Elevator safety monitoring method

Abstract

The invention relates to the technical field of safety control, in particular to an elevator safety monitoring method which comprises the following steps: 1, acquiring a regional ground image, acquiring the position of an elevator and marking in the regional ground image; 2, a target position where the elevator needs to go is obtained, moving routes between the current position and the target position are constructed, route recommendation values of all the moving routes are calculated, and the moving route with the maximum route recommendation value is selected as a first route; thirdly, the first route serves as the advancing route of the elevator, and the moving speed of the elevator is limited; 4, constructing an analysis area; obtaining a ground image in the analysis area, carrying out graying processing, and calculating a first influence value based on the number of different gray values; light irradiation is conducted in the analysis area, a second influence value is calculated, and when the first influence value is larger than or equal to the influence threshold value or the second influence value is larger than or equal to a preset blocking threshold value, a stop signal is generated.

Description

Technical Field

[0001] The present invention relates to the technical field of safety control, and particularly relates to a safety monitoring method for a lift. Background Art

[0002] A scissor lift is a lift that realizes the lifting and lowering of a platform in the vertical direction through a scissor structure (i.e., crossed metal brackets). Its scissor bracket structure has the advantages of strong load-bearing capacity and good stability. Scissor lifts are usually driven by a hydraulic system and used in conjunction with a mobile device, so that they can also move in a flat working area when loaded, without manual pushing and pulling. It is especially suitable for working environments that require frequent position adjustment (such as assembly workshops and decoration sites), and is an ideal choice for modern high-altitude operations, equipment maintenance, material handling and other scenarios.

[0003] In the prior art, the movement of a lift under load is usually manually controlled, and the staff often stands on the load platform for construction operations. The distance from the ground is relatively high, the field of vision is limited and it is not convenient to move and observe. Moreover, the lift cannot actively monitor the surrounding environment, control the movement route and avoid ground obstacles, which is prone to collisions and pose safety hazards. Summary of the Invention

[0004] Aiming at the above-mentioned shortcomings of the prior art, the present invention provides a safety monitoring method for a lift, which can effectively solve the problem of lack of active safety monitoring during the movement of the lift in the prior art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: The present invention provides a safety monitoring method for a lift, which at least includes the following steps: Step 1: Obtain a plane map within the activity area and record it as the activity map. Based on the activity map, crop and splice the monitoring images to form a complete ground image within the activity area, which is recorded as the regional ground image. Obtain the position of the lift and mark it in the regional ground image; Step 2: Obtain the target position to which the lift is to go, construct a movement route between the current position and the target position. The movement route includes multiple straight line segments and multiple arc segments. Based on the straight line segment data of the movement route, the curvature and length of the arc segments, and in combination with the current height of the lift, analyze and calculate the route recommendation values of each movement route, and select the movement route with the largest route recommendation value as the first route; Step 3: Use the first route as the traveling route of the lift, obtain the load weight of the lift, calculate the first acceleration threshold in combination with the current height of the lift to limit the speed when the lift starts to move, obtain the real-time acceleration of the lift, and calculate the second acceleration threshold in combination with the detected weight change values in multiple monitoring areas of the load platform of the lift to limit the speed when the lift moves; Step 4: Construct an analysis area based on the current speed of the elevator and the second acceleration threshold; Obtain the ground image within the analysis area and perform grayscale processing. Analyze and calculate the first influence value based on the number of different grayscale values. When the first influence value is greater than or equal to the preset influence threshold, generate a stop signal; Irradiate the analysis area with light and obtain a grayscale image. Obtain the current ambient light brightness and the irradiating light brightness, analyze and calculate the grayscale threshold. Screen the pixel points in the grayscale image based on the grayscale threshold and calculate the proportion to obtain the second influence value. When the second influence value is greater than or equal to the preset blocking threshold, generate a stop signal.

