Elevator floor identification method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide an elevator floor identification method and device, wherein the method comprises: obtaining acceleration data, air pressure data and state variables of an elevator at multiple time points, the state variables including height variables and speed variables; determining a running state of the elevator according to the acceleration data, the air pressure data and a pre-set data threshold; estimating height information of the elevator according to the running state, the acceleration data, the air pressure data and the state variables; and matching a corresponding floor of the elevator according to the running state and the height information. Embodiments of the present application not only avoid arranging sensors such as UWB or laser radar, but also avoid setting sensing tags on each floor, and can match the corresponding floor of the elevator according to acceleration data, air pressure data and state variables, thereby reducing hardware cost and labor cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet, in particular to an elevator floor identification method and device, electronic equipment and computer readable storage medium. BACKGROUND

[0002] With the development of random science and technology, robot indoor unmanned delivery service is more and more popular. Robots need to take the elevator to the destination floor, so the elevator control needs to be modified to enable the robot to know the floor of the elevator and automatically enter and exit the elevator.

[0003] At present, the elevator control scheme includes an invasive modification scheme and a non-invasive modification scheme. The invasive modification scheme means that the circuit board of the robot is connected to the elevator system circuit board through cooperation with the original elevator factory, and the information such as the floor of the elevator and the running speed of the elevator is obtained through the original communication protocol of the elevator. The non-invasive modification scheme means that the circuit board of the robot is not connected to the elevator system circuit board, but the floor of the elevator is obtained through other ways to inform the robot whether it has arrived at the destination floor.

[0004] The common elevator control scheme is the non-invasive modification scheme. The difficulty of the non-invasive modification scheme is how to know the specific floor number. One widely used technology is to set an inductor only on the elevator or the highest floor. Such inductor can directly obtain the height, or sense the relative distance between the elevator and the roof to determine the floor of the elevator. Such inductors include Ultra Wide Band (UWB) inductor, laser radar, etc. The UWB technology occupies a part of the 5G frequency band, which may interfere with the 5G signal of the operator, and there may be packet loss in a long-distance application scenario. Moreover, the transmission power of the UWB inductor meeting the communication standard is usually low, and the inductive effect is not ideal. The vertical laser radar distance measurement has distance limitation. Therefore, the floor result obtained by adding an inductor is not accurate, and the requirement for the application scenario is high. Another technology is to set an inductive tag on each floor, and to add an inductor on the elevator to sense the inductive tag of each floor to obtain the floor reached by the elevator. However, there is a positioning limitation between the inductor and the inductive tag, the installation is difficult, the post-maintenance is not easy, and the cost increases with the increase of the floor. SUMMARY

[0005] In view of the above problems, the present application is proposed to provide an elevator floor identification method, device, electronic equipment and computer readable storage medium which can overcome the above problems or at least partially solve the above problems.

[0006] To solve the above problems, according to a first aspect of an embodiment of the present application, a method for identifying an elevator floor is disclosed, the method comprising: obtaining acceleration data, air pressure data and state variables of an elevator at multiple time points, the state variables including height variables and speed variables; determining a running state of the elevator according to the acceleration data, the air pressure data and preset data thresholds; estimating height information of the elevator according to the running state, the acceleration data, the air pressure data and the state variables; and matching a floor corresponding to the elevator according to the running state and the height information.

[0007] Optionally, the determining the running state of the elevator according to the acceleration data, the air pressure data and the preset data thresholds comprises: determining the running state according to the acceleration data and corresponding acceleration thresholds, and the air pressure data and corresponding air pressure thresholds.

[0008] Optionally, the determining the running state according to the acceleration data and corresponding acceleration thresholds, and the air pressure data and corresponding air pressure thresholds comprises: when the acceleration data is non-first obtained acceleration data, storing the acceleration data into a preset acceleration queue and calculating an acceleration average value of multiple acceleration data stored in the acceleration queue; when the air pressure data is non-first obtained air pressure data, calculating air pressure change amount data between the air pressure data and last obtained air pressure data, storing the air pressure change amount data into a preset air pressure queue and calculating an air pressure change amount average value of multiple air pressure change amount data stored in the air pressure queue; and determining the running state according to the acceleration average value, the acceleration thresholds, the air pressure change amount average value and the air pressure thresholds.

