 7715: Upon receiving a confirmation climbing signal, control the opening of the escape hatch on the top of the car corresponding to the car and the door corresponding to the upper car door number.

[0129] A climbing confirmation signal indicates that trapped individuals have decided to climb from the top of the elevator car to escape. This signal is received after the climbing escape video projection is complete; a climbing confirmation option will then be displayed, and the user can confirm by clicking the corresponding button. The elevator car top escape hatch refers to the exit at the top of the elevator car used for escape or maintenance.

[0130] Upon receiving a confirmation climbing signal, it indicates that the trapped personnel have decided to leave the elevator through the top escape hatch. At this time, the control system opens the escape hatch on the top of the control car and the door corresponding to the door number of the upper car.

[0131] The methods for controlling the car to execute the sliding plan also include: Step 50: Determine the ladder door number based on the anti-fall device number.

[0132] The elevator door number refers to the unique number of the elevator door on the floor where the anti-fall device is located. The method of determination is that each elevator door on each floor has a unique number, which is pre-arranged and set by the staff and entered into the system. When the system receives the anti-fall device number, it automatically looks up the corresponding elevator door number based on the anti-fall device number.

[0133] Step 51: Determine the status of the corresponding ladder door based on the ladder door number.

[0134] Elevator door status refers to the opening, closing, and operational status of the elevator doors on the corridor side. This includes both normally openable and abnormally inaccessible states. The system determines this status by matching the elevator door number with the bound target elevator door on the corridor side, then collecting the door's infrared sensor signal, door limit switch signal, and AI camera image data. The system then performs comprehensive analysis to determine the elevator door status.

[0135] Step 52: If the elevator door is in the preset normal open state, determine the box receiving point according to the anti-fall device number.

[0136] "Normal opening status" refers to the working condition where the elevator doors can be opened normally, allowing trapped personnel to enter and exit. The receiving point refers to the location where the elevator car slides down to. This is determined by the system using the anti-fall device number to identify the position where the bottom of the elevator contacts the anti-fall device as the receiving point.

[0137] If the elevator door is in the normally open state, it means that the trapped person can leave the floor. Therefore, the receiving point is determined according to the anti-fall device number.

[0138] Step 53: Slide the car to the receiving point to execute the sliding procedure.

[0139] The descent method here involves cutting off the normal drive signal of the car, locking the coordinates of the car docking point, and implementing corresponding low-speed downward power control according to the elevator type. At the same time, safety devices such as the speed limiter and safety brake provide full protection.

[0140] Step 54: If the elevator door is not in the normal open state, find the corresponding normal elevator door number and normal anti-fall device number based on the elevator door number and the elevator door status.

[0141] The normal elevator door number refers to the unique number of the outer door of the elevator that can be opened normally. The search method here is as follows: the system obtains the status of all elevator doors according to the method described in step 51, then statistically filters out the numbers of elevator doors that can be opened normally, and finally finds the nearest elevator door number located below the car as the normal elevator door number. The normal anti-fall device number refers to the unique number of the anti-fall device on the floor corresponding to the elevator door that can be opened normally. The search method here is to use the anti-fall device number corresponding to the floor with the normal elevator door number as the normal anti-fall device number.

[0142] If the elevator door is not in the normal open state, it means that even if the person falls to that floor, the trapped person cannot escape through the elevator door. Therefore, based on the elevator door number and the elevator door status, find the corresponding normal elevator door number and normal anti-fall device number.

[0143] Step 55: Update the anti-drop device number based on the normal anti-drop device number to obtain the updated receiving point.

[0144] The update junction box point refers to the location where the elevator's outer door can be opened and contacts the bottom of the elevator. This point is determined by using the location of the normal anti-fall device's serial number as the update junction box point.

[0145] Step 56: Calculate the sliding distance based on the updated receiving point and the car position.

[0146] The slip distance refers to the distance the car slips from the location of the malfunction to the replacement receiving point. The calculation method here is the same as the distance calculation method described in step 68.

[0147] Step 57: If the sliding distance falls within the safe sliding distance range, slide the car to the replacement receiving point to execute the sliding plan.

[0148] If the sliding distance falls within the safe sliding distance range, it means that the car can slide down so that the trapped people can escape directly from the elevator door. Therefore, the car is slid down to the replacement box receiving point to execute the sliding plan.

[0149] This also includes a method for sliding the car to the replacement receiving point if the sliding distance does not fall within the safe sliding distance range. This method includes: Step 570: Calculate the safe fall floor number based on the safe fall distance range and the car position.

[0150] The safe landing floor number refers to a unique number indicating the floor the elevator can safely and smoothly reach from its current position. This is calculated by the system selecting floors whose vertical distance from the current position of the elevator car is within the safe landing distance range and which are equipped with anti-fall devices.

