Radar-based ranging method, apparatus, computer device, system, and medium

Abstract

The application discloses a radar-based ranging method and device, computer equipment, system and medium. The method comprises: during the movement of an elevator car from the top of a shaft to the bottom of the shaft, processing a return signal to obtain a first frequency spectrum, the return signal being a signal reflected by a main corner reflector and a secondary corner reflector after receiving an electromagnetic wave emitted by a radar; according to a preset matching mode, matching a target return signal peak on the first frequency spectrum; and taking a distance value corresponding to the target return signal peak on the first frequency spectrum as the distance between the radar and the top of the shaft. By using the method, the distance between the radar and the top of the shaft can be accurately measured.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of ranging technology, and in particular to a radar-based ranging method, device, computer equipment, system and medium. Background Technology

[0002] When workers are working in deep shafts, they need to take an elevator car to the bottom of the shaft. During the descent of the elevator car, it is very important to determine the position of the elevator car in order to ensure the safety of the workers.

[0003] Currently, methods for measuring elevator car position using radar all employ one or more corner reflectors placed at the top of the shaft. However, as the elevator car descends a greater distance, the echo signal received by the radar from the corner reflectors weakens, making it impossible for the radar to accurately measure the distance between the radar and the top of the shaft. Summary of the Invention

[0004] This invention provides a radar-based ranging method, device, computer equipment, system, and medium that can accurately measure the distance between the radar and the top of the well.

[0005] In a first aspect, embodiments of the present invention provide a radar-based ranging method, comprising: During the process of the elevator car moving from the top to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar. The target echo signal peak value is matched on the first spectrum diagram according to the preset matching method; The distance value corresponding to the peak value of the target echo signal on the first spectrum is taken as the distance between the radar and the top of the well.

[0006] Secondly, embodiments of the present invention also provide a radar-based ranging device, comprising: The processing module is used to process the echo signal to obtain a first spectrum diagram during the process of the elevator car moving from the top of the shaft to the bottom of the shaft. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar. The matching module is used to match the peak value of the target echo signal on the first spectrum according to a preset matching method; The determination module is used to take the distance value corresponding to the peak value of the target echo signal on the first spectrum as the distance between the radar and the top of the well.

[0007] Thirdly, embodiments of the present invention also provide a computer device, comprising: One or more processors; Storage device for storing one or more programs; The one or more programs are executed by the one or more processors, such that the one or more processors are used to implement the radar-based ranging method described in any embodiment of the present invention.

[0008] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the radar-based ranging method as provided in any embodiment of the present invention.

[0009] This invention provides a radar-based ranging method, device, computer equipment, system, and medium. First, during the movement of an elevator car from the top to the bottom of the shaft, the echo signal is processed to obtain a first spectrum diagram. The echo signal is the signal reflected after the main reflector and secondary reflector receive electromagnetic waves emitted by the radar. Then, the peak value of the target echo signal is matched on the first spectrum diagram according to a preset matching method. Finally, the distance value corresponding to the peak value of the target echo signal on the first spectrum diagram is taken as the distance between the radar and the top of the shaft. Using the above technical solution, the distance between the radar and the top of the shaft can be accurately measured. Attached Figure Description

[0010] Figure 1 This is a schematic flowchart of a radar-based ranging method provided in Embodiment 1 of the present invention; Figure 2a This is a first schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention; Figure 2b This is a second schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention; Figure 2c This is a third schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention; Figure 2d This is a fourth schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention; Figure 2e This is a fifth schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention; Figure 3a This is a schematic flowchart of a radar-based ranging method provided in an exemplary embodiment of the present invention. Figure 3b This is another schematic flowchart of the radar-based ranging method provided in an exemplary embodiment of the present invention; Figure 4 This is a schematic flowchart of a radar-based ranging method provided in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the target point location provided in Embodiment 2 of the present invention; Figure 6 This is a schematic flowchart of a radar-based ranging method provided in Embodiment 3 of the present invention; Figure 7 This is a schematic diagram of a radar-based ranging device provided in Embodiment 4 of the present invention; Figure 8 This is a schematic diagram of a radar-based ranging system provided in Embodiment 5 of the present invention; Figure 9 This is an exemplary schematic diagram of a radar-based ranging system provided in Embodiment 5 of the present invention; Figure 10 This is a schematic diagram of the structure of a computer device provided in Embodiment Six of the present invention. Detailed Implementation

[0011] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0012] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0013] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0014] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0015] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0016] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0017] The embodiments provided by this invention are applicable to situations where workers enter an elevator shaft and need to determine the relative position of the elevator car to the top of the shaft in real time. Optionally, a radar can be installed on the outer wall of the top of the elevator car, a main reflector can be arranged above the radar at the top of the shaft, and secondary reflectors can be arranged on the side walls of the shaft. By determining the distance between the radar and the top of the shaft, the relative position of the elevator car to the top of the shaft can be determined.

[0018] Example 1 Figure 1 This is a flowchart illustrating a radar-based ranging method provided in Embodiment 1 of the present invention. This method is applicable to determining the relative position of an elevator car and the top of the shaft. The method can be executed by a radar-based ranging device, which can be implemented by software and / or hardware and is generally integrated into a computer device.

[0019] like Figure 1 As shown, Embodiment 1 of the present invention provides a radar-based ranging method, which includes the following steps: S110. During the process of the elevator car moving from the top of the shaft to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar.

[0020] In this embodiment, as the elevator car moves from the top to the bottom of the shaft, the radar installed on the outer wall of the top of the elevator car can emit electromagnetic waves. When the main reflector or the secondary reflector receives the electromagnetic waves, it can return an echo signal. When the radar antenna receives the echo signal, it can send the echo signal to the computer equipment so that the computer equipment can process the echo signal to obtain the first spectrum diagram.

