Wheelchair user identification method for an elevator

Abstract

The application discloses a wheelchair equivalent user recognition method for an elevator, wherein the wheelchair equivalent user refers to an elevator user who gets on a carrier equipped with wheels to realize movement between an elevator car and a landing, or an elevator user who carries a carrier equipped with wheels, and the carrier realizes movement on the landing or car ground by rolling of the wheels relative to the landing or car ground. During the elevator user enters the car from the landing, a vibration signal of the elevator car is monitored, whether the vibration of the elevator car is caused by the wheels of the carrier hitting the car sill when the carrier enters the car with the elevator user is judged according to a vibration signal calculation value, and when the judgment result is yes, the elevator user who is currently entering the car is recognized as the wheelchair equivalent user. The wheelchair equivalent user recognition method for the elevator can simply and conveniently realize recognition of the wheelchair equivalent user.

Description

Technical Field

[0001] This invention relates to the field of elevator technology, and more specifically to a method for identifying wheelchair users in elevators. Background Technology

[0002] Wheelchair-accessible elevators are equipped with both dedicated wheelchair call buttons and regular call buttons inside the car. When a passenger registers using the dedicated wheelchair call button, the system registers it as a wheelchair call and controls the elevator in wheelchair mode when it reaches the registered destination floor. Wheelchair mode control includes door extension control (extending the opening time of the car door at the destination floor) and door stop control (allowing the car to come to a complete stop at the destination floor before opening the door). Therefore, wheelchair mode control improves the safety of wheelchair users when exiting the elevator. However, in reality, there are instances where non-wheelchair users operate the dedicated wheelchair call button. In such cases, wheelchair mode control is activated even though the user is not a wheelchair user and is exiting at their destination floor, thus reducing the elevator's operating efficiency.

[0003] To address the aforementioned issues, Reference 1 (CN201811449414.7) proposes determining whether a wheelchair user is among the passengers intending to take the elevator based on the analysis results of images captured by a camera. If no wheelchair user is present and the wheelchair-only call button in the elevator car is activated, the call signal from the wheelchair-only call button is processed using the same method as a regular call button. While Reference 1 solves the problem, it still uses the same method for wheelchair-accessible users (such as passengers pushing strollers or children riding bicycles, who, although not wheelchair users, still desire the convenience of wheelchair-mode controls like extended door opening and stop door opening). Therefore, its user-friendliness for wheelchair-accessible users needs improvement.

[0004] To address the shortcomings of Reference 1, Reference 2 (CN202211479879.3) proposes to determine the presence of a wheelchair-equipped user by comparing the car's acceleration signal with specific vibration information related to the vibration generated in the car cabin when a wheelchair-equipped user moves between the landing and the car cabin. This specific vibration information is obtained beforehand using supervised machine learning. While Reference 2 solves the problems of Reference 1, it relies on supervised machine learning to obtain the specific vibration information used as a comparison benchmark. However, the actual installation and commissioning results of each elevator, the conditions of the same elevator at different landings (such as the distance between the car door sill and the landing door sill), and the leveling error each time the elevator stops at a landing will vary. Therefore, it is necessary to obtain separate sample data for each elevator, each landing, and various leveling errors (and even for different types of wheelchair-equipped users). Clearly, obtaining such sample data is extremely difficult, involving a large amount of data, high difficulty in data generation, and long time consumption, making it difficult to implement in engineering practice.

[0005] Therefore, how to easily and conveniently identify wheelchair users has become a pressing technical problem. Summary of the Invention

[0006] The technical problem to be solved by this invention is how to easily and conveniently identify wheelchair users.

[0007] To address the aforementioned technical problems, this invention discloses a method for identifying wheelchair-equipped users of elevators. The wheelchair-equipped user refers to an elevator user who moves between the elevator car and landings using a wheeled vehicle, or an elevator user carrying a wheeled vehicle. The vehicle moves on the landing or car floor by the rolling of its wheels relative to the floor. The method is characterized by monitoring the vibration signal of the elevator car during the user's entry from a landing. Based on the calculated vibration signal value, it is determined whether the vibration of the elevator car is caused by the wheels of the vehicle impacting the car sill when the user enters the car. If the determination is yes, the user currently entering the car is identified as a wheelchair-equipped user.

