Elevator and electric vehicle control method, system and device for construction environment

Abstract

The application discloses a control method, system and equipment for an elevator and an electric vehicle in a construction environment. The control signals for controlling the elevator and the electric vehicle are respectively generated by identifying and analyzing the states of the elevator and the electric vehicle, so as to control the running state of the elevator and the braking state of the electric vehicle. When the electric vehicle is in the elevator, the electric vehicle is in the braking state, thereby solving the problems of the safety hidden trouble, the collision and the falling of the electric vehicle in the prior solutions.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology in construction environments, specifically to control methods, systems, and equipment for elevators and electric vehicles in construction environments. Background Technology

[0002] In construction environments, the lack of standardized management of electric vehicles entering elevators often leads to situations where an electric vehicle enters the elevator illegally while still in operation, breaking through the elevator cage door. At this point, the electric vehicle is suspended in mid-air and may even fall, posing a certain safety hazard.

[0003] The current solutions are: first, to strictly prohibit electric vehicles from entering the elevator, which requires management by the entire construction project team and will also cause some inconvenience to construction; second, to install fixing measures and anti-collision measures inside the elevator to secure the electric vehicles carrying goods, and to require that electric vehicles entering the elevator must be powered off and the key removed before the elevator can be started.

[0004] However, the second solution requires manual implementation and verification step by step. If any step is overlooked, it poses a safety hazard, potentially causing collisions or falls of the electric vehicles. Therefore, intelligent control of elevators and electric vehicles in construction environments is a problem that needs further research. Summary of the Invention

[0005] Based on the problems raised in the background technology above, the purpose of this invention is to provide a method, system and equipment for controlling elevators and electric vehicles in a construction environment. By identifying and analyzing the status of elevators and electric vehicles, control signals for controlling elevators and electric vehicles are generated to control the operating status of elevators and the braking status of electric vehicles. This ensures that when the electric vehicle is inside the elevator, it is in a braking state, thereby solving the safety hazards of existing solutions that cause collisions and falls of electric vehicles.

[0006] This invention is achieved through the following technical solution:

[0007] The first aspect of this invention provides a control method for elevators and electric vehicles in a construction environment, comprising the following steps:

[0008] Step S1: The weight of the elevator is obtained by the weight sensor installed at the bottom of the elevator. When the weight of the elevator is not less than the weight threshold, a first control signal is sent to the elevator to stop the elevator.

[0009] Step S2: Acquire images of the inside of the elevator using an image acquisition device installed inside the elevator, identify the objects carried in the images of the inside of the elevator, and if the objects carried include electric vehicles, construct a posture model of the objects carried and execute step S3; otherwise, send a second control signal to the elevator.

[0010] Step S3: Acquire electric vehicle data, fuse the electric vehicle data with the attitude model, generate a third control signal based on the fusion analysis result, and send the third control signal to the electric vehicle.

[0011] Step S4: Obtain the braking status data of the electric vehicle after receiving the third control signal, and judge the braking status data. If the electric vehicle is in a safe braking state, send the second control signal to the elevator; otherwise, repeat step S3.

[0012] In the above technical solution, the weight of the elevator is first obtained by a weight sensor installed at the bottom of the elevator. When the weight is greater than or equal to a certain value, it can be assumed that there may be an electric vehicle inside the elevator. At this time, a first control signal needs to be sent to the elevator. The first control signal is used to control the elevator to stop running. The weight threshold is set according to the electric vehicle used in the specific construction environment.

[0013] When the elevator is stopped, the image acquisition device needs to perform a preliminary identification of the objects inside the elevator. The purpose of the preliminary identification is to determine whether the objects include electric vehicles. If they do not include electric vehicles, a second control signal is sent to the elevator to control the elevator to resume operation.

