Floor detection method and device based on acceleration

Abstract

The embodiment of the invention provides a floor detection method and device based on acceleration, and is applied to the field of elevator monitoring. The method comprises the steps that original acceleration data collected by an accelerometer are extracted and preprocessed, and acceleration data with noise interference and gravity bias removed are obtained; according to the acceleration data, the motion state of the elevator is recognized, and the motion state comprises at least one of a static state, a motion state and a switching state used for indicating switching between the static state and the motion state; according to the motion state of the elevator, dynamic integration processing is conducted on the acceleration data so that height data of the elevator can be determined; wherein the dynamic integration processing mode comprises at least one of acceleration bias adjustment, speed compensation and height compensation; and corresponding elevator floor information is matched according to the height data, and the current floor where the elevator is located is obtained. Through the method, the floor recognition efficiency and precision can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of elevator monitoring, and in particular to a floor detection method and device based on acceleration. Background Art

[0002] As buildings become taller and more complex, the need for intelligent management of elevators is growing. Among them, floor detection and recognition is an important part of realizing intelligent management of elevators.

[0003] In some related technologies, the height is calculated by measuring the values ​​of built-in sensors such as barometers and inertial measurement units, and then the corresponding floors are matched. However, since the barometer is easily affected by factors such as the air tightness, temperature, and weather of the car, and the inertial measurement unit measures the elevator height with low accuracy under the existing algorithm, the accuracy of floor detection is affected; or external sensors such as photoelectric sensors and electromagnetic induction sensors are installed in the elevator car to interact with the sensors in the elevator shaft to identify the floor, or laser rangefinders are used to directly measure the absolute height of the elevator car to match the floor. However, the installation of photoelectric sensors and electromagnetic induction sensors outside the elevator car is inconvenient and the maintenance cost is high, so they are not universal. In other related technologies, the floor is detected by identifying the display information displayed on the panel in the elevator car through optical character recognition (OCR) technology. Since some elevator panels are only displayed during movement, there are certain requirements for the installation angle of the elevator camera, which is easily affected by reflections.

[0004] Therefore, it is urgent to propose a technical solution that can efficiently and accurately detect elevator floors to solve the above technical problems. Summary of the invention

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

[0006] In a first aspect, the present application provides a floor detection method based on an accelerometer, comprising:

[0007] Extracting and preprocessing the original acceleration data collected by the accelerometer to obtain acceleration data with noise and / or bias removed; wherein the accelerometer is a built-in accelerometer of a surveillance camera in an elevator;

[0008] According to the acceleration data, identifying the motion state of the elevator, the motion state including at least one of the following: a stationary state, a moving state, and a shear state for indicating switching between the stationary state and the moving state;

[0009] According to the motion state of the elevator, the acceleration data is dynamically integrated to determine the height data of the elevator; wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation;

[0010] The height data is matched with the corresponding elevator floor information to obtain the current floor of the elevator.

[0011] In one embodiment, the performing dynamic integration processing on the acceleration data according to the motion state of the elevator includes at least one of the following:

[0012] When the elevator is in motion, the acceleration data is integrated twice by locking the expected acceleration bias to obtain the height data;

[0013] When the elevator is in a stationary state, the speed data of the elevator is obtained according to the integration result of the acceleration data at every preset time period. If the speed data is lower than a preset threshold, the height data is obtained according to the anchoring height, and the anchoring height is the height data at the end of the previous shear state;

[0014] When the elevator is in a shear state, if the shear state is from a moving state to a stationary state, an error compensation amount for reconstructing a speed curve corresponding to the acceleration data is determined according to the residual speed at the shear moment from the moving state to the stationary state and the motion duration, and the speed curve is reconstructed according to the error compensation amount, so as to obtain the height data according to the integral result of the reconstructed speed curve; or,

[0015] If the shear state is from a static state to a moving state, the composite speed is obtained by integrating the acceleration data to obtain the speed data and the backup speed before the previous static state speed is cleared to zero. The composite speed is used as the initial value of the speed integration to obtain the height data.

[0016] In one embodiment, when the elevator is in a stationary state, the method further includes:

[0017] If the speed data reaches a preset threshold, a counter is started;

[0018] If the elevator is still in a stationary state when the counter reaches a pre-set value, the height data is obtained according to the anchoring height, and the speed data is cleared;

[0019] If the counter does not reach the pre-set value and it is identified that the elevator enters the moving state, it is determined that the elevator enters the shear state;

[0020] The pre-designed value is a value greater than the elevator start-up time, and the elevator start-up time is the time required for the elevator to move from control start to movement.

[0021] In one embodiment, when the elevator is in a stationary state, the method further includes:

[0022] If the speed data is lower than a preset threshold, backing up the speed data and then clearing the speed data;

[0023] A first acceleration bias in a stationary state is adjusted by negative feedback according to the cleared speed data, wherein the first acceleration bias is used to correct the acceleration data in the stationary state.

[0024] In one embodiment, determining the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data according to the residual velocity at the shear moment from the moving state to the static state and the motion duration includes:

[0025] Determining the acceleration bias error in the motion state according to the residual velocity at the shear moment and the motion duration;

[0026] An error compensation amount for reconstructing a velocity curve corresponding to the acceleration data is determined according to the acceleration bias error.

[0027] In one embodiment, when the elevator is in a shear state, the method further includes:

[0028] According to the acceleration bias error, a second acceleration bias in the motion state is adjusted, and the second acceleration bias is used to correct the acceleration data in the motion state.

[0029] In one embodiment, the velocity curve is obtained by integrating the acceleration data under the motion duration; and reconstructing the velocity curve according to the error compensation amount includes:

[0030] Determining the slope adjustment amount of the speed curve corresponding to each time stage during the continuous operation time according to the error compensation amount; and

[0031] The slope of the speed curve corresponding to each time stage is adjusted according to the slope adjustment amount to obtain a reconstructed speed curve.

[0032] In one implementation, identifying the motion state of the elevator according to the acceleration data includes:

[0033] Determine the operation phase of the elevator according to the acceleration data, wherein the operation phase includes at least one of acceleration, uniform speed, deceleration and stationary phase;

[0034] The movement state of the elevator is determined according to the operation stage and the movement direction information of the elevator.

[0035] In one implementation, determining the motion state of the elevator according to the operation phase and the motion direction information of the elevator includes:

[0036] When the operation phase is a stationary phase and the movement direction information of the elevator indicates that there is no movement instruction, determining that the elevator is currently in a stationary state;

[0037] When the running stage is a uniform speed stage and the moving direction information of the elevator indicates that there is a moving instruction, determining that the elevator is currently in a moving state;

[0038] When the operation phase is a deceleration or acceleration phase, and the movement direction information of the elevator indicates that the movement instruction changes, it is determined that the elevator is currently in a shear state.

