Floor height calibration method and device

Abstract

The embodiment of the invention provides a floor height calibration method and device, and relates to the field of elevator monitoring. The method comprises the steps that a floor height scale set is obtained according to historical elevator operation data; forming a height matrix by the height scale sets according to the height de-bias sorting result of the plurality of height scales of each period; according to difference information between elements in the same row in the height matrix, reconstructing a credible height scale in the height matrix to obtain a feature height vector; according to a comparison result between the feature height vector and a preset floor reference floor height vector, performing interpolation verification on the feature height vector to obtain the feature height vector subjected to the interpolation verification and a corresponding feature floor vector, and forming a floor height-floor key value pair according to the feature height vector and the feature floor vector, and correcting the reference floor height vector according to the floor height-floor key value pair, and calibrating the floor height corresponding to each floor. The floor height calibration efficiency can be effectively improved, and the cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of elevator monitoring, and in particular to a method and device for calibrating floor heights. Background Art

[0002] As buildings become taller and more complex, the need for intelligent management of elevators is growing. Among them, automatic height calibration technology is an important part of realizing intelligent management of elevators.

[0003] Some related technologies calibrate the floor height by installing auxiliary equipment outside the elevator car, such as a wireless ranging sensor (Ultra Wide Band, UWB). When the elevator stops at each floor, the absolute height of each floor is obtained by using UWB to solve the floor height; or, a ruler is installed on the wall of the elevator shaft and a photoelectric sensor is installed on the top of the car. The absolute height is obtained by measuring the position of the photoelectric sensor on the ruler, and the floor height is obtained after the elevator stops at each floor, etc. Other related technologies run the elevator from the bottom floor to the top floor, use the air pressure sensor to record the absolute air pressure difference between the top floor and the bottom floor, convert it into a height difference, and divide it by the number of floor intervals, and use the average value as the floor height of each floor.

[0004] In the above-mentioned related technologies, it is necessary to specify that the elevator stops according to a specific trajectory, which makes it difficult to realize automatic calibration in daily use of the elevator and has low efficiency. In addition, the hardware cost of the calibration method by installing auxiliary equipment is too high. Summary of the invention

[0005] The present application provides a floor height calibration method and device to solve at least one of the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a floor height calibration method, comprising:

[0007] Acquire a floor height scale set according to historical elevator operation data, wherein the height scale set includes a plurality of height scales collected in each period within a preset number of periods;

[0008] According to the height debiasing sorting results of the plurality of height scales of each period, the height scale set is formed into a height matrix, so that the height scales of the same sorting are located in the same row of the height matrix, and the height scales of the same period are located in the same column of the height matrix;

[0009] Reconstructing the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix to obtain a characteristic height vector;

[0010] According to the comparison result between the characteristic height vector and the preset floor reference height vector, the characteristic height vector is interpolated and verified to obtain the interpolated and verified characteristic height vector and its corresponding characteristic floor vector, so as to form a floor height-floor key-value pair according to the characteristic height vector and the characteristic floor vector; wherein the characteristic floor vector includes the floor information corresponding to each reference floor height in the floor reference height vector;

[0011] According to the floor height-floor key-value pair, the floor reference height vector is corrected to obtain the floor height corresponding to each floor.

[0012] According to a second aspect of the present application, a floor height calibration device is provided, comprising:

[0013] An acquisition module, which is configured to acquire a floor height scale set according to historical elevator operation data, wherein the height scale set includes a plurality of height scales collected in each period within a preset number of periods;

[0014] A matrix composition module is configured to form a height matrix of the height scale set according to the height debiasing sorting results of the plurality of height scales of each period, so that the height scales of the same sorting are located in the same row of the height matrix, and the height scales of the same period are located in the same column of the height matrix;

[0015] A reconstruction module, configured to reconstruct the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix to obtain a characteristic height vector;

[0016] An interpolation module is configured to perform interpolation verification on the characteristic height vector according to a comparison result between the characteristic height vector and a preset floor reference height vector, to obtain a characteristic height vector after interpolation verification and a corresponding characteristic floor vector, so as to form a floor height-floor key-value pair according to the characteristic height vector and the characteristic floor vector; wherein the characteristic floor vector includes floor information corresponding to each reference floor height in the floor reference height vector;

[0017] The floor height calibration module is configured to correct the floor reference height vector according to the floor height-floor key value pair to obtain the floor height corresponding to each floor.

[0018] According to a third aspect of the present application, there is provided an electronic device, comprising: a processor, a memory communicatively connected to the processor, and a display;

[0019] The memory stores computer-executable instructions;

[0020] The processor executes the computer-executable instructions stored in the memory to implement the floor height calibration method as described in the first aspect above.

[0021] According to a fourth aspect of the present application, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the floor height calibration method described in the first aspect above.

[0022] According to a fifth aspect of the present application, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the floor height calibration method described in the first aspect above.

[0023] The floor height calibration method and device provided in the present application utilize the operation data of the elevator to obtain the floor height scale set and form a height matrix. After reconstructing the data in the height matrix based on the difference information between the elements in the same row in the height matrix, a high-precision characteristic height vector can be obtained. The characteristic height vector is interpolated and verified in combination with the floor reference height vector to obtain a floor height-floor key-value pair. The floor height reference vector is corrected according to the floor key-value pair, and the height corresponding to each floor can be quickly calibrated. The entire process does not require human intervention, and fully automated calibration is achieved. When there is a need for floor height calibration, the operator only needs to start the calibration process (such as triggering a calibration button on the remote interface) to achieve the automated calibration process. Compared with the automatic floor calibration algorithm in the related technology, there is no need to install auxiliary equipment outside the elevator car, which reduces equipment costs. At the same time, the entire process does not require the elevator to run according to a specified trajectory, which effectively improves the convenience of calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] Figure 1 A schematic diagram of a flow chart of a floor height calibration method provided in an embodiment of the present application;

[0026] Figure 2 This is an example diagram of the height scale data collection process in a single cycle in an embodiment of the present application;

[0027] Figure 3 This is an example diagram of the height matrix composition and screening process in the embodiment of the present application;