[0008] Preferably, the vibration signal is calculated as the amplitude of the vibration signal in the car's depth direction, or the vibration signal is calculated as the ratio of the amplitude of the vibration signal in the car's depth direction to the amplitude of the vibration signal in the vertical direction.

[0009] Preferably, the identification method first uses typical stages to perform waveform matching on the waveform of the vibration signal calculated value changing with time, and then determines whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user based on the matching results of each typical stage and their adjacent relationships.

[0010] Preferably, the typical stage is: the identification method pre-divides the typical waveform of the vibration signal calculated by the vehicle when the wheels hit the sill of the car as the elevator user enters the car into stages based on the waveform characteristics of the vibration signal calculated value, and obtains six typical stages that make up the typical waveform.

[0011] Preferably, when the matching result includes at least one of the first typical stage, the sixth typical stage, and the second to fifth typical stages, and the temporal sequence of the typical stages included in the matching result satisfies a predetermined order, it is determined that the vibration is caused by the wheels of the vehicle hitting the car sill when the vehicle enters the car with the elevator user.

[0012] Preferably, the waveform matching refers to performing sliding matching on the waveform of the vibration signal calculation value according to the waveform characteristics of a certain typical stage. When a specific waveform segment exists in the waveform of the vibration signal calculation value, it is determined that the typical stage exists in the waveform of the vibration signal calculation value. The specific waveform segment refers to a waveform whose waveform characteristics differ from the waveform characteristics of the typical stage by less than a threshold.

[0013] Preferably, the vibration of the elevator car is determined to be caused by the wheels hitting the car sill when the vehicle enters the car along with the elevator user, provided that the calculated value of the car vibration signal meets any of the following conditions:

[0014] Condition 1: The calculated value of the vibration signal increases from less than the first threshold to exceed the second threshold;

[0015] Condition 2: The calculated value of the vibration signal increases from less than the first threshold to more than the second threshold, and the rate of change of the calculated value of the vibration signal during the increase process exceeds the third threshold;

[0016] Condition 3: The calculated value of the vibration signal first increases from less than the first threshold to more than the second threshold, and then decreases from more than the second threshold until it is less than the first threshold;

[0017] Condition 4: The calculated value of the vibration signal first increases from less than the first threshold to more than the second threshold, and then decreases from more than the second threshold until it is less than the first threshold. The rate of change of the calculated value of the vibration signal during both the increase and decrease processes exceeds the fourth threshold.

[0018] Preferably, each threshold is determined using at least one of the following methods:

[0019] Method 1: The smaller the diameter of the wheel, the larger each threshold value is;

[0020] Method 2: The larger the gap between the landing sill and the car door sill, the larger the threshold values ​​will be.

[0021] Method 3: The smaller the quotient obtained by dividing the diameter of the wheel by the gap between the landing sill and the car door sill, the larger each threshold will be;

[0022] Method 4: The greater the mass of the vehicle or the total mass of the elevator users riding in the vehicle and the vehicle, the greater the various thresholds will be.

[0023] Method 5: The greater the rigidity of the wheel, the greater the various threshold values.

[0024] Method 6: The greater the rotational speed of the wheels or the moving speed of the vehicle, the greater the threshold values.

[0025] Preferably, the identification method selects a time window of a preset length, positions the end of the time window at the current moment, calculates the characteristic value of the gap vibration signal within the time window, and if the difference between the characteristic value corresponding to the current moment and the reference value exceeds the fifth threshold, it is determined that the vibration of the elevator car at the current moment is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user. The reference value is the vibration level of the elevator car when no wheelchair user enters or exits the car.