[0151] Step 571: Obtain the floor number of the door opening point by updating the receiving point.

[0152] The floor number that opens the elevator's outer door is a unique number. This is obtained by the system based on the updated junction box point, which provides the corresponding anti-fall device and its associated number. Then, the system retrieves the stored floor number that opens the elevator using the anti-fall device's number.

[0153] Step 572: Determine the door opening and sliding distance based on the safe sliding floor number and the door opening floor number.

[0154] The door-opening slip distance refers to the distance from the floor where the door is opened to the floor where the fall is made, after the safe slip floor. The method for determining this is the same as the method used in step 68 to calculate the anti-fall distance.

[0155] Step 573: If the door opening and sliding distance falls within the safe sliding distance range, slide the car to the safe sliding floor number and then slide it to the update receiving point to execute the sliding plan.

[0156] If the sliding distance after the door opens falls within the safe sliding distance range, it means that the car can reach the replacement box receiving point after two slides and evacuate the trapped personnel from the elevator door. Therefore, the car will slide to the safe sliding floor number and then slide to the replacement box receiving point to execute the sliding plan.

[0157] Step 574: If the door opening and sliding distance does not fall within the safe sliding distance range, proceed with steps 570 to 572 to obtain the safe sliding floor number group.

[0158] A safe landing floor number group refers to a combination of unique numbers representing safe landing floors that the elevator can reach. The method used here is the same as that described in step 570, where multiple safe landing floor numbers are combined to form a safe landing floor number group.

[0159] If the sliding distance after opening the door does not fall within the safe sliding distance range, it means that it is not possible to reach the floor where the door can be opened by sliding twice. Therefore, steps 570 to 572 are executed to obtain the safe sliding floor number group.

[0160] Step 575: Based on the updated receiving point and the safe sliding floor number group, the car will slide down sequentially to execute the sliding plan.

[0161] The control car slides down sequentially to the safe landing floor, and finally arrives at the update receiving point to execute the landing plan.

[0162] Based on the same inventive concept, embodiments of the present invention provide a car precise positioning and self-rescue communication system based on UWB.

[0163] One of them, a UWB-based car precise positioning and self-rescue communication system, includes: The acquisition module is used to acquire the car position, standard time, car running status, aisle image, car interior image, and car sliding status.

[0164] The memory is used to store the program of a control method for a UWB-based car precise positioning and self-rescue communication method.

[0165] The processor loads and executes programs from memory.

[0166] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0167] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A UWB-based precise positioning of a car and self-rescue communication method, characterized in that, Comprising: Step 1: in response to a preset fault signal, obtaining a car position; Step 2: based on the car position, finding the corresponding anti-falling device number; Step 3: control the anti-falling device corresponding to the anti-falling device number to execute the preset fixing scheme; Step 4: determine the sliding scheme according to the car position and the anti-falling device number; Step 5: after the anti-falling device is fixed, control the car to execute the sliding scheme; Step 6: when the sliding scheme is executed, determine the car floor according to the anti-falling device number and output.

2. The UWB-based precise positioning and self-rescue communication method for a car according to claim 1, characterized in that, Also includes a detection method of the anti-falling device, the method comprising: Step 60: obtain a standard time; Step 61: when the standard time falls within a preset detection time range, obtain a car running state; Step 62: when the car running state is a preset stop state, obtain a walkway image; Step 63: based on the walkway image and a preset human feature, obtain human information; Step 64: when the human information is absent, control all anti-falling devices to execute a fixing scheme to obtain an abnormal device and a corresponding abnormal device number; Step 65: if the abnormal device number exists, obtain an abnormal alarm signal based on the abnormal device number and output.

3. The UWB-based precise positioning and self-rescue communication method for elevator cars according to claim 2, characterized in that, Also includes a method for controlling the car to execute the sliding scheme if the abnormal device number exists, the method comprising: Step 66: when the abnormal device number is consistent with the anti-falling device number, find a normal device number according to the abnormal device number; Step 67: based on the normal device number, obtain a normal device position; Step 68: calculate the anti-falling distance according to the normal device position and the car position; Step 69: if the anti-falling distance falls within a preset safe sliding distance range, take the normal device number as the anti-falling device number; Step 70: if the anti-falling distance does not fall within the safe sliding distance range, do not execute the sliding scheme.