[0009] Optionally, the determining the running state according to the acceleration average value, the acceleration threshold value, the air pressure variation average value and the air pressure threshold value comprises: when the absolute value of the air pressure variation average value is less than or equal to the air pressure threshold value and the absolute value of the acceleration average value is less than or equal to the acceleration threshold value, determining that the running state is a static state; when the air pressure variation average value is less than or equal to a negative of the air pressure threshold value and the acceleration average value is less than or equal to a negative of the acceleration threshold value, determining that the running state is a downward deceleration motion state; when the air pressure variation average value is greater than the air pressure threshold value and the acceleration average value is less than or equal to a negative of the acceleration threshold value, determining that the running state is an upward deceleration motion state; when the air pressure variation average value is less than or equal to a negative of the air pressure threshold value and the acceleration average value is greater than the acceleration threshold value, determining that the running state is a downward acceleration motion state; and when the air pressure variation average value is greater than the air pressure threshold value and the acceleration average value is greater than the acceleration threshold value, determining that the running state is an upward acceleration motion state.

[0010] Optionally, the estimating the height information of the elevator according to the running state, the acceleration data, the air pressure data and the state variable comprises: when the running state changes from the static state to the upward acceleration motion state or the downward acceleration motion state, estimating the height information according to the acceleration data, the air pressure data and the state variable.

[0011] Optionally, the estimating the height information according to the acceleration data, the air pressure data and the state variable comprises: estimating a state variable result according to the acceleration data at a current time, the air pressure data at the current time, the height variable at a previous time, the speed variable at the previous time, a pre-set air pressure and height conversion factor, a pre-set noise standard deviation of the barometer, a pre-set noise standard deviation of the accelerometer and a time difference between the current time and the previous time; wherein the state variable result comprises the height information and speed information of the elevator.

[0012] Optionally, the matching the corresponding floor of the elevator according to the running state and the height information comprises: when the running state changes from the upward deceleration motion state or the downward deceleration motion state to the static state, matching the corresponding floor of the elevator according to a pre-set corresponding relationship between the height information and the height and floor.

[0013] According to a second aspect of the embodiments of the present application, an elevator floor identification device is disclosed, which comprises: a data variable acquisition module, configured to acquire acceleration data, air pressure data and state variables of an elevator at multiple time points, wherein the state variables comprise height variables and speed variables; a state determination module, configured to determine a running state of the elevator according to the acceleration data, the air pressure data and preset data thresholds; a variable result estimation module, configured to estimate height information of the elevator according to the running state, the acceleration data, the air pressure data and the state variables; and a floor matching module, configured to match a corresponding floor of the elevator according to the running state and the height information.

[0014] Optionally, the state determination module is configured to determine the running state according to the acceleration data and corresponding acceleration thresholds, and the air pressure data and corresponding air pressure thresholds.

[0015] Optionally, the state determination module comprises: an acceleration average value calculation module, configured to, when the acceleration data is non-first-acquired acceleration data, store the acceleration data in a preset acceleration queue, and calculate an acceleration average value of multiple acceleration data stored in the acceleration queue; an air pressure change amount average value calculation module, configured to, when the air pressure data is non-first-acquired air pressure data, calculate air pressure change amount data between the air pressure data and last-acquired air pressure data, store the air pressure change amount data in a preset air pressure queue, and calculate an air pressure change amount average value of multiple air pressure change amount data stored in the air pressure queue; and a running state determination module, configured to determine the running state according to the acceleration average value, the acceleration thresholds, the air pressure change amount average value and the air pressure thresholds.