[0021] The first spectrum diagram can display multiple echo signal peaks. The horizontal axis of the first spectrum diagram represents distance, and the vertical axis of the first spectrum diagram represents amplitude.

[0022] S120. Match the peak value of the target echo signal on the first spectrum according to the preset matching method.

[0023] First, we will introduce the wave peaks shown in the first spectrum diagram during the process of the elevator car moving from the top to the bottom of the shaft. Figure 2a This is a first schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention, as shown below. Figure 2aAs shown, when the elevator car is at the top of the shaft, the first spectrum diagram only includes the peak value of the echo signal reflected by the main reflector and the harmonics of the echo signal, and the distance between the harmonics has a multiple relationship. Figure 2b This is a second schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention, as shown below. Figure 2b As shown, as the elevator car moves downwards, echo signals returned by the sub-angle reflector begin to appear on the first spectrum diagram. Figure 2c This is a third schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention, as shown below. Figure 2c As shown, as the elevator car continues to move downwards, the intensity of the echo signal returned by the secondary reflector becomes strong enough, while the intensity of the echo signal returned by the main reflector gradually weakens. Figure 2d This is a fourth schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention, as shown below. Figure 2d As shown, when the elevator car moves downwards for a distance exceeding a certain distance, the harmonic signal disappears, and the signal strength of the echo signal returned by the secondary reflector is greater than the signal strength of the echo signal returned by the primary reflector. Figure 2e This is a fifth schematic diagram of the first spectrum diagram provided in Embodiment 1 of the present invention, as shown below. Figure 2e As shown, when the elevator car moves downward a sufficient distance, the signal strength of the echo signals returned by the main reflector and the secondary reflector decreases to the same level as the signal strength of the interference signal, or even weaker than the signal strength of the interference signal.

[0024] It should be noted that, in Figures 2a to 2e The main reflection signal marked in the figure represents the echo signal returned by the main reflector, the main reflection signal harmonic represents the harmonic signal returned by the main reflector, and the secondary reflection signal represents the echo signal returned by the secondary corner reflector. Figure 2a The display shows the spectrum diagram corresponding to the location of the elevator car at the top of the shaft, approximately 1.2 meters away from the main reflector by the radar. Figure 2b The display shows that the radar is about 3 meters away from the main reflector; Figure 2c The display shows that the radar is approximately 4.5 meters away from the main reflector; Figure 2d The display shows the radar is approximately 10.5 meters away from the main reflector. Figure 2e The display shows the radar is 22 meters away from the main reflector.

[0025] according to Figures 2a to 2dIt can be seen that when the radar is close to the main reflector, there are no other echo signal peaks on the first spectrum except for the echo signal returned by the main reflector and harmonics. At this time, the distance between the elevator car and the top of the shaft can be determined by harmonic distance matching. When the echo signal returned by the secondary reflector appears on the first spectrum and the signal strength of the echo signal is strong, the echo signal returned by the main reflector and its harmonics still have a certain strength. At this time, the distance between the elevator car and the top of the shaft can be determined by harmonic distance matching and main and secondary reflector spacing matching. When the radar is far away from the main reflector and the secondary reflector, no harmonics are displayed on the first spectrum. At this time, the distance between the elevator car and the top of the shaft can be determined by main and secondary reflector spacing matching.

[0026] Therefore, in one embodiment, the preset matching method can include two methods: Method 1 includes matching the distance between the primary and secondary angle reflectors first and then matching the harmonic distance; Method 2 includes matching the harmonic distance first and then matching the distance between the primary and secondary angle reflectors.

[0027] Among them, the primary and secondary angle reflector spacing matching includes whether the peak pairs that are separated by a first distance can be determined after coarse matching on the first spectrum diagram. If so, fine matching is further performed. Harmonic distance matching includes matching multiple peaks with a distance ratio of a preset value on the first spectrum diagram. The preset value can be set according to specific circumstances. For example, the preset value can include 1, 2, and 3, that is, matching three peaks with a distance ratio of 1:2:3 on the first spectrum diagram.

[0028] The fine matching process includes: for each peak pair, determining whether the distance difference between the two peaks in the peak pair corresponding to the first spectrum diagram is equal to the distance between the main reflector and the secondary reflector calculated using a preset formula. This preset formula is determined by the computer equipment during the learning phase, that is, the formula for calculating the distance between the main reflector and the secondary reflector at different target points in the elevator car shaft.

[0029] For example, if a peak pair is matched, it is determined whether the distance difference determined by the peak pair is equal to the distance between the main reflector and the secondary reflector calculated using a preset formula. Here, the preset formula is the distance formula corresponding to the second target point of the elevator car in the shaft. If multiple peak pairs are matched, it is first determined whether the distance difference determined by the first peak pair is equal to the distance between the main reflector and the secondary reflector calculated using the distance formula corresponding to the second target point of the elevator car in the shaft. If they are equal, other peak pairs are not further judged. If they are not equal, it is further determined whether the distance difference determined by the second peak pair is equal to the distance between the main reflector and the secondary reflector calculated using the distance formula corresponding to the third target point of the elevator car in the shaft. This process continues until all peak pairs are judged.

[0030] S130. The distance value corresponding to the peak value of the target echo signal on the first spectrum is taken as the distance between the radar and the top of the well.