[0006] Furthermore, a plurality of evenly distributed BLE receiving base stations are set in the activity area, and two BLE transmitters are set on the elevator. The receiving base stations receive BLE signals and record the time. The BLE receiving base stations and the BLE transmitters are at the same height; Mark each BLE receiving base station in the regional ground image and construct a plane rectangular coordinate system. Obtain the coordinate positions of each BLE receiving base station and record them as base station coordinates. Solve the current position coordinates of the two BLE transmitters based on the time when each BLE receiving base station receives the BLE signal; Construct a plane rectangle corresponding to the elevator. Mark the installation positions corresponding to the two BLE transmitters in the plane rectangle. Draw the plane rectangle corresponding to the elevator in the regional ground image based on the current position coordinates of the two BLE transmitters, and use the midpoint coordinates of the plane rectangle as the current position of the elevator.

[0007] Furthermore, the process of solving the coordinate position of the BLE transmitter is as follows: Obtain the signal transmission time of the BLE transmitter , obtain the time when each receiving base station receives the signal and select the smallest three values and record them as , obtain The corresponding three receiving base station coordinates are respectively recorded as , obtain the signal transmission speed C and the signal reception time differences corresponding to the three receiving base stations , substitute into the formula for calculation, and respectively obtain the estimated distances of the three receiving base stations from the BLE transmitter , respectively draw three circles with the coordinates of the three receiving base stations as the centers and the corresponding estimated distances as the radii, and use the intersection coordinates of the three circles as the position coordinates of the BLE transmitter.

[0008] Furthermore, the process of calculating the route recommendation value is as follows: Obtain the number of straight line segments in the moving route and record it as the straight line number m. Obtain each straight line segment The length is denoted as the unit length , where n is the serial number of the unit line segments sorted in the advancing order, n = 1, 2, …, m. Denote the arc segment between any two adjacent straight line segments as . Let the curvature corresponding to the arc segment be and the length be ; Bind the straight line segment and the arc segment to form the adjacent segment set . Analyze and calculate the unit influence value separately for each adjacent segment set ; Obtain the unit influence value corresponding to each adjacent segment set , substitute it into the formula for calculation to obtain the route recommendation value , where is the preset weight coefficient

[0009] Furthermore, the calculation process of the unit influence value is as follows: The calculation formula for the unit influence value corresponding to the adjacent segment set is , where: is the unit influence value; are all preset weight thresholds; is the current height of the elevator

[0010] Furthermore, the speed limit process in step three includes the following steps: S1: Obtain the detected weight in each monitoring area of the elevator carrying platform , where i is the serial number of the monitoring area, i = 1, 2, …, j, and j is the total number of monitoring areas. Calculate the sum of the detected weights in all monitoring areas when the elevator is stationary and denote it as the current load weight ; S2: Obtain the current height and the current load weight of the elevator, substitute them into the formula for calculation to obtain the first acceleration threshold , where represents the weight of the elevator base, is the preset weight coefficient. When the elevator starts to move along the first route, collect the real-time acceleration of the elevator, and limit the elevator acceleration to be less than or equal to the first acceleration threshold by adjusting the output power of the drive motor; S3: Obtain the real-time acceleration of the elevator , obtain the detected weight within the monitoring area when the elevator is in a stationary state and record it as the stationary weight , obtain the real-time acceleration , record the detected weight within the monitoring area at the corresponding moment as the real-time weight , substitute it into the formula for calculation to obtain the second acceleration threshold , where is a preset weight coefficient. During the movement of the elevator along the first route, limit the acceleration of the elevator to be less than or equal to the second acceleration threshold.

[0011] Furthermore, the construction process of the analysis area is as follows: Preset an area width value , construct a passing area with the first route as the center line and a width of , obtain the current speed of the elevator and the second acceleration threshold , substitute it into the formula for calculation to obtain the area length value s, where is a preset length base value; Obtain the current position of the elevator. Take the current position of the elevator as the starting point of the area, and intercept a part of the passing area with a length of s and a width of as the analysis area.