[0016] Optionally, the running state determining module is configured to determine that the running state is a stationary state when the absolute value of the average value of the air pressure variation is less than or equal to the air pressure threshold value and the absolute value of the average value of the acceleration is less than or equal to the acceleration threshold value; the running state determining module is further configured to determine that the running state is a downward deceleration motion state when the average value of the air pressure variation is less than or equal to a negative of the air pressure threshold value and the average value of the acceleration is less than or equal to a negative of the acceleration threshold value; the running state determining module is further configured to determine that the running state is an upward deceleration motion state when the average value of the air pressure variation is greater than the air pressure threshold value and the average value of the acceleration is less than or equal to a negative of the acceleration threshold value; the running state determining module is further configured to determine that the running state is a downward acceleration motion state when the average value of the air pressure variation is less than or equal to a negative of the air pressure threshold value and the average value of the acceleration is greater than the acceleration threshold value; and the running state determining module is further configured to determine that the running state is an upward acceleration motion state when the average value of the air pressure variation is greater than the air pressure threshold value and the average value of the acceleration is greater than the acceleration threshold value.

[0017] Optionally, the variable result estimating module is configured to estimate the height information according to the acceleration data, the air pressure data and the state variable when the running state changes from the stationary state to the upward acceleration motion state or the downward acceleration motion state.

[0018] Optionally, the variable result estimating module is configured to estimate a state variable result according to the acceleration data at a current time, the air pressure data at the current time, the height variable at a previous time, the speed variable at the previous time, a pre-set air pressure and height conversion factor, a pre-set air gauge noise standard deviation, a pre-set accelerometer noise standard deviation and a time difference between the current time and the previous time; the state variable result includes the height information and speed information of the elevator.

[0019] Optionally, the floor matching module is configured to match the floor corresponding to the elevator according to the height information and a pre-set corresponding relationship between height and floor when the running state changes from the upward deceleration motion state or the downward deceleration motion state to the stationary state.

[0020] According to a third aspect of the embodiments of the present application, an electronic device is disclosed, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the elevator floor identification method of the first aspect when executing the computer program.

[0021] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is disclosed, which stores a computer program, and the computer program is executed by a processor to implement the elevator floor identification method of the first aspect.

[0022] Compared with the prior art, the technical solution provided by the embodiments of the present application has the following advantages:

[0023] The elevator floor identification scheme provided by the embodiments of the present application obtains acceleration data, air pressure data and state variables of the elevator at multiple time points. The state variables include height variables and speed variables. The running state of the elevator is determined according to the acceleration data, the air pressure data and the pre-set data threshold. The height information of the elevator is estimated according to the running state, the acceleration data, the air pressure data and the state variables. Finally, the corresponding floor of the elevator is matched according to the running state and the height information. The embodiments of the present application not only avoid arranging sensors such as UWB or laser radar, but also avoid setting sensing tags on each floor. The corresponding floor of the elevator can be matched according to the acceleration data, the air pressure data and the state variables, thereby reducing the hardware cost and the labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a step flow chart of an elevator floor identification method according to an embodiment of the present application;

[0025] Figure 2 is a principle schematic diagram of an elevator floor judgment scheme based on acceleration data and air pressure data according to an embodiment of the present application;

[0026] Figure 3 is a running flow schematic diagram of a motion detection module according to an embodiment of the present application;

[0027] Figure 4 is a working flow schematic diagram of a sensor fusion module according to an embodiment of the present application;

[0028] Figure 5 is a structure block diagram of an elevator floor identification device according to an embodiment of the present application;

[0029] Figure 6 is a structure schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0031] REFERENCE Figure 1, a step flow chart of an elevator floor identification method is shown. The elevator floor identification method can be applied to a terminal or a server, and can specifically include the following steps:

[0032] In step 101, acceleration data, air pressure data and state variables of the elevator at multiple time points are obtained.

[0033] In the embodiment of the present application, an acceleration sensor and an air pressure sensor can be arranged on the elevator, the acceleration data is obtained by the acceleration sensor, and the air pressure data is obtained by the air pressure sensor. The state variables can include a speed variable and a height variable. The speed variable can be a speed in m / s, and the height variable can be a height in m. In actual application, the acceleration data, the air pressure data and the state variables can be obtained at a preset period. The preset period can be a fixed period or a variable period, and the present application does not limit the unit and value of the period.

[0034] In step 102, the running state of the elevator is determined according to the acceleration data, the air pressure data and a preset data threshold.