[0028] Figure 4 This is one of the example diagrams of the interpolation process in the embodiment of the present application;

[0029] Figure 5 This is the second example diagram of the interpolation process in the embodiment of the present application;

[0030] Figure 6 This is an example diagram of the floor height correction process in the embodiment of the present application;

[0031] Figure 7 A schematic diagram of a flow chart of a floor height calibration method provided for an exemplary embodiment of the present application;

[0032] Figure 8 A schematic diagram of the structure of a floor height calibration device provided in an embodiment of the present application;

[0033] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0034] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0035] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0036] In response to the technical problems mentioned in the background technology, the technical solution provided in the embodiment of the present application utilizes the operation data of the elevator to obtain the set of floor height scales and form a height matrix. After reconstructing the data in the height matrix based on the difference information between the elements in the same row in the height matrix, a characteristic height vector with higher precision can be obtained. The characteristic height vector is interpolated and verified in combination with the floor reference height vector to obtain a floor height-floor key-value pair. The floor height reference vector is corrected according to the floor key-value pair, and the height corresponding to each floor can be quickly calibrated. The entire process does not require human intervention, and full-process automated calibration is realized. When the operator has a need for floor height calibration, he only needs to click a calibration button on the remote interface to realize the automated calibration process. Compared with the automatic floor calibration algorithm in the related technology, there is no need to install auxiliary equipment outside the elevator car, which reduces equipment costs. At the same time, the entire process does not require the elevator to run according to a specified trajectory, which effectively improves the convenience of calibration.

[0037] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0038] Figure 1 This is a flow chart of a floor height calibration method provided in an embodiment of the present application. The execution subject of the method may be an electronic device, such as an elevator control device. Figure 1 As shown, the method includes steps S101-S105:

[0039] Step S101, acquiring a floor height scale set according to historical elevator operation data, wherein the height scale set includes a plurality of height scales collected in each period within a preset number of periods.

[0040] In the alternative related technology, it is necessary to control the elevator to run according to a certain trajectory and use auxiliary equipment to calibrate the floor height on site. This embodiment uses historical elevator operation data to obtain a set of floor height scales, which includes multiple height scales collected in each cycle of a preset number of cycles, wherein the preset number can be adaptively set according to the actual application. For example, this embodiment can be set to 7 cycles, each cycle is 24 hours, and the data collected in each cycle can be cached separately. In this way, data collection can be made corresponding to the travel cycle of residents. Within a week, the range of floors that the elevator can reach every day is roughly the same, and the types of absolute floor heights obtained in each data collection cycle are also roughly the same.

[0041] In an optional implementation, acceleration data can be collected by an acceleration sensor built into a monitoring camera in the elevator, and the height scale of each elevator operation can be obtained by double integration of the acceleration data to obtain a set of floor height scales, so as to further improve the efficiency of floor height calibration. Specifically, the method provided in this embodiment can also include the following steps: collecting historical elevator operation data through an acceleration sensor built into an elevator control device in the elevator every said period, and the historical elevator operation data includes acceleration data of each elevator operation from running to stationary.

[0042] The above step S101 obtains the floor height scale set according to the historical elevator operation data, specifically: for the acceleration data of each operation of the elevator, the acceleration data is double integrated to obtain the height scale corresponding to each operation, so as to obtain the floor height scale set according to the height scale.

[0043] In actual applications, surveillance cameras are installed in elevators. By building an acceleration sensor into the surveillance camera, the acceleration data of the elevator can be easily collected. By utilizing the double integration of the acceleration data, the height scale of each elevator operation can be obtained. The height scale is the height of one floor, or the height of multiple floors. The method of obtaining the height scale is convenient and efficient.

[0044] For example, take data collection in a single cycle as an example, Figure 2 As shown, every time the elevator goes from motion to stillness, the algorithm can obtain a new height scale obtained by double integration of acceleration. In order to effectively reduce data redundancy and improve data accuracy, after collecting acceleration data, this embodiment can query the existing height scale closest to the new height scale in the existing height scale of this cycle and calculate the absolute value of the difference between the two. If this absolute value is less than the threshold value (which can be determined by technicians in this field based on prior data), the new height scale is adjusted to the existing height scale, and the subsequent double integration is based on this height scale. If this absolute value is greater than the threshold value, a new height scale is added to the height scale list of this cycle, thereby obtaining a height scale set with less data redundancy and higher accuracy. Among them, the height scale set is formed after the operation data collection phase ends. Taking a period of 7 as an example, the height scale set includes 7 height scale subsets (i.e., multiple height scales in each cycle), and its form can be expressed by the following formula 1:

[0045] (Formula 1)

[0046] in: represents the jth height scale on the i-th day. From the 1st to the 7th day, a, b, c, d, e, f, and g height scales are obtained respectively.

[0047] Continue to refer to Figure 2 , step S102, according to the height debiasing sorting result of multiple height scales of each period, the height scale set is formed into a height matrix, so that the height scales of the same sorting are located in the same row in the height matrix, and the height scales of the same period are located in the same column in the height matrix.

[0048] After obtaining the height scale set, since the height scale set contains height scale data of different periods and within different periods, there may be error heights in these height scale data, and these error heights will affect the accuracy of the layer height calibration. In order to facilitate the reconstruction of these height scale data (such as screening and elimination), this embodiment forms a height matrix of the height scale set according to the height de-biasing sorting result of the height scale data in each period. Among them, the height de-biasing sorting result is the height scale sorting result after the height scale is de-biased, and the de-biasing method can be to eliminate the obviously erroneous height scale, such as the minimum value in the height scale set described below.

[0049] For example, Figure 3 As shown, the height matrix component a may include height scale set sorting, height scale set debiasing and height matrix formation. Taking the height scale set in Formula 1 as an example, the height scale set sorting process sorts the height scale set data in Formula 1 one by one according to the size of (height value) to satisfy:

[0050]

[0051] In order to effectively improve the accuracy of the height scale set, the height scale set can be debiased before forming the matrix, that is, the minimum value of each set (that is, multiple height scales in each cycle) is subtracted from the above sorted data one by one. The expression is as follows:

[0052]

[0053] For the debiased ordered height scale set synthesis matrix obtained by the above formula, since the number of elements in the height scale set may be different, zeros can be added to the tail of each, and the final matrix is ​​expressed as follows:

[0054] (Formula 2)

[0055] In the above matrix, the height scales of the same order in different periods are located in the same row of the height matrix, and the height scales of the same period are located in the same column of the height matrix, so as to facilitate the subsequent screening of reliable height scales for data in the height matrix.

