Floor height calibration method and device

Abstract

An embodiment of the present application provides a floor height calibration method and device, which relates to the field of elevator monitoring. The method includes: obtaining a set of floor height scales according to historical elevator operation data; forming a height matrix with the set of floor height scales according to the height debiasing and sorting results of multiple height scales in each period; reconstructing the reliable floor height scales in the height matrix according to the difference information between the elements in the same row of the height matrix to obtain a characteristic height vector; performing interpolation verification on the characteristic height vector according to the comparison result between the characteristic height vector and a preset floor reference height vector to obtain the interpolated-verified characteristic height vector and its corresponding characteristic floor vector, forming a floor height-floor key value pair according to the characteristic height vector and the characteristic floor vector, and correcting the reference height vector according to the floor height-floor key value pair to calibrate the floor height corresponding to each floor. The present application can effectively improve the efficiency of floor height calibration and reduce costs.

Description

Technical Field

[0001] This application relates to the technical field of elevator monitoring, and particularly to a method and device for calibrating the floor height of a building. Background Art

[0002] With the increase in the height and complexity of buildings, the demand for intelligent management of elevators is also growing. Among them, the automatic calibration technology of elevator floor height 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 and then the floor height is solved; or, a scale is installed on the wall of the elevator shaft, and an optoelectronic sensor is installed on the top of the car. The absolute height is obtained by measuring the position of the optoelectronic sensor on the scale, and the floor height is obtained after the elevator stops at each floor, and so on. Some other related technologies run the elevator from the bottom floor to the top floor, use a barometric pressure sensor to record the absolute pressure difference between the top floor and the bottom floor and convert it into a height difference, divide it by the number of floor slab intervals, and use the average value as the floor height of each floor.

[0004] In the above related technologies, it is necessary to specify that the elevator stops according to a specific trajectory, which is difficult to achieve automatic calibration during the 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] This application provides a method and device for calibrating the floor height of a building to at least solve one of the above technical problems.

[0006] In a first aspect, this application provides a method for calibrating the floor height of a building, including:

[0007] Obtaining a set of floor height scales according to historical elevator operation data, where the set of height scales includes multiple height scales collected in each period within a preset number of periods;

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

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

[0010] Interpolate and verify the characteristic height vector based on the comparison result between the characteristic height vector and the pre-set floor reference floor height vector, 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 floor height vector.

[0011] Modify the floor reference floor height vector according to the floor height - floor key value pair to obtain the floor height corresponding to each floor.

[0012] According to the second aspect of the present application, there is provided a device for calibrating the floor height of a building, including:

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

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

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

[0016] An interpolation module configured to interpolate and verify the characteristic height vector according to the comparison result between the characteristic height vector and the pre-set floor reference floor height vector, 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 floor height vector.

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

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

[0019] The memory stores computer execution instructions;

[0020] The processor executes the computer execution instructions stored in the memory to implement the method for calibrating the floor height of a building as described in the first aspect above.

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

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

[0023] The floor height calibration method and device provided by the present application utilize the operation data of the elevator to obtain a floor height scale set and form a height matrix. After reconstructing the data in the height matrix according to the difference information between the elements in the same row of the height matrix, a feature height vector with higher accuracy can be obtained. Combining the floor reference height vector to perform interpolation verification on the feature height vector to obtain a floor height - floor key value pair, and correcting the height reference vector according to this floor key value pair, the height corresponding to each floor can be quickly calibrated. The entire process requires no human intervention, achieving full-process automatic calibration. When an operator has a need for floor height calibration, they can simply start the calibration process (such as triggering a calibration button on a remote interface) to implement the automatic calibration process. Compared with the floor automatic calibration algorithms in related technologies, there is no need to install auxiliary equipment outside the elevator car, reducing equipment costs. At the same time, the elevator does not need to run according to a specified trajectory throughout the process, effectively improving the convenience of calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments in line with the present application, and are used together with the specification to explain the principles of the present application.

[0025] Figure 1 It is a schematic flowchart of a floor height calibration method provided by an embodiment of the present application;

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

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

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

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

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

[0031] Figure 7 It is a schematic flowchart of a floor height calibration method provided by an exemplary embodiment of this application;

[0032] Figure 8 It is a schematic structural diagram of a floor height calibration device provided by the embodiment of this application;

[0033] Figure 9 It is a schematic structural diagram of an electronic device provided by the embodiment of this application.