[0012] Furthermore, the analysis process of the ground image within the analysis area is as follows: Obtain the ground image within the analysis area and record it as the analysis image. Perform grayscale processing on the analysis image, and obtain the number of pixels corresponding to different grayscale values and record it as the grayscale quantity , where p is the size of the corresponding grayscale value. For example indicates that the number of pixel points with a grayscale value of 144 is 5020. Obtain the maximum value of the grayscale quantity and record it as , substitute it into the formula for calculation to obtain the first influence value . When the first influence value is greater than or equal to the preset influence threshold, generate a stop signal; A lighting device is set at a position with a height of at the front end of the elevator, is a preset height value. When the first is less than the preset influence threshold, control the lighting device to irradiate the analysis area and collect the analysis image again for grayscale processing and record it as the grayscale image. Obtain the current ambient light brightness and record it as the ambient brightness , obtain the irradiation light brightness of the lighting device and record it as the irradiation brightness , substitute it into the formula Calculate the brightness threshold in , where is a preset proportionality coefficient, multiply the brightness threshold by a preset grayscale coefficient to obtain the grayscale threshold , substitute it into the formula for calculation to obtain the second influence value , where represents the largest integer not greater than . When the second influence value is greater than or equal to a preset blocking threshold, a stop signal is generated.

[0013] A computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0014] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0015] The technical solution provided by the present invention has the following beneficial effects compared with the known prior art: 1. The present invention selects the first route by calculating the route recommendation value, and the route recommendation value is affected by the total length of the route, the number of direction changes in the route, and multiple unit influence values, reflecting whether the route is suitable for the elevator to move. The larger the route recommendation value, the more suitable the route is as a passage route to the target position. The first route selected in this way can, on the premise of ensuring the stability of the elevator movement as much as possible, avoid the slow movement speed caused by the elevator frequently decelerating and turning, and can reach the target position as soon as possible. Moreover, by limiting the elevator speed through the first and second acceleration thresholds, it is possible to avoid the shaking, swinging of the elevator during movement, as well as the tipping caused by too high a center of gravity and too fast a speed, ensuring the movement safety of the elevator under load.

[0016] 2. The present invention can perform visual analysis on the ground in the corresponding analysis area of the first route based on the regional ground picture, so as to obtain the first and second influence values. The two influence values respectively reflect the obstacle coverage area and obstacle volume in the analysis area. When the two influence values are greater than the corresponding thresholds, it indicates that there are obstacles in the analysis area that affect the normal passage of the elevator, and then the elevator is controlled to stop moving to avoid the obstacle danger. Compared with the radar obstacle monitoring in the prior art, the obstacle monitoring based on images has higher accuracy and can detect obstacles that cannot be detected by radar, further improving the safety monitoring effect during the elevator movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0018] Figure 1 It is the overall step diagram of the present invention. Specific embodiments

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0020] The following further describes the present invention with reference to the embodiments.

[0021] Refer to Figure 1 , a safety monitoring method for a lift, which performs intelligent control during the movement of the lift to ensure that the lift can move safely and stably to the target location under load, and at least includes the following steps: Step 1: Construct a regional ground image and determine the current position of the lift, where: Obtain the working area of the lift and the plane map within the working area. Denote the part of the working area where the lift is allowed to move as the active area, and denote the area other than the active area in the working area as the non-active area. Intercept the plane map within the active area as the active map; A plurality of image acquisition devices are provided to obtain the monitoring images within the working area. The plurality of image acquisition devices monitor and cover the entire working area. Based on the active map, a plurality of monitoring images are cropped and spliced to form a complete ground image within the active area, denoted as the regional ground image. The regional ground image fully displays the ground conditions within the active area on the basis of the active map (the blank ground in the plane map is replaced with the ground image captured by the device). Compared with the ordinary map in the prior art, it can not only reflect the spatial structure of the active area but also display the detailed image of the ground within the active area; Obtain the position of the lift and mark it in the regional ground image. The position acquisition process is as follows: Multiple evenly distributed BLE (Bluetooth Low Energy) receiving base stations are set in the activity area, and two BLE transmitters are set on the lift for periodically sending BLE signals. The receiving base stations can receive the BLE signals and record the signal strength or time data. It should be noted that each transmitter has a unique MAC address for differentiation when receiving signals. The signal sending times of the two transmitters are staggered, and the BLE receiving base stations and the BLE transmitters are at the same height.