[0026] Preferably, if the duration from the start of the time when the difference between the calculated vibration signal value and the reference value exceeds the ninth threshold until the end of the time when the difference between the calculated vibration signal value and the reference value is less than the ninth threshold is less than the tenth threshold, then it is determined that the vibration of the elevator car at the current time is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user. The reference value is the vibration level of the elevator car when no wheelchair user enters or exits the car.

[0027] Preferably, the method for calculating the benchmark value is as follows: a clustering analysis algorithm is used to perform clustering analysis on some or all of the historical data of the vibration signal calculated values ​​before the current time to obtain a first group of data with relatively large vibration signals and a second group of data with relatively small vibration signals; the feature value of the second group of data is calculated, and the feature value is used as the benchmark value.

[0028] Preferably, the preset length of the time window is such that when there is a vibration signal within the time window whose difference between the calculated value and the reference value is greater than the sixth threshold, there is at least one specific moment at which, on both sides of the vibration signal within the time window whose difference between the calculated value and the reference value is greater than the sixth threshold, there is at least one vibration signal whose calculated value is less than the reference value, thereby ensuring that the time window can cover all vibration signals corresponding to a complete process of a wheelchair user entering the elevator car.

[0029] Beneficial technical effects

[0030] Compared with the prior art, the present invention determines whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user based on the calculated value of the elevator car vibration signal. When the determination result is yes, the elevator user currently entering the car is identified as a wheelchair user. Therefore, it can easily and conveniently identify wheelchair users. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the rollers rolling over the landing sill and the car door sill in Example 1, using a stroller as an example;

[0032] Figure 2 This is a schematic diagram illustrating typical changes in the car vibration signal during the process of a wheelchair user entering the car from a landing in Example 1. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish similar objects and do not represent a specific order or sequence.

[0034] Example 1

[0035] As the background technology shows, a common characteristic of wheelchair users is that their vehicles (wheelchairs, strollers, trolleys, etc.) all have wheels, and the diameter of these (relatively small) wheels is usually small compared to the gap between the landing sill and the car door sill, with the gap being approximately 2 cm and the wheel diameter typically not exceeding 15 cm. Thus, if... Figure 1As shown, when a wheelchair user enters the car, the wheels will first fall to the lower right from the corner of the landing door sill, with a slightly increased speed, until the lower right edge of the wheels hits the corner of the car door sill, at which point the speed will decrease rapidly, and then continue to move towards the car until the user enters the car.

[0036] Figure 2 This diagram illustrates typical changes in car vibration signals during the process of a wheelchair user entering the car from a landing. Figure 2 As shown:

[0037] The vibration signal before time t1 is the vibration signal of the car before the vehicle wheel hits the corner of the car door sill. The vibration level at this time is the first level.

[0038] Time t1 is the first moment when the wheel first contacts the corner of the car door sill. Since wheels usually have a certain degree of elasticity (the greater the stiffness, the smaller the elasticity), the impact force of the wheel on the car door sill will gradually increase, and the vibration of the car will also gradually increase. The greater the stiffness and the smaller the elasticity of the wheel, the shorter the vibration increase process of the car. When the wheel deformation reaches its maximum, the impact force of the wheel on the car door sill reaches its maximum value, and the vibration (amplitude) of the car also reaches its maximum value (i.e., the fourth level). This corresponds to time t2.

[0039] After the wheel hits the corner of the car door sill and the deformation reaches its maximum, the horizontal movement speed of the vehicle will decrease, and the impact force of the wheel on the corner of the car door sill will also decrease rapidly. This is reflected in the car vibration sliding from the fourth level to the second level at time t3.

[0040] After the vehicle decelerates, the wheelchair user will correspondingly increase the horizontal thrust on the vehicle to restore the horizontal movement speed. Therefore, the force of the wheels on the corner of the car door sill will increase again, and the vibration of the car (actually referring to the amplitude) will also increase from the second level to the third level, which corresponds to t4.

[0041] After time t4, the wheels pass through the gap between the landing sill and the car door sill and enter the car. Then the force exerted by the wheels on the car disappears, and the vibration level of the car returns to the first level when no wheelchair user enters the car.