[0039] According to a second aspect of the present application, there is provided a floor detection device based on acceleration, comprising:

[0040] An acceleration extraction module, which is configured to extract raw acceleration data collected by an accelerometer and perform preprocessing to obtain acceleration data with noise and / or bias removed; wherein the accelerometer is a built-in accelerometer of a surveillance camera in an elevator;

[0041] a state recognition module, configured to recognize the motion state of the elevator according to the acceleration data, wherein the motion state includes at least one of the following: a stationary state, a moving state, and a shear state for indicating switching between the stationary state and the moving state;

[0042] A dynamic integration module, which is configured to perform dynamic integration processing on the acceleration data according to the motion state of the elevator to determine the height data of the elevator; wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation;

[0043] The floor identification module is configured to match the corresponding elevator floor information according to the height data to obtain the current floor of the elevator.

[0044] In one embodiment, the dynamic integration module includes at least one of the following:

[0045] a dynamic accumulation unit, configured to perform secondary integration of the acceleration data by locking the expected acceleration bias when the elevator is in motion, so as to obtain the height data;

[0046] a static adjustment unit, configured to obtain speed data of the elevator according to an integral result of the acceleration data at every preset time period when the elevator is in a static state, and obtain the height data according to an anchoring height if the speed data is lower than a preset threshold, wherein the anchoring height is the height data at the end of the previous shear state;

[0047] A shear compensation unit is configured to, when the elevator is in a shear state, if the shear state is from a moving state to a stationary state, determine the error compensation amount for reconstructing the speed curve corresponding to the acceleration data according to the residual speed at the shear moment from the moving state to the stationary state and the movement duration, and reconstruct the speed curve according to the error compensation amount, so as to obtain the height data according to the integration result of the reconstructed speed curve; or, if the shear state is from a stationary state to a moving state, obtain the composite speed according to the sum of the speed data obtained by integrating the acceleration data and the backup speed before the previous stationary state speed is cleared, and use the composite speed as the initial value of the speed integration to obtain the height data through integration.

[0048] In one embodiment, when the elevator is in a stationary state, the device further comprises:

[0049] A counter unit, configured to start a counter when the speed data reaches a preset threshold;

[0050] The static adjustment unit is further configured to: when the counter reaches a preset value, the elevator is still in a static state, obtain the height data according to the anchoring height, and clear the speed data;

[0051] a shear determination unit, configured to determine that the elevator enters a shear state if the counter does not reach a pre-set value and identifies that the elevator enters a motion state;

[0052] The pre-designed value is a value greater than the elevator start-up time, and the elevator start-up time is the time required for the elevator to move from control start to movement.

[0053] In one embodiment, when the elevator is in a stationary state, the device further comprises:

[0054] A speed clearing module, configured to clear the speed data after backing up the speed data when the speed data is lower than a preset threshold;

[0055] The bias adjustment unit is configured to negatively feedback adjust a first acceleration bias in a stationary state according to the cleared speed data, wherein the first acceleration bias is used to correct the acceleration data in the stationary state.

[0056] In one implementation, the shear compensation unit comprises:

[0057] a bias error determination unit, configured to determine an acceleration bias error in a moving state according to the residual velocity at the shear moment and the motion duration;

[0058] An error compensation amount determination unit is configured to determine an error compensation amount for reconstructing a velocity curve corresponding to the acceleration data according to the acceleration bias error.

[0059] In one embodiment, when the elevator is in a shear state, the device further comprises:

[0060] The shear adjustment module is configured to adjust a second acceleration bias in a moving state according to the acceleration bias error, wherein the second acceleration bias is used to correct acceleration data in the moving state.

[0061] In one embodiment, the velocity curve is obtained by integrating the acceleration data under the motion duration; the shear compensation unit includes:

[0062] a slope adjustment subunit, which is configured to determine the slope adjustment amount corresponding to each time stage of the speed curve during the continuous operation time according to the error compensation amount; and

[0063] The reconstruction subunit is configured to adjust the slope of the speed curve corresponding to each time stage according to the slope adjustment amount to obtain a reconstructed speed curve.

[0064] In one embodiment, the state identification module includes:

[0065] a phase identification unit, configured to determine an operation phase of the elevator according to the acceleration data, wherein the operation phase includes at least one of an acceleration phase, a uniform speed phase, a deceleration phase and a stationary phase;

[0066] A state determination unit is configured to determine the motion state of the elevator according to the operation stage and the motion direction information of the elevator.

[0067] In one implementation, the state determination unit is specifically configured to:

[0068] When the operation phase is a stationary phase and the movement direction information of the elevator indicates that there is no movement instruction, determining that the elevator is currently in a stationary state;

[0069] When the running stage is a uniform speed stage and the moving direction information of the elevator indicates that there is a moving instruction, determining that the elevator is currently in a moving state;

[0070] When the operation phase is a deceleration or acceleration phase, and the movement direction information of the elevator indicates that the movement instruction changes, it is determined that the elevator is currently in a shear state.

[0071] 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;

[0072] The memory stores computer-executable instructions;

[0073] The processor executes the computer-executable instructions stored in the memory to implement the acceleration-based floor detection method provided in any one of the first aspects above.

[0074] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the acceleration-based floor detection method provided in any one of the first aspects above is used to implement.

[0075] According to a fifth aspect of the present application, a computer program product is provided, the computer program product comprising a computer program, and when the computer program is executed by a processor, the acceleration-based floor detection method provided in any one of the first aspects above is implemented.

[0076] The acceleration-based floor detection method and device provided in the present application obtains acceleration data with noise and / or bias removed by extracting the original acceleration data collected by the accelerometer and performing preprocessing. The accelerometer is a built-in accelerometer of the monitoring camera in the elevator, and identifies the motion state of the elevator, such as the static state, the motion state, and the shear state used to indicate the switching between the static state and the motion state, according to the acceleration data, and performs dynamic integration processing on the acceleration data according to the motion state of the elevator to determine the height data of the elevator, wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation, and height compensation, and matches the corresponding elevator floor information according to the height data to obtain the current floor of the elevator. In this process, by obtaining the acceleration data of the elevator to identify the motion state of the elevator, and performing dynamic integration processing for different elevator motion states, correcting the height data obtained by integrating the acceleration data under the corresponding state, more accurate height data can be obtained under each motion state of the elevator, and the whole process allows the judgment of the elevator operation state to have a lag, which effectively improves the accuracy of floor recognition and has stronger resistance to vibration interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] 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.

