Elevator leveling position self-learning method and device, electronic device and storage medium

Abstract

The invention relates to an elevator leveling position self-learning method and device, an electronic device and a storage medium, and is applied to the field of elevators. In the one-way operation process of an elevator, a photoelectric sensor emits a detection light beam to detect the horizontal distance between an elevator car and a detected object; the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the elevator main control system based on the detected horizontal distance between the elevator car and the detected object; the measured object comprises a hall sill or a hoistway wall between an upper hall and a lower hall; the elevator main control system obtains corresponding shaft absolute position information collected by the elevator shaft absolute position detection system when the elevator runs until the level signal output by the photoelectric sensor changes; and the elevator leveling number is determined based on the level signal change frequency, and the obtained shaft absolute position information is associated with the elevator leveling number to form the elevator leveling position data, so that the effect of efficiently learning the elevator leveling position is achieved.

Description

Technical Field

[0001] This application relates to the field of elevators, and in particular to a method, apparatus, electronic device, and storage medium for self-learning elevator leveling position. Background Technology

[0002] An elevator shaft absolute position detection system is an elevator safety device independent of the elevator control system. It uses position detection sensors installed in the car to monitor the car's position and speed in the shaft in real time. When overspeeding or terminal overspeeding is detected, the system can independently disconnect the safety circuit. Simultaneously, by monitoring the absolute position of the elevator car in real time, the system can promptly activate protection devices in the event of unexpected car movement.

[0003] With the increasing prevalence of elevator shaft absolute position detection systems, the safety and reliability of elevators have rapidly improved. However, currently, when using elevator shaft absolute position detection systems to learn and calibrate the elevator's landing sill level, at least one commissioning personnel is typically required to carefully measure data, input parameters, and perform position calibration after the elevator has stopped at full speed on each floor. This manual floor position calibration is time-consuming, and the commissioning time increases with the number of floors in the building, resulting in low learning and calibration efficiency. Therefore, how to efficiently learn the elevator's level position has become an urgent problem to be solved.

[0004] There is currently no effective solution to the problem of how to efficiently learn the elevator leveling position in related technologies. Summary of the Invention

[0005] This embodiment provides a method, apparatus, electronic device, and storage medium for self-learning elevator leveling position, in order to solve the problem of how to efficiently learn the elevator leveling position in related technologies.

[0006] Firstly, this embodiment provides a self-learning method for elevator leveling position, which is applied to the elevator's main control system; the method includes:

[0007] During the one-way operation of the elevator, a photoelectric sensor emits a detection beam to detect the horizontal distance between the elevator car and the object being measured. Based on the detected horizontal distance between the elevator car and the object being measured, the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the elevator main control system. The object being measured includes the lobby sill or the shaft wall between the upper and lower lobbies.

[0008] The elevator main control system acquires the absolute position information of the shaft when the elevator runs to the point where the level signal output by the photoelectric sensor changes; the absolute position information of the shaft is acquired by the elevator shaft absolute position detection system; the elevator leveling number is determined based on the number of level signal changes, and the acquired absolute position information of the shaft is associated with the elevator leveling number to form the elevator leveling position data.

[0009] In some embodiments, during the one-way operation of the elevator, a photoelectric sensor emits a detection beam to detect the horizontal distance between the elevator car and the object being measured. Based on the detected horizontal distance between the elevator car and the object being measured, the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the elevator main control system. The object being measured includes the lobby sill or the shaft wall between the upper and lower lobbies.

[0010] The elevator main control system acquires the absolute position information of the shaft corresponding to the change in the level signal output by the photoelectric sensor when the elevator is running, including:

[0011] During the one-way operation of the elevator, the photoelectric sensor continuously emits a horizontal beam of light to detect the horizontal distance between the elevator car and the object being measured in real time.

[0012] The photoelectric sensor outputs multiple first-level signals and multiple second-level signals based on the change in horizontal distance;

[0013] The first level signal / second level signal is a level signal generated after the beam emitted by the photoelectric sensor detects the horizontal distance between the car and the object being measured, and it is determined that the horizontal distance between the transmitting end of the photoelectric sensor and the object being measured does not exceed / exceeds a preset detection distance threshold; the preset detection distance threshold is used to calibrate the horizontal distance between the car door sill and the hall door sill of the elevator in the horizontal direction.

[0014] At the moment when a signal change occurs between the first level signal and the second level signal, multiple absolute position information of the wellbore, collected by the wellbore absolute position detection system, is acquired at the moment of change.