[0014] If the object being carried includes an electric vehicle, then an attitude model is constructed for the object being carried. The purpose is to establish and obtain the attitude of the electric vehicle, and to combine the attitude of the electric vehicle with its operating data for fusion analysis to obtain the attitude used to adjust the braking and braking state of the electric vehicle, so that the electric vehicle is in a braking state when the elevator is raising and lowering and to avoid the safety hazards caused by the vehicle sliding when the elevator is raising and lowering.

[0015] The system acquires braking status data of the electric vehicle after braking and adjusting its braking posture according to the third control signal. This data is then analyzed. If the electric vehicle is in a braking state and its braking posture is safe, it is considered to be in a safe braking state. In this case, a second control signal is sent to the elevator to control it to resume operation. Otherwise, the fusion analysis is repeated, and the electric vehicle's braking posture is adjusted based on the fusion analysis results until a safe braking posture is achieved.

[0016] In one optional embodiment, identifying the object carried in the image inside the elevator includes the following steps:

[0017] Step S21: Use a sliding window target detection algorithm to traverse the images inside the elevator to obtain the target detection objects;

[0018] Step S22: Perform feature point detection on the target object to obtain the feature points of the target object;

[0019] Step S23: Construct the edge contour of the target detection object feature points based on the structural features of the electric vehicle to obtain the target detection object contour.

[0020] In one optional embodiment, if the mounted object includes an electric vehicle, then constructing a posture model for the mounted object includes the following steps:

[0021] Step S24: Extract wheel contour information from the mounted object, and perform positioning detection on the electric vehicle wheels based on the wheel contour information to obtain wheel positioning information; wherein, the wheel positioning information includes front wheel information, rear left wheel information and rear right wheel information;

[0022] Step S25: Determine the center line of the front wheel, the center line of the rear left wheel, and the center line of the right rear wheel using the information of the front wheel, the information of the rear left wheel, and the information of the rear right wheel; calculate the center line of the right rear wheel and the center line of the left rear wheel to obtain the geometric center line of the vehicle.

[0023] Step S26: Calculate the angle between the centerline of the front wheel and the geometric centerline of the vehicle, and set the angle as the toe angle; calculate the front wheel information, the rear left wheel information, and the rear right wheel information respectively to obtain the front side deflection angle, the left rear side deflection angle, and the right rear side deflection angle;

[0024] Step S27: The toe angle, the front side slip angle, the left rear side slip angle, and the right rear side slip angle are used as state variables of the attitude model. The state variables are used for fusion analysis with the electric vehicle data.

[0025] In one optional embodiment, the front wheel information includes a first center point O1 (X1,Y1,Z1) and a second center point O2 (X2,Y2,Z2); the left wheel information includes a third center point O3 (X3,Y3,Z3) and a fourth center point O4 (X4,Y4,Z4); and the right wheel information includes a fifth center point O5 (X5,Y5,Z5) and a sixth center point O6 (X6,Y6,Z6).

[0026] In one optional embodiment, calculating the angle between the centerline of the front wheel and the geometric centerline of the vehicle, and setting the angle as the toe angle includes:

[0027]

[0028] In the above formula, It is the toe angle.

[0029] In one optional embodiment, the front wheel information, the rear left wheel information, and the rear right wheel information are calculated respectively to obtain the front side slip angle, the left rear side slip angle, and the right rear side slip angle, including:

[0030]

[0031]

[0032]

[0033] In the above formula, α1 is the front side deflection angle, α2 is the left rear side deflection angle, and α3 is the right rear side deflection angle.

[0034] In one optional embodiment, fusing the electric vehicle data with the attitude model includes the following steps:

[0035] Step S31: Establish a tire force model based on the electric vehicle data and the attitude model;

[0036] Step S32: Analyze and predict the tire force model to obtain the electric vehicle slippage prediction;

[0037] Step S33: Adjust the rotation of the tires of the electric vehicle according to the electric vehicle slip prediction, and generate a rotation signal based on the rotation adjustment result.