[0031] In this embodiment, after determining the peak value of the target echo signal, the distance value corresponding to the peak value of the target echo signal can be found on the first spectrum diagram. This distance is the target echo signal peak value. Embodiment 1 of this invention provides a radar-based ranging method. First, during the movement of the elevator car from the top to the bottom of the shaft, the echo signal is processed to obtain a first spectrum diagram. The echo signal is the signal reflected after the primary and secondary reflectors receive the electromagnetic waves emitted by the radar. Then, the peak value of the target echo signal is matched on the first spectrum diagram according to a preset matching method. Finally, the distance value corresponding to the peak value of the target echo signal on the first spectrum diagram is taken as the distance between the radar and the top of the shaft. This method matches the peak value of the target echo signal on the first spectrum diagram using a preset matching method, and accurately measures the distance between the radar and the top of the shaft based on the peak value of the target echo signal.

[0032] Based on the technical solutions of the above embodiments, this invention provides a specific implementation method. Figure 3a This is a schematic flowchart of a radar-based ranging method provided in an example embodiment of the present invention, as shown below. Figure 3a As shown, the method includes the following steps: Obtain the distance-amplitude spectrum, i.e., the first spectrum. Use the spacing D for coarse matching to obtain the number of matching pairs N. That is, use the first distance to match on the first spectrum to obtain the number of successfully matched peak pairs. Record the distance of each peak pair in the format (distance S1 for the main reflector, distance S2 for the secondary reflector). Determine if N equals 0. If it does, search the spectrum for three peaks with a distance ratio of 1:2:3, i.e., perform harmonic spacing matching. Determine if a peak with this ratio exists. If it does, use the distance corresponding to the peak with the smallest amplitude on the spectrum as the distance between the radar and the top of the shaft. If not, a position matching error is detected, and a fault message is issued. If N is not equal to 0, select one peak pair from the peak pairs and calculate the distance between the main reflector and the secondary reflector according to a preset formula. And calculate the difference between S1 and S2. ,judge Is it equal to That is, a fine matching is performed. If it is true, S1 is used as the distance between the radar and the top of the well. If not, the next peak pair is selected for calculation.

[0033] Figure 3b This is another schematic flowchart illustrating the radar-based ranging method provided in an exemplary embodiment of the present invention, as shown below. Figure 3bAs shown, the method includes the following steps: Obtain the range-amplitude spectrum (first spectrum). Search the spectrum for three peaks with a range ratio of 1:2:3. Perform harmonic spacing matching to determine if peaks with this ratio exist. If so, take the distance corresponding to the peak with the smallest amplitude on the spectrum as the distance between the radar and the top of the shaft. If not, use the spacing D to perform coarse matching to obtain the number of matching pairs N, i.e., perform primary and secondary angle reflector distance matching. Record the distance of each peak pair in the format (primary reflector distance S1, secondary angle reflector distance S2). Check if N equals 0. If it equals 0, the position matching is incorrect, and a fault message is issued. If it is not equal to 0, select one peak pair from the peak pairs and calculate the distance between the primary reflector and the secondary angle reflector according to a preset formula. And calculate the difference between S1 and S2. ,judge Is it equal to That is, a fine matching is performed. If it is true, S1 is used as the distance between the radar and the top of the well. If not, the next peak pair is selected for calculation.

[0034] Example 2 Figure 4 This is a flowchart illustrating a radar-based ranging method provided in Embodiment 2 of the present invention. Embodiment 2 is an optimization based on the above embodiments. In this embodiment, the target echo signal peak value is matched on the first spectrum according to a preset matching method. More specifically, this involves: matching the distance between the primary and secondary angle reflectors to determine the number of matched peak pairs; if the number is 0, harmonic distance matching is performed to determine if the matching is successful; if so, the first peak value among the multiple peak values ​​is taken as the target echo signal peak value. For details not covered in this embodiment, please refer to Embodiment 1.

[0035] like Figure 4 As shown in Embodiment 2 of the present invention, a radar-based ranging method includes the following steps: S210. During the process of the elevator car moving from the top of the shaft to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram.

[0036] S220. Perform primary and secondary angle reflector spacing matching to determine the number of matched peak pairs.

[0037] Among them, the main and secondary angle reflector spacing matching includes matching multiple pairs of peaks on the first spectrum diagram. The two echo signal peaks in each peak pair are separated by a first distance. The first distance is the distance between the main reflector and the secondary reflector calculated when the elevator car moves to the second target point in the shaft. The second target point is located between the main reflector and the secondary angle reflector.

[0038] The second target point and the protagonist's reflector are on the same vertical line.

[0039] In this embodiment, the calculation process of the first distance may include: during the learning phase, when the elevator car moves down from the top of the shaft to the second target point, two peaks are matched on the spectrum using a preset distance, and the difference between the distances corresponding to the two peaks on the spectrum is taken as the first distance.

[0040] The preset distance is the vertical distance between the main reflector and the secondary reflector, which is measured manually beforehand.

[0041] Specifically, the calculation process of the first distance includes: when the elevator car moves to the first target point, matching the first peak value returned by the main reflector on the second spectrum diagram, the second spectrum diagram being the spectrum diagram obtained by the computer device during the learning phase; matching the second peak value at a preset distance from the first peak value on the second spectrum diagram; when the elevator car moves to the second target point, matching the two peak values ​​at the preset distance on the second spectrum diagram, the second target point being located within a first preset distance below the secondary reflector; taking the distance values ​​corresponding to the two peak values ​​on the second spectrum diagram as the first distance between the main reflector and the second target point, and the second distance between the secondary reflector and the second target point; taking the difference between the first distance and the second distance as the first distance.

[0042] The second spectrum diagram can be obtained by processing the echo signals returned by the main reflector and the secondary reflector during the learning phase when the elevator car moves from the top to the bottom of the shaft. The first target point can be located between the main reflector and the secondary reflector, and directly below the main reflector.