[0015] In some embodiments, the elevator main control system acquires the absolute position information of the shaft corresponding to a change in the level signal output by the photoelectric sensor when the elevator is running, including:

[0016] When the elevator is running in an upward direction, acquire multiple absolute position information of the ascending shaft from bottom to top at each change moment from the first level signal to the second level signal / from the second level signal to the first level signal;

[0017] When the elevator is running in the downward direction, acquire multiple absolute position information of the descending shaft from top to bottom at each change moment from the second level signal to the first level signal / from the first level signal to the second level signal.

[0018] In some embodiments, acquiring multiple shaft absolute position information collected by the shaft absolute position detection system at the moment when a signal change occurs between the first level signal and the second level signal includes:

[0019] Multiple first-level signals and multiple second-level signals are output at intervals to form a pulse signal;

[0020] When the first level signal is high and the second level signal is low, the falling edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the first level signal to the second level signal, and these positions are recorded as the elevator's ascending shaft absolute position information during the upward process; the rising edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the second level signal to the first level signal, and these positions are recorded as the elevator's descending shaft absolute position information during the downward process.

[0021] When the first level signal is low and the second level signal is high, the rising edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the second level signal to the first level signal, and these positions are recorded as the elevator's ascending shaft absolute position information during the upward process; the falling edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the first level signal to the second level signal, and these positions are recorded as the elevator's descending shaft absolute position information during the downward process.

[0022] In some embodiments, associating the acquired absolute position information of the shaft with the elevator leveling number to form elevator leveling position data includes:

[0023] The absolute position information of the multiple ascending shafts is associated with multiple floor numbers from small to large corresponding to the multiple changing times to form multiple elevator floor position data from small to large.

[0024] The absolute position information of the multiple descending shafts is associated with multiple leveling numbers from largest to smallest corresponding to the multiple changing times, forming multiple elevator leveling position data from largest to smallest.

[0025] In some of these embodiments, after forming the elevator leveling position data, the process includes:

[0026] Obtain the vertical height distance between the transmitter of the photoelectric sensor and the car door sill;

[0027] At multiple moments when the level signal changes, the leveling position data is calibrated based on the height distance to obtain the elevator's leveling position information.

[0028] In some embodiments, calibrating the leveling position data based on the height distance at multiple times when the level signal changes to obtain the elevator's leveling position information includes:

[0029] The system obtains the upward / downward delay distance of the elevator during the unidirectional operation of the elevator within a preset upward / downward delay time; the preset upward / downward delay time is the signal processing delay time of the elevator main control system during the upward / downward movement of the elevator.

[0030] Based on the up / down delay distance and height distance, the leveling position data is calibrated sequentially to obtain the elevator's leveling position information.

[0031] In some embodiments, calibrating the leveling position data sequentially based on the up / down delay distance and height distance to obtain the elevator's leveling position information includes:

[0032] The difference between the height distance and the uplink delay distance is calculated to obtain the distance difference; the ratio between the distance difference and the preset resolution in the elevator shaft absolute position detection system is used to obtain the uplink calibration value; the preset resolution is used to represent the minimum position change that the elevator shaft absolute position detection system can identify.

[0033] Based on the sum of the upward calibration value and the absolute position information of the rising shaft, the leveling position data corresponding to multiple leveling numbers from small to large are calibrated sequentially to obtain multiple leveling position information of the elevator.

[0034] Alternatively, calculate the sum of the downlink delay distance and the altitude distance to obtain the distance sum;

[0035] The downlink calibration value is obtained based on the ratio between the distance and the preset resolution in the elevator shaft absolute position detection system.

[0036] Based on the sum of the downward calibration value and the absolute position information of the descending shaft, the leveling position data corresponding to the multiple leveling numbers from largest to smallest are calibrated sequentially to obtain multiple leveling position information of the elevator.

[0037] Secondly, this embodiment provides an elevator leveling position self-learning device, which includes: an elevator main control system, a photoelectric sensor, and an elevator shaft absolute position detection system;

[0038] The elevator main control system is connected to the photoelectric sensor and the elevator shaft absolute position detection system via a communication bus.

[0039] The photoelectric sensor is fixed to the surface of the elevator car door sill and is used to emit a horizontal beam of light towards the elevator hall door / shaft wall, and to acquire the horizontal distance between the emitting end of the photoelectric sensor and the object detected by the horizontal beam; based on the horizontal distance, it outputs a level signal corresponding to the horizontal distance to the elevator main control system; the object being measured includes the hall sill or the shaft wall between the upper and lower halls;

[0040] The elevator shaft absolute position detection system is used to acquire and output the elevator shaft absolute position information to the elevator main control system.

[0041] The elevator main control system is used to execute the elevator leveling position self-learning method as described in any one of the first aspects.

[0042] Thirdly, this embodiment provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the elevator leveling position self-learning method described in the first aspect above.

[0043] Fourthly, this embodiment provides a storage medium storing a computer program that, when executed by a processor, implements the elevator leveling position self-learning method described in the first aspect above.