[0056] Step S103: reconstruct the credible height scale in the height matrix according to the difference information between the elements in the same row in the height matrix to obtain a characteristic height vector.

[0057] In this embodiment, the elements in the same row in the height matrix are height scales in the same size order in different periods, which may be height scale data of the same layer or height scale data of different layers, or may be error data. This embodiment uses the difference information of the elements in the same row to screen out the credible height scales in (each) element in the same row. In this way, the height information is efficiently extracted and reconstructed in the data of multiple cycles, thereby improving the accuracy and reliability of layer height calibration. Among them, the process of obtaining the characteristic height vector can be, according to the credible height scale obtained by reconstruction, obtaining the reconstructed height matrix; for the height scales of the elements in the same row in the reconstructed height matrix, calculating the mean of the height scales to obtain the mean of the height scales of each row in the height matrix; according to the mean of the height scales of each row, obtaining the characteristic height vector. This process, that is, the data after averaging the height scales of the elements in each row in the height matrix after the credible height scale is reconstructed, that is, the characteristic height vector contains the characteristic height corresponding to each layer.

[0058] In an optional implementation, the difference information of each element can be determined by the minimum error element combination method and the minimum error average value of the minimum element combination to improve the screening accuracy of the height scale. Specifically, the method for obtaining the difference information between the same row elements in the height matrix in step S103 can be as follows:

[0059] From the elements in the same row, according to the height scale size relationship between the elements, select a minimum error element combination whose absolute value of the difference of a preset number of height scales is less than a preset threshold;

[0060] Calculating the minimum error average value of the minimum error element combination according to the height scale of each element in the minimum error element combination;

[0061] The difference information is obtained according to the difference between each element and the minimum error average value.

[0062] In this optional implementation, the height scale difference is calculated for every two elements in the same line, and a preset number of elements whose absolute value of the height scale difference is less than a preset threshold are selected as the minimum error element combination. The minimum error element combination is elements with similar height scale values ​​in the same line, indicating that the elements in the combination have a high degree of consistency. The height scale value of each element in the minimum error element combination is used to calculate the average value to obtain the minimum error average value. The minimum error average value is used to perform a difference check on each element to obtain a more accurate difference check result, thereby eliminating values ​​with large differences and retaining reliable height scales with higher credibility, thereby improving the screening accuracy of the height scale.

[0063] It should be noted that those skilled in the art may adaptively determine the preset number and the error threshold according to actual applications or prior data definitions, and this embodiment does not specifically limit this.

[0064] In a further example of this optional implementation, the screening process may include screening methods such as deleting the entire column, dropping the row, and retaining the row to improve the screening efficiency, thereby improving the overall efficiency and accuracy of the floor height calibration. Specifically, in the above steps, based on the difference information between the elements in the same row in the height matrix, the credible height scale in the height matrix is ​​reconstructed, including:

[0065] For each element in the same row, if the difference between the height scale corresponding to the element and the minimum error average value is greater than the preset minimum floor height and less than the preset maximum floor height, or the height scale corresponding to the element is less than the minimum error average value, then delete all elements in the column where the element is located to obtain the deleted element;

[0066] If the difference between the height scale corresponding to the element and the minimum error average value is greater than or equal to the preset maximum height of the floor, the element is moved down to the next row, and a new element is added to the position of the element before the element is moved down according to the minimum error average value to obtain the element after the downgrade;

[0067] If the difference between the height scale corresponding to the element and the minimum error average value is less than or equal to the preset minimum height of the floor, the element is retained to obtain the retained element;

[0068] Reconstruct the credible height scale in the height matrix according to at least one of the deleted elements, the descending elements, and the retained elements.

[0069] In the whole column deletion process: for the elements in the same line that are less than the minimum error average, it means that the measured value of the element deviates from the height scale of most elements in the same line, which is an error term. For the elements in the same line that are greater than the minimum error average, but the difference between the two is greater than the lowest floor height and less than the highest floor height, it means that the value of the corresponding element is not the height scale value of other floors. Accordingly, other data collected in this period have associated errors and are considered unreliable. The whole column deletion method effectively improves the screening efficiency.

[0070] In the process of descending rows: if the difference between the height scale of elements in the same row and the minimum error average value is greater than or equal to the preset maximum height of the floor, it means that the element may be the height data of the upper floor. By descending the row of the element, not only the accuracy of the height scale of the elements in the same row is guaranteed, but also the data is used as the height scale of other rows, which increases the data source and improves the overall screening accuracy.

[0071] During the retention process: if the height scale of an element in the same industry is larger than the minimum error average, and the difference between the two is less than or equal to the lowest height of the floor, it means that the element has a smaller difference than the minimum error combination and has a higher accuracy, and the height scale of the element is retained.

[0072] It should be noted that in actual applications, the above-mentioned whole column deletion, row reduction and retention processes can be selected or combined to achieve the screening of credible height scales. In addition, those skilled in the art can adaptively set the preset maximum floor height and the preset minimum floor height in combination with actual applications or prior data, and this embodiment does not specifically limit this.

[0073] To facilitate understanding of the above optional implementation scheme, for example, continue to refer to Figure 3 The trusted height scale screening part b in this process is to perform confidence analysis on the height matrix (hereinafter referred to as the matrix) formed in the above steps to extract high-precision height scales. It is specifically divided into the following steps (taking the first row in the matrix as an example):

[0074] 1) Remove the same element:

[0075]

[0076] 2) Sort the elements in the same row from small to large, assuming the relevant order is:

[0077]

[0078] The minimum proximity value (i.e., the minimum error combination) is selected. The minimum proximity value is defined as: 3 (i.e., a preset number, which can be adjusted according to the specific number of floors in some embodiments) elements whose absolute difference between each other is less than a proximity threshold (i.e., a preset threshold, such as 0.5, which can be adjusted according to the actual height scale), and the combination of these 3 elements is the smallest among all proximity value combinations. Assume that the minimum proximity value obtained is: , the minimum average value of the approximate value (that is, the minimum average error) is defined as: .