[0042] It should be noted that, without considering leveling error (i.e., the vertical distance between the landing sill and the car door sill), the fourth level will necessarily be greater than the third level, for the following reasons:

[0043] Because there is a certain gap between the landing sill and the car door sill, during the movement of the vehicle towards the car, from the moment the contact point between the wheels and the landing sill changes from the lowest point of the wheel to a non-lowest point (at which point the contact point is located to the left of the vertical line passing through the wheel axle) until the wheel contacts the corner of the car door sill, the wheels have descended to a certain extent compared to before. Under the influence of gravity, the wheel speed increases slightly, and the vehicle's first moving speed also increases accordingly. The vehicle's second moving speed between t3 and t4 is usually less than the third moving speed between t1. The increase in the first moving speed relative to the third moving speed and the decrease in the second moving speed relative to the third moving speed, combined with these two factors, ensure that the fourth level is necessarily greater than the third level.

[0044] Based on the above analysis, this embodiment provides the following method for identifying wheelchair-bound users of elevators:

[0045] The term "wheelchair-equipped user" refers to an elevator user who moves between the elevator car and the landing by riding a wheeled vehicle (such as a wheelchair passenger, a child riding a stroller, or a stroller passenger), or an elevator user carrying a wheeled vehicle (such as a wheeled robot). The vehicle moves on the landing or car floor by rolling its wheels relative to the floor. The feature is that, during the elevator user's entry into the car from the landing, the vibration signal of the elevator car is monitored. Based on the calculated value of the vibration signal, it is determined whether the vibration of the elevator car is caused by the wheels of the vehicle hitting the car sill when the elevator user enters the car. If the determination result is yes, the elevator user currently entering the car is identified as a wheelchair-equipped user.

[0046] The car vibration signal mainly includes a first vibration component in the car depth direction and a second vibration component in the vertical direction. When a wheelchair user enters the car from a landing, the impact on the car vibration is mainly reflected in the first vibration component. The first vibration component is significantly higher than the component in the direction parallel to the elevator door. Therefore, the amplitude of the vibration signal in the car depth direction is used as the vibration signal calculation value for judgment. Without wasting valuable information in the vibration signal, the influence of external interference (from the component in the direction parallel to the elevator door and the vertical component) on the judgment result is reduced or even eliminated, thereby improving the accuracy of the judgment result.

[0047] Alternatively, the ratio of the amplitude of the vibration signal in the depth direction to the amplitude of the vibration signal in the vertical direction can be used as the calculated value of the vibration signal for judgment. This is because when a wheelchair user enters the car from a landing, their impact on the car's vibration is mainly reflected in the first vibration component and the vertical component. The latter is usually smaller than the former, but the relative magnitude between the two is typically determined by factors such as the gap between the landing sill and the car door sill, leveling error, and the diameter of the vehicle's wheels. Under normal circumstances, when a wheelchair user enters the car from a landing, the relative magnitude between the first vibration component and the vertical component of the car's vibration signal will remain within a preset range. Therefore, using this to determine whether the elevator car's vibration is caused by the wheels of the vehicle impacting the car sill when the user enters the car can also improve the accuracy of the judgment.

[0048] Example 2

[0049] Based on Example 1, this embodiment further explains how to determine whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user, according to the calculated value of the vibration signal.

[0050] Depend on Figure 2 As can be seen from the description in Example 1, when a wheelchair user enters the car from the landing, the change in the vibration signal of the car typically includes the following typical stages: the first stage before t1, the second stage between t1 and t2, the third stage between t2 and t3, the fourth stage between t3 and t4, the fifth stage between t4 and t5, and the sixth stage after t5.

[0051] Therefore, it is possible to identify whether there are various stages in the vibration signal and whether the adjacent relationships between these stages are as follows: Figure 2 The following is a method to determine whether the vibration is caused by the wheels of the vehicle hitting the car sill when the elevator user enters the car:

[0052] First, waveform matching is performed on the waveform of the vibration signal calculated over time using typical stages. Then, based on the typical stages in the matching results and their adjacent relationships, it is determined whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user.

