Acceleration-based floor detection method and device

Abstract

An embodiment of the present application provides a floor detection method and device based on acceleration, which are applied to the field of elevator monitoring. The method includes: extracting the original acceleration data collected by an accelerometer and performing preprocessing to obtain acceleration data with noise interference and gravity bias removed; identifying 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 transition state for indicating a transition between the stationary state and the moving state; performing dynamic integration processing on the acceleration data according to the motion state of the elevator to determine the height data of the elevator; where the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation, and height compensation; matching the corresponding elevator floor information according to the height data to obtain the current floor where the elevator is located. Through the above method, the floor identification efficiency and accuracy can be effectively improved.

Description

Technical Field

[0001] This application relates to the technical field of elevator monitoring, and particularly relates to a floor detection method and device based on acceleration. 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, floor detection and identification is an important part of realizing intelligent elevator management.

[0003] In some related technologies, the height is calculated by measuring values of built-in sensors such as barometers and inertial measurement units, and then the corresponding floor is matched. Since barometers are easily affected by factors such as car airtightness, temperature, and weather, and the accuracy of the elevator height measured by inertial measurement units under existing algorithms is not high, the floor detection accuracy is affected; or external sensors are used, such as installing photoelectric sensors and electromagnetic induction sensors outside the elevator car, interacting with sensors in the elevator shaft to identify the floor or directly measuring the absolute height of the elevator car by a laser rangefinder to match the floor. Since it is inconvenient to install photoelectric sensors and electromagnetic induction sensors outside the elevator car and the maintenance cost is high, they do not have universality. In some other related technologies, the floor is detected by using Optical Character Recognition (OCR) technology to recognize the display information displayed on the panel inside the elevator car. Since some elevator panels only display during movement, there are certain requirements for the installation angle of the elevator camera and it is easily affected by reflection.

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

[0006] In a first aspect, this application provides a floor detection method based on an accelerometer, including:

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

[0008] Identifying 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 transition state used to indicate the transition between the stationary state and the moving state;

[0009] 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;

[0010] Match the corresponding elevator floor information according to the height data to obtain the floor where the elevator is currently located.

[0011] In one implementation, 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 a moving state, perform double integration on the acceleration data by locking the expected acceleration bias to obtain the height data;

[0013] 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 preset time intervals. If the speed data is lower than a preset threshold, obtain the height data according to the anchored height, where the anchored height is the height data at the end of the previous state transition;

[0014] When the elevator is in a state transition, if the state transition 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 and the motion duration at the transition moment from the moving state to the stationary state, 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,

[0015] If the state transition is from a stationary state to a moving state, obtain the combined 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 was cleared, and use the combined speed as the initial value of speed integration to integrate and obtain the height data.

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

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

[0018] If the elevator is still in a stationary state when the counter reaches the preset value, obtain the height data according to the anchored height and clear the speed data;

[0019] If the counter does not reach the preset value and it is recognized that the elevator enters a moving state, determine that the elevator enters a state transition;

[0020] Wherein, the preset value is a value greater than the elevator startup time, and the elevator startup time is the time required for the elevator to move from control startup.

[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, back up the speed data and then clear the speed data;

[0023] According to the cleared speed data, negatively feedback and adjust the first acceleration bias in the stationary state, where 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 speed curve corresponding to the acceleration data according to the residual speed and the movement duration from the moving state to the stationary state includes:

[0025] Determine the acceleration bias error in the moving state according to the residual speed at the shear moment and the movement duration;

[0026] Determine the error compensation amount for reconstructing the speed curve corresponding to the acceleration data according to the acceleration bias error.

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

[0028] Adjust the second acceleration bias in the moving state according to the acceleration bias error, where the second acceleration bias is used to correct the acceleration data in the moving state.

[0029] In one embodiment, the speed curve is obtained by integrating the acceleration data over the movement duration; reconstructing the speed curve according to the error compensation amount includes:

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

[0031] Adjust the slope of the speed curve corresponding to each time stage according to the slope adjustment amount to obtain the reconstructed speed curve.

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

[0033] Determine the operation stage of the elevator according to the acceleration data, where the operation stage includes at least one of the acceleration, constant speed, deceleration, and stationary stages;

[0034] Determine the motion state of the elevator according to the operation stage and the motion direction information of the elevator.

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

[0036] When the operation stage is the 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;

[0037] When the operation stage is the uniform motion 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;

[0038] When the operation stage is the 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.

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

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

[0041] A state recognition module, which is configured to identify the motion state of the elevator according to the acceleration data, and the motion state includes at least one of the following: a stationary state, a motion state, and a shear state for indicating a switch between the stationary state and the motion 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] A floor recognition module, which is configured to match the corresponding elevator floor information according to the height data to obtain the floor where the elevator is currently located.

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

[0045] A dynamic accumulation unit, which is configured to perform double integration on the acceleration data by locking the expected acceleration bias when the elevator is in the motion state to obtain the height data;

[0046] A static adjustment unit, which is configured to obtain the speed data of the elevator according to the integration result of the acceleration data at preset time intervals when the elevator is in the stationary state. If the speed data is lower than a preset threshold, the height data is obtained according to the anchored height, and the anchored height is the height data at the end of the previous shear state;

[0047] A shear compensation unit, which 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 an error compensation amount for reconstructing a 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 a combined speed according to the speed data obtained by integrating the acceleration data and the backup speed before the previous stationary state speed is cleared to zero, and use the combined speed as the initial value of speed integration to integrate and obtain the height data.