[0022] Mark each BLE receiving base station in the regional ground image and construct a plane rectangular coordinate system. Obtain the coordinate positions of each BLE receiving base station and record them as the base station coordinates. Let the current position coordinates of the two BLE transmitters be and solve them separately. The solving process is as follows: Obtain the signal transmission time of the BLE transmitter , obtain the times when each receiving base station receives the signal and select the smallest three values and record them as , obtain The corresponding three receiving base station coordinates are respectively recorded as , obtain the signal transmission speed C and the signal reception time differences corresponding to the three receiving base stations , substitute into the formula for calculation, and respectively obtain the estimated distances from the three receiving base stations to the BLE transmitter , respectively draw three circles with the coordinates of the three receiving base stations as the centers and the corresponding estimated distances as the radii, and use the intersection coordinates of the three circles as the position coordinates of the BLE transmitter.

[0023] Construct a plane rectangle corresponding to the lift, mark the installation positions corresponding to the two BLE transmitters in the plane rectangle, draw the plane rectangle corresponding to the lift in the regional ground image based on the current position coordinates of the two BLE transmitters, and use the midpoint coordinates of the plane rectangle as the current position of the lift.

[0024] Step 2: Determine the target position to which the lift is to go, where: A second rectangle is set in the regional ground image. The second rectangle is equal to the plane rectangle corresponding to the lift. Move the second rectangle and use the position of the second rectangle as the target position (it should be noted that the regional ground image is displayed in the form of image data through a touch screen, and the staff can touch and drag the second rectangle through the touch screen to rotate or move it, thereby adjusting the target position).

[0025] Construct a moving route based on the current position and the target position of the lift. The moving route includes multiple straight line segments and multiple arc segments. Each arc segment connects two adjacent straight line segments as its turning path. The moving route is planned by the route planning algorithm in the prior art. When there is only one moving route, use this moving route as the first route. When there are multiple moving routes, calculate the route recommendation value based on the route data analysis, and select the moving route with the largest route recommendation value as the first route.

[0026] The calculation process of the route recommendation value is as follows: Obtain the number of straight line segments in the moving route and record it as the straight line number m. Obtain the lengths of each straight line segment and record them as the unit lengths , where n is the serial number of the unit line segments sorted in the traveling order, n = 1, 2,..., m. That is to say, when the lift moves along the moving route, it will pass through in sequence. Denote the arc segment between any two adjacent straight line segments as . Let the curvature of the arc segment be and the length be ; Bind the straight line segment and the arc segment to form an adjacent line segment set . Analyze each adjacent line segment set individually, and calculate the unit influence value corresponding to each adjacent line segment set. The calculation formula for the unit influence value of the adjacent line segment set is , where: is the unit influence value; are all preset weight thresholds; is the current height of the lift (the current height refers to the current lifting height of the lift); The unit influence value reflects the passing difficulty of the route corresponding to the adjacent line segment set. The larger the unit influence value, the lower the corresponding passing difficulty. The unit influence value depends on the turning radian (the curvature and length of the arc segment) and the straight-line distance (the lengths of two straight line segments ). Generally, the smaller the radian and the higher the straight-line proportion, the easier it is to pass this section of the route; Obtain the unit influence values corresponding to each adjacent line segment set , substitute them into the formula for calculation to obtain the route recommendation value , where is a preset weight coefficient.

[0027] It should be noted that the route recommendation value is affected by the total length of the route, the number of direction changes in the route, and the influence values of multiple units, and reflects whether the route is suitable for the elevator to move. The larger the route recommendation value, the more suitable the route is as the passage route to the target position.