[0053] When the matching result includes at least one of the first typical stage, the sixth typical stage, and the second to fifth typical stages, and the temporal sequence of the typical stages included in the matching result satisfies a predetermined order, it is determined that the vibration is caused by the wheels of the vehicle hitting the car sill when the vehicle enters the car with the elevator user.

[0054] The waveform matching refers to the sliding matching (i.e., sliding along the time axis) of the waveform of the calculated vibration signal value according to the waveform characteristics of a typical stage. When a specific waveform segment exists in the waveform of the calculated vibration signal value, it is determined that the typical stage exists in the waveform of the calculated vibration signal value. The specific waveform segment is a waveform whose waveform characteristics differ from those of the typical stage by less than a threshold. The waveform characteristics refer to the waveform's amplitude, rate of change, relative size, and geometric shape (such as a straight line, a triangle formed with the coordinate axes, a trapezoid, and a polygon, etc.), or it may be required that the waveform's amplitude, rate of change, and shape last for a certain period of time.

[0055] As explained above, the technical solution presented in this embodiment utilizes prior knowledge of typical signals during wheel impact. It divides the physical process of the impact and its corresponding typical waveform signals into typical stages, analyzes and extracts the waveform characteristics of each typical stage, and uses these characteristics to match the waveform of the calculated vibration signal value. Finally, a judgment is made based on the matching results. Clearly, this is a complex and in-depth application of vibration calculation information.

[0056] Example 3

[0057] Based on Example 1, this embodiment further explains how to determine whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user, based on the amplitude of the vibration signal calculated value.

[0058] When the calculated value of the elevator car vibration signal meets any of the following conditions, it is determined that the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user:

[0059] Condition 1: The calculated value of the vibration signal increases from less than the first threshold to exceed the second threshold;

[0060] Condition 2: The calculated value of the vibration signal increases from less than the first threshold to more than the second threshold, and the rate of change of the calculated value of the vibration signal during the increase process exceeds the third threshold;

[0061] Condition 3: The calculated value of the vibration signal first increases from less than the first threshold to more than the second threshold, and then decreases from more than the second threshold until it is less than the first threshold;

[0062] Condition 4: The calculated value of the vibration signal first increases from less than the first threshold to more than the second threshold, and then decreases from more than the second threshold until it is less than the first threshold. The rate of change of the calculated value of the vibration signal during both the increase and decrease processes exceeds the fourth threshold.

[0063] Each threshold is determined using at least one of the following methods:

[0064] Method 1: The smaller the diameter of the wheel, the larger each threshold value is;

[0065] Method 2: The larger the gap between the landing sill and the car door sill, the larger the threshold values ​​will be.

[0066] Method 3: The smaller the quotient obtained by dividing the diameter of the wheel by the gap between the landing sill and the car door sill, the larger each threshold will be;

[0067] Method 4: The greater the mass of the vehicle or the total mass of the elevator users riding in the vehicle and the vehicle, the greater the various thresholds will be.

[0068] Method 5: The greater the rigidity of the wheel, the greater the various threshold values.

[0069] Method 6: The greater the rotational speed of the wheels or the moving speed of the vehicle, the greater the threshold values.

[0070] Example 4

[0071] Based on Example 1, this embodiment further explains how to determine whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user, according to the calculated value of the vibration signal.

[0072] The identification method uses any of the following methods to determine whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user:

[0073] Method 1: Select a time window of a preset length, set the end point of the time window to the current moment, calculate the characteristic value of the gap vibration signal within the time window, and if the difference between the characteristic value corresponding to the current moment and the reference value exceeds the fifth threshold, it is determined that the vibration of the elevator car at the current moment is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user. The reference value is the vibration level of the elevator car when no wheelchair user enters or exits the car.