[0078] Figure 1 A schematic diagram of a flow chart of an acceleration-based floor detection method provided in an embodiment of the present application;

[0079] Figure 2 A schematic flow chart of another acceleration-based floor detection method provided in an embodiment of the present application;

[0080] Figure 3 A schematic diagram of three-state switching of the dynamic integration process in an embodiment of the present application;

[0081] Figure 4 for Figure 2 Schematic diagram of the process of step S201;

[0082] Figure 5 for Figure 2 Schematic diagram of the process of step S202;

[0083] Figure 6 This is one of the example diagrams of the speed curve in the embodiment of the present application;

[0084] Figure 7 This is the second example diagram of the speed curve in the embodiment of the present application;

[0085] Figure 8 The third example diagram of the speed curve in the embodiment of the present application;

[0086] Fig. 9 for Figure 2 One of the flowchart diagrams of step S203;

[0087] Fig.10 for Figure 2 2. Schematic diagram of the process of step S203;

[0088] Fig.11 A schematic flow chart of a floor detection method based on acceleration provided for an exemplary embodiment of the present application;

[0089] Fig.12 A schematic diagram of the structure of an acceleration-based floor detection device provided in an embodiment of the present application;

[0090] Fig.13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0091] 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

[0092] 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.

[0093] In response to the technical problems in the background technology, the related technology collects the acceleration data of the elevator, and calculates the floor height by performing a second integration of the acceleration data, and then calibrates the floor according to the floor height. Although it can effectively improve the efficiency and accuracy of floor calibration, corresponding errors will be generated in different motion states during the operation of the elevator, and there may be problems with the lag in the operating state. For example, when the elevator is stationary, due to the lag problem, the acceleration data used for calculation is the acceleration data just before the stationary state. This will cause the acceleration data obtained by double integration of the acceleration data to be error data, which will lead to errors in the calculation of the floor height, thereby affecting the accuracy of floor calibration.

[0094] In view of this, the present application provides a floor detection method and device based on acceleration, which extracts the original acceleration data collected by the accelerometer and performs preprocessing to obtain the acceleration data with noise and / or bias removed, the accelerometer is a built-in accelerometer of the monitoring camera in the elevator, and identifies the motion state of the elevator according to the acceleration data, such as the static state, the motion state, and the shear state used to indicate the switching between the static state and the motion state, and performs dynamic integration processing on the acceleration data according to the motion state of the elevator to determine the height data of the elevator, wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation, and matches the corresponding elevator floor information according to the height data to obtain the current floor of the elevator. In the process of using acceleration data for height data, this embodiment identifies the elevator motion state and performs dynamic integration processing for different elevator motion states to correct the height data in the corresponding state, so that more accurate height data can be obtained in each motion state of the elevator, and the whole process allows the judgment of the elevator operation state to have a lag, which effectively improves the accuracy of floor recognition and has stronger resistance to vibration interference.

[0095] 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.

[0096] Figure 1 The flowchart of the accelerometer-based floor detection method provided in the embodiment of the present application is shown in FIG. 1 , and the execution subject may be an electronic device, such as an elevator control device of an elevator, such as Figure 1 As shown, the method includes steps S101-S104:

[0097] Step S101, extracting and preprocessing the original acceleration data collected by the accelerometer to obtain the acceleration data with noise and / or bias removed; wherein the accelerometer is a built-in accelerometer of the monitoring camera in the elevator.

[0098] Exemplarily, data preprocessing can be one or more of filtering, vector projection, and debiasing the raw acceleration data of the accelerometer. In the filtering process, the accuracy of the acceleration data is improved by removing high frequencies (such as high-frequency noise introduced by elevator vibration or other environmental factors) or low-frequency noise (such as low-frequency drift or gravity influence). In the vector projection process, since the three components of acceleration (x, y, z) are measured in the three-axis accelerometer, in order to obtain the acceleration in the direction of elevator motion, these three components are projected onto the main direction of elevator motion to obtain more accurate acceleration data. Bias processing, such as measuring the output of the accelerometer when the elevator is stationary, and correcting it as a bias value. Since the accelerometer may have zero drift, removing the bias can improve the accuracy of the measurement, or during the elevator motion, using a known motion state (such as uniform motion) to adjust the bias value, thereby improving the accuracy of the acceleration data.

[0099] Compared with the floor identification scheme in the related art that relies on external sensors in the car and uses image recognition technology to verify the floor, this embodiment only needs to use the data of an acceleration sensor inside the elevator camera to accurately identify the elevator's running speed and the floor it is on, and has the advantages of low difficulty in implementation, low installation cost, and a wide range of applications. In addition, in the related art, for the collection of acceleration data, an accelerometer is usually installed on the top or bottom of the elevator car, or an accelerometer is installed at a fixed position inside the car. It is necessary to consider the installation position of the accelerometer and the protection of the accelerometer. Instead of direct installation, this embodiment can effectively solve the problems of difficult calibration of the installation position of the accelerometer and poor protection by building an accelerometer into the surveillance camera and using the accelerometer in the surveillance camera to collect acceleration data, which helps to improve the convenience of obtaining acceleration data.

[0100] Step S102: Identify the motion state of the elevator according to the acceleration data, where the motion state includes at least one of the following: a stationary state, a moving state, and a shear state for indicating switching between the stationary state and the moving state.

[0101] In an optional implementation, in order to improve the accuracy of identifying the motion state of the elevator, the motion state of the elevator is identified by combining the acceleration data and the elevator motion direction information. Specifically, the motion state of the elevator can be identified based on the acceleration data in the following manner: determining the operation stage of the elevator based on the acceleration data, the operation stage including at least one of the acceleration, uniform speed, deceleration and stationary stages; determining the motion state of the elevator based on the operation stage and the motion direction information of the elevator.

[0102] Exemplarily, the identification process of the operation stage can be that when the acceleration is a positive value, it means that the speed of the elevator is increasing, and the device can identify that the elevator is in the acceleration stage based on the acceleration data; when the acceleration is close to zero (within a small tolerance range, technical personnel in this field can make adaptive settings based on prior data) and the previous stage is the acceleration stage, it means that the elevator is running at a constant speed, and the device identifies that the elevator is in the uniform speed stage; when the acceleration is a negative value, it means that the speed of the elevator is decreasing, and the device identifies that the elevator is in the deceleration stage; when the acceleration is zero and remains for a certain period of time and the previous stage is the deceleration stage, the device identifies that the elevator is in the stationary stage. After using the acceleration data to identify the operation stage of the elevator, the operation stage and the movement direction information of the elevator are used to further determine the movement state of the elevator to improve the recognition accuracy of the elevator operation state.