[0044] Compared with related technologies, the elevator leveling position self-learning method, device, electronic device and storage medium provided in this embodiment, by setting a photoelectric sensor on the surface of the elevator car door sill, so that the photoelectric sensor generates an electrical signal when it acquires the distance between itself and the door sill and the wall; during the unidirectional operation of the elevator, when the electrical signal generated by the photoelectric sensor changes, the elevator shaft absolute position detection system is controlled to collect multiple shaft absolute position information; at the same time, the multiple shaft absolute position information is associated with multiple elevator leveling numbers determined based on multiple change times to form elevator leveling position data, thereby realizing efficient self-learning of leveling position.

[0045] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0046] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0047] Figure 1 This is a schematic diagram of the elevator leveling position self-learning device provided in the embodiments of this application;

[0048] Figure 2 This is a front view of the installation location of the photoelectric sensor provided in the embodiment of this application;

[0049] Figure 3 This is a top view of the installation location of the photoelectric sensor provided in the embodiment of this application;

[0050] Figure 4 This is a flowchart of the elevator leveling position self-learning method provided in the embodiments of this application;

[0051] Figure 5 This is a schematic diagram illustrating the principle of the photoelectric sensor outputting a high level according to this specific embodiment;

[0052] Figure 6 This is a schematic diagram illustrating the principle of the photoelectric sensor outputting a low level according to this specific embodiment;

[0053] Figure 7 This is a schematic diagram of the arrangement and signal output of the photoelectric sensor provided in this specific embodiment;

[0054] Figure 8 This is a flowchart of the automatic calibration of the leveling position of the elevator during upward movement provided in this preferred embodiment;

[0055] Figure 9 This is a flowchart of the automatic calibration of the leveling position during elevator descent provided in this preferred embodiment.

[0056] Figure descriptions: 1. Car; 2. Photoelectric sensor; 3. Car door sill; 4. Hall door sill; 5. Wall; 6. Elevator main control system; 7. Shaft absolute position detection system; 8. Memory; 9. Communication bus. Detailed Implementation

[0057] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0058] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these” used in this application do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to these processes, methods, products, or devices. Words such as “connected,” “linked,” and “coupled” used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. Normally, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," "third," etc., used in this application are merely to distinguish similar objects and do not represent a specific order of objects.

[0059] Currently, when calibrating the leveling position of the elevator at the landing sill of the elevator shaft using the elevator shaft absolute position detection system, it is still necessary for the commissioning personnel to calibrate and recalibrate the leveling position calibrated by the system. However, manual leveling position calibration consumes a lot of time, resulting in low leveling position calibration efficiency.

[0060] To overcome the drawbacks of manual calibration of floor levels, this embodiment provides a method for automatically and quickly learning floor levels based on an elevator shaft absolute position detection system. This method is assisted by photoelectric sensors and requires no manual operation throughout the process. Before the elevator shaft absolute position detection system automatically measures, only the height parameter H of the photoelectric sensor needs to be set. After one run of the elevator car from top to bottom or bottom to top, the accurate floor level position of each floor can be quickly obtained.

[0061] Figure 1 This is a schematic diagram of the elevator leveling position self-learning device provided in an embodiment of this application. (Reference) Figure 1 The device includes an elevator main control system 6, a photoelectric sensor 2, and an elevator shaft absolute position detection system 7. It also includes a memory 8 for storing data generated during the elevator's self-learning and calibration process for leveling positions. The elevator main control system 6 is connected to the photoelectric sensor 2, the elevator shaft absolute position detection system 7, and the memory 8 via a communication bus 9.

[0062] The memory 8 is also used to store computer programs, such as application software programs and modules, like the computer program corresponding to the elevator leveling position calibration method in this embodiment. The memory 8 may include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 8 may further include remote memories remotely configured relative to the elevator main control system 6, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks (LANs), mobile communication networks, and combinations thereof.

[0063] In specific elevator application scenarios, the aforementioned elevator leveling position self-learning device is installed inside the elevator. Figure 2 This is a front view of the installation location of the photoelectric sensor provided in the embodiment of this application; Figure 3 This is a top view of the installation location of the photoelectric sensor provided in an embodiment of this application. For example... Figure 2 and Figure 3 As shown, photoelectric sensor 2 is horizontally fixed on car door sill 3. Car 1 and car door sill 3 form a moving unit, and passengers enter and exit car 1 through car door sill 3 and landing door sill 4. The ideal elevator leveling and stopping position is: in the vertical direction of the elevator, the upper surface of car door sill 3 and the upper surface of landing door sill 4 are on the same horizontal plane. Therefore, photoelectric sensor 2 is horizontally fixed on the upper surface of car door sill 3, and the height of the detection beam emitted by photoelectric sensor 2 is H vertically above the upper surface of car door sill 3. By emitting the detection beam, the horizontal distance between the current transmitting end of photoelectric sensor 2 and the wall between landing door sill 4 or the upper and lower walls of the landing door is determined, and the level signal output based on this horizontal distance is used to perform self-learning and calibration of the absolute position information of the elevator shaft absolute position detection system.