[0034] Through the above-mentioned drawings, the specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Specific Embodiments

[0035] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description involves the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0036] To address the technical problems mentioned in the background art, the technical solution provided by the embodiment of this application utilizes the operation data of the elevator to obtain a 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 of the height matrix, a feature height vector with higher accuracy can be obtained. By interpolating and verifying the feature height vector in combination with the floor reference height vector, a floor height - floor key value pair can be obtained. According to this floor key value pair, the floor height reference vector is corrected, and thus the height corresponding to each floor can be quickly calibrated. The entire process requires no manual intervention, achieving full - process automatic calibration. When an operator has a need for floor height calibration, they can simply click a calibration button on the remote interface to implement the automatic calibration process. Moreover, compared with the floor automatic calibration algorithms in related technologies, there is no need to install auxiliary equipment outside the elevator car, reducing equipment costs. At the same time, the elevator does not need to run along a specified trajectory throughout the process, effectively improving the convenience of calibration.

[0037] The following uses specific embodiments to elaborate on the technical solution of this application and how the technical solution of this application solves the above technical problems. The following several 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 this application will be described below with reference to the accompanying drawings.

[0038] Figure 1 FIG. is a schematic flowchart of a floor height calibration method provided by an embodiment of this application. The execution subject of this method can be an electronic device, such as an elevator control device. As Figure 1 shown, this method includes steps S101 - S105:

[0039] Step S101, obtain a floor height scale set according to historical elevator operation data, where the height scale set includes multiple height scales collected in each of a preset number of periods.

[0040] Instead of the related art where it is necessary to control the elevator to run along a certain trajectory and use auxiliary equipment to calibrate the floor height on site. In this embodiment, a floor height scale set is obtained by using historical elevator operation data. The height scale set includes multiple height scales collected in each of a preset number of periods. Among them, the preset number can be adaptively set according to actual applications. For example, in this embodiment, it can be set to 7 periods, each period is 24h, and the data collected in each period can be cached separately. In this way, the data collection can correspond to the residents' travel cycle. Within a week, the floor range that the elevator can reach every day is roughly the same, so the types of absolute floor heights obtained in each data collection period are also roughly the same.

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

[0042] The above step S101 of obtaining a floor height scale set according to historical elevator operation data is specifically: for the acceleration data of each elevator operation, perform double - integration on the acceleration data 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 practical applications, surveillance cameras are installed in elevators. By integrating an acceleration sensor into the surveillance camera, it is convenient to collect the acceleration data of the elevator. By double-integrating the acceleration data, the height scale of each elevator operation can be obtained. This height scale is the height of one floor or the height of multiple floors. The method for obtaining the height scale is convenient and efficient.

[0044] Exemplarily, taking the operation data collection within a single period as an example, as Figure 2 shown, every time the elevator moves from motion to rest, the algorithm can obtain a new height scale obtained by double-integrating the acceleration. To effectively reduce data redundancy and improve data accuracy, in this embodiment, after collecting the acceleration data, the existing height scale closest to the new height scale can be queried from the existing height scales in this period, and the absolute value of the difference between the two can be calculated. If this absolute value is less than the threshold (which can be determined by those skilled in the art based on prior data), the new height scale is adjusted to the existing height scale, and subsequent double-integration is based on this height scale. If this absolute value is greater than the threshold, the new height scale is added to the height scale list of this period, thereby obtaining a set of height scales with less data redundancy and higher accuracy. Among them, after the operation data collection stage ends, a set of height scales is formed. Taking the period as 7 as an example, the set of height scales includes 7 subsets of height scales (that is, multiple height scales within each period), and its form can be represented by the following formula 1:

[0045] (Formula 1)

[0046] Where: represents the jth height scale on the ith day. Respectively, a, b, c, d, e, f, and g height scales are obtained on the 1st to 7th days.

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

[0048] After obtaining the set of height scales, since the set of height scales contains height scale data in 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 floor height calibration. To facilitate the reconstruction (such as screening and elimination, etc.) of these height scale data, in this embodiment, according to the height debiasing sorting result of the height scale data in each period, the set of height scales is formed into a height matrix. Among them, the height debiasing sorting result is the sorting result of the height scales after debiasing the height scales, and the debiasing method can be to eliminate the height scales with obvious errors, such as the minimum value in the set of height scales as described below.