[0043] Understandably, when the elevator car is at the top of the shaft, the radar is powered on. Since the radar is close to the main reflector and the radar antenna angle is very small at this time, the electromagnetic waves emitted by the radar can only illuminate the main reflector. As the elevator car moves downward, the electromagnetic waves emitted by the radar begin to illuminate the secondary reflector. Between illuminating the secondary reflector, the first peak with the smallest corresponding distance value on the second spectrum is always the peak value of the echo signal returned by the main reflector.

[0044] Figure 5 This is a schematic diagram of the target point locations provided in Embodiment 2 of the present invention. This diagram is illustrative and only shows a scenario with three target points. Figure 5 As shown, point A represents the location of the main character's reflector, point B represents the location of the secondary character's reflector, point C represents the first target point, point M represents the second target point, and point N represents the third target point.

[0045] For example, when the elevator car moves to point C, the first peak appearing on the second spectrum is taken as the first peak, and a peak with an interval of d between it and the first peak is matched on the second spectrum as the second peak. The second peak is the peak of the echo signal returned by the secondary angle reflector. When the elevator car moves down to point M, two peaks with an interval of d are matched on the second spectrum, and the distance difference between the two peaks on the second spectrum is taken as the first distance.

[0046] S230. If the quantity is equal to 0, then perform harmonic distance matching to determine whether the matching is successful.

[0047] The harmonic distance matching includes matching multiple peaks with a preset distance ratio on the first spectrogram.

[0048] In this embodiment, a quantity of 0 indicates that the primary and secondary angle reflector spacing matching has failed, and the distance between the elevator car and the top of the shaft needs to be determined through harmonic distance matching.

[0049] For example, harmonic spacing matching includes matching three peaks with a distance ratio of 1:2:3 on the first spectrogram.

[0050] S240. If so, the first peak among the plurality of peaks shall be taken as the target echo signal peak.

[0051] If the harmonic spacing is successfully matched, the peak with the smallest amplitude among multiple peaks is taken as the target echo signal peak, and the distance corresponding to the first peak on the first spectrum diagram is taken as the distance between the elevator car and the top of the shaft.

[0052] Furthermore, based on the above steps, the method further includes: if the quantity is greater than 0, determining whether there exists a spacing in the first spacing that is equal to the spacing in the second spacing, wherein the first spacing includes the difference in distance values ​​corresponding to the two echo signal peaks included in each peak pair on the first spectrum diagram, and the second spacing includes the distance between the main reflector and the secondary reflector calculated at different target points in the elevator car in the shaft; if such a spacing exists, then the echo signal peak with the larger amplitude in the peak pair corresponding to the first determined spacing is taken as the target echo signal peak.

[0053] In this embodiment, a quantity greater than 0 indicates successful matching of the primary and secondary angle reflector spacing, allowing for fine matching. Fine matching includes determining whether there exists a spacing in the first spacing that is equal to a spacing in the second spacing. Specifically, there is a one-to-one correspondence between the multiple peak pairs included in the first spacing and the multiple distances included in the second spacing.

[0054] When the second spacing is the same as the first distance, the calculation process of the second spacing is the same as that of the first distance, and will not be repeated here. Please refer to the calculation process of the first distance.

[0055] Wherein, when the second spacing includes the Kth distance, K is a positive integer greater than or equal to 3. The calculation process of the Kth distance includes: when the elevator car moves to the Kth target point, two peaks at a preset distance are matched on the second spectrum diagram. The Kth target point is located within a second preset distance below the secondary reflector, and the second preset distance is greater than the first preset distance; the distance values ​​corresponding to the two peaks on the second spectrum diagram are respectively used as the third spacing between the main reflector and the Kth target point, and the fourth spacing between the secondary reflector and the Kth target point; the difference between the third spacing and the first spacing is used as the first vertical distance between the (K-1)th target point and the Kth target point; the angle between the first vertical distance, the fourth spacing, and the second spacing is determined according to the cosine theorem, where the angle is the angle formed by the first connecting line and the second connecting line, the first connecting line is the line connecting the (K-1)th target point and the Kth target point, and the second connecting line is the line connecting the Kth target point and the secondary reflector; the Kth distance is determined based on the angle, the fourth spacing, and the third spacing.

[0056] For example, when K is 3, such as Figure 5 As shown, when the elevator car moves downward to point N, two peaks with a distance of d are matched on the second spectrum. The distance values ​​corresponding to these two peaks on the second spectrum can represent the third distance, NA, and the fourth spacing, NB.

[0057] Where MN = NA - MA, MN represents the first vertical distance, NA represents the third spacing, and MA represents the first spacing.

[0058] In triangle MNB, the angle formed by the first line and the second line is . According to the Law of Cosines, it can be calculated degree: Furthermore, determining the Kth distance based on the included angle, the fourth spacing, and the third spacing includes: multiplying the fourth spacing by the sine of the included angle to obtain the horizontal distance between the main reflector and the secondary reflector; multiplying the fourth spacing by the cosine of the included angle to obtain the second vertical distance between the first target point and the Kth target point; using the difference between the third spacing and the second vertical distance as the vertical distance between the main reflector and the secondary reflector; and determining the Kth distance based on the third spacing, the horizontal distance, and the vertical distance.

[0059] like Figure 5 As shown, for example, when K is 3, the horizontal distance BC between the main reflector and the secondary reflector is NB * The vertical distance between the main reflector and the secondary reflector, i.e., the second vertical distance, is AC = NA - NC = NA - NB * cos∠MNB.

[0060] Furthermore, determining the Kth distance based on the third spacing, the horizontal distance, and the vertical distance includes: subtracting the third spacing from the vertical distance to obtain a distance difference; taking the square root of the sum of the squares of the horizontal distance and the distance difference to obtain a corresponding result; and subtracting the third spacing from the corresponding result to obtain the Kth distance.