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

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

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

[0051] A shear determination unit, which is configured to determine that the elevator enters a shear state if the counter does not reach the preset value and it is recognized that the elevator enters a moving state;

[0052] Wherein, the preset value is a value greater than the elevator start time, and the elevator start time is the time required for the elevator to move from control start.

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

[0054] A speed clearing module, which is configured to back up the speed data and clear the speed data to zero when the speed data is lower than a preset threshold;

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

[0056] In one embodiment, the shear compensation unit includes:

[0057] A bias error determination unit, which is configured to determine an acceleration bias error in a moving state according to the residual speed at the shear moment and the movement duration;

[0058] An error compensation amount determination unit, which is configured to determine an error compensation amount for reconstructing a speed 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 includes:

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

[0061] In one embodiment, the speed curve is obtained by integrating acceleration data during the movement duration; the shear compensation unit includes:

[0062] A slope adjustment subunit, which is configured to determine a 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] A reconstruction subunit, which 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 recognition module includes:

[0065] A stage recognition unit, which is configured to determine an operation stage of the elevator according to the acceleration data, and the operation stage includes at least one of an acceleration stage, a constant speed stage, a deceleration stage, and a stationary stage;

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

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

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

[0069] When the operation stage is a constant speed stage and the motion direction information of the elevator indicates that there is a motion instruction, determine that the elevator is currently in a motion state;

[0070] When the operation stage is a deceleration or acceleration stage and the motion direction information of the elevator indicates that the motion instruction changes, determine 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, including: 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 above first aspects.

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

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

[0076] The acceleration-based floor detection method and device provided by the present application preprocess the original acceleration data collected by an accelerometer by extracting it, to obtain acceleration data with noise and / or bias removed. The accelerometer is an in-built accelerometer of a monitoring camera in an elevator, and according to the acceleration data, the motion state of the elevator is identified, such as a stationary state, a moving state, and a transition state used to indicate the transition between the stationary state and the moving state. According to the motion state of the elevator, dynamic integration processing is performed on the acceleration data to determine the height data of the elevator, where the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation, and height compensation, and corresponding elevator floor information is matched according to the height data to obtain the floor where the elevator is currently located. 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 to correct the height data obtained by integrating the acceleration data in the corresponding state, more accurate height data can be obtained in various motion states of the elevator, and the entire process allows for a lag in the judgment of the elevator operation state, effectively improving the floor identification accuracy and having stronger resistance to vibration interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0078] Figure 1 It is a schematic flowchart of an acceleration-based floor detection method provided by an embodiment of the present application;

[0079] Figure 2 It is a schematic flowchart of another acceleration-based floor detection method provided by an embodiment of the present application;

[0080] Figure 3 It is a schematic diagram of three-state switching in the dynamic integral processing process in the embodiment of the present application;

[0081] Figure 4 It is Figure 2 a schematic flow diagram of step S201 in

[0082] Figure 5 It is Figure 2 a schematic flow diagram of step S202 in

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

[0084] Figure 7 Another 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] Figure 9 It is Figure 2 one of the schematic flow diagrams of step S203 in

[0087] Figure 10 It is Figure 2 another schematic flow diagram of step S203 in

[0088] Figure 11 A schematic flow diagram of a floor detection method based on acceleration provided by an exemplary embodiment of the present application;

[0089] Figure 12 A schematic structural diagram of a floor detection device based on acceleration provided by the embodiment of the present application;

[0090] Figure 13 A schematic structural diagram of an electronic device provided by the embodiment of the present application.

[0091] Through the above-mentioned drawings, the clear embodiments of the present 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 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 implementation manners

[0092] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0093] Regarding the technical problems in the background art, in the related art, by collecting the acceleration data of the elevator and performing double integration on the acceleration data to calculate the floor height, and then calibrating the floor according to the floor height. Although the efficiency and accuracy of floor calibration can be effectively improved, during the operation of the elevator, corresponding errors will be generated under different motion states, and there may be problems of lag in the operation state. For example, in the stationary state of the elevator, due to the lag problem, the acceleration data used for calculation is the acceleration data at the moment before stopping, which will result in the acceleration data obtained by double integrating this acceleration data being error data, thus leading to an error in the calculation of the floor height and further affecting the accuracy of floor calibration.

[0094] In view of this, the present application provides a floor detection method and device based on acceleration. By extracting the original acceleration data collected by the accelerometer and performing preprocessing, acceleration data with noise and / or bias removed is obtained. The accelerometer is an in-built accelerometer of the monitoring camera in the elevator, and according to the acceleration data, the motion state of the elevator is identified, such as the stationary state, the moving state, and the transitional state used to indicate the transition between the stationary state and the moving state. According to the motion state of the elevator, dynamic integration processing is performed on the acceleration data to determine the height data of the elevator. Among them, the dynamic integration processing method includes at least one of acceleration bias adjustment, speed compensation, and height compensation, and the corresponding elevator floor information is matched according to the height data to obtain the current floor where the elevator is located. In this embodiment, during the process of using the acceleration data to obtain the height data, by identifying the motion state of the elevator and performing dynamic integration processing for different elevator motion states to correct the height data in the corresponding state, more accurate height data can be obtained in various motion states of the elevator, and the entire process allows for a lag in the judgment of the elevator operation state, effectively improving the floor recognition accuracy and having stronger resistance to vibration interference.