[0038] In one optional embodiment, adjusting the rotation of the electric vehicle's tires based on the electric vehicle slip prediction includes:

[0039]

[0040]

[0041]

[0042] In the above formula, β1 is the front wheel adjustment angle, β2 is the left rear wheel adjustment angle, β3 is the right rear wheel adjustment angle, l1 is the distance from the front wheel to the center of gravity of the electric vehicle, l2 is the distance from the center of the rear wheel axle to the center of gravity of the electric vehicle, ω is the yaw rate of the electric vehicle, and v is the vector velocity of the electric vehicle.

[0043] A second aspect of the present invention provides a control system for a lift and electric vehicle in a construction environment, comprising:

[0044] The weight judgment module is used to obtain the weight of the elevator by a weight sensor installed at the bottom of the elevator. When the weight of the elevator is not less than a weight threshold, the module sends a first control signal to the elevator to stop the elevator from running.

[0045] An object recognition module is used to acquire images of the inside of the elevator through an image acquisition device installed inside the elevator, and to identify objects carried in the images of the inside of the elevator.

[0046] The fusion analysis module is used to acquire electric vehicle data, perform fusion analysis on the electric vehicle data and the attitude model, generate a third control signal based on the fusion analysis result, and send the third control signal to the electric vehicle.

[0047] The braking judgment module is used to acquire braking status data of the electric vehicle after receiving the third control signal, judge the braking status data, and send a second control signal to the elevator if the electric vehicle is in a safe braking state.

[0048] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a method for controlling a lift and an electric vehicle in a construction environment.

[0049] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0050] By identifying and analyzing the status of the elevator and the electric vehicle, control signals are generated to control the operation of the elevator and the braking status of the electric vehicle. This ensures that the electric vehicle is in a braking state when it is inside the elevator, thus solving the safety hazards of existing solutions that could lead to collisions and falls of the electric vehicle. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0052] Figure 1 This is a flowchart illustrating the control method for a lift and electric vehicle in a construction environment provided in Embodiment 1 of the present invention.

[0053] Figure 2This is a schematic diagram of the structure of the elevator and electric vehicle control system for a construction environment provided in Embodiment 2 of the present invention;

[0054] Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0056] Example 1

[0057] Figure 1 This is a flowchart illustrating the control method for a lift and electric vehicle in a construction environment provided in Embodiment 1 of the present invention. Figure 1 As shown, the control method for elevators and electric vehicles in a construction environment includes the following steps:

[0058] Step S1: The weight of the elevator is obtained by the weight sensor installed at the bottom of the elevator. When the weight of the elevator is not less than the weight threshold, a first control signal is sent to the elevator to stop the elevator.

[0059] Step S2: Acquire images of the inside of the elevator using an image acquisition device installed inside the elevator, identify the objects carried in the images of the inside of the elevator, and if the objects carried include electric vehicles, construct a posture model of the objects carried and execute step S3; otherwise, send a second control signal to the elevator.

[0060] Step S3: Acquire electric vehicle data, fuse the electric vehicle data with the attitude model, generate a third control signal based on the fusion analysis result, and send the third control signal to the electric vehicle.

[0061] Step S4: Obtain the braking status data of the electric vehicle after receiving the third control signal, and judge the braking status data. If the electric vehicle is in a safe braking state, send the second control signal to the elevator; otherwise, repeat step S3.

[0062] It should be noted that the current electric vehicle control system, primarily used in construction environments, involves installing securing measures and anti-collision mechanisms within the elevator to fix the loaded electric vehicles. It also requires that the electric vehicle entering the elevator be powered off and the key removed before the elevator can be started. However, this method requires manual execution and verification of each step. If any step is neglected, a safety hazard exists, potentially leading to collisions or falls of the electric vehicle.

[0063] To address the shortcomings of the aforementioned solutions, this invention proposes a control method for elevators and electric vehicles in construction environments. This method intelligently identifies and analyzes the status of the elevator and the electric vehicle, generating control signals to control the elevator's operation and the electric vehicle's braking status. This ensures that the electric vehicle is in a braking state when inside the elevator, thus resolving the safety hazards of existing solutions that could lead to collisions and falls of the electric vehicle.