[0049] Exemplarily, as Figure 3 shown, the height matrix component a may include sorting of the height scale set, debiasing of the height scale set, and forming the height matrix. Continuing with the height scale set in Equation 1 as an example, in the process of sorting the height scale set, the data in the height scale set in Figure 1 is sorted one by one according to the size of (height value) to make it satisfy:

[0050]

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

[0052]

[0053] For the debiased ordered height scale set synthesis matrix obtained from the above formula, since the number of elements in the height scale set may be different, zeros can be filled at their respective tails. The finally formed matrix is represented by the following Equation 2:

[0054] (Equation 2)

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

[0056] Step S103: Reconstruct the reliable height scales in the height matrix according to the difference information between the elements in the same row of the height matrix to obtain a characteristic height vector.

[0057] In this embodiment, the elements in the same row of 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 different layers, or error data. In this embodiment, the difference information of the elements in the same row is used to screen out the reliable height scales in (each) element in the same row. In this way, the height information is efficiently extracted and reconstructed from the data of multiple periods, thereby improving the accuracy and reliability of floor height calibration. Among them, the process of obtaining the characteristic height vector can be as follows: according to the reconstructed reliable height scales, the reconstructed height matrix is obtained; for the height scales of the elements in the same row in the reconstructed height matrix, the average value of the height scales is calculated to obtain the average value of the height scales of each row in the height matrix; according to the average value of the height scales of each row, the characteristic height vector is obtained. This process, that is, in the height matrix after reconstructing the reliable height scales, the data obtained by averaging the height scales of each row of elements, that is, the characteristic height vector contains the characteristic height corresponding to each layer.

[0058] In an alternative embodiment, the difference information of the elements in the same row in the height matrix in step S103 above can be obtained by the following method: the difference information of the elements in the same row can be determined by the minimum error average value of the minimum error element combination to improve the screening accuracy of the height scale. Specifically, the difference information of the elements in the same row in the height matrix in step S103 above can be obtained by the following method:

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

[0060] According to the height scales of the elements in the minimum error element combination, calculate the minimum error average value of the minimum error element combination;

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

[0062] In this alternative embodiment, by calculating the height scale difference for every two elements from the elements in the same row and selecting a preset number of elements with the absolute value of the height scale difference less than a preset threshold as the minimum error element combination, the minimum error element combination is the element with a height scale value close in the elements in the same row, indicating that the elements in the combination have a high degree of consistency. Calculate the average value using the height scale values of the elements in the minimum error element combination to obtain the minimum error average value. Using this minimum error average value to perform difference verification on each element can obtain a relatively accurate difference verification result, thereby eliminating the values with large differences and retaining the reliable height scales with high credibility, thereby improving the screening accuracy of the height scale.

[0063] It should be noted that those skilled in the art can adaptively determine the preset quantity and error threshold according to actual applications or prior data definitions, and this embodiment does not make special limitations on this.

[0064] In a further example of this optional implementation manner, the screening process may include screening methods such as deleting an entire column, moving a row down, and retaining, etc., so as to improve the screening efficiency, and further improve the overall floor height calibration efficiency and accuracy. Specifically, in the above steps, reconstructing the credible height scale in the height matrix according to the difference information between the elements in the same row in the height matrix includes:

[0065] For each element in the elements 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 the elements in the column where the element is located to obtain the deleted elements;

[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 floor height, then move the element to the next row, and add a new element at the position before the element is moved down according to the minimum error average value to obtain the elements after moving the row down;

[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 floor height, then retain the element to obtain the retained elements;

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

[0069] During the process of deleting an entire column: for the element in the elements in the same row that is less than the minimum error average value, it indicates that the measured value of this element deviates from the height scales of most elements in the same row and is an error term. And for the element in the elements in the same row that is greater than the minimum error average value, but the difference between the two is greater than the minimum floor height and less than the maximum floor height, it indicates that the value of the corresponding element is not the height scale value of other floors either. Correspondingly, other data collected during this period has associated errors and is considered untrustworthy. The screening efficiency is effectively improved by the method of deleting an entire column.