[0095] The following specifically describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems with specific embodiments. These 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 the present application will be described below with reference to the accompanying drawings.

[0096] Figure 1 It is a schematic flowchart of the floor detection method based on the accelerometer provided by the embodiment of the present application. The execution subject can be an electronic device, such as the elevator control device, such as Figure 1 As shown, the method includes steps S101 - S104:

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

[0098] Exemplarily, data preprocessing can be one or more of filtering, vector projection, and bias removal processing on the original acceleration data of the accelerometer. In the filtering process, by removing high-frequency noise (such as high-frequency noise introduced due to elevator vibration or other environmental factors) or low-frequency noise (such as low-frequency drift or gravity influence), the accuracy of the acceleration data is improved. In the vector projection process, since in a triaxial accelerometer, three components (x, y, z) of the acceleration are measured, in order to obtain the acceleration in the elevator movement direction, these three components are projected onto the main direction of the elevator movement to obtain more accurate acceleration data. For bias processing, such as when the elevator is stationary, measure the output of the accelerometer and use it as the bias value for correction. Since the accelerometer may have zero drift, removing the bias can improve the measurement accuracy, or during the elevator movement, use 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 for floor verification, this embodiment only needs to accurately identify the elevator running speed and the floor where it is located based on the data of one acceleration sensor inside the elevator camera, and has the advantages of low implementation difficulty, low installation cost, and wide application range. In addition, in the related art, for the acquisition of acceleration data, an accelerometer is usually installed at the top or bottom of the elevator car, or at a fixed position inside the car. It is necessary to consider the installation position of the accelerometer and the protection problem of the accelerometer. Instead of the direct installation method, in this embodiment, by in-building the accelerometer in the monitoring camera and using the accelerometer in the monitoring camera to collect acceleration data, the problems such as difficult calibration of the accelerometer installation position and poor protection can be effectively solved, 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: stationary state, moving state, and transition state for indicating the transition between the stationary state and the moving state.

[0101] In an alternative embodiment, to improve the accuracy of identifying the elevator motion state, the acceleration data and the elevator motion direction information are combined to identify the elevator motion state. Specifically, the above-mentioned method of identifying the elevator motion state according to the acceleration data may be implemented as follows: according to the acceleration data, determine the operating phase of the elevator, where the operating phase includes at least one of the acceleration, constant speed, deceleration, and stationary phases; according to the operating phase and the elevator motion direction information, determine the elevator motion state.

[0102] Exemplarily, the process of identifying the operating phase can be as follows: when the acceleration is positive, it indicates that the elevator speed is increasing, and the device can identify that the elevator is in the acceleration phase based on this acceleration data; when the acceleration is close to zero (within a small tolerance range, which can be adaptively set by those skilled in the art based on prior data) and the previous phase was the acceleration phase, it indicates that the elevator is running at a constant speed, and the device identifies that the elevator is in the constant speed phase; when the acceleration is negative, it indicates that the elevator speed is decreasing, and the device identifies that the elevator is in the deceleration phase; when the acceleration is zero and remains for a certain period of time and the previous phase was the deceleration phase, the device identifies that the elevator is in the stationary phase. After identifying the elevator operating phase using the acceleration data, the operating phase and the elevator motion direction information are used to further determine the elevator motion state to improve the accuracy of identifying the elevator motion state.

[0103] Next, a further introduction is made to the above step of determining the elevator motion state according to the operating phase and the elevator motion direction information: when the operating phase is the stationary phase and the elevator motion direction information indicates that there is no motion instruction, it is determined that the elevator is currently in the stationary state; when the operating phase is the constant speed phase and the elevator motion direction information indicates that there is a motion instruction, it is determined that the elevator is currently in the motion state; when the operating phase is the deceleration or acceleration phase and the elevator motion direction information indicates a change in the motion instruction, it is determined that the elevator is currently in the shear state.

[0104] In practical applications, there may be short mechanical adjustments during the elevator operation or environmental vibrations, resulting in misidentifications of each operation stage. In this embodiment, the motion direction information is further combined to improve the identification of the elevator operation state. Specifically, in the stationary stage, when there is no new motion instruction in combination with the motion direction information (for example, no floor button is pressed or no external call signal is received), the identification accuracy of the current stationary state of the elevator can be further improved. In the uniform motion stage or the acceleration stage, if the motion direction information indicates the existence of 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 a motion state. This means that the elevator is executing a moving task. In the operation stage where it is a deceleration or acceleration stage and the motion direction information indicates a change in the motion instruction (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, by combining the acceleration data and the motion direction information, the system can more accurately determine the current operation state of the elevator.

[0106] Step S103: According to the motion state of the elevator, perform dynamic integration processing on 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] In the related art, when calibrating the floor height using acceleration data, usually double integration is performed on the filtered acceleration data to obtain the height data. This process does not consider the error caused by the lag of the acceleration data in different motion states of the elevator. In this embodiment, for different motion states of the elevator, dynamic integration processing is respectively performed on the acceleration data, thereby correcting the error caused by this lag and improving the height identification accuracy.