[0079] 3) Use the minimum average value of the closest value to verify the peer elements, by introducing two new thresholds, (i.e. the maximum floor height) and There are three processing results for elements in the same row: 1. Delete, the entire column is invalid; 2. No change; 3. Descend, the element is moved down one position, and a new element is added to the original position of the element, with a value of The triggering of these three processes depends on the same element and relationship and and . A specific example is:

[0080] Delete: For example , whose value is less than , Delete the entire column; satisfy: and , Delete the entire column.

[0081] Descending line: e.g. ,satisfy , Assign to , and so on, the final value is Add an element at the position, and its value is the original .Original Location replace.

[0082] After the above steps are performed in each non-zero row, the number of non-zero column elements in the processed matrix is ​​equal, assuming it is:

[0083] After averaging the non-zero elements of the above matrix row by row, the following feature height vector can be obtained:

[0084] (Formula 3)

[0085] It should be noted that, in some optional implementations, in addition to the above-mentioned method for screening the credible height scale, other methods may also be used for screening, which is not particularly limited in this embodiment.

[0086] Continue to refer to Figure 1 , step S104, based on the comparison result between the characteristic height vector and the preset floor reference height vector, the characteristic height vector is interpolated and verified to obtain the characteristic height vector after interpolation verification and its corresponding characteristic floor vector, so as to form a floor height-floor key-value pair according to the characteristic height vector and the characteristic floor vector; wherein the characteristic floor vector includes the floor information corresponding to each reference floor height in the floor reference height vector.

[0087] After the data processing and screening in steps S101 to S103 above, the characteristic height vector is obtained. , through the reference height vector of the floor The estimated values ​​(which can be input by the operator or pre-stored in the device) are associated and interpolated and verified to obtain the floor corresponding to each element in the specific feature height vector, thereby forming a height-floor key-value pair.

[0088] In an optional implementation, in order to further improve the accuracy of floor height calibration, normalization is performed using the floor reference height, and alignment is performed using the normalized data to obtain a comparison result. Specifically, the method provided in this embodiment may also include the following steps: normalizing the floor reference height vector according to the height range corresponding to the characteristic height vector and the height range corresponding to the floor reference height vector to obtain a normalized floor reference height vector; aligning the elements in the characteristic vector with the elements in the normalized floor reference vector one by one according to the numerical values ​​to obtain a comparison result between the characteristic height vector and the floor reference height vector.

[0089] Exemplarily, the height range of the characteristic height vector can be determined according to the maximum and minimum values ​​of the characteristic height vector, that is, the difference between the maximum characteristic height and the minimum characteristic height in the characteristic vector. Correspondingly, the floor reference height vector is the maximum characteristic reference height and the minimum characteristic reference height. By extracting the ratio of the difference between the maximum and minimum values ​​of the characteristic height vector and the difference between the maximum and minimum values ​​of the floor reference height vector, and enlarging or reducing the floor reference height vector according to this ratio, the characteristic height vector and the total height of the floor reference height vector are kept consistent.

[0090] After normalizing the floor reference height vector, the floor reference height middle elements are used to align with the characteristic height vector to determine the floor corresponding to each element (height) in the characteristic height vector, thereby determining which floor the characteristic height vector element corresponds to, and interpolating the characteristic reference data for the missing floors.

[0091] In a further example of this optional implementation, the forward interpolation and reverse interpolation methods performed using the forward alignment information and the reverse alignment method can effectively improve the interpolation accuracy. Specifically, the alignment method includes forward alignment and reverse alignment, and the comparison result includes forward alignment information and reverse alignment information between the feature height vector and the floor reference height vector;

[0092] In the above steps, the interpolation verification processing of the characteristic height vector is performed according to the comparison result between the characteristic height vector and the preset floor reference height vector, which can be adopted as follows: according to the forward alignment information, if there is a positive vacant layer between every two first forward aligned elements in the characteristic height vector and every two second forward aligned elements aligned with the first forward aligned elements relative to the floor height reference vector, the positive vacant layer is interpolated according to the element between every two second forward aligned elements to obtain a first interpolation result; according to the reverse alignment information, if there is a positive vacant layer between every two first reverse aligned elements in the characteristic height vector and every two second forward aligned elements aligned with the first forward aligned elements relative to the floor height reference vector, the positive vacant layer is interpolated according to the element between every two second forward aligned elements to obtain a first interpolation result; If there is a reverse vacant layer between every two second reverse aligned elements whose elements are aligned with the first reverse aligned element relative to the floor height reference vector, the reverse vacant layer is interpolated according to the elements between every two second reverse aligned elements to obtain a second interpolation result; according to the consistency between the first interpolation result and the second interpolation result, the first interpolation result and the second interpolation result are interpolated and verified; when the first interpolation result and the second interpolation result are consistent, a feature height vector and its corresponding feature floor vector after interpolation verification are obtained according to the first interpolation result or the second interpolation result.

[0093] For example, Figure 4 As shown in the forward interpolation process, the characteristic height vector elements can be calculated from bottom to top in the floor reference height. Find the location in Alignment , Alignment ),For example exist Zhongyu closest to and If there is an intermediate layer between Corresponding to the 3rd layer, and Insert a new element , and so on, in the feature height vector The new element vector to be inserted into Finally, the feature height vector is counted With the new element vector If the sum of the number of elements is equal to the total number of floors in the building, the interpolation is successful; if it is not equal to the total number of floors in the building, the interpolation fails.

[0094] The reverse interpolation is the same, except that the characteristic height vector elements are from top to bottom, at the floor reference height Find the location in.

[0095] In this embodiment, the conditions for successful interpolation reasoning are: forward interpolation is successful and reverse interpolation is successful and the new element vectors of forward and reverse interpolation are The constituent elements are completely consistent, which can effectively improve the accuracy of interpolation.