[0028] Step 3: Limit the elevator speed based on the first route. The specific speed limit process is as follows: S1: Divide the load platform of the elevator into multiple monitoring areas, and obtain the detected weight in each monitoring area (Each monitoring area is equipped with an independent pressure sensor for detecting the weight in the area), where i is the serial number of the monitoring area, i = 1, 2,..., j, and j is the total number of monitoring areas. Calculate the sum of the detected weights of all monitoring areas when the elevator is stationary and record it as the current load weight ; S2: Obtain the current height of the elevator and the current load weight , substitute them into the formula for calculation to obtain the first acceleration threshold , where represents the weight of the elevator base, is a preset weight coefficient. When the elevator starts to move along the first route, collect the real-time acceleration of the elevator, and limit the acceleration of the elevator to be less than or equal to the first acceleration threshold by adjusting the output power of the drive motor; It should be noted that the first acceleration threshold is the acceleration threshold calculated based on the center-of-gravity distribution of the elevator. Limiting the acceleration to be less than this acceleration threshold can ensure that the elevator will not tilt or topple due to the imbalance of the center of gravity during sudden acceleration.

[0029] S3: Obtain the real-time acceleration of the elevator, obtain the detected weight in the monitoring area when the elevator is stationary and record it as the static weight , obtain the real-time acceleration and record the detected weight in the monitoring area at the corresponding moment as the real-time weight , substitute them into the formula for calculation to obtain the second acceleration threshold , where is a preset weight coefficient. During the movement of the elevator along the first route, limit the acceleration of the elevator to be less than or equal to the second acceleration threshold; It should be noted that the second acceleration threshold is calculated based on the offset of the load center of gravity during the accelerated movement of the elevator, that is, the change range of the detected weight in each monitoring area. When the change range is larger, it means that the center of gravity of the load object is more unstable, which also indicates that the acceleration magnitude needs to be further restricted to ensure that when the acceleration increases, the load object will not move or roll abnormally, avoiding the imbalance and shaking of the elevator lifting platform and improving the operating safety of the elevator.

[0030] Step 4: Perform visual analysis on the ground within the area corresponding to the first route based on the regional ground image and output a stop command. The specific process is as follows: There is a preset regional width value , construct a passing area with a width of taking the first route as the center line, obtain the current speed of the elevator and the second acceleration threshold , substitute them into the formula for calculation to obtain the regional length value s, where is the preset length base value; Obtain the current position of the elevator. Taking the current position of the elevator as the starting point of the area, intercept a part of the area with a length of s and a width of in the passing area and record it as the analysis area. The analysis area is the area that the elevator needs to pass through when decelerating from the current speed to the stop state with the maximum acceleration. By analyzing the ground conditions within the analysis area and outputting feedback commands (such as deceleration, stop), it can ensure that the elevator can respond within the safe reaction time. The analysis of the analysis area is as follows: Obtain the ground image within the analysis area and record it as the analysis image (the analysis image is an image taken in the vertical downward direction, that is, the analysis image is a top view of the analysis area). Perform grayscale processing on the analysis image, and obtain the number of pixels corresponding to different grayscale values and record it as the grayscale quantity , where p is the size of the corresponding grayscale value. For example, indicates that the number of pixel points with a grayscale value of 144 is 5020. Obtain the maximum value of the grayscale quantity and record it as , substitute it into the formula for calculation to obtain the first influence value . When the first influence value is greater than or equal to the preset influence threshold, generate a stop signal to control the elevator to stop moving; There is a lighting device at the position where the height of the front end of the elevator is , that is, the height of the lighting device is , is a preset height value. When the first is less than the preset influence threshold, control the lighting device to irradiate the analysis area (the irradiation range covers the analysis area), and collect and analyze the image again for grayscale processing, which is recorded as a grayscale image. Obtain the current ambient light brightness and record it as ambient brightness , obtain the irradiation light brightness of the lighting device and record it as irradiation brightness , substitute into the formula for calculation to obtain the brightness threshold , where is a preset proportionality coefficient (in a specific embodiment, it takes the value of the ground reflectivity). Multiply the brightness threshold by the preset grayscale coefficient to obtain the grayscale threshold , substitute into the formula for calculation to obtain the second influence value , where represents the largest integer not greater than . When the second influence value is greater than or equal to the preset blocking threshold, generate a stop signal to control the elevator to stop moving.