[0064] Specifically, the weight of the elevator is first obtained by a weight sensor installed at the bottom of the elevator. When the weight is greater than or equal to a certain value, it can be assumed that there may be an electric vehicle inside the elevator. At this time, a first control signal needs to be sent to the elevator. The first control signal is used to control the elevator to stop running. The weight threshold is set according to the electric vehicle used in the specific construction environment.

[0065] When the elevator is stopped, the image acquisition device needs to perform a preliminary identification of the objects inside the elevator. The purpose of the preliminary identification is to determine whether the objects include electric vehicles. If they do not include electric vehicles, a second control signal is sent to the elevator to control the elevator to resume operation.

[0066] If the object being carried includes an electric vehicle, then an attitude model is constructed for the object being carried. The purpose is to establish and obtain the attitude of the electric vehicle, and to combine the attitude of the electric vehicle with its operating data for fusion analysis to obtain the attitude used to adjust the braking and braking state of the electric vehicle, so that the electric vehicle is in a braking state when the elevator is raising and lowering and to avoid the safety hazards caused by the vehicle sliding when the elevator is raising and lowering.

[0067] The system acquires braking status data of the electric vehicle after braking and adjusting its braking posture according to the third control signal. This data is then analyzed. If the electric vehicle is in a braking state and its braking posture is safe, it is considered to be in a safe braking state. In this case, a second control signal is sent to the elevator to control it to resume operation. Otherwise, the fusion analysis is repeated, and the electric vehicle's braking posture is adjusted based on the fusion analysis results until a safe braking posture is achieved.

[0068] In one optional embodiment, identifying the object carried in the image inside the elevator includes the following steps:

[0069] Step S21: Use a sliding window target detection algorithm to traverse the images inside the elevator to obtain the target detection objects;

[0070] Step S22: Perform feature point detection on the target object to obtain the feature points of the target object;

[0071] Step S23: Construct the edge contour of the target detection object feature points based on the structural features of the electric vehicle to obtain the target detection object contour.

[0072] It should be noted that the purpose of identifying the object carried in the image inside the elevator is to determine whether an electric vehicle is among the carried objects. If no electric vehicle is found, a signal is sent to the elevator to release the shielding and allow it to operate normally. Therefore, in this embodiment, the identification of the carried object is mainly based on the structural characteristics of an electric vehicle to determine whether the carried object includes an electric vehicle.

[0073] This embodiment provides a method for constructing the edge contour of the feature points of the target detection object based on the structural features of an electric vehicle. The electric vehicle used in the construction environment mainly includes the electric vehicle wheels and the cargo part. Therefore, in this embodiment, the electric vehicle wheels and the cargo part are used as the structural features of the electric vehicle to construct the edge contour of the feature points of the target detection object.

[0074] Specifically, an edge detection operator is used to perform convolution operations on the feature points of the target object to obtain a gradient image. The feature points of the target object are set as P0(x0,y0), and their adjacent points on the gradient direction θ are P1 and P2. After the convolution operation, the feature points of the target object in the gradient image are...

[0075] Among them, T θ M is the edge detection operator for the gradient direction θ. P* Let P be the point * The grayscale information matrix is ​​given by , where L is the distance between the feature points of the target object and its neighboring points. The gradient direction θ is measured from the positive X-axis direction.

[0076] At this point, after the convolution operation, the feature points of the target object have amplitude and direction, which improves the accuracy of edge contour recognition.

[0077] Based on the geometric features of the electric vehicle, the gradient image is fitted with ellipse and rectangle using the least squares method to obtain the edge contour of the electric vehicle.