[0035] In the embodiment of the present application, the running state of the elevator can include but is not limited to a static state, an upward acceleration motion state, a downward acceleration motion state, an upward deceleration motion state and a downward deceleration motion state. In actual application, in the operation process of the elevator starting from static state, moving upward and stopping, the running state of the elevator is in turn the static state, the upward acceleration motion state, the upward deceleration motion state and the static state. In the operation process of the elevator starting from static state, moving downward and stopping, the running state of the elevator is in turn the static state, the downward acceleration motion state, the downward deceleration motion state and the static state.

[0036] In step 103, the height information of the elevator is estimated according to the running state, the acceleration data, the air pressure data and the state variables.

[0037] In the embodiment of the present application, when the running state changes from the static state to a first motion state, the height information of the elevator is estimated according to the acceleration data, the air pressure data and the state variables. The first motion state can include but is not limited to the upward acceleration motion state or the downward acceleration motion state. That is, when the elevator starts from the static state and moves upward or downward, the height information of the elevator is estimated.

[0038] In step 104, the corresponding floor of the elevator is matched according to the running state and the height information.

[0039] In the embodiment of the present application, when the running state changes from the second motion state to the static state, the corresponding floor of the elevator is matched according to the height information. The second motion state can include but is not limited to the upward deceleration motion state or the downward deceleration motion state. That is, when the elevator moves upward or downward until it stops, the corresponding floor of the elevator is matched.

[0040] The identification scheme for the elevator floor provided by the embodiment of the present application obtains acceleration data, air pressure data and state variables of the elevator at multiple time points. The state variables include height variables and speed variables. The running state of the elevator is determined according to the acceleration data, the air pressure data and the preset data threshold. The height information of the elevator is estimated according to the running state, the acceleration data, the air pressure data and the state variables. Finally, the corresponding floor of the elevator is matched according to the running state and the height information. The embodiment of the present application not only avoids arranging sensors such as UWB or laser radar, but also avoids setting sensing tags on each floor. The corresponding floor of the elevator can be matched according to the acceleration data, the air pressure data and the state variables, thereby reducing the hardware cost and the labor cost.

[0041] In a preferred embodiment of the present application, one implementation of determining the running state of the elevator according to the acceleration data, the air pressure data and the preset data threshold is to determine the running state according to the acceleration data and the corresponding acceleration threshold, and the air pressure data and the corresponding air pressure threshold. In actual application, if the acceleration data is the first obtained acceleration data, the preset acceleration queue is emptied, and the acceleration data is stored in the acceleration queue. If the acceleration data is the non-first obtained acceleration data, the acceleration data is stored in the acceleration queue, and the acceleration average of the multiple acceleration data stored in the acceleration queue is calculated. If the air pressure data is the first obtained air pressure data, the preset air pressure queue is emptied. If the air pressure data is the non-first obtained air pressure data, the air pressure change data between the air pressure data and the last obtained air pressure data is calculated, the air pressure change data is stored in the air pressure queue, and the air pressure change average of the multiple air pressure change data stored in the air pressure queue is calculated. Then, the running state is determined according to the acceleration average, the acceleration threshold, the air pressure change average and the air pressure threshold.

[0042] For example, the running state of the elevator is determined according to the acceleration average value a_avg, the acceleration threshold value rho', the air pressure variation average value p_avg and the air pressure threshold value rho. When the absolute value |p_avg| of the air pressure variation average value is less than or equal to the air pressure threshold value rho and the absolute value |a_avg| of the acceleration average value is less than or equal to the acceleration threshold value rho', the running state is determined as the static state. When the air pressure variation average value p_avg is less than or equal to the negative number -rho of the air pressure threshold value and the acceleration average value a_avg is less than or equal to the negative number -rho' of the acceleration threshold value, the running state is determined as the downward deceleration motion state. When the air pressure variation average value p_avg is greater than the air pressure threshold value rho and the acceleration average value a_avg is less than or equal to the negative number -rho' of the acceleration threshold value, the running state is determined as the upward deceleration motion state. When the air pressure variation average value p_avg is less than or equal to the negative number -rho of the air pressure threshold value and the acceleration average value a_avg is greater than the acceleration threshold value rho', the running state is determined as the downward acceleration motion state. When the air pressure variation average value p_avg is greater than the air pressure threshold value rho and the acceleration average value a_avg is greater than the acceleration threshold value rho', the running state is determined as the upward acceleration motion state.