[0070] During the process of moving a row down: for the element in the elements in the same row whose height scale difference from the minimum error average value is greater than or equal to the preset maximum floor height, it indicates that this element may be the floor height data of the upper floor. By performing the operation of moving the row down on this element, not only the accuracy of the height scale in the same row of elements is ensured, but also this data is used as the height scale of other rows, increasing the data source, thereby improving the overall screening accuracy.

[0071] During the retention process: if the height scale of an element in the same industry is greater than the minimum error average, and the difference between the two is less than or equal to the lowest floor height, 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 entire column deletion, row demotion, 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 based on actual applications or prior data, and this embodiment does not specifically limit this.

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

[0074] 1) Remove the same element:

[0075]

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

[0077]

[0078] Filter out the minimum proximity value (i.e., the combination with the minimum error). The minimum proximity value is defined as: 3 elements (i.e., a preset number, which can be adjusted according to the specific number of floors in some embodiments) whose absolute differences are 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 has the smallest sum 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 close value average to verify peer elements, by introducing two new thresholds, (i.e., maximum floor height) and There are three possible outcomes for elements in the same row: 1. Delete, and the entire row becomes invalid; 2. Leave unchanged; 3. Descend, and the element moves down one position, and a new element is added to its original position, with a value of The triggering of these three processes depends on the relationship and and Specific examples are:

[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 following values are finally A new element is added at the position, and its value is the original .Original Position replace.

[0082] After the above steps are performed in each non-zero row, the number of non-zero column elements in the matrix obtained after processing is equal. Suppose it is:

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

[0084] (Equation 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 based on 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 floor height vector (The estimated value can be input by the operator or pre-stored in the device) and 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 embodiment, to further improve the calibration accuracy of the floor height, normalization is performed using the reference floor height, and the normalized data is used for alignment to obtain a comparison result. Specifically, the method provided in this embodiment may further include the following steps: Normalize the reference floor height vector according to the height range corresponding to the feature height vector and the height range corresponding to the reference floor height vector to obtain a normalized reference floor height vector; Align the elements in the feature vector with the elements in the normalized reference floor vector one by one according to the numerical size to obtain the comparison result between the feature height vector and the reference floor height vector.

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

[0090] After normalizing the reference floor height vector, align the elements in the reference floor height with the feature height vector to determine the floor corresponding to each element (height) in the feature height vector, so as to determine which floor the element of the feature height vector corresponds to, and perform interpolation on the feature reference data for the missing floors.

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

[0092] In the above steps, according to the comparison result between the feature height vector and the preset floor reference height vector, the interpolation verification process for the feature height vector can be carried out in the following manner: According to the forward alignment information, if there is a forward missing layer between every two first forward alignment elements in the feature height vector with respect to every two second forward alignment elements aligned with the first forward alignment elements in the floor height reference vector, then interpolate the forward missing layer according to the elements between every two second forward alignment elements to obtain the first interpolation result; According to the reverse alignment information, if there is a reverse missing layer between every two first reverse alignment elements in the feature height vector with respect to every two second reverse alignment elements aligned with the first reverse alignment elements in the floor height reference vector, then interpolate the reverse missing layer according to the elements between every two second reverse alignment elements to obtain the second interpolation result; According to the consistency between the first interpolation result and the second interpolation result, perform interpolation verification on the first interpolation result and the second interpolation result; When the first interpolation result and the second interpolation result are consistent, according to the first interpolation result or the second interpolation result, obtain the feature height vector after interpolation verification and its corresponding feature floor vector.

[0093] Exemplarily, as Figure 4 shown, during the forward interpolation process, the elements of the feature height vector can be searched for positions from bottom to top in the floor reference height ( alignment , alignment ). For example in is closest to , while there is an intermediate layer between and , then it is interpolated and presumed that corresponds to the 3rd floor. Insert a new element and in , and so on. The new element vector inserted in the feature height vector . Finally, count the sum of the number of elements in the feature height vector and the new element vector . If it 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 in principle, except that the elements of the feature height vector are searched for positions from top to bottom in the floor reference height .

[0095] In this embodiment, the conditions for successful interpolation inference are: forward interpolation is successful, reverse interpolation is successful, and the new element vectors of forward and reverse interpolation have exactly the same constituent elements, which can effectively improve the accuracy of interpolation.