[0031] It should be noted that in most cases, the grayscale value can approximately represent the brightness value. This is because the calculation formula of the grayscale value has considered the sensitivity of the human eye to different colors. Therefore, the grayscale value largely reflects the brightness of the pixel point. By collecting the number of pixel points with grayscale values less than or equal to the grayscale threshold and calculating the proportion, the size of the shadow area in the analysis image can be analyzed. The size of the shadow area often depends on the volume of the obstacles in the analysis area, especially affected by the height of the obstacles. Therefore, by analyzing the proportion of the shadow area, it can be judged whether there are obstacles with large volume and high height in the analysis area, so as to generate a stop instruction for avoidance.

[0032] A computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps in the above method are implemented.

[0033] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above method are implemented.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the safety of an elevator, characterized in that: The following steps are involved: Step 1: Obtain a plane map within the activity area and record it as the activity map. Based on the activity map, crop and splice the monitoring images to form a complete ground image within the activity area and record it as the regional ground image. Obtain the elevator position and mark it in the regional ground image. Step 2: Obtain the target position that the elevator is going to, and construct a moving route between the current position and the target position. The moving route includes multiple straight line segments and multiple arc segments. Based on the straight line segment data of the moving route and the curvature and length of the arc segment, combined with the current height of the elevator, the route recommendation value of each moving route is calculated, and the moving route with the largest route recommendation value is selected as the first route; Step 3: Take the first route as the travel route of the elevator, obtain the load weight of the elevator, calculate the first acceleration threshold value in combination with the current height of the elevator to limit the speed of the elevator when it starts to move, obtain the real-time acceleration of the elevator, and calculate the second acceleration threshold value in combination with the weight change values ​​detected in multiple monitoring areas of the load platform of the elevator to limit the speed of the elevator when it moves; Step 4: constructing an analysis area based on the current speed of the elevator and the second acceleration threshold; Acquire a ground image within the analysis area and perform grayscale processing, calculate a first impact value based on the number of different grayscale values, and generate a stop signal when the first impact value is greater than or equal to a preset impact threshold; Illuminate the analysis area and obtain a grayscale image. Obtain the current ambient light brightness and the illumination light brightness to analyze and calculate the grayscale threshold. Based on the grayscale threshold, screen the pixels in the grayscale image and calculate the proportion to obtain a second impact value. When the second impact value is greater than or equal to the preset blocking threshold, generate a stop signal.

2. A method for monitoring elevator safety according to claim 1, characterized in that: There are multiple evenly distributed BLE receiving base stations in the activity area, and two BLE transmitters are set on the elevator. The receiving base stations receive BLE signals and record the time. The BLE receiving base stations and BLE transmitters are at the same height; Mark each BLE receiving base station in the regional ground image and construct a plane rectangular coordinate system, obtain the coordinate position of each BLE receiving base station and record it as the base station coordinate, and solve the current position coordinates of the two BLE transmitters based on the time when each BLE receiving base station receives the BLE signal; Construct a plane rectangle corresponding to the elevator, mark the installation positions of the two BLE transmitters in the plane rectangle, draw a plane rectangle corresponding to the elevator in the regional ground image based on the current position coordinates of the two BLE transmitters, and use the midpoint coordinates of the plane rectangle as the current position of the elevator.

3. A method for monitoring elevator safety according to claim 2, characterized in that: The BLE transmitter coordinate position solution process is as follows: Get the signal transmission time of the BLE transmitter , obtain the time when each receiving base station receives the signal and select the three smallest values ​​and record them as , get The corresponding coordinates of the three receiving base stations are recorded as , obtain the signal transmission speed C and the signal reception time difference corresponding to the three receiving base stations , substitute into the formula Calculate the estimated distances of the three receiving base stations from the BLE transmitter , draw three circles with the coordinates of the three receiving base stations as the center and the corresponding estimated distance as the radius, and use the coordinates of the intersection of the three circles as the position coordinates of the BLE transmitter.