[0043] In a preferred embodiment of the present application, one implementation of estimating the height information according to the acceleration data, the air pressure data and the state variable is that the state variable result is estimated according to the acceleration data at the current time, the air pressure data at the current time, the height variable at the last time, the speed variable at the last time, the preset conversion factor of the air pressure and the height, the preset noise standard deviation of the barometer, the preset noise standard deviation of the accelerometer and the time difference between the current time and the last time. The state variable result contains the height information and the speed information of the elevator.

[0044] In a preferred embodiment of the present application, one implementation of matching the corresponding floor of the elevator according to the running state and the height information is that when the running state changes from the upward deceleration motion state or the downward deceleration motion state to the static state, the corresponding floor of the elevator is matched according to the height information and the preset corresponding relationship between the height and the floor.

[0045] Based on the above description of the embodiment of the elevator floor identification method, a scheme of judging the floor of the elevator based on the acceleration data and the air pressure data is introduced below. The scheme can involve the following three modules: the motion detection module, the sensor fusion module and the floor judgment module. Referring to Figure 2 , Figure 2 A schematic diagram of the principle of the scheme of judging the floor of the elevator based on the acceleration data and the air pressure data is shown.

[0046] In Figure 2In this module, the motion detection module is used to detect the elevator's operating status based on acceleration and air pressure data. A flowchart illustrating the motion detection module's operation is provided below. Figure 3 As shown.

[0047] exist Figure 3 The system acquires acceleration and air pressure data, determining whether each is the first time it has been acquired. If the acceleration data is the first time, the acceleration queue is cleared. If the air pressure data is the first time, the air pressure queue is cleared. Simultaneously, the elevator's operating state is reset to a stationary state. If the acceleration data is not the first time, it is stored in the acceleration queue, and the average value of each acceleration data point in the queue is calculated to obtain the average acceleration. If the air pressure data is not the first time, the air pressure change data is calculated between two consecutive acquisitions, stored in the air pressure queue, and the average value of each air pressure change data point in the queue is calculated to obtain the average air pressure change. Then, the elevator's operating state is detected based on the average acceleration, acceleration threshold, average air pressure change, and air pressure threshold.

[0048] exist Figure 2 In this system, the sensor fusion module fuses air pressure and acceleration data and estimates the elevator's height based on its operating status. Specifically, the sensor fusion module begins operation when the operating status changes from a stationary state to an upward or downward accelerating state. A schematic diagram of the sensor fusion module's workflow is shown below. Figure 4 As shown, when the operating state changes from an upward deceleration motion state or a downward deceleration motion state to a stationary state, the sensor fusion module stops working and transmits the estimated elevator height information to the floor determination module.

[0049] exist Figure 4 In the process, when the operating state changes from a static state to an upward acceleration state or a downward acceleration state, the sensor fusion module starts working using an event trigger. It acquires acceleration and air pressure data, and determines whether these are the first times the data has been acquired. If both acceleration and air pressure data are the first time they have been acquired, it then obtains the elevator's current operating state based on the acceleration data, and sets the elevator's state variable at time k-1. Assign values. Specifically, the elevator's state variable at time k-1... Height h including time k-1 k-1 The units are m and the velocity v at time k-1. k-1 The unit is m / s. Furthermore, the variance matrix is ​​zeroed out. If both the acceleration and air pressure data are not newly acquired, then for the acceleration data, calculate the time difference Δt between time k and time k-1, in seconds. Update the state transition matrix. Control matrix Covariance matrix where σ a is the noise standard deviation of the accelerometer. Then, the state variable of the elevator at time k is predicted and the covariance matrix is

[0050] where, x k = Ax k-1 + Bu k + ε; u k = a k is the control variable, a k is the acceleration data at time k, with the unit of m / s 2 ; ε is the control variable noise, and ε ~ N(0, R).