[0061] like Figure 5 As shown, for example, when K is 3, the Kth distance, i.e., the third distance, is: in, Indicates the distance difference. Indicates the corresponding result. This represents the Kth distance, which is the third distance.

[0062] Embodiment 2 of the present invention provides a radar-based ranging method, which specifies the process of matching the peak value of the target echo signal on the first spectrum according to a preset matching method. Using this method, the peak value of the target echo signal can be accurately matched by first performing primary and secondary angle reflector spacing matching and then harmonic distance matching.

[0063] Example 3 Figure 6This is a flowchart illustrating a radar-based ranging method provided in Embodiment 3 of the present invention. Embodiment 3 optimizes upon the aforementioned embodiments. In this embodiment, the target echo signal peak value is matched on the first spectrum according to a preset matching method. Specifically, this involves: performing harmonic distance matching to determine if a match is successful; if so, the first peak value among the plurality of peak values ​​is taken as the target echo signal peak value; if not, primary and secondary angle reflector spacing matching is performed to determine the number of matched peak pairs; if the number is greater than 0, it is determined whether there exists a spacing in the first spacing equal to the spacing in the second spacing; if so, the distance value corresponding to the first determined spacing is taken as the target echo signal peak value. For details not covered in this embodiment, please refer to Embodiment 1.

[0064] like Figure 6 As shown, Embodiment 3 of the present invention provides a radar-based ranging method, which includes the following steps: S310. During the process of the elevator car moving from the top of the shaft to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram.

[0065] S320. Perform harmonic distance matching to determine if the matching is successful.

[0066] The specific process of harmonic distance matching can be found in the relevant descriptions in Embodiment 1 and Embodiment 2 of this invention, and will not be repeated here.

[0067] S330. If yes, then the first peak among the multiple peaks is taken as the target echo signal peak; if no, then the spacing between the main and secondary corner reflectors is matched to determine the number of matched peak pairs.

[0068] The specific process of matching the spacing between the primary and secondary reflectors can be found in the relevant descriptions in Embodiments 1 and 2 of this invention, and will not be repeated here.

[0069] S340. If the quantity is greater than 0, determine whether there is a spacing in the first spacing that is equal to the spacing in the second spacing.

[0070] In this embodiment, if the quantity is equal to 0, it indicates that the matching has failed and a fault message is displayed.

[0071] If the quantity is greater than 0, fine matching can continue, that is, to determine whether there is a spacing in the first spacing that is equal to the spacing in the second spacing. The process of determining whether there is a spacing in the first spacing that is equal to the spacing in the second spacing can be referred to the relevant descriptions in Embodiment 1 and Embodiment 2, which will not be repeated here.

[0072] S350. If it exists, the peak value of the echo signal with the larger amplitude in the peak pair corresponding to the first determined spacing is taken as the peak value of the target echo signal.

[0073] In this embodiment, if the match fails, a fault message will be displayed.

[0074] Embodiment 3 of the present invention provides a radar-based ranging method, which specifies the process of matching the peak value of the target echo signal on the first spectrum diagram according to a preset matching method. This method can accurately determine the peak value of the target echo signal by first performing harmonic distance matching and then matching the distance between the primary and secondary angle reflectors.

[0075] Example 4 Figure 7 This is a schematic diagram of a radar-based ranging device provided in Embodiment 4 of the present invention. The device is applicable to determining the relative position of an elevator car and the top of the shaft. The device can be implemented by software and / or hardware and is generally integrated into a computer device.

[0076] like Figure 7 As shown, the device includes: a processing module 110, a matching module 120, and a determining module 130.

[0077] Processing module 110 is used to process the echo signal to obtain a first spectrum diagram during the process of the elevator car moving from the top of the shaft to the bottom of the shaft. The echo signal is the signal reflected by the main reflector and the sub-reflector after receiving the electromagnetic wave emitted by the radar. Matching module 120 is used to match the peak value of the target echo signal on the first spectrum according to a preset matching method; The determination module 130 is used to take the distance value corresponding to the peak value of the target echo signal on the first spectrum as the distance between the radar and the top of the well.

[0078] In this embodiment, the device first processes the echo signal to obtain a first spectrum diagram during the process of the elevator car moving from the top to the bottom of the shaft using the processing module 110. The echo signal is the signal reflected after the main reflector and the sub-reflector receive the electromagnetic waves emitted by the radar. Secondly, the matching module 120 matches the peak value of the target echo signal on the first spectrum diagram according to a preset matching method. Finally, the determining module 130 uses the distance value corresponding to the peak value of the target echo signal on the first spectrum diagram as the distance between the radar and the top of the shaft.

[0079] This embodiment provides a radar-based ranging device that can accurately measure the distance between the radar and the top of the shaft.

[0080] Furthermore, the preset matching method includes first performing primary and secondary angle reflector spacing matching and then performing harmonic distance matching. Correspondingly, the matching module 120 is used to: perform primary and secondary angle reflector spacing matching and determine the number of matched peak pairs. The primary and secondary angle reflector spacing matching includes matching multiple peak pairs on the first spectrum diagram. The two echo signal peaks in each peak pair are separated by a first distance. The first distance is the distance between the primary reflector and the secondary reflector calculated when the elevator car moves to the second target point in the hoistway. The second target point is located within a first preset distance below the secondary angle reflector. If the number is equal to 0, then harmonic distance matching is performed to determine whether the matching is successful. The harmonic distance matching includes matching multiple peaks with a distance ratio of a preset value on the first spectrum diagram. If so, then the first peak among the multiple peaks is taken as the target echo signal peak.