[0103] Next, the determination of the motion state of the elevator according to the operation stage and the motion direction information of the elevator in the above steps is further introduced: when the operation stage is a stationary stage, and the motion direction information of the elevator indicates that there is no motion instruction, it is determined that the elevator is currently in a stationary state; when the operation stage is a uniform speed stage, and the motion direction information of the elevator indicates that there is a motion instruction, it is determined that the elevator is currently in a motion state; when the operation stage is a deceleration or acceleration stage, and the motion direction information of the elevator indicates that the motion instruction changes, it is determined that the elevator is currently in a shear state.

[0104] In actual applications, there may be short-term mechanical adjustments or environmental vibrations during the operation of the elevator, resulting in misidentification of various operating stages. This embodiment further combines the motion direction information to improve the recognition of the elevator's operating status. Specifically, in the static stage, there is no new motion instruction (for example, no floor button is pressed or no external call signal is received) in combination with the motion direction information to further improve the recognition accuracy of the elevator's current static state. In the uniform speed stage or the acceleration stage, if the motion direction information shows that there is a motion instruction (for example, the elevator receives an instruction to go to a certain floor), it can be determined that the elevator is currently in motion. This means that the elevator is performing a moving task. If the operating stage is a deceleration or acceleration stage, and the motion direction information indicates that the motion instruction has changed (for example, the elevator receives a new instruction to move or stop), it can be determined that the elevator is currently in a shear state.

[0105] Through the above technical solution, combined with acceleration data and movement direction information, the system can more accurately determine the current operating status of the elevator.

[0106] Step S103, according to the motion state of the elevator, dynamically integrate the acceleration data to determine the height data of the elevator; wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation.

[0107] When the related technology uses acceleration data to calibrate the floor height, it is usually to double integrate the acceleration data after filtering to obtain the height data. This process does not take into account the error caused by the lag of the acceleration data under different motion states of the elevator. This embodiment dynamically integrates the acceleration data according to the different motion states of the elevator, thereby correcting the error caused by the lag and improving the height recognition accuracy.

[0108] In this embodiment, the dynamic integration processing method may include one or more of acceleration bias adjustment, speed compensation and altitude compensation, wherein the acceleration bias adjustment may be to adjust the acceleration bias for different motion states respectively, so as to calibrate the acceleration data using the corresponding acceleration bias, for example, in a stationary state, the measured acceleration should be zero, and this state can be used to calibrate and adjust the bias. In motion and shear states, the previously calibrated bias value is applied for real-time adjustment; speed compensation may be speed correction for different motion states, for example, in a stationary state, the speed should be zero, so the speed data can be reset or corrected; altitude compensation, in a motion state, the speed is integrated to determine the altitude change, and in a shear state, the acceleration and speed change rapidly, and more frequent corrections and compensations are performed. In a stationary state, the altitude should remain unchanged, so the altitude data can be corrected.

[0109] In some embodiments, the elevator operation stage information can be used to correct the acceleration bias and periodically clear the speed and height values ​​when the elevator is stationary. When the elevator is moving, the bias is locked to maintain the acceleration and continuously double integrate to obtain speed and height information. When the elevator switches from stationary to moving or from moving to stationary, the speed and height integration results are compensated. The specific process can be found in the following embodiments and will not be elaborated here.

[0110] Step S104, matching the corresponding elevator floor information according to the height data to obtain the current floor of the elevator.

[0111] In this embodiment, the elevator floor information can be acquired in advance or stored in the device. It can be understood that the floors of the building are known information, wherein each floor has a corresponding height range. By comparing the current height data with these ranges, the floor where the elevator is located can be quickly calibrated. During the actual operation of the elevator, the height data is calculated by the above-mentioned dynamic integration processing method, and the corresponding elevator floor information is matched to output the current floor and real-time speed information.

[0112] Through the above technical solution, the movement state of the elevator is identified, and dynamic integration processing is performed on different elevator movement states to correct the height data under the corresponding state. The whole process allows a lag in the judgment of the elevator operation state, and the acceleration data is calculated during the elevator operation cycle, which effectively improves the accuracy of floor recognition and is more resistant to vibration interference.

[0113] Figure 2 FIG. 1 is a flow chart of another floor detection method based on an accelerometer provided in an embodiment of the present application. Compared with the above embodiment, this embodiment performs dynamic integration processing for different motion states of the elevator to improve the accuracy of height data and speed data under different motion states. Figure 2 As shown, in addition to the above steps S101 to S104, this embodiment further subdivides the process of dynamically integrating the acceleration data according to the motion state of the elevator in the above step S103 into steps S201 to S203.

[0114] First of all, it should be noted that in this embodiment, the dynamic integration processing stage processes each frame of acceleration data, that is, the process of integrating acceleration into speed and integrating speed into height will use all data, and this process has nothing to do with whether the elevator is moving. Figure 3 As shown, the shear state is a transition state between the moving state and the static state, and speed and height compensation can both occur in the shear state.

[0115] Please refer to Figure 2Step S201: When the elevator is in motion, the acceleration data is integrated twice by locking the expected acceleration bias to obtain the height data.

[0116] Exemplarily, the motion state process in the dynamic integration processing stage, that is, the process of step S201 is as follows: Figure 4 As shown in the figure, in the moving state, the acceleration bias remains locked, and the acceleration data stream outputs the speed and height through integration. During the elevator movement, the acceleration bias lock can ensure that the calculation of speed and height is based on a consistent reference point throughout the movement, which can effectively improve the measurement stability and calculation accuracy.

[0117] The expected acceleration bias may be determined based on historical acceleration bias data, or determined by those skilled in the art in combination with actual application adaptability, and this embodiment does not specifically limit this.

[0118] Continue to refer to Figure 2 Step S202: when the elevator is in a stationary state, obtain the speed data of the elevator according to the integration result of the acceleration data at every preset time period; if the speed data is lower than a preset threshold, obtain the height data according to the anchoring height, and the anchoring height is the height data at the end of the previous shear state.

[0119] In this embodiment, when the elevator is in a stationary state, the speed data can be checked at regular intervals (i.e., a preset time period, which can be adaptively determined by technical personnel in this field based on actual applications or empirical values), that is, the speed data is obtained using the integral result of the acceleration data at every preset time period, and it is determined whether the speed data is lower than a preset threshold.