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

[0109] In some embodiments, the elevator operation stage information can be utilized to correct the acceleration bias when the elevator is stationary and clear the speed value and height value at regular intervals. When the elevator is moving, the bias is locked to continuously double-integrate the acceleration to obtain the speed and height information. When the elevator switches from stationary to moving or from moving to stationary, compensation is performed on the integration results of the speed and height. The specific process can be referred to the embodiments described later, and will not be elaborated here.

[0110] Step S104: Match the corresponding elevator floor information according to the height data to obtain the current floor where the elevator is located.

[0111] In this embodiment, the elevator floor information can be obtained in advance or stored in the device. It can be understood that the floors of a building are known information, and 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 through the above 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 elevator motion state is identified and dynamic integration processing is performed for different elevator motion states to correct the height data in the corresponding states. The entire process allows for a lag in the judgment of the elevator operation state, and the acceleration data is calculated within the elevator operation cycle, effectively improving the floor identification accuracy and enhancing the vibration interference resistance.

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

[0114] First, it should be noted that in this embodiment, each frame of acceleration data is processed in the dynamic integration processing stage, that is, the process of integrating acceleration into speed and integrating speed into height will utilize all data, and this process has nothing to do with whether the elevator is moving. Among them, the schematic diagram of the three-state switching in the dynamic integration processing stage is as Figure 3 shown, where the switching state is the transition state between the moving state and the stationary state, and speed and height compensation can both occur in the switching state.

[0115] Please refer to Figure 2, step S201, when the elevator is in a moving state, perform double integration on the acceleration data by locking the expected acceleration offset to obtain the height data.

[0116] Exemplarily, the process of the moving state in the dynamic integration processing stage, that is, the process of step S201 is as Figure 4 shown. In the moving state, the acceleration offset remains locked, and the acceleration data stream outputs speed and height through integration. During the elevator movement, by locking the acceleration offset, it can be ensured that throughout the movement process, the calculation of speed and height is based on a consistent reference point, which can effectively improve the stability of measurement and the accuracy of calculation.

[0117] Among them, the expected acceleration offset can be determined according to the historical acceleration offset data, or can be adaptively determined by those skilled in the art in combination with actual applications. This embodiment does not make special limitations on 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 preset time intervals. If the speed data is lower than a preset threshold, obtain the height data according to the anchored height, and the anchored height is the height data at the end of the previous state transition.

[0119] In this embodiment, when the elevator is in a stationary state, the speed data can be checked at regular intervals (that is, the preset time interval, which can be adaptively determined by those skilled in the art according to actual applications or empirical values). That is, the speed data is obtained by using the integration result of the acceleration data at preset time intervals, and it is judged whether the speed data is lower than the preset threshold.

[0120] In this embodiment, the preset threshold can be determined according to prior data or adaptively according to actual applications. This embodiment does not make special limitations on this. For example, 0.1 m / s or smaller or larger. Since when it is identified as a stationary state, the elevator may be difficult to determine whether it is actually stationary (or still in a vibrating state) due to factors such as vibration. When the speed data is lower than this threshold, it means that the elevator has stopped. In the related art, due to the lack of consideration of this state lag factor, the data in the vibrating state is easily used as the height data. In this embodiment, the anchored height is used to dynamically adjust the height data in the current stationary state, 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 state transition, that is, the height data from the dynamic state to the end of the stationary state before stopping. By pulling the height back to the anchor point, the height error caused by oscillation in the stationary state can be effectively solved.

[0122] In an alternative embodiment, to further optimize the calculation accuracy of the height data in the stationary state, when the elevator is in the stationary state, the following steps may further be included: If the speed data reaches a preset threshold, start a counter; if the elevator is still in the stationary state when the counter reaches a preset value, obtain the height data based on the anchored height, and clear the speed data; if the counter does not reach the preset value and it is recognized that the elevator enters the motion state, determine that the elevator enters the shear state; wherein, the preset value is a value greater than the elevator startup time, and the elevator startup time is the time required for the elevator to move from control startup.

[0123] When the speed data reaches the preset threshold, since the current operating state of the elevator is recognized as the stationary state, the counter is used to count the speed data to identify whether the current speed error is in the stationary state or about to enter the shear state (i.e., the shear state from stationary to motion), so as to further adjust the height data in the stationary state, 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, when the elevator is still in the stationary state when the counter reaches the count value (which can be determined by those skilled in the art according to empirical values), it indicates that the current speed value is the speed error in the stationary state. By clearing the speed, the error can be effectively reduced.