[0096] In some examples, considering that there may be cases of interpolation failure, the preset floor reference floor heights can include multiple groups, and different combinations of the floor reference floor heights can be stored in a data table in a device, and each time interpolation inference fails, a new floor combination is extracted from the table and assigned to the floor reference floor 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 Figure 5 shown.

[0097] After completing the interpolation verification, the characteristic floor vector corresponding to the characteristic height vector can be obtained, and the two are combined into the following height - floor key value pairs:

[0098]

[0099] Among them, is each element in the characteristic height vector. For height information such as height values, is each element in the characteristic floor vector, corresponding to floor information such as floor numbers.

[0100] Continue to refer to Figure 1 Step S105: According to the floor height - floor key value pairs, correct the floor reference floor height vector to obtain the floor height corresponding to each floor.

[0101] In this embodiment, after obtaining the floor height - floor key - value pairs, the corresponding floor height can be interpolated through the floors. After the above data processing and screening, this floor height is a calibrated value with relatively high precision. Using this floor height - floor key - value pair to correct the floor reference height vector (for example, as shown in the method described later, for the height corresponding to the floors that have been reached and are clearly defined in the floor height - floor key - value, directly correct according to the value in the floor height - floor key - value, and make an associated correction for the height corresponding to the floors that have not been reached. Or directly use the floor height appearing in this floor height - floor key - value pair to replace and other correction processing methods for the reference height vector), the more accurate height value of each floor can be obtained. Replacing the floor calibration scheme of the related technology, this embodiment can achieve automatic calibration without manual intervention, that is, the operator can simply click the calibration button on the remote interface without entering the elevator for internal operation, nor does the elevator need to run according to a specified trajectory. Compared with the traditional floor automatic calibration algorithm, it is more convenient. In some embodiments, high - precision calibration can also be performed on special buildings (such as villas / duplex buildings, commercial - residential buildings, buildings with multi - layer underground garages, etc.) by pre - inputting the estimated floor height value. Compared with the existing floor automatic calibration algorithms, it has a wider application range and stronger versatility.

[0102] In an alternative embodiment, during the process of determining the floor height in this embodiment, the floor height is corrected by determining the direct modification points and indirect modification points, thereby further improving the floor height calibration accuracy. 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 heights to be corrected in the floor reference vector, and corrections are made for the floors corresponding to the reference floor heights to be corrected. The above 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, and can be implemented as follows: According to the floors with known floor heights in the floor height - floor key - value pair, determine the corresponding floors in the floor reference vector as direct modification points, and correct the reference floor height of the direct modification points according to the known floor height to obtain the floor height of the direct modification points; Determine the floors other than the direct modification points in the floors corresponding to the reference floor heights to be corrected as the associated modification points in the floor reference vector, and calculate the correction amount of the associated modification points; According to the correction amount of the associated modification points and the reference floor height of the associated modification points, correct the reference floor heights of each associated modification point to obtain the floor heights of each associated modification point.

[0103] It can be understood that the ground floor and the top floor of the building are known quantities. By excluding the ground floor and the top floor, the floors with the floor heights to be corrected can be obtained. Among them, the known floor height, that is, the characteristic height corresponding to the floor in the characteristic height vector, is used to correct the reference floor height of the floor through the characteristic height, and it is determined as the direct modification point. For the unknown floor height, that is, there is a corresponding floor, but there is no characteristic height corresponding to the 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 when the user does not pass through a certain floor during the data collection process, and the corresponding height scale data of that floor is missing). Among them, the floor height of the direct modification point is determined according to the known floor height, that is, the reference floor height of the floor is directly corrected by using the characteristic height of the floor.

[0104] For other floors in the floors with the floor heights to be corrected except the direct modification point, the height is supplemented by the reference floor height of the floor. If the reference floor height of the floor is directly used for this part of the height, the calibration result will not be accurate enough. By calculating the correction amounts of these implicated modification points and correcting them one by one, not only can the accuracy of the floor height calibration 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 manner, the implicated modification points can be corrected by using the height of the direct modification point and the top floor to improve the consistency of the floor heights. Specifically, the process of calculating the correction amount of the implicated modification point can be carried out 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 reference floor height; obtain the first distance between the direct modification point and the top floor according to the difference between the reference floor 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 reference floor 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] Exemplarily, use the height - floor key - value pair to perform targeted correction on the normalized reference floor height Take a 5 - storey building (the first floor is , the fifth floor is ) as an example, the correction process of the height - floor key - value pair is as shown in Figure 6 .