4. The UWB-based precise positioning and self-rescue communication method for elevator cars according to claim 3, characterized in that, Also includes a judgment method for controlling the car to execute the sliding scheme, the method comprising: Step 71: when a fault signal is received, obtain a car interior image; Step 72: obtain trapped personnel information according to the car interior image and a human feature; Step 73: if the trapped personnel information is absent, control the car to execute the sliding scheme; Step 74: if the trapped personnel information exists, disassemble the trapped personnel information to obtain small personnel information; Step 75: when the small personnel information exists, do not control the car to execute the sliding scheme; Step 76: when the small personnel information is absent, generate a car sliding projection based on the sliding scheme; Step 77: control a preset car projection device to output the car sliding projection and control the car to execute the sliding scheme.

5. The UWB-based precise positioning and self-rescue communication method for an elevator car according to claim 4, characterized by, If the trapped personnel information is absent, the method for controlling the car to execute the sliding scheme comprises: Step 78: calculate a bottom layer distance based on the car position; Step 79: if the bottom layer distance falls within a safe sliding distance range, do not control the anti-falling device corresponding to the anti-falling device number to execute the fixing scheme; Step 80: determine a falling scheme based on the car position and execute it; Step 81: if the bottom layer distance does not fall within the safe sliding distance range, control the car to execute the sliding scheme.

6. The UWB-based precise positioning and self-rescue communication method for an elevator car according to claim 4, characterized by, Also includes a method for controlling the car to continue to execute the sliding scheme, the method comprising: Step 770: when the car executes the sliding scheme, obtain a car sliding state; Step 771: If the car sliding state is the preset stuck state, reacquire the car position and take it as the car stuck position; Step 772: Find the stent device number according to the car stuck position; Step 773: If the stent device number exists, determine the vibration scheme according to the stent device number and the car stuck position and execute it; Step 774: If the stent device number does not exist, do not execute the vibration scheme and output the car sliding state and the car stuck position as a danger signal; Step 775: If the car sliding state is not the stuck state, control the car to continue executing the sliding scheme.

7. The UWB-based precise positioning and self-rescue communication method for elevator cars according to claim 6, characterized in that, Also included is a self-rescue method when the car sliding state is the stuck state, which includes: Step 7710: Determine the door opening area according to the car stuck position; Step 7711: If the door opening area reaches the preset exit area, find the best support point based on the door opening area and output it; Step 7712: After supporting according to the best support point, determine the escape scheme based on the door opening area and generate an escape projection and output it through the car projection device; Step 7713: If the door opening area does not reach the exit area, determine the upper car door number according to the car stuck position; Step 7714: Control the car projection device to output a preset climbing escape video projection; Step 7715: When a confirmation climbing signal is received, control the car to open the corresponding car roof escape opening and the door corresponding to the upper car door number.

8. The UWB-based precise positioning and self-rescue communication method for elevator cars according to claim 1, characterized in that, The method of controlling the car to execute the sliding scheme further includes: Step 50: Determine the ladder door number according to the anti-falling device number; Step 51: Determine the corresponding ladder door state according to the ladder door number; Step 52: If the ladder door state is the preset normal opening state, determine the stent point according to the anti-falling device number; Step 53: Slide the car to the stent point to execute the sliding scheme; Step 54: If the ladder door state is not the normal opening state, find the corresponding normal ladder door number and normal anti-falling device number based on the ladder door number and the ladder door state; Step 55: Update the anti-falling device number based on the normal anti-falling device number to obtain an updated stent point; Step 56: Calculate the sliding distance based on the updated stent point and the car position; Step 57: If the sliding distance falls within the safe sliding distance range, slide the car to the updated stent point to execute the sliding scheme.

9. The UWB-based precise positioning and self-rescue communication method for an elevator car according to claim 5, characterized by, Also included is a method of sliding the car to the updated stent point when the sliding distance does not fall within the safe sliding distance range, which includes: Step 570: Calculate the safe sliding floor number based on the safe sliding distance range and the car position; Step 571: Obtain the door opening floor number through the updated stent point; Step 572: Determine the door opening sliding distance according to the safe sliding floor number and the door opening floor number; Step 573: If the door opening sliding distance falls within the safe sliding distance range, slide the car to the safe sliding floor number and then to the updated stent point to execute the sliding scheme; Step 574: If the door opening sliding distance does not fall within the safe sliding distance range, execute steps 570 to 572 to obtain a safe sliding floor number set; Step 575: Slide the car in sequence based on the updated stent point and the safe sliding floor number set to execute the sliding scheme.

10. A UWB-based precise positioning of a car and self-rescue communication system, characterized by, ​ An acquisition module is configured to acquire the car position, the standard time, the car running state, the walkway image, the car interior image, and the car sliding state. A memory is configured to store a program of a control method of the UWB-based car accurate positioning and self-rescue communication method according to any one of claims 1 to 9. A processor is configured to load and execute the program in the memory.

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