[0074] Method 2: If the duration from the start of the time when the difference between the calculated vibration signal value and the reference value exceeds the ninth threshold until the end of the time when the difference between the calculated vibration signal value and the reference value is less than the ninth threshold is less than the tenth threshold, then it is determined that the vibration of the elevator car at the current time is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user. The reference value is the vibration level of the elevator car when no wheelchair user enters or exits the car.

[0075] Preferably, the method for calculating the benchmark value in the above method is as follows: a clustering analysis algorithm is used to perform clustering analysis on a portion (preferably historical data closer to the current time) or all historical data of the amplitude of the vibration signal before the current time to obtain a first group of data with relatively large vibration signals and a second group of data with relatively small vibration signals; the characteristic values ​​of the second group of data (excluding the minimum value, i.e., the average value, maximum value, median, mean square value, etc.) are calculated, and the characteristic values ​​are used as the benchmark value.

[0076] Vibration signals prior to the current moment typically include both signals from when wheel impact occurred and signals from when no wheel impact occurred. When using cluster analysis, these vibration signals will inevitably be divided into two groups: the first group corresponds to the vibration signals from when wheel impact occurred, and the second group corresponds to the vibration signals from when no wheel impact occurred. Since the vibration data reflects the impact level, the data in the first group will necessarily be greater than the data in the second group; therefore, the data in the second group can be used as the baseline value. Because calculated values ​​from the vibration signals are used, the corresponding baseline value is also the calculated value corresponding to the second group of data.

[0077] Preferably, the preset length of the time window in the above method is such that when there is a vibration signal in the time window whose difference between the calculated value and the reference value is greater than the sixth threshold, there is at least one specific moment when, at this specific moment, there are at least one vibration signal with a calculated value less than the reference value on each side of the vibration signal in the time window whose difference between the calculated value and the reference value is greater than the sixth threshold, thereby ensuring that the time window can cover all vibration signals corresponding to a complete process of a wheelchair user entering the elevator car.

Claims

1. A method for identifying wheelchair-equipped users of an elevator, wherein the wheelchair-equipped user refers to an elevator user who moves between the elevator car and the landing by riding in a wheeled vehicle, or an elevator user who carries a wheeled vehicle, the vehicle moving on the landing or car floor by means of the rolling of the wheels relative to the floor of the landing or car, characterized in that, During the process of an elevator user entering the car from a floor, the vibration signal of the elevator car is monitored. Based on the calculated value of the vibration signal, it is determined whether the vibration of the elevator car is caused by the wheels of the vehicle hitting the car sill when the user enters the car. If the determination result is yes, the elevator user currently entering the car is identified as a wheelchair user. The identification method selects a time window of a preset length, positions the end point of the time window at the current moment, calculates the characteristic value of the gap vibration signal within the time window, and if the difference between the characteristic value corresponding to the current moment and the reference value exceeds the fifth threshold, it is determined that the vibration of the elevator car at the current moment is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user. The reference value is the vibration level of the elevator car when there is no wheelchair user entering or exiting the car. The method for calculating the benchmark value is as follows: Cluster analysis algorithms are used to perform cluster analysis on some or all historical data of vibration signal calculation values ​​before the current time to obtain a first set of data corresponding to vibration signals when there is wheel impact and a second set of data corresponding to vibration signals when there is no wheel impact; the feature values ​​of the second set of data are calculated and used as the reference values.

2. The method for identifying wheelchair-equipped users of an elevator according to claim 1, characterized in that, The vibration signal is calculated as the amplitude of the vibration signal in the car's depth direction, or the vibration signal is calculated as the ratio of the amplitude of the vibration signal in the car's depth direction to the amplitude of the vibration signal in the vertical direction.

3. The method for identifying wheelchair-equipped users of an elevator according to claim 1, characterized in that, The identification method first uses typical stages to perform waveform matching on the waveform of the vibration signal calculated value changing over time, and then determines whether the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user based on the matching results of each typical stage and their adjacent relationships.