[0078] In one optional embodiment, if the mounted object includes an electric vehicle, then constructing a posture model for the mounted object includes the following steps:

[0079] Step S24: Extract wheel contour information from the mounted object, and perform positioning detection on the electric vehicle wheels based on the wheel contour information to obtain wheel positioning information; wherein, the wheel positioning information includes front wheel information, rear left wheel information and rear right wheel information;

[0080] Step S25: Determine the center line of the front wheel, the center line of the rear left wheel, and the center line of the right rear wheel using the information of the front wheel, the information of the rear left wheel, and the information of the rear right wheel; calculate the center line of the right rear wheel and the center line of the left rear wheel to obtain the geometric center line of the vehicle.

[0081] Step S26: Calculate the angle between the centerline of the front wheel and the geometric centerline of the vehicle, and set the angle as the toe angle; calculate the front wheel information, the rear left wheel information, and the rear right wheel information respectively to obtain the front side deflection angle, the left rear side deflection angle, and the right rear side deflection angle;

[0082] Step S27: The toe angle, the front side slip angle, the left rear side slip angle, and the right rear side slip angle are used as state variables of the attitude model. The state variables are used for fusion analysis with the electric vehicle data.

[0083] It should be noted that locking the power supply of the cargo electric vehicle requires not only signal shielding of its power supply but also directional locking of its wheels to prevent slippage caused by the vibrations of the lift, thus further ensuring safety at the construction site. Therefore, the third control signal includes not only the shielding signal for power locking but also the directional control signal for directional locking.

[0084] In one optional embodiment, the front wheel information includes a first center point O1 (X1,Y1,Z1) and a second center point O2 (X2,Y2,Z2); the left wheel information includes a third center point O3 (X3,Y3,Z3) and a fourth center point O4 (X4,Y4,Z4); and the right wheel information includes a fifth center point O5 (X5,Y5,Z5) and a sixth center point O6 (X6,Y6,Z6).

[0085] It should be noted that the wheel information includes the center point of the left side and the center point of the right side of the wheel.

[0086] In one optional embodiment, calculating the angle between the centerline of the front wheel and the geometric centerline of the vehicle, and setting the angle as the toe angle includes:

[0087]

[0088] In the above formula, It is the toe angle.

[0089] In one optional embodiment, the front wheel information, the rear left wheel information, and the rear right wheel information are calculated respectively to obtain the front side slip angle, the left rear side slip angle, and the right rear side slip angle, including:

[0090]

[0091]

[0092]

[0093] In the above formula, α1 is the front side deflection angle, α2 is the left rear side deflection angle, and α3 is the right rear side deflection angle.

[0094] In one optional embodiment, fusing the electric vehicle data with the attitude model includes the following steps:

[0095] Step S31: Establish a tire force model based on the electric vehicle data and the attitude model;

[0096] Step S32: Analyze and predict the tire force model to obtain the electric vehicle slippage prediction;

[0097] Step S33: Adjust the rotation of the tires of the electric vehicle according to the electric vehicle slip prediction, and generate a rotation signal based on the rotation adjustment result.

[0098] Among them, the tire force model is established by using the slip angle, and the force on each tire is the product of the tire slip stiffness and the slip angle.

[0099] Electric vehicle slip prediction is based on the current data of the electric vehicle, including its mass, speed, and angular velocity, to predict slippage. Based on the slippage prediction, the angles of the three tires of the electric vehicle are adjusted to minimize slippage.

[0100] Specifically, this embodiment provides a possible method for predicting electric vehicle slippage, including:

[0101] Step S321: Based on the electric vehicle data, perform an overall force analysis on the electric vehicle to determine the direction and magnitude of the force on the tires of the electric vehicle.

[0102] Step S322: Calculate the direction and magnitude of the force to obtain the sliding acceleration of the electric vehicle;

[0103] Step S323: When the sliding acceleration of the electric vehicle exceeds the sliding threshold, the sliding prediction distance is calculated, wherein the sliding prediction distance is calculated as follows:

[0104]

[0105] In the above formula, L is the predicted sliding distance, m is the mass of the electric vehicle, F is the magnitude of the force on the electric vehicle in the direction of force, and f is the magnitude of the frictional force on the electric vehicle in the direction of force.