[0051] If the acceleration data and the air pressure data are not obtained for the first time, the Kalman gain matrix is calculated for the air pressure data where C = (0s) is the measurement matrix, s is the conversion factor of air pressure and height, with the unit of Pa / m; Q = σ p 2 , σ p is the noise standard deviation of the barometer, with the unit of Pa.

[0052] Then, the final state variable is updated z k = Cx k + δ; z k = p k is the measurement variable, p k is the air pressure data at time k, with the unit of Pa, and δ is the measurement variable noise, and δ ~ N(0, Q). The final covariance matrix is updated

[0053] When the running state changes from the upward deceleration motion state or the downward deceleration motion state to the static state, the event-triggered sensor fusion module stops working, and waits for the next event-triggered sensor fusion module to start working.

[0054] In Figure 2 , when the running state changes from the upward deceleration motion state or the downward deceleration motion state to the static state, the floor judgment module judges the floor according to the final state variable updated by the sensor fusion module. Since there may be errors in the determined running state, when the floor is judged, the floor corresponding to the height h kThe most similar floor, output the floor number of the floor, and record the floor height corresponding to the floor number, and take the floor height as the initialization data h of the next sensor fusion module k+1 .

[0055] The elevator floor judgment scheme based on acceleration data and air pressure data provided by the embodiment of the application can be applied to products or services of a robot distribution elevator control system, has the advantages of simple modification, low cost, and simple maintenance, and is particularly suitable for commercial large-scale rapid promotion of unmanned distribution services.

[0056] It should be noted that, for the method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the application are not limited to the action sequence described, because according to the embodiments of the application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the application.

[0057] Referring to Figure 5 , a structural block diagram of an elevator floor identification device is shown, which can be applied to a terminal or a server, and specifically can include the following modules:

[0058] The data variable acquisition module 51 is configured to acquire acceleration data, air pressure data and state variables of the elevator at multiple time points, wherein the state variables include height variables and speed variables.

[0059] The state determination module 52 is configured to determine the running state of the elevator according to the acceleration data, the air pressure data and a pre-set data threshold.

[0060] The variable result estimation module 53 is configured to estimate the height information of the elevator according to the running state, the acceleration data, the air pressure data and the state variables.

[0061] The floor matching module 54 is configured to match the corresponding floor of the elevator according to the running state and the height information.

[0062] In a preferred embodiment of the application, the state determination module 52 is configured to determine the running state according to the acceleration data and a corresponding acceleration threshold, and the air pressure data and a corresponding air pressure threshold.

[0063] In a preferred embodiment of the application, the state determination module 52 includes:

[0064] an acceleration average value calculation module, configured to, when the acceleration data is non-first-acquired acceleration data, store the acceleration data into a preset acceleration queue, and calculate an acceleration average value of a plurality of acceleration data stored in the acceleration queue;

[0065] a pressure change amount average value calculation module, configured to, when the pressure data is non-first-acquired pressure data, calculate pressure change amount data between the pressure data and last-acquired pressure data, store the pressure change amount data into a preset pressure queue, and calculate a pressure change amount average value of a plurality of pressure change amount data stored in the pressure queue;

[0066] a running state determination module, configured to determine the running state according to the acceleration average value, the acceleration threshold value, the pressure change amount average value and the pressure threshold value.

[0067] In a preferred embodiment of the present application, the running state determination module is configured to, when the absolute value of the pressure change amount average value is less than or equal to the pressure threshold value, and the absolute value of the acceleration average value is less than or equal to the acceleration threshold value, determine that the running state is a static state.

[0068] The running state determination module is further configured to, when the pressure change amount average value is less than or equal to a negative number of the pressure threshold value, and the acceleration average value is less than or equal to a negative number of the acceleration threshold value, determine that the running state is a downward deceleration motion state.

[0069] The running state determination module is further configured to, when the pressure change amount average value is greater than the pressure threshold value, and the acceleration average value is less than or equal to a negative number of the acceleration threshold value, determine that the running state is an upward deceleration motion state.

[0070] The running state determination module is further configured to, when the pressure change amount average value is less than or equal to a negative number of the pressure threshold value, and the acceleration average value is greater than the acceleration threshold value, determine that the running state is a downward acceleration motion state.