[0081] Based on the above optimization, the device further includes a matching module, configured to: if the quantity is greater than 0, determine whether there exists a spacing in the first spacing that is equal to the spacing in the second spacing, wherein the first spacing includes the difference between the distance values ​​corresponding to the two echo signal peaks included in each peak pair on the first spectrum diagram, and the second spacing includes the distance between the main reflector and the secondary reflector calculated at different target points in the elevator car in the shaft; if such a spacing exists, then the echo signal peak with the larger amplitude in the peak pair corresponding to the first determined spacing is taken as the target echo signal peak.

[0082] When the second distance includes the first distance, the calculation process of the first distance includes: when the elevator car moves to the first target point, matching the first peak value returned by the main reflector on the second spectrum diagram, the first target point being located between the main reflector and the secondary reflector, the second spectrum diagram being the spectrum diagram obtained by the computer device during the learning phase; matching the second peak value at a preset distance from the first peak value on the second spectrum diagram; when the elevator car moves to the second target point, matching the two peak values ​​at a preset distance on the second spectrum diagram; taking the distance values ​​corresponding to the two peak values ​​on the second spectrum diagram as the first distance between the main reflector and the second target point, and the second distance between the secondary reflector and the second target point; taking the difference between the first distance and the second distance as the first distance.

[0083] Furthermore, when the second spacing includes the Kth distance, K is a positive integer greater than or equal to 3. The calculation process of the Kth distance includes: when the elevator car moves to the Kth target point, two peaks at a preset distance are matched on the second spectrum diagram. The Kth target point is located within a second preset distance below the secondary corner reflector, and the second preset distance is greater than the first preset distance. The distance values ​​corresponding to the two peaks on the second spectrum diagram are respectively used as the third spacing between the main reflector and the Kth target point, and the fourth spacing between the secondary corner reflector and the Kth target point. Spacing; the difference between the third spacing and the first spacing is taken as the first vertical distance between the (K-1)th target point and the Kth target point; the angle between the first vertical distance, the fourth spacing, and the second spacing is determined according to the law of cosines, the angle being the angle formed by the first connecting line and the second connecting line, the first connecting line being the line connecting the (K-1)th target point and the Kth target point, and the second connecting line being the line connecting the Kth target point and the secondary angle reflector; the Kth distance is determined based on the angle, the fourth spacing, and the third spacing.

[0084] Furthermore, determining the Kth distance based on the included angle, the fourth spacing, and the third spacing includes: multiplying the fourth spacing by the sine of the included angle to obtain the horizontal distance between the main reflector and the secondary reflector; multiplying the fourth spacing by the cosine of the included angle to obtain the second vertical distance between the first target point and the Kth target point; using the difference between the third spacing and the second vertical distance as the vertical distance between the main reflector and the secondary reflector; and determining the Kth distance based on the third spacing, the horizontal distance, and the vertical distance.

[0085] Furthermore, determining the Kth distance based on the third spacing, the horizontal distance, and the vertical distance includes: subtracting the third spacing from the vertical distance to obtain a distance difference; taking the square root of the sum of the squares of the horizontal distance and the distance difference to obtain a corresponding result; and subtracting the third spacing from the corresponding result to obtain the Kth distance.

[0086] Furthermore, the preset matching method includes first performing harmonic distance matching and then performing primary and secondary angle reflector spacing matching. Accordingly, the matching module 120 is used to: perform harmonic distance matching and determine whether the matching is successful; if so, take the first peak value among the multiple peak values ​​as the target echo signal peak value; if not, perform primary and secondary angle reflector spacing matching and determine the number of matched peak value pairs; if the number is greater than 0, determine whether there is a spacing in the first spacing that is equal to the spacing in the second spacing; if so, take the echo signal peak value with the larger amplitude in the peak value pair corresponding to the first determined spacing as the target echo signal peak value.

[0087] The radar-based ranging device described above can execute the radar-based ranging method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0088] Example 5 Figure 8 This is a schematic diagram of a radar-based ranging system provided in Embodiment 5 of the present invention, as shown below. Figure 8 As shown, the system includes radar 11, main reflector 12, secondary reflector 13, and computer equipment 14. Radar 11 is installed on the top outer wall of the elevator car, main reflector 12 is installed on the top of the shaft where the elevator car is located, above radar 11, and secondary reflector 13 is installed on the track or fixed on the side wall of the shaft, with main reflector 12 located above secondary reflector 13. Radar 11 is used to transmit electromagnetic waves to the main reflector 12 and the secondary reflector 13, and to receive the echo signals returned by the main reflector 12 and the secondary reflector 13. The main reflector 12 is used to receive electromagnetic waves emitted by radar 11 and return echo signals to radar 11; The secondary angle reflector 13 is used to receive electromagnetic waves emitted by radar 11 and return the echo signal to radar 11; Computer device 14 is used to determine the distance between radar 11 and the top of the well.

[0089] Preferably, the main reflector 12 can be installed at the top of the shaft where the elevator car is located and directly above the radar, so that the main reflector 12 can receive the electromagnetic waves emitted by the radar.

[0090] Optionally, the secondary angle reflector 13 can be fixed to the guide rail by a bracket, similar to the method used for elevator magnetic shielding plates, or the secondary angle reflector 13 can be fixed to the side wall of the shaft. The main reflector 12 and the secondary angle reflector 13 can be set on the same side of the shaft wall or on both sides of the shaft wall. Specific limitations are imposed here. For example, the main reflector 12 and the secondary angle reflector 13 can both be installed on the right side of the shaft wall, or the main reflector 12 can be installed on the right side of the shaft wall and the secondary angle reflector 13 can be installed on the left side of the shaft wall.

[0091] Figure 9 This is an exemplary schematic diagram of a radar-based ranging system provided in Embodiment 5 of the present invention, as shown below. Figure 9 As shown, the radar is installed on the top outer wall of the elevator car, the main reflector is installed on the right shaft wall and directly above the radar, the secondary reflector is installed on the same side shaft wall as the main reflector, the secondary reflector is fixed on the right shaft wall, and the main reflector is fixed directly above the radar by pulleys. There is a horizontal distance difference between the main reflector and the secondary reflector.