[0106] In this embodiment, the magnitude of the force on the electric vehicle in the direction of force application is the sliding force caused by the shaking and tilting of the lift during the lifting process, and the magnitude of the force of the electric vehicle's own weight in the sliding direction.

[0107] In one optional embodiment, adjusting the rotation of the electric vehicle's tires based on the electric vehicle slip prediction includes:

[0108]

[0109]

[0110]

[0111] In the above formula, β1 is the front wheel adjustment angle, β2 is the left rear wheel adjustment angle, β3 is the right rear wheel adjustment angle, l1 is the distance from the front wheel to the center of gravity of the electric vehicle, l2 is the distance from the center of the rear wheel axle to the center of gravity of the electric vehicle, ω is the yaw rate of the electric vehicle, v is the speed of the electric vehicle, and L is the predicted sliding distance.

[0112] Example 2

[0113] Figure 2 This is a schematic diagram of the structure of the elevator and electric vehicle control system for a construction environment provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the control system for elevators and electric vehicles used in construction environments includes:

[0114] The weight judgment module is used to obtain the weight of the elevator by a weight sensor installed at the bottom of the elevator. When the weight of the elevator is not less than a weight threshold, the module sends a first control signal to the elevator to stop the elevator from running.

[0115] An object recognition module is used to acquire images of the inside of the elevator through an image acquisition device installed inside the elevator, and to identify objects carried in the images of the inside of the elevator.

[0116] The fusion analysis module is used to acquire electric vehicle data, perform fusion analysis on the electric vehicle data and the attitude model, generate a third control signal based on the fusion analysis result, and send the third control signal to the electric vehicle.

[0117] The braking judgment module is used to acquire braking status data of the electric vehicle after receiving the third control signal, judge the braking status data, and send a second control signal to the elevator if the electric vehicle is in a safe braking state.

[0118] Example 3

[0119] Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention, as shown below. Figure 3 As shown, the electronic device includes a processor 21, a memory 22, an input device 23, and an output device 24; the number of processors 21 in the computer device can be one or more. Figure 3 Taking a processor 21 as an example; the processor 21, memory 22, input device 23, and output device 24 in an electronic device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0120] The memory 22, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules. The processor 21 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 22, thereby implementing the elevator and electric vehicle control method for a construction environment as described in Embodiment 1.

[0121] The memory 22 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 22 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 22 may further include memory remotely located relative to the processor 21, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0122] Input device 23 can be used to receive user input such as ID and password. Output device 24 is used to output the network configuration page.

[0123] Example 4

[0124] Embodiment 4 of the present invention also provides a computer-readable storage medium, wherein the computer-executable instructions, when executed by a computer processor, are used to implement the elevator and electric vehicle control method for a construction environment as provided in Embodiment 1.

[0125] The storage medium containing computer-executable instructions provided in the embodiments of the present invention is not limited to the method operation provided in Embodiment 1, but can also execute related operations in the elevator and electric vehicle control method for construction environment provided in any embodiment of the present invention.