[0125] In a further example of this embodiment, when the elevator is in the stationary state, the acceleration bias adjustment may also be performed in a negative feedback manner to correct the acceleration data in the stationary state and further improve the height calculation accuracy in the stationary state. Specifically, the following steps may further be included: If the speed data is lower than the preset threshold, back up the speed data and then clear the speed data; negatively feedback and adjust the first acceleration bias in the stationary state 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, it is considered that the current elevator has stopped, and this speed data is error data. By clearing the speed data to zero, the cumulative error can be effectively eliminated, especially the drift that may occur during a long-term integration process. The clearing operation can ensure that the speed reading of the device is zero in the stationary state, thereby improving the accuracy of subsequent calculations. In addition, the cleared speed data is used to perform negative feedback adjustment on the acceleration bias in the stationary state. 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 during the negative feedback adjustment process, the cleared speed data is compared with the theoretically stationary speed (i.e., zero), and the error is calculated. The speed value before clearing reflects the error caused by the bias. By using this error to adjust the bias value of the acceleration sensor, the bias error can be effectively reduced.

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

[0128] Exemplarily, as Figure 5 shown, in the stationary state, the acceleration data stream undergoes double integration and outputs the real-time height and real-time speed respectively. The real-time speed is periodically (the timing time is greater than the lag time for the algorithm to judge the start, and this lag time can be obtained based on experience) judged against the threshold. If it is lower than the speed threshold, the algorithm judges that the current is the stationary stage. At this time, the real-time speed is backed up (to be used in the shear state) and the real-time speed is cleared to zero. 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). Finally, the acceleration bias is adjusted by negative feedback. If it is higher than the speed threshold, the algorithm judges that the current is the starting speed stage or the oscillation out-of-control stage. At this time, a counter is used for timing. After the longest start waiting time has passed, the real-time speed is cleared to zero, and at the same time, 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 stationary state can ensure that when the elevator is stationary, the real-time height and real-time speed fluctuate within a very small range and can recover by themselves even when encountering vibration disturbances, thereby improving the floor detection accuracy of the elevator in the stationary state.

[0129] Continue to refer to Figure 2, in step S203, when the elevator is in the shear abnormal state, if the shear abnormal state is from the moving state to the stationary state, then according to the residual speed at the shear moment from the moving state to the stationary state and the movement 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 abnormal state is from the stationary state to the moving state, then obtain the combined speed according to the speed data obtained by integrating the acceleration data and the backup speed before the previous stationary state speed is cleared to zero, and use the combined speed as the initial value of speed integration to integrate and obtain the height data.

[0130] It can be understood that the shear abnormal state includes the elevator state changing from the moving state to the stationary state and the elevator state changing from the stationary state to the moving state.

[0131] Among them, when the elevator state switches from the moving state to the stationary state, the ideal speed at the shear moment is from having speed to having no speed (i.e., zero), that is, the ideal speed at the shear moment is 0. However, due to the existence of state lag factors or error factors, there is a residual speed at the shear moment. Directly using the acceleration data in this process (i.e., the time period from moving to stationary) for double integration will generate a large cumulative error. As Figure 6 shown, the speed integration process is as follows Figure 6 shown, different from the ideal trapezoidal-like v-t image ( Figure 6 the b curve in), v remain is zero, and the actual speed integration result is more or less offset (there is a speed residual v remain not equal to zero) at the end of the movement, ultimately resulting in distortion of the obtained actual speed integration result ( Figure 6 the a and c curves in).

[0132] In this embodiment, the error compensation amount of the speed curve corresponding to the acceleration data is determined through the residual speed at the shear moment and the movement duration (i.e., the time within the period from moving to stationary), and the speed curve is reconstructed using this error compensation amount. Through the process of data reconstruction compensation, the offset of the integration result caused by the acceleration bias error in the double integration process of speed and height is compensated. That is, through the data reconstruction compensation link, the Figure 6 distorted speed curve is reconstructed back to the ideal trapezoidal-like speed curve, so that the area (height integral value) enclosed by the image 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 the moving state to the stationary state.

[0133] Next, a further introduction is made to the determination of the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data based on the residual velocity and the movement duration at the shear moment from the moving state to the stationary state: Based on the residual velocity at the shear moment and the movement duration, determine the acceleration bias error in the moving state; based on the acceleration bias error, determine the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data.

[0134] During the process of the elevator car starting to move with the traction of the traction rope, the acceleration bias remains basically unchanged. After a complete movement (from T1 to T4) ends, the residual velocity v in the algorithm remain is generated by the acceleration bias error during the movement, where the residual velocity v remain is obtained according to the following formula:

[0135]

[0136] where, is the true acceleration bias, is the expected acceleration bias (i.e., the acceleration bias considered by the algorithm), is the time of a complete movement, that is, the sampling period. In this example, t sam = T4 - T1. In some examples, there is no special limitation on the time of a completed movement, and its formula can be the following:

[0137]

[0138] where, n represents the total time stage (such as 1 to 4), is the acceleration value (which is zero in the stationary state). The acceleration bias error i.e., .

[0139] Since the velocity is zero at the beginning stage of the height integration, the velocity error caused by the acceleration bias error increases linearly, so that the height error is reflected as the area of a triangle-like shape enclosed by the dotted line in Figure 7 .

[0140]

[0141] where: is the integrated height, and the error term of the above height integration result expression is:

[0142] Continuing to take a complete movement (from T1 to T4) as an example, the acceleration bias error can be calculated through 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 over the duration of the motion.