[0064] The edge of the car door sill 3 and the adjacent edge of the hall door sill 4 are at a certain distance in the horizontal direction. Usually, this distance is less than the detection threshold distance L of the photoelectric sensor 2. The detection threshold distance value here is a set value, which is determined according to the actual elevator scenario.

[0065] The elevator main control system is electrically connected to the photoelectric sensor 2 fixed on the surface of the elevator car door sill 3. The photoelectric sensor 2 is used to emit a horizontal beam of light towards the elevator hall door and obtain the horizontal distance between the transmitting end of the photoelectric sensor 2 and the horizontal beam detected by the horizontal beam between the hall sill or the wall between the upper and lower halls. Based on the horizontal distance, it outputs a level signal corresponding to the horizontal distance to the elevator main control system. The elevator is also equipped with an elevator shaft absolute position detection system connected to the elevator main control system, which is used to obtain and output the elevator shaft absolute position information to the elevator main control system.

[0066] This embodiment provides a self-learning method for elevator leveling position, which is applied to the elevator main control system of the aforementioned elevator. Figure 4 This is a flowchart of the elevator leveling position self-learning method provided in the embodiments of this application, such as... Figure 4 As shown, the process includes the following steps:

[0067] In step S410, during the one-way operation of the elevator, a photoelectric sensor emits a detection beam to detect the horizontal distance between the elevator car and the object being measured. Based on the detected horizontal distance between the elevator car and the object being measured, the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the main control system. The object being measured includes the lobby sill or the shaft wall between the upper and lower lobbies.

[0068] In practical applications of elevator leveling position learning, it's necessary to control the elevator car to move from top to bottom (from the top of the shaft to the bottom) or from bottom to top (from the bottom of the shaft to the top). During the unidirectional movement of the elevator car, the car door sill equipped with a photoelectric sensor moves along with the elevator car. At this time, the elevator main control system controls the photoelectric sensor to horizontally emit a detection beam towards the door sill. The horizontal distance between the elevator car and the measured object is detected by the detection beam emitted by the photoelectric sensor. Subsequently, the photoelectric sensor generates a corresponding level signal based on this horizontal distance and sends the corresponding level signal to the elevator main control system. The elevator main control system continuously receives the level signals sent by the photoelectric sensor and performs subsequent self-learning and calibration processing of elevator leveling information based on these level signals.

[0069] When the level signal corresponding to the horizontal distance changes, it indicates that the object detected by the beam emitted by the photoelectric sensor has changed. That is, the current transmitting end of the photoelectric sensor is switching between being horizontal with the threshold of the hallway or being horizontal with the shaft wall between the upper and lower parts of the hallway.

[0070] Therefore, when the level signal generated by the photoelectric sensor changes, the elevator shaft absolute position detection system can collect multiple absolute position information of the elevator shaft. Compared with the method of collecting multiple position information solely based on the elevator shaft absolute position detection system, this embodiment combines the level signal changes of the photoelectric sensor, which is beneficial for more accurate and efficient positioning of the lobby sill, further improving the efficiency of elevator leveling position self-learning.

[0071] In step S420, the elevator main control system acquires the absolute position information of the shaft corresponding to the change in the level signal output by the photoelectric sensor when the elevator is running; the absolute position information of the shaft is acquired by the elevator shaft absolute position detection system.

[0072] In some possible embodiments, the elevator main control system can acquire the absolute position information of the elevator shaft through the elevator shaft absolute position detection system; it can also acquire the absolute position information of the elevator shaft through methods including but not limited to the elevator shaft absolute position detection system when the level signal output by the photoelectric sensor changes; and it can also acquire the absolute position information of the elevator shaft through the elevator shaft absolute position detection system when the elevator is running to the point where the level signal output by the photoelectric sensor changes.

[0073] All of the above methods can be used to collect absolute position information of the elevator shaft. Furthermore, since the change in the voltage level signal corresponds to a change in the object detected by the photoelectric sensor, it is possible to determine whether the object detected by the elevator during operation is the lobby sill or the shaft wall between the upper and lower lobbies by using the corresponding object detected by the photoelectric sensor when the voltage level signal changes. Subsequently, based on the change time corresponding to different objects, multiple absolute position information of the elevator shaft can be obtained.

[0074] Furthermore, the process of a change in the level signal can be either a conversion from a first level signal to a second level signal, or a conversion from a second level signal to a first level signal.