[0126] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for elevators and electric vehicles in a construction environment, characterized in that, Includes the following steps: Step S1: The weight of the elevator is obtained by the weight sensor installed at the bottom of the elevator. When the weight of the elevator is not less than the weight threshold, a first control signal is sent to the elevator to stop the elevator. Step S2: Acquire images of the elevator's interior using an image acquisition device installed inside the elevator. Identify the object being carried in the images. If the object includes an electric vehicle, construct a posture model for the object and execute step S3; otherwise, send a second control signal to the elevator. Specifically, constructing a posture model for the object if it includes an electric vehicle includes the following steps: Step S24: Extract wheel contour information from the mounted object, and perform positioning detection on the electric vehicle wheels based on the wheel contour information to obtain wheel positioning information; wherein, the wheel positioning information includes front wheel information, rear left wheel information and rear right wheel information; Step S25: Determine the center line of the front wheel, the center line of the rear left wheel, and the center line of the right rear wheel using the information of the front wheel, the information of the rear left wheel, and the information of the rear right wheel; calculate the center line of the right rear wheel and the center line of the left rear wheel to obtain the geometric center line of the vehicle. Step S26: Calculate the angle between the centerline of the front wheel and the geometric centerline of the vehicle, and set the angle as the toe angle; calculate the front wheel information, the rear left wheel information, and the rear right wheel information respectively to obtain the front side deflection angle, the left rear side deflection angle, and the right rear side deflection angle; Step S27: The toe angle, the front slip angle, the left rear slip angle, and the right rear slip angle are used as state variables of the attitude model. The state variables are used for fusion analysis with the electric vehicle data. Step S3: Acquire electric vehicle data, fuse the electric vehicle data with the attitude model, generate a third control signal based on the fusion analysis result, and send the third control signal to the electric vehicle. Step S4: Obtain the braking status data of the electric vehicle after receiving the third control signal, and judge the braking status data. If the electric vehicle is in a safe braking state, send the second control signal to the elevator; otherwise, repeat step S3.

2. The control method for elevators and electric vehicles in a construction environment according to claim 1, characterized in that, The process of identifying the objects inside the elevator includes the following steps: Step S21: Use a sliding window target detection algorithm to traverse the images inside the elevator to obtain the target detection objects; Step S22: Perform feature point detection on the target object to obtain the feature points of the target object; Step S23: Construct the edge contour of the target detection object feature points based on the structural features of the electric vehicle to obtain the target detection object contour.

3. The control method for elevators and electric vehicles in a construction environment according to claim 1, characterized in that, The fusion analysis of the electric vehicle data and the attitude model includes the following steps: Step S31: Establish a tire force model based on the electric vehicle data and the attitude model; Step S32: Analyze and predict the tire force model to obtain the electric vehicle slippage prediction; Step S33: Adjust the rotation of the tires of the electric vehicle according to the electric vehicle slip prediction, and generate a rotation signal based on the rotation adjustment result.

4. A control system for elevators and electric vehicles used in construction environments, characterized in that, include: The weight judgment module is used to obtain the weight of the elevator by a weight sensor installed at the bottom of the elevator. When the weight of the elevator is not less than a weight threshold, the module sends a first control signal to the elevator to stop the elevator from running. An object recognition module is used to acquire images of the elevator's interior using an image acquisition device deployed inside the elevator, and to identify objects carried within the images. If the carried objects include electric vehicles, a posture model is constructed for the carried objects, and the following steps are performed: Wheel contour information is extracted from the mounted object, and the electric vehicle wheels are located and detected based on the wheel contour information to obtain wheel positioning information; wherein, the wheel positioning information includes front wheel information, rear left wheel information and rear right wheel information; The center lines of the front wheel, the left rear wheel, and the right rear wheel are determined by the information of the front wheel, the left rear wheel, and the right rear wheel. The center lines of the right rear wheel and the left rear wheel are calculated to obtain the geometric center line of the vehicle. Calculate the angle between the centerline of the front wheel and the geometric centerline of the vehicle, and set the angle as the toe angle; calculate the front wheel information, the rear left wheel information, and the rear right wheel information respectively to obtain the front side deflection angle, the left rear side deflection angle, and the right rear side deflection angle; The toe angle, the front slip angle, the left rear slip angle, and the right rear slip angle are used as state variables of the attitude model, and the state variables are used for fusion analysis with the electric vehicle data; The fusion analysis module is used to acquire electric vehicle data, perform fusion analysis on the electric vehicle data and the attitude model, generate a third control signal based on the fusion analysis result, and send the third control signal to the electric vehicle. The braking judgment module is used to acquire braking status data of the electric vehicle after receiving the third control signal, judge the braking status data, and send a second control signal to the elevator if the electric vehicle is in a safe braking state.

5. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the elevator and electric vehicle control method for a construction environment as described in any one of claims 1 to 3.

Images