[0145] As Figure 8 shown, during the shear period from T1 to T4, in the case of no error, the velocity corresponding to T4 is zero, while the residual velocity is not zero during the actual elevator operation. In this embodiment, the acceleration bias error is used to calculate the error compensation amount of the velocity curve, and the formula is as follows:

[0146]

[0147] where corresponds to Figure 8 the area of part d. During the height integration process, this part of the area is removed. Among them, the dashed line is the velocity curve obtained by actual integration (the area of the irregular pentagon enclosed is the height integration result), the solid line is the ideal velocity curve (i.e., the velocity curve close to the true value). The area of part d is the area removed during reconstruction, and the area of part e is the area retained. It can be found that the processed area (height integration result) is close to the area enclosed by the ideal velocity curve (dashed line). It can be seen that the data reconstruction compensation process greatly improves the accuracy of the floor algorithm.

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

[0149] Continuing with the shear period from T1 to T4 as an example, each time stage is the above three stages from T1 to T4, namely T1~T2, T2~T3, T3~T4. The error amount in T1~T2 can be ignored, and the velocity integrals corresponding to T2~T3 and T3~T4 are mainly corrected. Specifically, the calculated error compensation amount can be distributed to each time stage of the velocity curve (which can be based on ), and the error may be more significant in the corresponding time stage, providing more compensation. For each time stage, calculate the required slope adjustment amount according to the corresponding error compensation amount. This process can refer to the related technology and will not be elaborated here. By adjusting the slope in the above-mentioned time stages, the velocity curve can be quickly reconstructed, thereby effectively improving the height compensation calculation efficiency.

[0150] Further, this embodiment can also adjust the acceleration bias in the motion state by using the calculated acceleration bias error obtained above, so as to eliminate the cumulative error in the motion state, thereby further improving the height calculation accuracy. Specifically, when the elevator is in the shear state, the method provided in this embodiment may further include the following steps: adjusting the second acceleration bias in the motion state according to the acceleration bias error, and the second acceleration bias is used to correct the acceleration data in the motion state.

[0151] In the above slice state from the motion state to the stationary state, as Figure 9 shown, according to the motion duration and the residual velocity at the shear moment (i.e., the residual velocity at the current moment), the acceleration bias error amount during the motion process can be obtained. Thus, according to the effect that this error amount gradually deepens the height integration operation with the extension of the motion time, the data is reconstructed, so as to obtain the height compensation value and compensate the height. Finally, the acceleration bias is corrected according to the calculated acceleration bias error amount, which can effectively improve the accuracy of height data acquisition in this shear state.

[0152] For the shear state of the elevator state from the stationary state to the motion state, as Figure 10 shown, by adding the currently integrated velocity and the velocity backup, the lag in the judgment of the elevator motion state can be effectively solved. When the algorithm determines the moment when the elevator starts, in fact, the elevator has already started for hundreds of milliseconds. By using the velocity backup cached within the timing period adjusted by the closest stationary state, the velocity accumulated before startup is obtained. By compensating the backup velocity to the velocity in the shear state, the obtained velocity will not have the situation of integral loss, thereby improving the velocity accuracy in the shear state from the stationary state to the motion state, and thus improving the height accuracy.

[0153] Figure 11 A flowchart of the floor detection method based on acceleration provided for an exemplary embodiment, as Figure 11As shown in the figure, it includes four parts: data preprocessing (i.e., the process of extracting and preprocessing acceleration data), motion state extraction (i.e., the process of identifying the elevator motion state), dynamic integral processing, and motion information settlement. Among them, the dynamic integral processing link is divided into 3 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 processing. The motion state extraction refers to identifying the preprocessed acceleration data to judge the elevator acceleration state (upward, stationary, downward), and using the state machine to obtain the elevator running direction and running stage (acceleration, uniform motion, deceleration, stationary). The dynamic integral processing link refers to using the elevator running stage information to correct the acceleration bias when the elevator is stationary and clear the speed integral value and height integral value regularly, lock the bias to keep the acceleration continuously double-integrated to obtain the speed and height information when the elevator is moving, and compensate the speed and height integral results when the elevator shears from stationary to moving or from moving to stationary. The 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 infers the elevator motion state based on the fluctuation of the output value of the acceleration sensor, and uses the integral result of the output value of the acceleration sensor to infer the speed and height at each moment. Compared with the related technology, this embodiment uses the fixed acceleration-uniform motion-deceleration mode of the elevator operation to deduce three states of the elevator: stationary, moving, and shearing. In the stationary state, the gravity bias of the accelerometer is continuously corrected, and the speed during the period when the elevator has actually started but the algorithm has not yet deduced the elevator start is cached. In the shear state, the speed obtained by the algorithm integration is reconstructed according to the law similar to a trapezoid presented by the actual running speed-time curve of the elevator. In the shear state, at the moment when the algorithm considers starting, the speed during the period when the elevator has actually started but the algorithm has not yet deduced the elevator start cached is compensated to the speed obtained by the algorithm integration. During this process, the integrity of the integration during the motion process is ensured, making the speed deduction result of the algorithm more accurate. The area of the speed-time curve deduced by the algorithm (i.e., the running distance deduced by the algorithm) is reconstructed to be close to the actual result of the elevator running distance, making the distance deduction result of the algorithm more accurate. In addition, by continuously correcting the accelerometer bias, the accuracy of the height data calculation is further improved.