[0092] In this embodiment, during the process of the elevator car moving downward from the top of the shaft, the radar 11 can be used to emit electromagnetic waves to the main reflector 12 and the secondary reflector 13. The main reflector 12 can be used to receive the electromagnetic waves emitted by the radar 11 and return an echo signal to the radar 11. The secondary reflector 13 can be used to receive the electromagnetic waves emitted by the radar 11 and return an echo signal to the radar 11. The radar 11 is also used to receive the echo signals returned by the main reflector 12 and the secondary reflector 13 and send the echo signals to the computer device 14. The computer device 14 is used to perform signal processing on the echo signals to obtain a spectrum diagram and determine the distance between the elevator car and the top of the shaft based on the spectrum diagram.

[0093] The computer device 14 can use the radar-based ranging method described in any embodiment of the present invention to determine the distance between the elevator car and the top of the shaft. The specific details of the method are not elaborated here, but can be found in Embodiments 1 to 3.

[0094] The fifth embodiment of the present invention provides a radar-based ranging system that can accurately measure the distance between the radar and the top of the shaft by arranging a main reflector and a secondary reflector inside the shaft.

[0095] Example 6 Figure 10 This is a schematic diagram of the structure of a computer device provided in Embodiment Six of the present invention. Figure 10 As shown, the computer device provided in Embodiment Six of the present invention includes: one or more processors 41 and a storage device 42; the processors 41 in the computer device may be one or more. Figure 10Taking a processor 41 as an example; storage device 42 is used to store one or more programs; the one or more programs are executed by the one or more processors 41, so that the one or more processors 41 implement the radar-based ranging method as described in any one embodiment of the present invention.

[0096] The computer device may further include an input device 43 and an output device 44.

[0097] The processor 41, storage device 42, input device 43, and output device 44 in a computer device can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0098] The storage device 42 in this computer device serves as a computer-readable storage medium and can be used to store one or more programs. These programs can be software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the radar-based ranging method provided in Embodiments 1, 2, or 3 of this invention (e.g., attached...). Figure 7 The radar-based ranging device shown includes the following modules: a processing module 110, a matching module 120, and a determination module 130. The processor 41 executes various functional applications and data processing of the computer device by running software programs, instructions, and modules stored in the storage device 42, thereby implementing the radar-based ranging method in the above method embodiment.

[0099] Storage device 42 may include a stored program area and a stored data area, wherein the stored program area may store the operating system and application programs required for at least one function; the stored data area may store data created based on the use of the computer device, etc. Furthermore, storage device 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 42 may further include memory remotely located relative to processor 41, and this remote memory may be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0100] Input device 43 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the computer device. Output device 44 may include display devices such as a display screen.

[0101] Furthermore, when one or more programs included in the aforementioned computer device are executed by one or more processors 41, the programs perform the following operations: During the process of the elevator car moving from the top to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar. The target echo signal peak value is matched on the first spectrum diagram according to the preset matching method; The distance value corresponding to the peak value of the target echo signal on the first spectrum is taken as the distance between the radar and the top of the well.

[0102] Example 6 Embodiment 6 of the present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs a radar-based ranging method, the method comprising: During the process of the elevator car moving from the top to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar. The target echo signal peak value is matched on the first spectrum diagram according to the preset matching method; The distance value corresponding to the peak value of the target echo signal on the first spectrum is taken as the distance between the radar and the top of the well.

[0103] Optionally, when executed by a processor, the program can also be used to execute the radar-based ranging method provided in any embodiment of the present invention.

[0104] The computer storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination thereof. The computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0105] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0106] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0107] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0108] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A radar-based ranging method, characterized in that, The method includes: During the process of the elevator car moving from the top to the bottom of the shaft, the echo signal is processed to obtain the first spectrum diagram. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar. The target echo signal peaks are matched on the first spectrogram according to a preset matching method. The preset matching method includes first performing primary and secondary angle reflector spacing matching and then harmonic distance matching, or first performing harmonic distance matching and then primary and secondary angle reflector spacing matching. The primary and secondary angle reflector spacing matching includes determining whether a pair of peaks separated by a first distance can be identified after coarse matching on the first spectrogram. If so, fine matching is performed. The harmonic distance matching includes matching multiple peaks with a distance ratio of a preset value on the first spectrogram. The distance value corresponding to the peak value of the target echo signal on the first spectrum is taken as the distance between the radar and the top of the well.

2. The method according to claim 1, characterized in that, The preset matching method includes first matching the distance between the primary and secondary reflectors and then matching the harmonic distance. Correspondingly, matching the target echo signal peak value on the first spectrum diagram according to the preset matching method includes: Perform primary and secondary corner reflector spacing matching to determine the number of matched peak pairs. The primary and secondary corner reflector spacing matching includes matching multiple peak pairs on the first spectrum. The two echo signal peaks in each peak pair are separated by a first distance. The first distance is the distance between the primary reflector and the secondary reflector calculated when the elevator car moves to the second target point in the shaft. The second target point is located within a first preset distance below the secondary corner reflector. If the quantity is equal to 0, harmonic distance matching is performed to determine whether the matching is successful. The harmonic distance matching includes matching multiple peaks with a distance ratio of a preset value on the first spectrum. If so, the first peak among the plurality of peaks is taken as the target echo signal peak.