[0107] In Figure 6 , the abscissa is the floor code, and the ordinate is the height. In the above figure, there are a total of 4 height - floor key - value pairs, which are , excluding the bottommost and the topmost floors, the key - value pairs used for correction are Two. Among them, has been used to modify the reference floor height , that is . Is being modified , called the direct modification point, Above, except for the highest height All are implicated modification points. In this example The implicated modification point above is , in some examples, there may also be more implicated modification points.

[0108] From the bottom floor height To each floor height below the direct modification point remains unchanged. Continuing as Figure 6 Shown, the correction amount of each implicated modification point is related to the distance between the floor of this point and the top floor and the distance between the direct modification point and the top floor directly. The specific size can be expressed by the following formula:

[0109]

[0110] Where: Is the correction amount size of the i-th implicated modification point, Is the top floor height, Is the height of the direct modification point in the height - floor key value pair, Is the height of the floor corresponding to the direct modification point in the reference floor height Among them, Is the height of the implicated modification point before correction in the reference floor height Among them. It can be understood that That is, the correction amount of the direct modification point, That is, the correction coefficient obtained according to the first distance and the second distance.

[0111] The height of the corrected implicated modification point Is:

[0112]

[0113] According to the above process, using the height - floor key value pair to modify the reference floor height One by one, then the corrected height of each floor can be calculated. By taking the differences in turn according to this height, the true floor 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, such as Figure 7As shown in the figure, it includes 4 steps from obtaining the acceleration sensor data of the elevator control device to completing the automatic calibration of the floor height, namely running data collection, pre-processing of the algorithm, in-processing of the algorithm, and post-processing of the algorithm. Among them, in the running data collection stage, the running height information of the device is obtained within a period of time, that is, the process of obtaining the height scale set; in the pre-processing stage of the algorithm, the height data obtained in the running data collection stage is verified, error data is deleted, missing data is supplemented, and a characteristic height vector is formed; in the in-processing stage of the algorithm, the height-floor key value pair is calculated based on the characteristic height vector obtained in the pre-processing stage of the algorithm; in the post-processing stage of the algorithm, the floor height is corrected based on the height-floor key value pair obtained in the in-processing stage of the algorithm, the final corrected floor height table is obtained, and the height of each floor is obtained 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 through other means, that is, using other data sources as the only data source). Without manual operation of the elevator intervention, it has the function of automatically collecting operation information, has the ability of information screening, error correction and missing data supplementation, and can be filled in by the user for reference to achieve compatibility with the calibration of special buildings. It is a fully automatic floor height calibration technology.

[0116] Figure 8 It is a schematic structural diagram of a device for calibrating the floor height provided by an embodiment of the present application. As Figure 8 shown, the device includes an acquisition module 801, a matrix composition module 802, a reconstruction module 803, an interpolation module 804, and a floor height calibration module 805; among them,

[0117] The acquisition module 801 is set to obtain the floor height scale set according to the historical elevator operation data, and the height scale set includes multiple height scales collected in each period within a preset number of periods;

[0118] The matrix composition module 802 is set to form the height scale set into a height matrix according to the height debiasing and sorting results of multiple height scales in each period, so that the height scales with the same sorting are located in the same row of the height matrix, and the height scales in the same period are located in the same column of the height matrix;

[0119] The reconstruction module 803 is set to reconstruct the reliable height scales in the height matrix according to the difference information between the elements in the same row of the height matrix to obtain a characteristic height vector;

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

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

[0122] In an implementation manner, it further includes a difference acquisition module, and the difference acquisition module includes:

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

[0124] An average value calculation unit, which is configured to calculate the minimum error average value of the combination of minimum error elements according to the height scales of the elements in the combination of minimum error elements;

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

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

[0127] A deletion unit, which is configured to, for each element in the elements 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, delete all the elements in the column where the element is located, to obtain the deleted elements;

[0128] A row - lowering unit, which is configured to, 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 floor height, lower the element to the next row, and add a new element at the position of the element before being lowered according to the minimum error average value, to obtain the row - lowered elements;

[0129] A retention unit, which is configured to, 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 floor height, retain the element, to obtain the retained elements;

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

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

[0132] An acquisition unit configured to acquire a reconstructed height matrix according to the reconstructed reliable height scale.