[0155] Figure 12 It is a schematic structural diagram of a floor detection device based on acceleration provided by an embodiment of the present application. As Figure 12 shown, the device 1200 includes an acceleration extraction module 1201, a state recognition module 1202, a dynamic integral module 1203, and a floor recognition module 1204. Among them,

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

[0157] A state recognition module 1202, which is configured to recognize the motion state of the elevator according to the acceleration data, and the motion state includes at least one of the following: a stationary state, a moving state, and a transition state for indicating a transition 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] A floor recognition module 1204, which is configured to match the corresponding elevator floor information according to the height data to obtain the floor where the elevator is currently located.

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

[0161] A dynamic accumulation unit, which is configured to, when the elevator is in the moving state, perform double integration on the acceleration data by locking an expected acceleration bias to obtain the height data;

[0162] A static adjustment unit, which is configured to, when the elevator is in the stationary state, obtain the speed data of the elevator according to the integration result of the acceleration data every preset time period. If the speed data is lower than a preset threshold, the height data is obtained according to an anchored height, and the anchored height is the height data at the end of the previous transition state;

[0163] A transition compensation unit, which is configured to, when the elevator is in the transition state, if the transition state is from the moving state to the stationary state, determine an error compensation amount for reconstructing the speed curve corresponding to the acceleration data according to the residual speed and the motion duration at the transition moment from the moving state to the stationary state, 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 transition state is from the stationary state to the moving state, obtain a combined 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 to zero, and use the combined speed as the initial value of speed integration to integrate and obtain the height data.

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

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

[0166] The static adjustment unit is further set to, if the elevator is still in a stationary state when the counter reaches a preset value, obtain the height data according to the anchoring height, and clear the speed data;

[0167] A shear determination unit, which is set to determine that the elevator enters a shear state if the counter does not reach the preset value and it is recognized that the elevator enters a moving state;

[0168] Wherein, the preset 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-up.

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

[0170] A speed clearing module, which is set to back up the speed data and then clear the speed data when the speed data is lower than a preset threshold;

[0171] A bias adjustment unit, which is set to negatively feedback and adjust a first acceleration bias in a stationary state according to the cleared speed data, and the first acceleration bias is used to correct the acceleration data in the stationary state.

[0172] In one embodiment, the shear compensation unit includes:

[0173] A bias error determination unit, which is set to determine an acceleration bias error in a moving state according to the residual speed at the shear moment and the movement duration;

[0174] An error compensation amount determination unit, which is set to determine an error compensation amount for reconstructing the speed 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 includes:

[0176] A shear adjustment module, which is set to adjust a second acceleration bias in a moving state according to the acceleration bias error, and the second acceleration bias is used to correct the acceleration data in the moving state.

[0177] In one embodiment, the speed curve is obtained by integrating the acceleration data over the movement duration; the shear compensation unit includes:

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

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

[0180] In one embodiment, the state recognition module 1202 includes:

[0181] A stage recognition unit configured to determine the running stage of the elevator according to the acceleration data, where the running stage includes at least one of an acceleration stage, a constant speed stage, a deceleration stage, and a stationary stage;

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

[0183] In one embodiment, the state determination unit is specifically configured as follows:

[0184] When the running stage is the 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;

[0185] When the running stage is the constant 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;

[0186] When the running stage is the 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.

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

[0188] Figure 13 The structural schematic diagram of the electronic device provided by the embodiment of the present application is as Figure 13 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 floor detection method based on acceleration in the method embodiment. The electronic device may further include a transceiver 1303, and the transceiver 1303 is used for communication interaction with external devices, such as obtaining acceleration data of an accelerometer.

[0191] It should be noted that the above-mentioned electronic device provided in the above embodiments can be used to execute the floor detection method based on acceleration in any of the foregoing method embodiments. The implementation principles and technical effects are similar and will not be elaborated here.

[0192] The embodiments of the present application correspondingly further provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the floor detection method based on acceleration provided in the above method embodiments.

[0193] For the above-mentioned computer-readable storage medium, the 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, magnetic disk or optical disc. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0194] 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.

[0195] The embodiments of the present application further provide a computer program product. The computer program product 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, it can implement the floor detection method based on acceleration provided in any of the above method embodiments.

[0196] In this application, "at least one" means one or more, and "a plurality of" means two or more. "And / or" describes the relationship between associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, or B exists alone, where A and B may 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 a similar expression refers to any combination of these items, including any combination of single items or plural items. For example, at least one (item) of a, b, or c may represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c may be single or multiple.

[0197] It can be understood that the various numerical numbers involved in the embodiments of this application are only for the convenience of description and are not used to limit the scope of the embodiments of this application. In the embodiments of this application, the magnitudes of the serial numbers of the above processes do not mean the order of execution, and the execution order 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 this application.

[0198] Those skilled in the art will readily think of other embodiments of this application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common general knowledge or conventional technical means in the technical field not disclosed in this application. The specification and examples are only regarded as exemplary, and the true scope and spirit of this application are pointed out by the following claims.

[0199] It should be understood that this 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 this application is only limited by the appended claims.