[0120] In this embodiment, the preset threshold value can be determined based on prior data or actual application adaptability, and this embodiment does not specifically limit this, for example, 0.1m / s or less or greater. Since it is difficult to determine whether the elevator is actually stationary (or still in a vibrating state) due to factors such as vibration when it is identified as a stationary state, when the speed data is lower than the threshold value, it means that the elevator is stationary. In the related art, since this state hysteresis factor is not considered, it is easy to use the data in the vibrating state as the height data. This embodiment dynamically adjusts the height data in the current stationary state by anchoring the height, which can effectively improve the accuracy of the height data in the stationary state.

[0121] It can be understood that the height data at the end of the previous shear state, that is, the height data from dynamic to static before static, can effectively solve the height error caused by oscillation in the static state by pulling the height back to the anchor point.

[0122] In an optional embodiment, in order to further optimize the calculation accuracy of the height data in the static state, when the elevator is in the static state, the following steps may also be included: if the speed data reaches a preset threshold, the counter is started; if the elevator is still in the static state when the counter reaches a pre-designed value, the height data is obtained according to the anchoring height, and the speed data is cleared; if the counter does not reach the pre-designed value and recognizes that the elevator enters a moving state, it is determined that the elevator enters a shear state; wherein the pre-designed value is a value greater than the elevator start time, and the elevator start time is the time required for the elevator to start from control start to movement.

[0123] When the speed data reaches a preset threshold, since the current running state of the elevator is identified as a stationary state, the speed data is counted by the counter to identify whether it is a speed error when it is currently stationary or about to enter a shear state (i.e. a shear state from stationary to moving), thereby further adjusting the height data of the stationary state to further improve the accuracy of the height data in abnormal situations such as continuous oscillation in the stationary state, and provide a way to identify the shear state.

[0124] In this embodiment, the elevator is still stationary when the speed counter reaches a count value (which can be determined by those skilled in the art based on experience), indicating that the current speed value is a speed error when stationary. By clearing the speed, the error can be effectively reduced.

[0125] In a further example of this implementation, when the elevator is in a stationary state, the acceleration bias adjustment method can also be performed by negative feedback to correct the acceleration data in the stationary state, so as to further improve the accuracy of the height calculation in the stationary state. Specifically, the following steps can also be included: if the speed data is lower than a preset threshold, the speed data is backed up and then cleared; the first acceleration bias in the stationary state is adjusted by negative feedback according to the cleared speed data, and the first acceleration bias is used to correct the acceleration data in the stationary state.

[0126] When the speed data is lower than the preset threshold, the current elevator is considered to be stationary, and the speed data is error data. By clearing the speed data, the accumulated error can be effectively eliminated, especially the drift that may occur during the long-term integration process. The clearing operation can ensure that the speed reading of the device is zero when it is stationary, thereby improving the accuracy of subsequent calculations. In addition, the acceleration bias in the stationary state is negatively feedback adjusted using the speed data after clearing. The adjusted acceleration bias can be used to correct the acceleration data in the stationary state. When the elevator enters the stationary state again, the output of the sensor will be closer to zero, which helps to improve the accuracy of acceleration measurement in the stationary state and reduce the error caused by the bias. It can be understood that in the negative feedback adjustment process, the speed data after clearing is compared with the theoretical stationary speed (i.e., zero), and the error is calculated. The speed value before clearing reflects the error caused by the bias. The bias error can be effectively reduced by adjusting the bias value of the acceleration sensor using the error.

[0127] In addition to clearing the data, the speed data is backed up before clearing, and the backup data can be used for speed compensation in the subsequent shear state, thereby improving the speed data accuracy in the shear state. The relevant instructions will be introduced in the subsequent content and will not be repeated here.

[0128] For example, Figure 5 As shown in the figure, in the static state, the acceleration data stream is double-integrated and output as real-time height and real-time speed respectively. The real-time speed timing (the timing time is greater than the lag time of the algorithm judgment start, and the lag time can be obtained based on experience) is used for threshold judgment. If it is lower than the speed threshold, the algorithm determines that the current state is static. At this time, the real-time speed is backed up (used in the shear state) and the real-time speed is cleared. At the same time, the real-time height is pulled back to the anchor point (the height at the end of the previous shear state), and finally the acceleration bias is adjusted by negative feedback. If it is higher than the speed threshold, the algorithm determines that the current state is the starting stage or the oscillation out-of-control stage. At this time, a counter is used for timing. After the longest start waiting time, the real-time speed is cleared and the real-time height is pulled back to the anchor point. Before the counter is cleared, if it is judged that the elevator starts to move, it directly enters the shear state. The above measures in the static state can ensure that when the elevator is static, the real-time height and real-time speed fluctuate within a very small range, and can recover automatically even if encountering vibration disturbances, thereby improving the floor detection accuracy of the elevator in the static state.

[0129] Continue to refer to Figure 2, step S203, when the elevator is in a shear state, if the shear state is from a moving state to a stationary state, then according to the residual speed at the shear moment from the moving state to the stationary state and the motion duration, determine the error compensation amount for reconstructing the speed curve corresponding to the acceleration data, and reconstruct the speed curve according to the error compensation amount, so as to obtain the height data according to the integral result of the reconstructed speed curve; or, if the shear state is from a stationary state to a moving state, then according to the speed data obtained by integrating the acceleration data and the sum of the backup speed before the previous stationary state speed is cleared to zero, obtain the composite speed, and use the composite speed as the initial value of the speed integration to obtain the height data through integration.

[0130] It can be understood that the shear state includes the elevator state from the moving state to the static state, and the elevator state from the static state to the moving state.

[0131] Among them, when the elevator state switches from the moving state to the static state, the ideal speed at the shearing moment is from speed to no speed (i.e., zero), that is, the ideal speed at the shearing moment is 0, but due to the state lag factor or error factor, there is a residual speed at the shearing moment. Directly using the acceleration data of this process (i.e., the period from moving to static) for double integration will produce a large cumulative error. Figure 6 As shown, the velocity integration process is as follows Figure 6 As shown, it is different from the ideal trapezoidal vt image ( Figure 6 b curve in the figure), v remain is zero, the actual velocity integral result is more or less offset (there is a velocity residual v at the end of the motion remain is not zero), which ultimately leads to distortion in the actual velocity integral result ( Figure 6 (a, c curves in the middle).