[0133] A mean calculation unit configured to calculate a mean of height scales of elements in the same row in the reconstructed height matrix to obtain a mean height scale of each row in the height matrix.

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

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

[0136] A normalization module configured to normalize the floor reference storey height vector according to the height range corresponding to the characteristic height vector and the height range corresponding to the floor reference storey height vector to obtain a normalized floor reference storey height vector.

[0137] An alignment comparison module configured to align 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 storey height vector.

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

[0139] A first interpolation unit configured to, according to the forward alignment information, if there is a forward missing storey between every two first forward-aligned elements in the characteristic height vector with respect to every two second forward-aligned elements aligned with the first forward-aligned elements in the floor storey height reference vector, interpolate the forward missing storey according to the elements between every two second forward-aligned elements to obtain a first interpolation result.

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

[0141] An interpolation result acquisition unit, 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 corrected floor determination unit, configured to 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;

[0143] A directly modified point determination unit, configured to determine the floors corresponding to the known floor heights in the floor height - floor key value pair as directly modified points in the floor reference vector, and correct the reference floor heights of the directly modified points according to the known floor heights to obtain the floor heights of the directly modified points;

[0144] An implicated modified point determination unit, configured to determine the floors other than the directly modified points in the floors corresponding to the reference floor heights to be corrected as the implicated modified points in the floor reference vector, and calculate the correction amounts of the implicated modified points;

[0145] A floor height determination unit, configured to correct the reference floor heights of each implicated modified point according to the correction amounts of the implicated modified points and the reference floor heights of the implicated modified points to obtain the floor heights of each implicated modified point.

[0146] In one implementation, calculating the correction amounts of the implicated modified points includes: determining the correction amount of the directly modified point according to the difference between the floor height of the directly modified point and the floor reference height; obtaining the first distance between the directly modified point and the top floor according to the difference between the floor reference height of the directly modified point and the floor height of the top floor; obtaining the second distance between the implicated modified point and the top floor according to the difference between the floor reference height of the implicated modified point and the floor height of the top floor; determining the correction amount of the implicated modified point according to the product of the correction amount of the directly modified point and the correction coefficient obtained according to the first distance and the second distance.

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

[0148] An operation data acquisition module, which is configured to collect historical elevator operation data through an acceleration sensor built in the elevator access control device every period. The historical elevator operation data includes acceleration data for each operation of the elevator from operation to stop.

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

[0150] In summary, the embodiment of the present application collects operation height data within multiple fixed periods. By analyzing the correlation of height data with similar values in different periods, incorrect data is excluded, and a set of reachable height sequences with high confidence is formed. Using this sequence, the number of intermediate floors between each height is calculated by means of a two-way interpolation algorithm. Combining the preset floor height ratio coefficient, the floor height of each floor in the building where the elevator is located is finally obtained. Compared with the height calibration scheme of the related technology, a single accelerometer data source is used for automatic calibration without the need for manual operation of the elevator. The method of multi-period correlation analysis is adopted, and the collected data is used to mutually verify the accuracy, so as to exclude the interference of incorrect data and collect reliable height data. The floor position corresponding to the reliable height data is calculated by interpolation. Finally, the reliable height data is combined with the customer's pre-input floor height ratio coefficient in the order of correction, and the complete floor height information can be efficiently obtained. This process greatly improves the convenience of floor height calibration and reduces the manual input. The method of multi-period data collection and mutual verification reduces the conduction of cumulative errors in each period, ensuring that relatively accurate specific floor heights can still be obtained even when there are errors in the collected operation height data. The interpolation calculation and sequential correction methods enable manual pre-input to participate in the automatic calibration, and special buildings can complete automatic calibration with the help of manual pre-input, with wider applicability.

[0151] It should be noted that the device provided in the embodiment of the present application can be used to execute the method in the above embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here.