4. The method for identifying wheelchair-equipped users of an elevator according to claim 3, characterized in that, The typical stage is as follows: the identification method pre-divides the typical waveform of the vibration signal calculated by the vehicle when the wheels hit the sill of the car as the elevator user enters the car into stages based on the waveform characteristics of the vibration signal calculated value, and obtains six typical stages that make up the typical waveform.

5. The method for identifying wheelchair-equipped users of an elevator according to claim 3, characterized in that, When the matching result includes at least one of the first typical stage, the sixth typical stage, and the second to fifth typical stages, and the temporal sequence of the typical stages included in the matching result satisfies a predetermined order, it is determined that the vibration is caused by the wheels of the vehicle hitting the car sill when the vehicle enters the car with the elevator user.

6. The method for identifying wheelchair-equipped users of an elevator according to claim 3, characterized in that, The waveform matching refers to the sliding matching of the waveform of the vibration signal calculation value according to the waveform characteristics of a certain typical stage. When a specific waveform segment exists in the waveform of the vibration signal calculation value, it is determined that the typical stage exists in the waveform of the vibration signal calculation value. The specific waveform segment refers to the waveform whose waveform characteristics are less than a threshold difference from the waveform characteristics of the typical stage.

7. The method for identifying wheelchair-equipped users of an elevator according to claim 1, characterized in that, When the calculated value of the elevator car vibration signal meets any of the following conditions, it is determined that the vibration of the elevator car is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user: Condition 1: The calculated value of the vibration signal increases from less than the first threshold to exceed the second threshold; Condition 2: The calculated value of the vibration signal increases from less than the first threshold to more than the second threshold, and the rate of change of the calculated value of the vibration signal during the increase process exceeds the third threshold; Condition 3: The calculated value of the vibration signal first increases from less than the first threshold to more than the second threshold, and then decreases from more than the second threshold until it is less than the first threshold; Condition 4: The calculated value of the vibration signal first increases from less than the first threshold to more than the second threshold, and then decreases from more than the second threshold until it is less than the first threshold. The rate of change of the calculated value of the vibration signal during both the increase and decrease processes exceeds the fourth threshold.

8. The method for identifying wheelchair-equipped users of an elevator according to claim 7, characterized in that, Each threshold is determined using at least one of the following methods: Method 1: The smaller the diameter of the wheel, the larger each threshold value is; Method 2: The larger the gap between the landing sill and the car door sill, the larger the threshold values ​​will be. Method 3: The smaller the quotient obtained by dividing the diameter of the wheel by the gap between the landing sill and the car door sill, the larger each threshold will be; Method 4: The greater the mass of the vehicle or the total mass of the elevator users riding in the vehicle and the vehicle, the greater the various thresholds will be. Method 5: The greater the rigidity of the wheel, the greater the various threshold values. Method 6: The greater the rotational speed of the wheels or the moving speed of the vehicle, the greater the threshold values.

9. The method for identifying wheelchair-equipped users of an elevator according to claim 1, characterized in that, If the duration from the start of the moment when the difference between the calculated vibration signal value and the reference value exceeds the ninth threshold until the end of the moment when the difference between the calculated vibration signal value and the reference value is less than the ninth threshold is less than the tenth threshold, then it is determined that the vibration of the elevator car at the current moment is caused by the wheels hitting the car sill when the vehicle enters the car with the elevator user. The reference value is the vibration level of the elevator car when no wheelchair user enters or exits the car.

10. The method for identifying wheelchair-equipped users of an elevator according to claim 1 or 9, characterized in that, The preset length of the time window ensures that when a vibration signal exists within the time window whose difference between the calculated value and the reference value is greater than the sixth threshold, there is at least one specific moment at which, on both sides of the vibration signal within the time window whose difference between the calculated value and the reference value is greater than the sixth threshold, there is at least one vibration signal whose calculated value is less than the reference value. This ensures that the time window can cover all vibration signals corresponding to a complete process of a wheelchair user entering the elevator car.

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