[0132] This embodiment determines the error compensation amount of the velocity curve corresponding to the acceleration data by the residual velocity at the shear moment and the motion duration (i.e., the time from the motion to the stationary period), and reconstructs the velocity curve using the error compensation amount. Through the process of data reconstruction compensation, the integral result offset caused by the acceleration bias error in the process of double integration of the velocity height is compensated. That is, the data reconstruction compensation link is to compensate the integral result offset caused by the acceleration bias error in the process of double integration of the velocity height. Figure 6 The distorted velocity curve is reconstructed back to the ideal trapezoidal velocity curve, so that The area enclosed by the image (height integral value) approaches the ideal height integral result, and the result is closer to the true value, thereby effectively improving the integral height data when switching from a moving state to a stationary state.

[0133] Next, the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data based on the residual velocity at the shear moment from the moving state to the static state and the movement duration is further introduced: the acceleration bias error in the moving state is determined based on the residual velocity at the shear moment and the movement duration; the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data is determined based on the acceleration bias error.

[0134] When the elevator car starts to move with the traction rope, the acceleration bias remains basically unchanged. After a complete movement (T1 to T4), the residual speed v in the algorithm remain Produced by the acceleration bias error during motion, where the residual velocity v remain According to the following formula:

[0135]

[0136] in, is the true acceleration bias, is the expected acceleration bias (i.e. the acceleration bias considered by the algorithm), is the time of one complete movement, i.e., the sampling period. In this example, t sam = T4 -T1. In some examples, the time for completing a movement is not particularly limited, and the formula can be as follows:

[0137]

[0138] Where n represents the total time period (such as 1 to 4), is the acceleration value (zero in static state). Acceleration bias error Right now .

[0139] Since the velocity is zero at the beginning of the altitude integration, the velocity error caused by the acceleration bias error increases linearly, so that the altitude error is reflected in the velocity-time diagram as follows: Figure 7 The triangular area enclosed by the dashed line.

[0140]

[0141] in: is the height obtained by integration. The error term of the above height integration result expression is:

[0142] Continuing with a complete motion (T1 to T4) as an example, the acceleration bias error It can be calculated by the following formula:

[0143]

[0144] The acceleration bias error calculated by the above formula can be used to calculate the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data. In this embodiment, the velocity curve is obtained by integrating the acceleration data under the motion duration.

[0145] like Figure 8 As shown in Figure 2, during the shear period from T1 to T4, in the absence of error, the speed corresponding to T4 is zero, while the residual speed during the actual elevator operation is is not zero. In this embodiment, the acceleration bias error is used to calculate the error compensation of the velocity curve. The formula is as follows:

[0146]

[0147] in, correspond Figure 8 The area of ​​part d in the middle is removed during the height integration process. The dotted line is the speed curve obtained by actual integration (the irregular pentagonal area enclosed is the height integration result), and the solid line is the ideal speed curve (that is, the speed curve close to the true value). Part d is the area removed during reconstruction, and part e is the retained area. It can be found that the processed area (height integration result) is close to the area enclosed by the ideal speed curve (dashed line). It can be seen that the data reconstruction compensation process has greatly improved the accuracy of the floor algorithm.

[0148] In some embodiments, in order to improve the reconstruction efficiency of the speed curve, the speed curve is reconstructed according to the error compensation amount in this embodiment, and the following method can be adopted: according to the error compensation amount, the slope adjustment amount corresponding to each time stage of the speed curve in the continuous operation time is determined; and, according to the slope adjustment amount, the slope corresponding to each time stage of the speed curve is adjusted to obtain the reconstructed speed curve.

[0149] Continuing with the shear period from T1 to T4 as an example, each time stage is the three stages from T1 to T4, namely T1~T2, T2~T3, T3~T4, where the error amount of T1~T2 can be ignored, and the speed integral corresponding to T2~T3 and T3~T4 is mainly corrected. Specifically, the calculated error compensation amount can be allocated to each time stage of the speed curve (based on ), the error may be more significant in the corresponding time stage, and more compensation is provided. For each time stage, the required slope adjustment amount is calculated according to its corresponding error compensation amount. This process can be referred to in the relevant technology and will not be described here. By adjusting the slope in the above time stages, the speed curve can be quickly reconstructed, thereby effectively improving the efficiency of height compensation calculation.

[0150] Furthermore, the present embodiment can also use the acceleration bias error calculated above to adjust the acceleration bias in the moving state, thereby eliminating the accumulated error in the moving state, thereby further improving the height calculation accuracy. Specifically, when the elevator is in the shear state, the method provided by the present embodiment can also include the following steps: adjusting the second acceleration bias in the moving state according to the acceleration bias error, wherein the second acceleration bias is used to correct the acceleration data in the moving state.

[0151] In the above-mentioned slicing state from the moving state to the static state, if Fig. 9 As shown, according to the movement duration and the residual velocity at the shear moment (i.e., the residual velocity at the current moment), the acceleration bias error in the movement process can be obtained, and then the data can be reconstructed according to the effect of this error gradually deepening on the altitude integral operation as the movement time increases, so as to obtain the altitude compensation value and compensate the altitude, and finally, the acceleration bias is corrected according to the calculated acceleration bias error, which can effectively improve the accuracy of altitude data acquisition under the shear state.

[0152] For the shear state of the elevator from static state to moving state, such as Fig.10 As shown, by adding the speed obtained by the current integration and the speed backup, the lag in judging the elevator's motion state can be effectively solved. When the algorithm determines the moment when the elevator starts, the elevator has actually been started for several hundred milliseconds. By using the speed backup cached in the nearest static state adjustment timing period to obtain the accumulated speed before starting, and by using the backup speed to compensate for the shear state speed, the speed thus obtained does not have the problem of missing integrals, thereby improving the speed accuracy in the shear state from the static state to the moving state, thereby improving the height accuracy.

[0153] Fig.11 A flow chart of a method for floor detection based on acceleration is provided as a flowchart of an exemplary embodiment, such as Fig.11As shown, it includes four parts: data preprocessing (i.e., acceleration data extraction and preprocessing process), motion state extraction (i.e., elevator motion state identification process), dynamic integral processing, and motion information settlement. The dynamic integral processing link is divided into three sub-links: static state adjustment, motion state accumulation, and shear state compensation. Among them, the data preprocessing link refers to filtering the original data of the accelerometer, vector projection, and debiasing. Motion state extraction refers to identifying the preprocessed acceleration data to determine the elevator acceleration state (upward, static, downward), and using the state machine to obtain the elevator running direction and running stage (acceleration, uniform speed, deceleration, static). The dynamic integral processing link refers to using the elevator running stage information to correct the acceleration bias and regularly clear the speed integral value and height integral value when the elevator is static, lock the bias when the elevator is moving, keep the acceleration continuous double integration to obtain speed and height information, and compensate the speed and height integral results when the elevator shears from static to motion or motion to static. Motion information settlement refers to using the obtained elevator height data to match the elevator floor information, and finally output the current floor and real-time speed information.