Claims

1. An accelerometer-based floor detection method, characterized in that Including: Extracting the original acceleration data collected by the accelerometer and performing preprocessing to obtain acceleration data with noise and / or bias removed; wherein, the accelerometer is an in-built accelerometer of a surveillance camera in the elevator. Identifying 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 transition state for indicating the transition between the stationary state and the moving state. Performing 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. Matching the corresponding elevator floor information according to the height data to obtain the floor where the elevator is currently located. The performing dynamic integration processing on the acceleration data according to the motion state of the elevator includes at least one of the following: When the elevator is in the moving state, performing double integration on the acceleration data by locking the expected acceleration bias to obtain the height data. When the elevator is in the stationary state, obtaining the speed data of the elevator according to the integration result of the acceleration data at every preset time interval. If the speed data is lower than a preset threshold, obtaining the height data according to the anchored height, where the anchored height is the height data at the end of the previous transition state. When the elevator is in the transition state, if the transition state is from the moving state to the stationary state, determining an error compensation amount for reconstructing the speed curve corresponding to the acceleration data according to the residual speed and the motion duration at the transition moment from the moving state to the stationary state, and reconstructing 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 transition state is from the stationary state to the moving state, obtaining a combined 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 was cleared, and using the combined speed as the initial value of speed integration to integrate and obtain the height data.

2. The method according to claim 1, wherein When the elevator is in the stationary state, the method further includes: If the speed data reaches the preset threshold, starting a counter. If the elevator is still in the stationary state when the counter reaches a preset value, obtaining the height data according to the anchored height and clearing the speed data. If the counter does not reach the preset value and it is identified that the elevator enters the moving state, determining that the elevator enters the transition state. Wherein, the preset value is a value greater than the elevator startup time, and the elevator startup time is the time required for the elevator to move from control startup.

3. The method according to claim 1, characterized in that, When the elevator is in the stationary state, the method further includes: If the speed data is lower than the preset threshold, backing up the speed data and then clearing the speed data. Negatively feedback adjusting a first acceleration bias in the stationary state according to the cleared speed data, where the first acceleration bias is used to correct the acceleration data in the stationary state.

4. The method according to claim 1, characterized in that The determining an error compensation amount for reconstructing the speed curve corresponding to the acceleration data according to the residual speed and the motion duration at the transition moment from the moving state to the stationary state includes: Determine the acceleration offset error in the moving state according to the residual velocity at the shear moment and the movement duration; Determine the error compensation amount for reconstructing the velocity curve corresponding to the acceleration data according to the acceleration offset error.

5. The method according to claim 4, wherein When the elevator is in the shear state, the method further includes: Adjust the second acceleration offset in the moving state according to the acceleration offset error, where the second acceleration offset is used to correct the acceleration data in the moving state.

6. The method according to claim 1, wherein The velocity curve is obtained by integrating the acceleration data over the movement duration; The reconstructing the velocity curve according to the error compensation amount includes: Determine the slope adjustment amount corresponding to each time stage in the continuous operation time of the velocity curve according to the error compensation amount; And, Adjust the slope corresponding to each time stage of the velocity curve according to the slope adjustment amount to obtain the reconstructed velocity curve.

7. The method according to any one of claims 1-6, characterized in that, The identifying the motion state of the elevator according to the acceleration data includes: Determine the operation stage of the elevator according to the acceleration data, where the operation stage includes at least one of an acceleration stage, a constant velocity stage, a deceleration stage, and a stationary stage; Determine the motion state of the elevator according to the operation stage and the motion direction information of the elevator.

8. The method according to claim 7, wherein The determining the motion state of the elevator according to the operation stage and the motion direction information of the elevator includes: When the operation stage is the stationary stage and the motion direction information of the elevator indicates that there is no motion instruction, determine that the elevator is currently in the stationary state; When the operation stage is the constant velocity stage and the motion direction information of the elevator indicates that there is a motion instruction, determine that the elevator is currently in the moving state; When the operation stage is the deceleration or acceleration stage and the motion direction information of the elevator indicates a change in the motion instruction, determine that the elevator is currently in the shear state.

9. A floor detection device based on acceleration, characterized in that Including: An acceleration extraction module configured to extract the original acceleration data collected by the accelerometer and perform preprocessing to obtain the acceleration data with noise and / or bias removed; wherein, the accelerometer is an in-built accelerometer of the monitoring camera in the elevator; A state identification module configured to 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 the switch between the stationary state and the moving state; A dynamic integration module 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 offset adjustment, velocity compensation, and height compensation; A floor identification module configured to match the corresponding elevator floor information according to the height data to obtain the current floor where the elevator is located; The dynamic integration module is specifically configured as follows: when the elevator is in a moving state, the acceleration data is secondarily integrated by locking the expected acceleration offset to obtain the height data; when the elevator is in a stationary state, the speed data of the elevator is obtained at preset time intervals according to the integration result of the acceleration data. If the speed data is lower than a preset threshold, the height data is obtained according to the anchored height, and the anchored height is the height data at the end of the previous state transition; when the elevator is in a state transition, if the state transition is from the moving state to the stationary state, the error compensation amount for reconstructing the speed curve corresponding to the acceleration data is determined according to the residual speed and the movement duration at the transition moment from the moving state to the stationary state, and the speed curve is reconstructed 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 state transition is from the stationary state to the moving state, the combined speed is obtained 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 to zero, and the combined speed is used as the initial value of speed integration to integrate and obtain the height data.

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