[0075] Specifically, during the unidirectional operation of the elevator, a photoelectric sensor continuously emits a horizontal beam of light to detect the horizontal distance between the elevator car and the object being measured in real time. Based on multiple changes in horizontal distance, the photoelectric sensor outputs multiple first-level signals and multiple second-level signals. The first-level signal / second-level signal is the level signal generated after the photoelectric sensor detects the horizontal distance between the car and the object being measured, and the horizontal distance between the transmitter of the photoelectric sensor and the object being measured does not exceed / exceeds a preset detection distance threshold. The preset detection distance threshold is used to calibrate the horizontal distance between the car door sill and the hall door sill in the horizontal direction. At the moment when the signal changes between the first-level signal and the second-level signal, multiple absolute position information of the shaft collected by the shaft absolute position detection system at the corresponding moment of change is acquired.

[0076] Throughout the entire process of the elevator car moving from the bottom of the shaft to the top floor or from the top floor to the bottom floor, the photoelectric sensor will continuously emit a detection beam to detect the distance s between itself and the object being measured (the sill of the hall door or the wall of the shaft), and output in real time whether s is greater than the preset detection distance threshold L.

[0077] When the elevator passes through the door zone, i.e., when the photoelectric sensor detects that the distance between the elevator car and the landing sill is less than or equal to L, it outputs a first-level signal; when the elevator car leaves the door zone, i.e., when the photoelectric sensor detects that the distance s between the elevator car and the wall is greater than L, it outputs a second-level signal. The door zone range in an elevator refers to the area where the landing door lock unlocking mechanism can operate when the elevator is leveling, and it is usually related to the elevator's leveling position.

[0078] During the unidirectional operation of the elevator, multiple first-level signals and multiple second-level signals are output at intervals to form pulse signals.

[0079] In one specific embodiment, the elevator main control system acquires the absolute position information of the shaft corresponding to the change in the level signal output by the photoelectric sensor when the elevator is running. This includes, when the elevator is running in the upward direction, acquiring multiple absolute position information of the ascending shaft corresponding to each change moment from the first level signal to the second level signal and from the second level signal to the first level signal; and when the elevator is running in the downward direction, acquiring multiple absolute position information of the descending shaft corresponding to each change moment from the second level signal to the first level signal and from the first level signal to the second level signal.

[0080] In the absence of specific limitations on the first level signal and the second level signal, when the elevator is moving upward, the elevator control system can acquire multiple absolute position information of the ascending shaft from bottom to top at each change moment from the first level signal to the second level signal, and can also acquire multiple absolute position information of the ascending shaft from bottom to top at each change moment from the second level signal to the first level signal.

[0081] When the elevator is descending, the elevator control system can acquire multiple absolute position information of the descending shaft from top to bottom at each change moment from the first level signal to the second level signal, and can also acquire multiple absolute position information of the descending shaft from top to bottom at each change moment from the second level signal to the first level signal.

[0082] This solution is applicable to obtaining the absolute position information of the elevator shaft based on pulse signals corresponding to different voltage levels. Furthermore, obtaining this absolute position information includes, but is not limited to, acquisition via an elevator shaft absolute position detection system. No limitations are imposed on the different voltage levels or the method of acquiring the absolute position information.

[0083] In one specific embodiment, the first level signal is high level and the second level signal is low level; in other possible embodiments, as long as there is a difference between the first level signal and the second level signal, no specific limitation is made here.

[0084] For example, when the first level signal is high and the second level signal is low, multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the first level signal to the second level signal are acquired using the falling edge of the pulse signal, and recorded as the absolute shaft position information of the elevator during the upward process; and multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the second level signal to the first level signal are acquired using the rising edge of the pulse signal, and recorded as the absolute shaft position information of the elevator during the downward process.

[0085] When the first level signal is low and the second level signal is high, the rising edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the second level signal to the first level signal, and these positions are recorded as the elevator's ascending shaft absolute position information during the upward process; the falling edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the first level signal to the second level signal, and these positions are recorded as the elevator's descending shaft absolute position information during the downward process.

[0086] During the entire one-way operation of the elevator, the photoelectric sensor will output a series of pulse signals, i.e., level signals. These pulse signals include a first level signal, a second level signal, and the time when the level signals change. That is, the pulse signals include rising edges and falling edges. The pulse signals are transmitted to the elevator main control system in real time through the communication bus.

[0087] The elevator's unidirectional movement can be either upward or downward. Based on the elevator's direction of travel and the corresponding rising or falling edge signals, the elevator control system acquires multiple absolute position information of the ascending shaft or multiple absolute position information of the descending shaft at each moment of change.