3. The method according to claim 2, characterized in that, Also includes: If the quantity is greater than 0, it is determined whether there is a spacing in the first spacing that is equal to the spacing in the second spacing. The first spacing includes the difference between the distance values ​​corresponding to the two echo signal peaks included in each peak pair on the first spectrum diagram. The second spacing includes the distance between the main reflector and the secondary reflector calculated by the elevator car at different target points in the shaft. If it exists, the peak value of the echo signal with the larger amplitude in the peak pair corresponding to the first determined spacing is taken as the peak value of the target echo signal.

4. The method according to claim 3, characterized in that, When the second spacing includes the first distance, the calculation process of the first distance includes: When the elevator car moves to the first target point, the first peak value returned by the main reflector is matched on the second spectrum diagram. The first target point is located between the main reflector and the secondary reflector. The second spectrum diagram is the spectrum diagram obtained by the computer device during the learning phase. A second peak value is obtained on the second spectrum that is at a preset distance from the first peak value; When the elevator car moves to the second target point, two peaks that are separated by the preset distance are matched on the second spectrum graph; The distance values ​​corresponding to the two peaks on the second spectrum are respectively used as the first distance between the main reflector and the second target point, and the second distance between the secondary reflector and the second target point; The difference between the first spacing and the second spacing is taken as the first distance.

5. The method according to claim 4, characterized in that, When the second spacing includes the Kth distance, K is a positive integer greater than or equal to 3, and the calculation process of the Kth distance includes: When the elevator car moves to the Kth target point, two peaks that are at a preset distance are matched on the second spectrum. The Kth target point is located within a second preset distance below the secondary angle reflector. The second preset distance is greater than the first preset distance. The distance values ​​corresponding to the two peaks on the second spectrum are respectively used as the third distance between the main reflector and the Kth target point, and the fourth distance between the secondary reflector and the Kth target point; The difference between the third spacing and the first spacing is taken as the first vertical distance between the (K-1)th target point and the Kth target point; The angle between the first vertical distance, the fourth spacing, and the second spacing is determined by the law of cosines. The angle is the angle formed by the first connecting line and the second connecting line. The first connecting line is the line between the (K-1)th target point and the Kth target point. The second connecting line is the line between the Kth target point and the secondary angle reflector. The Kth distance is determined based on the included angle, the fourth spacing, and the third spacing.

6. The method according to claim 5, characterized in that, Determining the Kth distance based on the included angle, the fourth spacing, and the third spacing includes: Multiplying the fourth spacing by the sine of the included angle yields the horizontal distance between the main reflector and the secondary reflector; Multiplying the fourth spacing by the cosine of the included angle yields the second vertical distance between the first target point and the Kth target point; The difference between the third spacing and the second vertical distance is taken as the vertical distance between the main reflector and the secondary reflector; The Kth distance is determined based on the third spacing, the horizontal distance, and the vertical distance.

7. The method according to claim 6, characterized in that, Determining the Kth distance based on the third spacing, the horizontal distance, and the vertical distance includes: The distance difference is obtained by subtracting the third spacing from the vertical distance. The corresponding result is obtained by taking the square root of the sum of the squares of the horizontal distance and the difference between the two distances; The Kth distance is obtained by subtracting the third distance from the corresponding result.

8. The method according to claim 1, characterized in that, The preset matching method includes first performing harmonic distance matching and then performing primary and secondary angle reflector spacing matching. Correspondingly, matching the target echo signal peak value on the first spectrum diagram according to the preset matching method includes: Perform harmonic distance matching to determine if the matching was successful; If so, the first peak among the multiple peaks is taken as the target echo signal peak. If not, perform primary and secondary angle reflector spacing matching to determine the number of matched peak pairs; If the quantity is greater than 0, then determine whether there is a spacing in the first spacing that is equal to the spacing in the second spacing; If it exists, the peak value of the echo signal with the larger amplitude in the peak pair corresponding to the first determined spacing is taken as the peak value of the target echo signal.

9. A radar-based ranging device, characterized in that, The device includes: The processing module is used to process the echo signal to obtain a first spectrum diagram during the process of the elevator car moving from the top of the shaft to the bottom of the shaft. The echo signal is the signal reflected after the main reflector and the secondary reflector receive the electromagnetic waves emitted by the radar. A matching module is used to match the peak values ​​of the target echo signal on the first spectrogram according to a preset matching method. The preset matching method includes first performing primary and secondary angle reflector spacing matching and then harmonic distance matching, or first performing harmonic distance matching and then primary and secondary angle reflector spacing matching. The primary and secondary angle reflector spacing matching includes determining whether a pair of peak values ​​separated by a first distance can be identified after coarse matching on the first spectrogram; if so, fine matching is performed. The harmonic distance matching includes matching multiple peak values ​​with a distance ratio of a preset value on the first spectrogram. The determination module is used to take the distance value corresponding to the peak value of the target echo signal on the first spectrum as the distance between the radar and the top of the well.

10. A computer device, characterized in that, include: One or more processors; Storage device for storing one or more programs; The one or more programs are executed by the one or more processors, such that the one or more processors are used to perform the radar-based ranging method according to any one of claims 1-8.

11. A radar-based ranging system, characterized in that, The system includes a radar, a main reflector, a secondary reflector, and a computer device as described in claim 10; The radar is installed on the top outer wall of the elevator car, the main reflector is installed on the top of the elevator car shaft, above the radar, and the secondary reflector is installed on the track or fixed on the side wall of the shaft, with the main reflector located above the secondary reflector. The radar is used to transmit electromagnetic waves to the main reflector and the secondary reflector, and to receive the echo signals returned by the main reflector and the secondary reflector. The main reflector is used to receive the electromagnetic waves emitted by the radar and return the echo signal to the radar; The secondary angle reflector is used to receive the electromagnetic waves emitted by the radar and return the echo signal to the radar; The computer equipment is used to determine the distance between the radar and the top of the well.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the radar-based ranging method as described in any one of claims 1-8.

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