[0096] In some examples, considering the possibility of interpolation failure, the preset floor reference height Can include multiple groups, floor reference height Different combinations of can be stored in a data table in a device. Every time the interpolation reasoning fails, a new floor combination is extracted from the table and assigned to the floor reference height. If the interpolation is still not successful after traversing all the floor combinations in the table, the interpolation verification fails. The convenient interpolation process is as follows Figure 5 shown.

[0097] After completing the interpolation verification, the feature height vector can be obtained The corresponding feature floor vector , the two are combined into the following height-floor key-value pair:

[0098]

[0099] in, For each element in the feature height vector, for height information such as height value, For each element in the feature floor vector, it corresponds to floor information such as floor number.

[0100] Continue to refer to Figure 1 , step S105, according to the floor height-floor key-value pair, correct the floor reference height vector to obtain the floor height corresponding to each floor.

[0101] In this embodiment, after obtaining the layer height-floor key value pair, the layer height corresponding to the layer interpolation can be obtained. After the above data processing and screening, the layer height is a calibration value with higher precision. The layer height-floor key value pair is used to correct the reference layer height vector of the floor (for example, the method shown later can be used to directly correct the height corresponding to the floors that have been reached in the layer height-floor key value according to the value in the layer height-floor key value, and the height corresponding to the floors that have not been reached can be corrected in a related manner. Or the layer height that appears in the layer height-floor key value pair can be directly used to replace the reference layer height vector, etc.), and a more accurate height value of each floor can be obtained. Instead of the floor calibration scheme of the related art, this embodiment can realize automatic calibration without manual intervention, that is, the operator can only click the calibration button on the remote interface without entering the elevator to operate, and there is no need to let the elevator run according to the specified trajectory. Compared with the traditional floor automatic calibration algorithm, it is more convenient. In some embodiments, special buildings (duplex / duplex buildings, commercial and residential buildings, buildings with multi-story underground garages, etc.) can also be calibrated with high precision by pre-inputting estimated floor heights. Compared with existing automatic floor calibration algorithms, it has a wider range of applications and greater versatility.

[0102] In an optional implementation, in the process of determining the floor height, this embodiment corrects the floor height by determining direct modification points and indirect modification points, thereby further improving the accuracy of floor height calibration. Specifically, since the heights of the bottom floor and the top floor are usually known, the floors other than the bottom floor and the top floor can be determined as the floors corresponding to the reference floor height to be corrected in the floor reference vector, and the correction is performed on the floors corresponding to the reference floor height to be corrected. The above-mentioned step S105 corrects the floor reference height vector according to the floor height-floor key-value pair to obtain the floor height corresponding to each floor. The following method can be adopted: according to the floor with known floor height in the floor height-floor key-value pair, the corresponding floor in the floor reference vector is determined as the direct modification point, and the reference floor height of the direct modification point is corrected according to the known floor height to obtain the floor height of the direct modification point; the other floors except the direct modification point among the floors corresponding to the reference floor height to be corrected are determined as the involved modification points in the floor reference vector, and the correction amount of the involved modification point is calculated; according to the correction amount of the involved modification point and the reference floor height of the involved modification point, the reference floor height of each involved modification point is corrected to obtain the floor height of each involved modification point.

[0103] It can be understood that the bottom and top floors of a building are known quantities. By eliminating the bottom and top floors, the floors whose heights are to be corrected can be obtained. The known floor height, that is, the characteristic height of the floor in the characteristic height vector, is determined as the direct modification point by correcting the floor height reference height through the characteristic height. For unknown floor heights, there are corresponding floors, but there is no characteristic height of the corresponding floor (for example, there may be a situation where the height scale of some floors is missing in the historical elevator operation data, such as the user does not need to pass through a certain floor during the data collection process, and the height scale data corresponding to the floor is missing). The floor height of the direct modification point is determined according to the known floor height, that is, the characteristic height of the floor is used to directly correct the reference floor height of the floor.

[0104] For the floors to be corrected except for the direct modification points, the height is supplemented by the floor reference height. If this part of the height directly uses the floor reference height, the calibration result will be inaccurate. By calculating the correction amount of these involved modification points and correcting them one by one, not only the accuracy of the floor height calibration can be improved, but also the consistency of the floor heights of each floor can be effectively improved.

[0105] In a further example of this optional implementation, the height of the direct modification point and the top floor can be used to correct the implicated modification point to improve the consistency of the floor heights. Specifically, the above process of calculating the correction amount of the implicated modification point can be implemented in the following manner: determine the correction amount of the direct modification point according to the difference between the floor height of the direct modification point and the floor reference height; obtain the first distance between the direct modification point and the top floor according to the difference between the floor reference height of the direct modification point and the floor height of the top floor; obtain the second distance between the implicated modification point and the top floor according to the difference between the floor reference height of the implicated modification point and the floor height of the top floor; determine the correction amount of the implicated modification point according to the product of the correction amount of the direct modification point and the correction coefficient obtained according to the first distance and the second distance.

[0106] For example, using the height-floor key-value pair For the normalized reference floor height Take a 5-story building (the first floor is The fifth floor is ) as an example, the height-floor key-value pair correction process is as follows Figure 6 shown.

[0107] exist Figure 6 In the figure, the horizontal axis is the floor code and the vertical axis is the height. In the figure above, there are 4 pairs of height-floor key-value pairs, which are , excluding the bottom and top layers, the key-value pairs used for correction are Two. Among them, Has been used to modify the reference height of the floor ,Right now . Modifying , called direct modification point, Above except the highest height All other points are related modification points. The modification point above is In some examples, more implicated modification points may be included.

[0108] From the bottom level The height of each layer below the point of modification remains unchanged. Figure 6 As shown, the correction amount of each implicated modification point is related to the distance between the floor of the point and the highest floor, as well as the distance between the direct modification point and the highest floor. The specific size can be expressed by the following formula:

[0109]

[0110] in: is the correction value of the i-th implicated modification point, The highest level, To directly modify the height of a point in the height-floor key-value pair, To directly modify the corresponding floor of the point in the reference floor height The height of The reference height of the floor before the modification of the implicated modification point The height of the medium. Understandably, That is, directly modify the correction amount of the point. That is, the correction coefficient obtained according to the first distance and the second distance.