[0088] Step S430: Determine the elevator leveling number based on the number of changes in the level signal, and associate the acquired absolute position information of the shaft with the elevator leveling number to form the elevator leveling position data.

[0089] Since elevators typically have multiple leveling positions during their ascent and descent, it is necessary to number these positions when determining their data. This ensures a one-to-one correspondence between the absolute position information of the shaft and the elevator leveling number, preventing confusion regarding elevator leveling positions. The leveling number can be increased or decreased sequentially as the number of floors the elevator stops at increases. The specific settings are adjusted based on the actual application. In this solution, the elevator leveling number is determined by the number of changes in the electrical signal level, achieving accurate learning of the elevator leveling position.

[0090] Furthermore, the method for associating the absolute position information of the shaft obtained in step S430 with the elevator leveling number to form the elevator leveling position data is as follows: during the elevator's ascent, multiple absolute position information of the ascending shaft is associated with multiple leveling numbers from small to large corresponding to multiple changing times to form multiple elevator leveling position data from small to large.

[0091] During the elevator descent, multiple absolute position information of the descent shafts are associated with multiple floor numbers from largest to smallest corresponding to multiple changing times, forming multiple elevator floor position data from largest to smallest.

[0092] Through the above steps, photoelectric sensors are installed on the surface of the elevator car door sill. When the photoelectric sensors acquire the distance between themselves and the hall sill and the wall, they generate an electrical signal. During the unidirectional operation of the elevator, when the electrical signal generated by the photoelectric sensors changes, multiple absolute position information of the shaft is collected, and / or the elevator shaft absolute position detection system is controlled to collect multiple absolute position information of the shaft. At the same time, the multiple absolute position information of the shaft is associated with multiple elevator leveling numbers corresponding to the time when the electrical signal changes, forming elevator leveling position data, thereby achieving efficient self-learning of leveling position.

[0093] After achieving self-learning of the elevator's leveling position data, the leveling position data can be further calibrated to obtain more accurate elevator leveling position information. Specifically, after generating the elevator's leveling position data, the vertical height distance between the transmitter of the photoelectric sensor and the car door sill is obtained. At multiple moments when the voltage level changes, the leveling position data is calibrated based on the height distance to obtain the elevator's leveling position information.

[0094] In some embodiments, at multiple moments when the level signal changes, the leveling position data is calibrated based on the height distance to obtain the elevator's leveling position information. This includes: acquiring the upward / downward delay distance of the elevator during a preset upward / downward delay time during the elevator's one-way operation; the preset upward / downward delay time is the delay time for signal processing by the elevator's main control system during the elevator's upward / downward movement; and calibrating the leveling position data sequentially based on the upward / downward delay distance and the height distance to obtain the elevator's leveling position information.

[0095] Taking the elevator's upward direction as an example, during the elevator's upward movement, the difference between the height distance and the upward delay distance is calculated to obtain the distance difference. Based on the ratio between the distance difference and the preset resolution in the elevator shaft absolute position detection system, the upward calibration value is obtained. The preset resolution is used to represent the minimum position change that the elevator shaft absolute position detection system can identify. Based on the sum of the upward calibration value and the upward shaft absolute position information, the leveling position data corresponding to multiple leveling numbers from small to large are calibrated sequentially to obtain multiple leveling position information of the elevator.

[0096] During the elevator's ascent, when the signal output by the photoelectric sensor changes, the elevator shaft absolute position detection system collects multiple absolute position information of the elevator car door sill from bottom to top. This absolute position information is associated with the leveling number from smallest to largest. However, since the currently collected absolute position information corresponds to the position information when the level signal output by the photoelectric sensor changes, it is necessary to consider the vertical height distance between the photoelectric sensor and the car door sill. That is, the sum of the currently collected absolute position information and the height distance is used as the leveling position information of the current elevator position.

[0097] Furthermore, due to signal transmission delays between the elevator main control system, photoelectric sensors, and the elevator shaft absolute position detection system, this signal delay must be considered when determining the elevator's leveling position information. During the elevator's upward movement, when the elevator main control system receives the collected absolute position information of the rising shaft, the actual position of the elevator car door sill will be higher than the received absolute position information due to signal delay. Therefore, while considering the height distance of the photoelectric sensors, the upward delay distance caused by the delay time needs to be subtracted to obtain accurate elevator leveling position information. This upward delay distance is determined by the product of the preset upward delay time and the elevator's running speed during leveling position self-learning.

[0098] In some embodiments, taking the elevator's direction of travel as downward as an example, during the elevator's descent, the leveling position data is calibrated sequentially based on the upward / downward delay distance and height distance to obtain the elevator's leveling position information. This also includes: calculating the sum of the downward delay distance and height distance to obtain a distance sum; obtaining a downward calibration value based on the ratio between the distance sum and a preset resolution in the elevator shaft absolute position detection system; and calibrating the leveling position data corresponding to multiple leveling numbers from largest to smallest sequentially based on the sum of the downward calibration value and the descending shaft absolute position information to obtain multiple leveling position information for the elevator.