[0071] The running state determination module is further configured to, when the pressure change amount average value is greater than the pressure threshold value, and the acceleration average value is greater than the acceleration threshold value, determine that the running state is an upward acceleration motion state.

[0072] In a preferred embodiment of the present application, the variable result prediction module 53 is configured to, when the running state changes from the static state to the upward acceleration motion state or the downward acceleration motion state, predict the height information according to the acceleration data, the pressure data and the state variable.

[0073] In a preferred embodiment of the present application, the variable result estimation module 53 is configured to estimate the state variable result according to the acceleration data at the current time, the air pressure data at the current time, the height variable at the previous time, the speed variable at the previous time, a preset air pressure-height conversion factor, a preset noise standard deviation of the barometer, a preset noise standard deviation of the accelerometer, and a time difference between the current time and the previous time.

[0074] The state variable result includes the height information and the speed information of the elevator.

[0075] In a preferred embodiment of the present application, the floor matching module 54 is configured to match the floor corresponding to the elevator according to the height information and a preset corresponding relationship between the height and the floor when the running state changes from the upward deceleration motion state or the downward deceleration motion state to the static state.

[0076] The embodiment of the present application also provides an electronic device, referring to Figure 6 , which comprises a processor 601, a memory 602, and a computer program 6021 stored in the memory 602 and capable of running on the processor 601, and the processor 601 implements the elevator floor identification method of the foregoing embodiment when running the program 6021.

[0077] The embodiment of the present application also provides a readable storage medium, which stores a computer program, and the program is executed by a processor to implement the elevator floor identification method of the foregoing embodiment.

[0078] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts refer to the part of the method embodiment.

[0079] It should be noted that all the actions of acquiring signals, information or data in the embodiment of the present application are performed under the premise of complying with the corresponding data protection regulations and policies of the country where the device is located and obtaining the authorization given by the corresponding device owner.

[0080] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between each embodiment can be referred to.

[0081] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, embodiments of the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer program code thereon for use by or in connection with an instruction execution system. Program code embodied on one or more computer-usable storage media can be downloaded over a computer network.

[0082] Embodiments of the present application are described herein with reference to the drawings, which are as follows: Figure 1 Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable data processing terminal to produce a computer-implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart block or blocks.

[0083] Accordingly, the computer program instructions can be embodied in one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage devices, etc.) which can be used in a computing system. Figure 1 Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable data processing terminal to produce a computer-implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart block or blocks.

[0084] The computer program instructions can also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable data processing terminal to produce a computer-implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable data processing terminal to produce a computer-implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart block or blocks.

[0085] While preferred embodiments of the present application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such modifications and variations as fall within the scope of the present application.

[0086] ​​​Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to differentiate one entity or operation from another entity or operation, without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other closure, are intended to cover the non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include those elements alone but can include other elements not expressly listed or even include elements inherent in such process, method, article, or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus including the element.

[0087] The above describes in detail the elevator floor identification method and device provided by the present application. The principles and implementation modes of the present application are described by applying specific examples. The above description of the examples is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, the specific implementation modes and application ranges will be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method for identifying elevator floors, characterized in that, The method includes: Acquire acceleration data, air pressure data, and state variables of the elevator at multiple moments, wherein the state variables include height and speed variables; The elevator's operating status is determined based on the acceleration data, the air pressure data, and a pre-set data threshold. Specifically, the operating status is determined based on the acceleration data and corresponding acceleration threshold, and the air pressure data and corresponding air pressure threshold. If the acceleration data is newly acquired, the preset acceleration queue is cleared, and the acceleration data is stored in the acceleration queue. If the acceleration data is not newly acquired, the acceleration data is stored in the acceleration queue, and the average acceleration value of the multiple acceleration data stored in the acceleration queue is calculated. Similarly, if the air pressure data is newly acquired, the preset air pressure queue is cleared. If the air pressure data is not newly acquired, the air pressure change data between the current air pressure data and the previously acquired air pressure data is calculated, the air pressure change data is stored in the air pressure queue, and the average air pressure change value of the multiple air pressure change data stored in the air pressure queue is calculated. The operating status is determined based on the average acceleration value, the acceleration threshold, the average air pressure change value, and the air pressure threshold. The elevator's height information is estimated based on the operating status, acceleration data, air pressure data, and state variables. Specifically, the state variable is estimated based on the acceleration data at the current moment, the air pressure data at the current moment, the height variable at the previous moment, the speed variable at the previous moment, a preset air pressure-height conversion factor, a preset barometer noise standard deviation, a preset accelerometer noise standard deviation, and the time difference between the current moment and the previous moment. The elevator is matched to the floor based on its operating status and height information.