[0111] Corrected height of the implicated modification point for:

[0112]

[0113] According to the above process, use the height-floor key value pair to refer to the floor height one by one By making modifications, the corrected height of each floor can be calculated. By subtracting the height in sequence, the true height of each floor can be obtained, which can effectively improve the calibration accuracy and consistency of the floor height.

[0114] In an exemplary embodiment, if Figure 7As shown, there are four steps from obtaining the acceleration sensor data of the elevator control equipment to completing the automatic calibration of the floor height, namely, operation data collection, algorithm pre-processing, algorithm processing and algorithm post-processing. Among them, the operation data collection stage obtains the equipment operation height information within a period of time, that is, the process of obtaining the height scale set; the algorithm pre-processing stage verifies the height data obtained in the operation data collection stage, deletes the wrong data, supplements the missing data and forms a characteristic height vector; the algorithm processing stage calculates the height-floor key-value pair based on the characteristic height vector obtained in the algorithm pre-processing stage; the algorithm post-processing stage corrects the floor height based on the height-floor key-value pair obtained in the algorithm processing stage, obtains the final corrected floor height table, and obtains the height of each floor according to the floor height table.

[0115] Through the technical solution of this embodiment, the built-in accelerometer of the elevator camera can be used as the only data source (in some embodiments, the height scale data set can also be obtained by other means, that is, other data sources are used as the only data source). There is no need for manual intervention in the elevator operation. It has the function of automatically collecting operation information and has the ability to screen, correct and supplement information, and can be selected by the user as a reference to achieve compatibility with special building calibration. It is a fully automatic floor height calibration technology.

[0116] Figure 8 A schematic diagram of a structure of a floor height calibration device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the device includes an acquisition module 801, a matrix composition module 802, a reconstruction module 803, an interpolation module 804 and a layer height calibration module 805; wherein,

[0117] An acquisition module 801 is configured to acquire a floor height scale set according to historical elevator operation data, wherein the height scale set includes a plurality of height scales collected in each period within a preset number of periods;

[0118] A matrix forming module 802, which is configured to form a height matrix of the height scale set according to the height debiasing sorting result of the plurality of height scales of each period, so that the height scales of the same sorting are located in the same row of the height matrix, and the height scales of the same period are located in the same column of the height matrix;

[0119] A reconstruction module 803, which is configured to reconstruct the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix to obtain a characteristic height vector;

[0120] An interpolation module 804 is configured to perform interpolation verification on the characteristic height vector according to a comparison result between the characteristic height vector and a preset floor reference height vector, to obtain a characteristic height vector after interpolation verification and a corresponding characteristic floor vector, so as to form a floor height-floor key-value pair according to the characteristic height vector and the characteristic floor vector; wherein the characteristic floor vector includes floor information corresponding to each reference floor height in the floor reference height vector;

[0121] The floor height calibration module 805 is configured to correct the floor reference height vector according to the floor height-floor key value pair to obtain the floor height corresponding to each floor.

[0122] In one embodiment, a difference acquisition module is further included, and the difference acquisition module includes:

[0123] A combination selection unit is configured to select, from the elements in the same row, a minimum error element combination whose absolute value of the difference of a preset number of height scales is less than a preset threshold value according to the height scale size relationship between the elements;

[0124] a mean value calculation unit, configured to calculate a minimum error mean value of the minimum error element combination according to the height scale of each element in the minimum error element combination;

[0125] A difference determination unit is configured to obtain the difference information according to the difference between each element and the minimum error average value.

[0126] In one implementation, the reconstruction module 803 includes:

[0127] A deleting unit is configured to, for each element in the same row, if the difference between the height scale corresponding to the element and the minimum error average value is greater than a preset minimum floor height and less than a preset maximum floor height, or the height scale corresponding to the element is less than the minimum error average value, then delete all elements in the column where the element is located to obtain the deleted element;

[0128] A descending unit, which is configured to descend the element to the next row if the difference between the height scale corresponding to the element and the minimum error average value is greater than or equal to the preset maximum height of the floor, and add a new element to the position of the element before the element is lowered according to the minimum error average value to obtain the descending element;

[0129] A retaining unit, which is configured to retain the element if the difference between the height scale corresponding to the element and the minimum error average value is less than or equal to a preset minimum height of the floor, thereby obtaining a retained element;

[0130] A reconstruction unit is configured to reconstruct the credible height scale in the height matrix according to at least one of the deleted elements, the descended elements and the retained elements.

[0131] In one implementation, the reconstruction module 803 further includes:

[0132] An acquisition unit, which is configured to acquire a reconstructed height matrix according to the reconstructed credible height scale;

[0133] A mean value calculation unit, which is configured to calculate a height scale mean for the height scales of the elements in the same row in the reconstructed height matrix, to obtain a height scale mean for each row in the height matrix;

[0134] A height vector acquisition unit is configured to obtain the characteristic height vector according to the height scale mean of each row.

[0135] In one embodiment, the device further comprises:

[0136] A normalization module, which is configured to normalize the floor reference height vector according to a height range corresponding to the characteristic height vector and a height range corresponding to the floor reference height vector to obtain a normalized floor reference height vector;

[0137] The alignment and comparison module is configured to align the elements in the feature vector with the elements in the normalized floor reference vector one by one according to the numerical values, so as to obtain the comparison result between the feature height vector and the floor reference height vector.

[0138] In one implementation, the alignment method includes forward alignment and reverse alignment, and the comparison result includes forward alignment information and reverse alignment information between the feature height vector and the floor reference height vector; the interpolation module 804 includes:

[0139] a first interpolation unit configured to interpolate the positive vacant layer according to the elements between every two second positive alignment elements aligned with the first positive alignment elements relative to the floor height reference vector according to the positive alignment information, to obtain a first interpolation result;

[0140] a second interpolation unit configured to interpolate the reverse vacant layer according to the elements between the two second reverse alignment elements to obtain a second interpolation result, if there is a reverse missing layer between the two first reverse alignment elements in the feature height vector and the two second reverse alignment elements aligned with the first reverse alignment elements relative to the floor height reference vector according to the reverse alignment information;

[0141] An interpolation result acquisition unit is configured to perform interpolation verification on the first interpolation result and the second interpolation result according to the consistency between the first interpolation result and the second interpolation result, and when the first interpolation result and the second interpolation result are consistent, obtain a feature height vector and its corresponding feature floor vector after interpolation verification according to the first interpolation result or the second interpolation result.