[0099] When the elevator is running in the downward direction, the influence of signal delay and the height setting of the photoelectric sensor on the elevator's leveling position information is taken into account. The absolute position information of the elevator shaft collected by the elevator shaft absolute position detection system at the moment of signal change is calibrated by the vertical height distance between the transmitter of the photoelectric sensor and the car door sill, as well as the downward delay distance during the elevator's upward movement.

[0100] During the elevator's descent, when the signal output by the photoelectric sensor changes, the elevator shaft absolute position detection system collects multiple leveling position data from top to bottom of the elevator car door sill. However, since the leveling position data collected is based on the position information under the condition that the photoelectric sensor's output signal changes, it is necessary to consider the vertical height distance between the photoelectric sensor and the car door sill. That is, the sum of the currently collected leveling position data and the height distance is used as the leveling position information of the corresponding position of the elevator.

[0101] Furthermore, due to signal transmission delays between the elevator main control system, photoelectric sensors, and the elevator shaft absolute position detection system, this signal delay must be considered when determining the elevator's leveling position. During the elevator's descent, when the elevator main control system receives the collected leveling position data, the signal delay causes the actual position of the elevator car door sill to be lower than the received leveling position data. Therefore, in addition to considering the height distance of the photoelectric sensors, the descent delay distance must be added to obtain accurate elevator leveling position information. This descent delay distance is determined by the product of the preset descent delay time and the elevator's running speed during leveling position self-learning.

[0102] The present embodiment will be described and explained below through specific examples.

[0103] refer to Figure 2 and Figure 3 In the elevator, the car 1, photoelectric sensor 2, and car door sill 3 form a moving elevator system. During the entire process of the elevator running from the bottom of the shaft to the top floor or from the top floor to the bottom floor, the photoelectric sensor will continuously emit a detection beam to detect the distance s between itself and the object being measured (hall door sill 4 or wall 5), and output the result in real time whether s is greater than the above detection threshold distance L.

[0104] Preferably, taking a first-level signal as high and a second-level signal as low as an example, Figure 5 This is a schematic diagram illustrating the principle of the photoelectric sensor outputting a high level according to this specific embodiment. (Refer to...) Figure 5When the elevator passes through the door zone, the transmitter of the photoelectric sensor 2, which is in the same vertical direction as the car door sill 3, detects that the horizontal distance between it and the hall door sill 4 is less than or equal to L, and outputs a high level. Figure 6 This is a schematic diagram illustrating the principle of the photoelectric sensor outputting a low level according to this specific embodiment. (Refer to...) Figure 6 When the elevator leaves the door zone, the transmitter of the photoelectric sensor 2, which is in the same vertical direction as the car door sill 3, detects that the distance between it and the wall 5 is greater than L, and outputs a low level. At this time, the transmitter of the photoelectric sensor cannot detect the hall door sill 4.

[0105] The wall here specifically refers to the shaft wall facing the car entrance. It is the inner wall of the elevator shaft, located behind the hall door, corresponding to the car door sill and the hall door sill, and is part of the shaft enclosure structure of the car entrance area.

[0106] As can be seen, during the entire operation of the elevator, the photoelectric sensor 2 will output a series of pulse signals. These pulse signals have rising and falling edges. At the same time, the pulse signals are transmitted to the elevator main control board in real time through the communication bus. The elevator main control board here is the elevator main control system of the elevator in the aforementioned embodiment.

[0107] Figure 7 This is a schematic diagram of the photoelectric sensor arrangement and signal output provided in this specific embodiment. (Reference) Figure 7 There are N leveling positions during the elevator's ascent or descent. The elevator car 1 is located within the shaft, and a car door sill 3 is installed at the bottom of the elevator car 1. A photoelectric sensor 2 is installed on the upper surface of the car door sill 3. The elevator car 1 has one upper limit position and one lower limit position within the elevator shaft, and a landing door sill 4 is installed at each leveling position on the elevator shaft wall. The elevator shaft wall excluding the landing door sill 4 is a wall 5.

[0108] During the elevator's ascent / descent to learn its leveling position, the photoelectric sensor 2 continuously emits a detection beam. Depending on whether the detected object is the landing sill 4 or the wall 5, it outputs a high or low level signal, forming a series of level signals (pulse signals). These pulse signals have rising and falling edges and are transmitted in real-time to the elevator main control board via the communication bus.

[0109] Preferred, Figure 8 This is a flowchart of the automatic calibration of the leveling position of the elevator during upward movement, provided in this preferred embodiment. (Refer to...) Figure 8 The method for calibrating the elevator's leveling position during the elevator's upward movement is as follows: steps S1 to S6.