4. A method for monitoring elevator safety according to claim 1, characterized in that: The route recommendation value calculation process is as follows: Get the number of straight line segments in the moving route as m, and get each straight line segment The length of , where n is the serial number of the unit line segments in the order of travel, n = 1, 2, ..., m, any two adjacent straight line segments The arc segment between , let the arc segment The corresponding curvature is , length is ; Line segment With arc segment Bind to form a set of adjacent line segments , for each set of adjacent line segments Conduct separate analysis to calculate unit impact values; Get the set of adjacent line segments Corresponding unit impact value , substitute into the formula Calculate the route recommendation value ,in is the preset weight coefficient.

5. A method for monitoring elevator safety according to claim 4, characterized in that: The unit impact value calculation process is as follows: Adjacent line segment set The calculation formula for the corresponding unit impact value is: ,in: is the unit impact value; All are preset weight thresholds; is the current height of the elevator.

6. A method for monitoring elevator safety according to claim 1, characterized in that: The speed limiting process in step 3 includes the following steps: S1: Obtain the detection weight in each monitoring area of ​​the elevator load-bearing platform , where i is the serial number of the monitoring area, i=1,2,…,j, j is the total number of monitoring areas, and the sum of the detection weights of all monitoring areas is calculated when the elevator is stationary and recorded as the current load weight ; S2: Get the current height of the elevator , Current load weight , substitute into the formula Calculate the first acceleration threshold ,in Indicates the weight of the lift base. is the preset weight coefficient. When the elevator starts to move along the first route, the real-time acceleration of the elevator is collected. , limiting the acceleration of the elevator to be less than or equal to the first acceleration threshold by adjusting the output power of the driving motor; S3: Get the real-time acceleration of the elevator , obtain the detected weight in the monitoring area when the elevator is stationary and record it as static weight , get real-time acceleration The detected weight in the monitoring area at the corresponding moment is recorded as the real-time weight , substitute into the formula Calculate the second acceleration threshold ,in is a preset weight coefficient, which limits the acceleration of the elevator to be less than or equal to the second acceleration threshold value when the elevator moves along the first route.

7. A method for monitoring elevator safety according to claim 6, characterized in that: The analysis area construction process is as follows: Preset area width value , with the first route as the center line, the width is Passing area, get the current speed of the elevator and the second acceleration threshold , substitute into the formula Calculate in and get the region length value s, where is the preset length base value; Get the current position of the elevator, take the current position of the elevator as the starting point of the area, and intercept a region with a length of s and a width of The part of the area is recorded as the analysis area.

8. A method for monitoring elevator safety according to claim 7, characterized in that: The analysis process of the ground image in the analysis area is as follows: Obtain the ground image in the analysis area and record it as the analysis image. Perform grayscale processing on the analysis image and obtain the number of pixels corresponding to different grayscale values ​​and record it as the grayscale number. , where p is the corresponding gray value, and the maximum value of the gray value is recorded as , substitute into the formula Calculate the first impact value , when the first impact value is greater than or equal to a preset impact threshold, a stop signal is generated; The height at the front end of the lift is Lighting equipment is installed at the location. is a preset height value. When the first value is less than the preset impact threshold, the lighting equipment is controlled to illuminate the analysis area and the analysis image is collected again for grayscale processing and recorded as a grayscale image. The current ambient light brightness is obtained and recorded as the ambient brightness. , get the brightness of the light from the lighting equipment and record it as the brightness , substitute into the formula The brightness threshold is calculated in ,in is the preset proportional coefficient. Multiply the brightness threshold by the preset grayscale coefficient to get the grayscale threshold. , substitute into the formula Calculate the second impact value ,in Indicates not greater than When the second impact value is greater than or equal to a preset blocking threshold, a stop signal is generated.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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