[0154] In summary, the technical solution provided in this embodiment calculates the elevator motion state based on the fluctuation of the output value of the acceleration sensor, and uses the integration result of the output value of the acceleration sensor to calculate the speed and height at every moment. Compared with the related art, this embodiment uses the fixed acceleration-uniform speed-deceleration mode of the elevator operation to derive the three states of the elevator: static, moving, and shear. In the static state, the accelerometer gravity bias is continuously corrected, and the speed of the elevator during the startup period when the elevator has actually started but the algorithm has not yet calculated the speed of the elevator is cached. In the shear state, the speed obtained by the algorithm integration is reconstructed according to the law similar to the trapezoid of the actual running speed-time curve of the elevator. In the shear state, the algorithm considers that at the moment of startup, the cached speed of the elevator during the startup period when the elevator has actually started but the algorithm has not yet calculated the speed of the elevator is compensated to the speed obtained by the algorithm integration. In this process, the integrity of the integration during the motion process is guaranteed, so that the speed calculation result of the algorithm is more accurate, and the area of ​​the speed-time curve calculated by the algorithm (that is, the running distance calculated by the algorithm) is reconstructed to be close to the actual result of the elevator running distance, so that the distance calculation result of the algorithm is more accurate. In addition, the accuracy of altitude data calculation is further improved by continuously correcting the accelerometer bias.

[0155] Fig.12 A schematic diagram of the structure of a floor detection device based on acceleration provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the device 1200 includes an acceleration extraction module 1201, a state recognition module 1202, a dynamic integration module 1203 and a floor recognition module 1204, wherein:

[0156] An acceleration extraction module 1201 is configured to extract raw acceleration data collected by an accelerometer and perform preprocessing to obtain acceleration data with noise and / or bias removed; wherein the accelerometer is a built-in accelerometer of a surveillance camera in an elevator;

[0157] A state identification module 1202, which is configured to identify the motion state of the elevator according to the acceleration data, wherein the motion state includes at least one of the following: a stationary state, a moving state, and a shear state for indicating switching between the stationary state and the moving state;

[0158] A dynamic integration module 1203, which is configured to perform dynamic integration processing on the acceleration data according to the motion state of the elevator to determine the height data of the elevator; wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation;

[0159] The floor identification module 1204 is configured to match the corresponding elevator floor information according to the height data to obtain the current floor of the elevator.

[0160] In one implementation, the dynamic integration module 1203 includes at least one of the following:

[0161] a dynamic accumulation unit, configured to perform secondary integration of the acceleration data by locking the expected acceleration bias when the elevator is in motion, so as to obtain the height data;

[0162] a static adjustment unit, configured to obtain speed data of the elevator according to an integral result of the acceleration data at every preset time period when the elevator is in a static state, and obtain the height data according to an anchoring height if the speed data is lower than a preset threshold, wherein the anchoring height is the height data at the end of the previous shear state;

[0163] A shear compensation unit is configured to, when the elevator is in a shear state, if the shear state is from a moving state to a stationary state, determine the error compensation amount for reconstructing the speed curve corresponding to the acceleration data according to the residual speed at the shear moment from the moving state to the stationary state and the movement duration, and reconstruct the speed curve according to the error compensation amount, so as to obtain the height data according to the integration result of the reconstructed speed curve; or, if the shear state is from a stationary state to a moving state, obtain the composite speed according to the sum of the speed data obtained by integrating the acceleration data and the backup speed before the previous stationary state speed is cleared, and use the composite speed as the initial value of the speed integration to obtain the height data through integration.

[0164] In one embodiment, when the elevator is in a stationary state, the device further comprises:

[0165] A counter unit, configured to start a counter when the speed data reaches a preset threshold;

[0166] The static adjustment unit is further configured to obtain the height data according to the anchoring height and clear the speed data if the elevator is still in a static state when the counter reaches a pre-designed value;

[0167] a shear determination unit, configured to determine that the elevator enters a shear state if the counter does not reach a pre-set value and identifies that the elevator enters a motion state;

[0168] The pre-designed value is a value greater than the elevator start-up time, and the elevator start-up time is the time required for the elevator to move from control start to movement.

[0169] In one embodiment, when the elevator is in a stationary state, the device further comprises:

[0170] A speed clearing module, configured to clear the speed data after backing up the speed data when the speed data is lower than a preset threshold;

[0171] The bias adjustment unit is configured to negatively feedback adjust a first acceleration bias in a stationary state according to the cleared speed data, wherein the first acceleration bias is used to correct the acceleration data in the stationary state.

[0172] In one implementation, the shear compensation unit comprises:

[0173] a bias error determination unit, configured to determine an acceleration bias error in a moving state according to the residual velocity at the shear moment and the motion duration;

[0174] An error compensation amount determination unit is configured to determine an error compensation amount for reconstructing a velocity curve corresponding to the acceleration data according to the acceleration bias error.

[0175] In one embodiment, when the elevator is in a shear state, the device further comprises:

[0176] The shear adjustment module is configured to adjust a second acceleration bias in a moving state according to the acceleration bias error, wherein the second acceleration bias is used to correct acceleration data in the moving state.

[0177] In one embodiment, the velocity curve is obtained by integrating the acceleration data under the motion duration; the shear compensation unit includes:

[0178] a slope adjustment subunit, which is configured to determine the slope adjustment amount corresponding to each time stage of the speed curve during the continuous operation time according to the error compensation amount; and

[0179] The reconstruction subunit is configured to adjust the slope of the speed curve corresponding to each time stage according to the slope adjustment amount to obtain a reconstructed speed curve.

[0180] In one implementation, the state identification module 1202 includes:

[0181] a phase identification unit, configured to determine an operation phase of the elevator according to the acceleration data, wherein the operation phase includes at least one of an acceleration phase, a uniform speed phase, a deceleration phase and a stationary phase;

[0182] A state determination unit is configured to determine the motion state of the elevator according to the operation stage and the motion direction information of the elevator.

[0183] In one implementation, the state determination unit is specifically configured to:

[0184] When the operation phase is a stationary phase and the movement direction information of the elevator indicates that there is no movement instruction, determining that the elevator is currently in a stationary state;

[0185] When the running stage is a uniform speed stage and the moving direction information of the elevator indicates that there is a moving instruction, determining that the elevator is currently in a moving state;

[0186] When the operation phase is a deceleration or acceleration phase, and the movement direction information of the elevator indicates that the movement instruction changes, it is determined that the elevator is currently in a shear state.