[0142] In one implementation, the floor height calibration module 805 includes: a revised floor determination unit, which is configured to determine floors other than the bottom floor and the top floor as floors corresponding to the reference floor height to be revised in the floor reference vector;

[0143] a direct modification point determination unit, configured to determine the corresponding floor in the floor reference vector as a direct modification point according to the floor with a known floor height in the floor height-floor key value pair, and to correct the reference floor height of the direct modification point according to the known floor height to obtain the floor height of the direct modification point;

[0144] an implicated modification point determination unit, configured to determine other floors, except the direct modification point, among the floors corresponding to the reference floor height to be modified as implicated modification points in the floor reference vector, and calculate a modification amount of the implicated modification point;

[0145] The floor height determination unit is configured to correct the reference floor height of each involved modification point according to the correction amount of the involved modification point and the reference floor height of the involved modification point to obtain the floor height of each involved modification point.

[0146] In one embodiment, the calculation of the correction amount of the implicated modification point includes: determining the correction amount of the direct modification point based on the difference between the floor height of the direct modification point and the floor reference height; obtaining a first distance between the direct modification point and the top floor based on the difference between the floor reference height of the direct modification point and the floor height of the top floor; obtaining a second distance between the implicated modification point and the top floor based on the difference between the floor reference height of the implicated modification point and the floor height of the top floor; determining the correction amount of the implicated modification point based on the product of the correction amount of the direct modification point and a correction coefficient obtained based on the first distance and the second distance.

[0147] In one embodiment, the device further comprises:

[0148] An operation data acquisition module, which is configured to collect historical elevator operation data through a built-in acceleration sensor of an elevator control device in the elevator every said period, wherein the historical elevator operation data includes acceleration data of each operation of the elevator from running to stationary;

[0149] The acquisition module 801 is specifically configured to perform double integration on the acceleration data of each operation of the elevator to obtain a height scale corresponding to each operation, so as to obtain the floor height scale set according to the height scale.

[0150] In summary, the embodiment of the present application collects operating height data within multiple fixed periods, and through correlation analysis of height data with similar values ​​within different periods, eliminates erroneous data to form a set of high-confidence reachable height sequences, and uses this sequence to use a bidirectional interpolation algorithm to infer the number of floors between each height, combined with the preset floor height ratio coefficient, and finally obtains the floor height of each floor of the building where the elevator is located. Compared with the height calibration scheme of related technologies, a single accelerometer data source is used for automatic calibration that does not require manual operation of the elevator; a multi-period correlation analysis method is used, and the collected data is used to verify the accuracy in order to eliminate the interference of erroneous data and collect reliable height data; the interpolation method is used to infer the floor position corresponding to the reliable height data; and finally, the reliable height data is combined with the customer's pre-input floor height ratio coefficient in a sequential correction manner to efficiently obtain the complete floor height information of the floor. This process greatly improves the convenience of floor height calibration and reduces manual input; the multi-cycle data collection and mutual verification method reduces the transmission of cumulative errors in each cycle, ensuring that relatively accurate specific floor heights can still be obtained when errors exist in the collected operating height data; interpolation and sequential correction methods are used to allow manual pre-input to participate in automatic calibration, and special buildings can complete automatic calibration with the help of manual pre-input, which has a wider applicability.

[0151] It should be noted that the device provided in the embodiments of the present application can be used to execute the methods in the above embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0152] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Fig. 9 As shown, the electronic device includes: a processor 902, and a memory 901 communicatively connected to the processor 902;

[0153] The memory 901 stores computer executable instructions;

[0154] The processor 902 executes the computer-executable instructions stored in the memory 901 to implement the floor height calibration method in any method embodiment. In addition, a transceiver 903 may be included, which can be connected to the processor 902 and is used to communicate with an external device.

[0155] It should be noted that the electronic device provided in the embodiments of the present application can be used to execute the methods in the above embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0156] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to execute the floor height calibration method provided by the various embodiments described above.

[0157] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0158] It should be noted that the medium provided in the embodiments of the present application can be used to execute the methods in the above embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0159] An embodiment of the present application correspondingly provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the floor height calibration method provided by the above method embodiment.

[0160] It should be noted that the program product provided in the embodiments of the present application can be used to execute the methods in the above embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0161] Optionally, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0162] An embodiment of the present application also provides a computer program product, which includes a computer program. The computer program is stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution provided by any of the above method embodiments can be implemented.

[0163] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0164] It is to be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0165] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0166] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for calibrating floor height, characterized in that: include: Acquire a floor height scale set according to historical elevator operation data, wherein the height scale set includes a plurality of height scales collected in each period within a preset number of periods; According to the height debiasing sorting results of the plurality of height scales of each period, the height scale set is formed into a height matrix, so that the height scales of the same sorting are located in the same row of the height matrix, and the height scales of the same period are located in the same column of the height matrix; Reconstructing the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix to obtain a characteristic height vector; According to the comparison result between the characteristic height vector and the preset floor reference height vector, the characteristic height vector is interpolated and verified to obtain the interpolated and verified characteristic height vector and its corresponding characteristic floor vector, so as to form a floor height-floor key-value pair according to the characteristic height vector and the characteristic floor vector; wherein the characteristic floor vector includes the floor information corresponding to each reference floor height in the floor reference height vector; According to the floor height-floor key-value pair, the floor reference height vector is corrected to obtain the floor height corresponding to each floor.