[0152] Figure 9 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 9 shown, the electronic device includes: a processor 902, and a memory 901 communicatively connected to the processor 902;

[0153] The memory 901 stores computer execution instructions;

[0154] The processor 902 executes the computer-executable instructions stored in the memory 901 to implement the method for calibrating the floor height in any of the method embodiments. In addition, a transceiver 903 may also be included, which can be connected to the processor 902 and is used for communicating with external devices.

[0155] It should be noted that the electronic device provided in the embodiments of the present application can be used to execute the method in the above embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0156] The embodiments of the present application also provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium and are used to execute the method for calibrating the floor height provided in the above various implementation manners when being executed by a processor.

[0157] The above computer-readable storage medium 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, a magnetic disk or an optical disc. The readable storage medium can be any available medium accessible by a general-purpose 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 method in the above embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0159] The embodiments of the present application correspondingly provide a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method for calibrating the floor height provided in the above method embodiments.

[0160] It should be noted that the program product provided in the embodiments of the present application can be used to execute the method in the above embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0161] Optionally, the readable storage medium is coupled to the 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 as discrete components in the device.

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

[0163] In the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after; in a formula, the character " / " represents a "division" relationship between the associated objects before and after. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0164] It can 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 used to limit the scope of the embodiments of the present application. In the embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0165] Those skilled in the art will readily think of other implementation manners of the present application after considering the specification and practicing the invention disclosed herein. The present application aims to cover any variations, uses, or adaptations of the present application, and these variations, uses, or adaptations follow the general principles of the present application and include the common knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0166] It should be understood that the present application is not limited to the exact structure already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for calibrating floor height, characterized in that: include: Acquire a floor height scale set based on 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; The height scale is the height of the floor obtained based on the acceleration data of the elevator; According to the height debiasing sorting results of the plurality of height scales of each period, the height scale set is organized 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; Based on a comparison result between the characteristic height vector and a preset floor reference height vector, interpolation verification is performed on the characteristic height vector to obtain a characteristic height vector after interpolation verification and its corresponding characteristic floor vector, so as to form a floor height-floor key-value pair based on 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; 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, a minimum error element combination is selected, wherein the absolute value of the difference between the height scales of a preset number of elements 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 reconstructing the credible height scale in the height matrix according to the difference information between the same row elements in the height matrix includes: For each element in the same row, if the difference between the height scale corresponding to the element and the minimum error average 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, 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 demoted to the next row, and a new element is added to the position of the element before the demoted element according to the minimum error average value to obtain the element after the demoted row; 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 lowest floor height, retaining the element to obtain a 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 characteristic height vector are aligned with the elements in the normalized floor reference height vector one by one according to the numerical values, so as to obtain a comparison result between the characteristic 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; The interpolation verification is performed on the characteristic height vector according to the comparison result between the characteristic height vector and the preset floor reference height vector to obtain the interpolation-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-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 reference height vector, interpolating the positive missing layer based on the element between the two second forward-aligned 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 characteristic height vector and every two second reverse aligned elements aligned with the first reverse aligned elements relative to the floor reference height vector, interpolating the reverse missing layer according to the element 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 height 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 a known floor height in the floor-height key-value pair, the corresponding floor in the floor reference vector is determined as a 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; Determining other floors, except the direct modification point, among the floors corresponding to the reference floor height to be modified as involved modification points in the floor reference vector, and calculating 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 includes: Determining a correction amount for the direct modification point according to a difference between the floor height of the direct modification point and a 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 reference floor 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: Obtain a reconstructed height matrix based on the reconstructed credible height scale; Calculating 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; 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 at each of the cycles through an acceleration sensor built into an elevator control device in the elevator, 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 based on historical elevator operation data includes: For the acceleration data of each operation of the elevator, double integration is performed on the acceleration data to obtain a 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 configured to acquire a set of floor height scales based on historical elevator operation data, the set of height scales comprising a plurality of height scales collected in each of a preset number of periods; the height scales being the height of each floor obtained based on the elevator acceleration data; a matrix forming module configured to form a set of height scales into a height matrix based on a height debiasing sort result of a plurality of height scales of each period, such that height scales of the same sort are located in the same row of the height matrix and 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 scales in the height matrix according to difference information between elements in the same row in the height matrix to obtain a characteristic height vector; an interpolation module 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 based on 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.

Images