[0187] It should be noted that the acceleration-based floor detection device provided in the above embodiment can be used to execute the acceleration-based floor detection method in any of the above method embodiments, and its implementation principle and technical effects are similar, which will not be repeated here.

[0188] Fig.13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Fig.13 As shown, the electronic device includes: a processor 1302, and a memory 1301 communicatively connected to the processor 1302;

[0189] The memory 1301 stores computer executable instructions;

[0190] The processor 1302 executes the computer-executable instructions stored in the memory 1301 to implement the acceleration-based floor detection method in the method embodiment. The electronic device may also include a transceiver 1303, which is used to communicate and interact with an external device, such as obtaining acceleration data of an accelerometer.

[0191] It should be noted that the electronic device provided in the above embodiment can be used to execute the acceleration-based floor detection method in any of the above method embodiments, and its implementation principle and technical effects are similar, which will not be repeated here.

[0192] The 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 implement the acceleration-based floor detection method provided in the above method embodiment.

[0193] 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.

[0194] 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.

[0195] 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 acceleration-based floor detection method provided in any of the above method embodiments can be implemented.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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 floor detection method based on an accelerometer, characterized in that: include: Extracting and preprocessing the original acceleration data collected by the accelerometer to obtain acceleration data with noise and / or bias removed; wherein the accelerometer is a built-in accelerometer of a surveillance camera in an elevator; According to the acceleration data, identifying the motion state of the elevator, the motion state including at least one of the following: a stationary state, a moving state, and a shear state for indicating switching between the stationary state and the moving state; According to the motion state of the elevator, the acceleration data is dynamically integrated to determine the height data of the elevator; wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation; The height data is matched with the corresponding elevator floor information to obtain the current floor of the elevator.

2. The method according to claim 1, characterized in that: The dynamically integrating the acceleration data according to the motion state of the elevator comprises at least one of the following: When the elevator is in motion, the acceleration data is integrated twice by locking the expected acceleration bias to obtain the height data; When the elevator is in a stationary state, the speed data of the elevator is obtained according to the integration result of the acceleration data at every preset time period. If the speed data is lower than a preset threshold, the height data is obtained according to the anchoring height, and the anchoring height is the height data at the end of the previous shear state; When the elevator is in a shear state, if the shear state is from a moving state to a stationary state, an error compensation amount for reconstructing a speed curve corresponding to the acceleration data is determined according to a residual speed at a shear moment from the moving state to the stationary state and a motion duration, and the speed curve is reconstructed according to the error compensation amount, so as to obtain the height data according to an integral result of the reconstructed speed curve; or, If the shear state is from a static state to a moving state, the composite speed is obtained by integrating the acceleration data to obtain the speed data and the backup speed before the previous static state speed is cleared to zero, and the composite speed is used as the initial value of the speed integration to obtain the height data.

3. The method according to claim 2, characterized in that When the elevator is in a stationary state, the method further comprises: If the speed data reaches a preset threshold, a counter is started; If the elevator is still in a stationary state when the counter reaches a pre-set value, the height data is obtained according to the anchoring height, and the speed data is cleared; If the counter does not reach the pre-set value and it is identified that the elevator enters the moving state, it is determined that the elevator enters the shear state; The pre-designed value is a value greater than the elevator start-up time, and the elevator start-up time is the time required for the elevator to move from control start to movement.

4. The method according to claim 2 or 3, characterized in that: When the elevator is in a stationary state, the method further comprises: If the speed data is lower than a preset threshold, backing up the speed data and then clearing the speed data; A first acceleration bias in a stationary state is adjusted by negative feedback according to the cleared speed data, wherein the first acceleration bias is used to correct the acceleration data in the stationary state.

5. The method according to claim 2, characterized in that: The step of determining the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data according to the residual velocity at the shear moment from the moving state to the static state and the motion duration includes: Determining the acceleration bias error in the motion state according to the residual velocity at the shear moment and the motion duration; An error compensation amount for reconstructing a velocity curve corresponding to the acceleration data is determined according to the acceleration bias error.

6. The method according to claim 5, characterized in that When the elevator is in a shear state, the method further includes: According to the acceleration bias error, a second acceleration bias in the motion state is adjusted, and the second acceleration bias is used to correct the acceleration data in the motion state.

7. The method according to claim 2, characterized in that: The velocity curve is obtained by integrating the acceleration data under the duration of the movement; The reconstructing the speed curve according to the error compensation amount comprises: Determining the slope adjustment amount of the speed curve corresponding to each time stage during the continuous operation time according to the error compensation amount; and The slope of the speed curve corresponding to each time stage is adjusted according to the slope adjustment amount to obtain a reconstructed speed curve.

8. The method according to any one of claims 1 to 7, characterized in that: The step of identifying the motion state of the elevator according to the acceleration data comprises: Determine the operation phase of the elevator according to the acceleration data, wherein the operation phase includes at least one of acceleration, uniform speed, deceleration and stationary phase; The movement state of the elevator is determined according to the operation stage and the movement direction information of the elevator.

9. The method according to claim 8, characterized in that The step of determining the motion state of the elevator according to the operation phase and the motion direction information of the elevator comprises: When the operation phase is a stationary phase and the movement direction information of the elevator indicates that there is no movement instruction, determining that the elevator is currently in a stationary state; When the running stage is a uniform speed stage and the moving direction information of the elevator indicates that there is a moving instruction, determining that the elevator is currently in a moving state; When the operation phase is a deceleration or acceleration phase, and the movement direction information of the elevator indicates that the movement instruction changes, it is determined that the elevator is currently in a shear state.

10. A floor detection device based on acceleration, characterized in that: include: An acceleration extraction module, which is configured to extract raw acceleration data collected by an accelerometer and perform preprocessing to obtain acceleration data with noise and / or bias removed; wherein the accelerometer is a built-in accelerometer of a surveillance camera in an elevator; a state recognition module, configured to recognize the motion state of the elevator according to the acceleration data, wherein the motion state includes at least one of the following: a stationary state, a moving state, and a shear state for indicating switching between the stationary state and the moving state; A dynamic integration module, which is configured to perform dynamic integration processing on the acceleration data according to the motion state of the elevator to determine the height data of the elevator; wherein the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation and height compensation; The floor identification module is configured to match the corresponding elevator floor information according to the height data to obtain the current floor of the elevator.

Images