2. The method according to claim 1, characterized in that: The method for obtaining the difference information between the elements in the same row in the height matrix includes: From the elements in the same row, according to the height scale size relationship between the elements, select a minimum error element combination whose absolute value of the difference of a preset number of height scales is less than a preset threshold; Calculating the minimum error average value of the minimum error element combination according to the height scale of each element in the minimum error element combination; The difference information is obtained according to the difference between each element and the minimum error average value.

3. The method according to claim 2, characterized in that The step of reconstructing the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix comprises: For each element in the same row, if the difference between the height scale corresponding to the element and the minimum error average value is greater than the preset minimum floor height and less than the preset maximum floor height, or the height scale corresponding to the element is less than the minimum error average value, then delete all elements in the column where the element is located to obtain the deleted element; If the difference between the height scale corresponding to the element and the minimum error average value is greater than or equal to the preset maximum height of the floor, the element is moved down to the next row, and a new element is added to the position of the element before the element is moved down according to the minimum error average value to obtain the element after the downgrade; If the difference between the height scale corresponding to the element and the minimum error average value is less than or equal to the preset minimum height of the floor, the element is retained to obtain the retained element; Reconstruct the credible height scale in the height matrix according to at least one of the deleted elements, the descending elements, and the retained elements.

4. The method according to any one of claims 1 to 3, characterized in that: Also includes: Normalizing the floor reference height vector according to the height range corresponding to the characteristic height vector and the height range corresponding to the floor reference height vector to obtain a normalized floor reference height vector; The elements in the feature vector are aligned with the elements in the normalized floor reference vector one by one according to the numerical values, so as to obtain the comparison result between the feature height vector and the floor reference height vector.

5. The method according to claim 4, characterized in that The alignment method includes forward alignment and reverse alignment, and the comparison result includes forward alignment information and reverse alignment information between the feature height vector and the floor reference height vector; According to the comparison result between the characteristic height vector and the preset floor reference height vector, the characteristic height vector is interpolated and verified to obtain the interpolated and verified characteristic height vector and its corresponding characteristic floor vector, including: According to the forward alignment information, if there is a positive missing layer between every two first forward alignment elements in the feature height vector and every two second forward alignment elements aligned with the first forward alignment elements relative to the floor height reference vector, interpolating the positive missing layer according to the elements between every two second forward alignment elements to obtain a first interpolation result; According to the reverse alignment information, if there is a reverse missing layer between every two first reverse aligned elements in the feature height vector and every two second reverse aligned elements aligned with the first reverse aligned elements relative to the floor height reference vector, the reverse missing layer is interpolated according to the elements between every two second reverse aligned elements to obtain a second interpolation result; Performing interpolation verification on the first interpolation result and the second interpolation result according to consistency between the first interpolation result and the second interpolation result; When the first interpolation result and the second interpolation result are consistent, a feature height vector and a corresponding feature floor vector after interpolation verification are obtained according to the first interpolation result or the second interpolation result.

6. The method according to any one of claims 1 to 3, characterized in that: Also includes: Determine the floors other than the bottom floor and the top floor as the floors corresponding to the reference floor heights to be corrected in the floor reference vector; The step of correcting the floor reference height vector according to the floor height-floor key-value pair to obtain the floor height corresponding to each floor includes: According to the floor with known floor height in the floor height-floor key value pair, the corresponding floor in the floor reference vector is determined as the direct modification point, and the reference floor height of the direct modification point is corrected according to the known floor height to obtain the floor height of the direct modification point; Determine the other floors, except the direct modification point, among the floors corresponding to the reference floor height to be modified as the involved modification points in the floor reference vector, and calculate the correction amount of the involved modification points; According to the correction amount of the involved modification point and the reference floor height of the involved modification point, the reference floor height of each involved modification point is corrected to obtain the floor height of each involved modification point.

7. The method according to claim 6, characterized in that The calculating of the correction amount of the implicated modification point comprises: Determining a correction amount of the direct modification point according to the difference between the floor height of the direct modification point and the floor reference height; Obtaining a first distance between the direct modification point and the top floor according to a difference between a floor reference height of the direct modification point and a floor height of the top floor; Obtaining a second distance between the connection modification point and the top floor according to a difference between a floor reference height of the connection modification point and a floor height of the top floor; The correction amount of the involved modification point is determined according to the product of the correction amount of the direct modification point and a correction coefficient obtained according to the first distance and the second distance.

8. The method according to any one of claims 1 to 3, characterized in that: The reconstructing the credible height scale in the height matrix to obtain a characteristic height vector includes: According to the reconstructed credible height scale, a reconstructed height matrix is ​​obtained; Calculate the height scale mean for the height scales of the elements in the same row in the reconstructed height matrix to obtain the height scale mean for each row in the height matrix; The characteristic height vector is obtained according to the height scale mean of each row.

9. The method according to any one of claims 1 to 3, characterized in that: Also includes: Collecting historical elevator operation data through the built-in acceleration sensor of the elevator control device in the elevator at each cycle, wherein the historical elevator operation data includes acceleration data of each operation of the elevator from running to stationary; The step of obtaining a floor height scale set according to historical elevator operation data includes: For the acceleration data of each operation of the elevator, the acceleration data is double integrated to obtain the height scale corresponding to each operation, so as to obtain the floor height scale set according to the height scale.

10. A floor height calibration device, characterized in that: include: An acquisition module, which is configured to acquire a floor height scale set according to historical elevator operation data, wherein the height scale set includes a plurality of height scales collected in each period within a preset number of periods; A matrix composition module is configured to form a height matrix of the height scale set according to the height debiasing sorting results of the plurality of height scales of each period, so that the height scales of the same sorting are located in the same row of the height matrix, and the height scales of the same period are located in the same column of the height matrix; A reconstruction module, configured to reconstruct the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix to obtain a characteristic height vector; An interpolation module is configured to perform interpolation verification on the characteristic height vector to obtain a characteristic height vector after interpolation verification and a corresponding characteristic floor vector, so as to form a floor height-floor key-value pair according to the characteristic height vector and the characteristic floor vector; wherein the characteristic floor vector includes the floor corresponding to each reference floor height in the floor reference floor height vector; The floor height calibration module is configured to correct the floor reference height vector according to the floor height-floor key value pair to obtain the floor height corresponding to each floor.

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