2. The method according to claim 1, characterized in that, Determining the operating state based on the average acceleration, the acceleration threshold, the average pressure change, and the pressure threshold includes: When the absolute value of the average value of the air pressure change is less than or equal to the air pressure threshold, and the absolute value of the average value of the acceleration is less than or equal to the acceleration threshold, the operating state is determined to be a stationary state. When the average value of the air pressure change is less than or equal to the negative value of the air pressure threshold, and the average value of the acceleration is less than or equal to the negative value of the acceleration threshold, the operating state is determined to be a downward deceleration motion state. When the average value of the air pressure change is greater than the air pressure threshold, and the average value of the acceleration is less than or equal to the negative number of the acceleration threshold, the operating state is determined to be an upward deceleration motion state. When the average value of the air pressure change is less than or equal to the negative number of the air pressure threshold, and the average value of the acceleration is greater than the acceleration threshold, the operating state is determined to be a downward acceleration motion state. When the average value of the air pressure change is greater than the air pressure threshold and the average value of the acceleration is greater than the acceleration threshold, the operating state is determined to be an upward acceleration motion state.

3. The method according to claim 2, characterized in that, The step of estimating the elevator's height information based on the operating status, acceleration data, air pressure data, and state variables includes: When the operating state changes from the static state to the upward acceleration state or the downward acceleration state, the altitude information is estimated based on the acceleration data, the air pressure data, and the state variables.

4. The method according to claim 3, characterized in that, The state variable results include the height information and the elevator speed information.

5. The method according to claim 2, characterized in that, The step of matching the elevator to the corresponding floor based on the operating status and the height information includes: When the operating state changes from the upward deceleration motion state or the downward deceleration motion state to the stationary state, the floor corresponding to the elevator is matched according to the height information and the preset correspondence between height and floor.

6. An elevator floor identification device, characterized in that, The device includes: The data variable acquisition module is used to acquire the elevator's acceleration data, air pressure data, and state variables at multiple moments, including height and speed variables. The status determination module is used to determine the elevator's operating status based on the acceleration data, the air pressure data, and a preset data threshold. Specifically, it determines the operating status based on the acceleration data and corresponding acceleration thresholds, and the air pressure data and corresponding air pressure thresholds. If the acceleration data is newly acquired, the preset acceleration queue is cleared, and the acceleration data is stored in the acceleration queue. If the acceleration data is not newly acquired, the acceleration data is stored in the acceleration queue, and the average acceleration value of the multiple acceleration data stored in the acceleration queue is calculated. Similarly, if the air pressure data is newly acquired, the preset air pressure queue is cleared. If the air pressure data is not newly acquired, the air pressure change data between the current air pressure data and the previously acquired air pressure data is calculated, the air pressure change data is stored in the air pressure queue, and the average air pressure change value of the multiple air pressure change data stored in the air pressure queue is calculated. The operating status is determined based on the average acceleration value, the acceleration threshold, the average air pressure change value, and the air pressure threshold. The variable result prediction module is used to predict the elevator's height information based on the operating status, acceleration data, air pressure data, and state variables. It also predicts the state variable results based on the current acceleration data, the current air pressure data, the previous height variable, the previous speed variable, a preset air pressure-height conversion factor, a preset barometer noise standard deviation, a preset accelerometer noise standard deviation, and the time difference between the current and previous moments. The floor matching module is used to match the floor corresponding to the elevator based on the operating status and the height information.

7. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the elevator floor identification method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the elevator floor identification method according to any one of claims 1 to 5.

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