[0110] Step S1: The elevator stops at the lower limit position.

[0111] Step S2: Shaft position calibration begins; the elevator starts at a settable self-learning speed. Run upwards.

[0112] Step S3: During the elevator's journey from the bottom floor to the top floor, whenever the photoelectric sensor emits a falling edge of a pulse (from high level to low level), the elevator main control system simultaneously records the data value of the absolute position device corresponding to that point. This is equivalent to multiple bottom-to-top leveling position data obtained by associating multiple bottom-to-top absolute position information of the ascending shaft with the leveling number, as described in the aforementioned embodiment. .

[0113] Step S4, for Data calibration: The total height H (adjustable) between the photoelectric sensor transmitter and the car sill needs to be added, then the distance D traveled by the elevator during the main control data transmission system response delay time needs to be subtracted to obtain the calibration value of the elevator's leveling position. ... The car sill here is the same as the car door sill in the aforementioned embodiment.

[0114] in, ; The elevator's self-learning operating speed for different floors. X represents the system delay time; X (mm / subdivision cell) represents the resolution of the elevator shaft absolute position detection system.

[0115] During the elevator's upward self-learning process, in the signal acquisition delay phase following the falling edge of the pulse emitted by the photoelectric sensor (i.e., the level falling edge trigger), there is a gradual decrease in the relative distance between the car door sill and the landing door sill. Therefore, it is necessary to add the total height H between the photoelectric sensor transmitter and the car sill and subtract the upward delay distance. Hence, the upward calibration value A1 = a1 + (HD) / X, ..., A n =a n +(HD) / X.

[0116] Step S5, obtain the calibration value The values ​​are stored in the memory of the elevator main board, respectively, corresponding to the floor position information from bottom to top of the 1st floor, 2nd floor, ..., N-1th floor and Nth floor.

[0117] Step S6: Complete the self-learning of the upper level and automatically exit the program.

[0118] In another preferred embodiment, Figure 9 This is a flowchart illustrating the automatic calibration of the leveling position during elevator descent, provided in this preferred embodiment. (Reference) Figure 9 The method for calibrating the elevator leveling position during the elevator's downward movement is as follows: steps S11 to S16.

[0119] Step S11: The elevator car stops at the upper limit position.

[0120] Step S12: Shaft position calibration begins; the elevator starts at a settable self-learning speed V. 自学习 Run downwards.

[0121] Step S13: During the elevator's journey from the top floor to the bottom floor, whenever the photoelectric sensor emits a rising edge of a pulse (i.e., during the transition from low to high level), the elevator main control system simultaneously records the data value of the absolute position device corresponding to that point. This is equivalent to multiple top-to-bottom leveling position data obtained by associating multiple top-to-bottom descending shaft absolute position information with the leveling number, as described in the aforementioned embodiment. .

[0122] Step S14, for Data calibration: The total height H (adjustable) between the photoelectric sensor transmitter and the car sill needs to be added, along with the elevator travel distance D within the main control data transmission system response delay time, to obtain the calibration value for the elevator's leveling position. ... .

[0123] in, ; The elevator's self-learning operating speed for different floors. X represents the system delay time; X (mm / subdivision unit) represents the resolution of the elevator shaft absolute position detection system. The car sill here refers to the car door sill in the aforementioned embodiment.

[0124] During the elevator's descent self-learning process, in the signal acquisition delay phase following the rising edge of the pulse emitted by the photoelectric sensor (i.e., the level rising edge trigger), there is a gradually increasing opposing movement between the car door sill and the landing door sill. Therefore, it is necessary to add the total height H between the photoelectric sensor transmitter and the car sill, plus the descent delay distance, to obtain the descent calibration value A. n =a n +(H+D) / X,…,A1=a1+(H+D) / X.

[0125] Step S15, obtain the calibration value The values ​​are stored in the memory of the elevator main board, respectively, corresponding to the Nth floor, N-1th floor, ..., 2nd floor, and 1st floor, multiple floor position information from top to bottom.

[0126] Step S16: Complete the self-learning of the lower level and automatically exit the program.

[0127] The above method can complete floor self-learning through either upward or downward self-learning modes, allowing users to choose the most suitable method. The upward floor position self-learning mode uses the falling edge of a pulse signal for data acquisition; the downward floor position self-learning mode uses the rising edge of a pulse signal for data acquisition. Both methods are suitable for vertical transportation applications such as passenger elevators, freight elevators, and villa elevators based on absolute position systems. Before automatic measurement, only the height parameters of the photoelectric sensor need to be set. After one elevator run from top to bottom or bottom to top, the accurate leveling position of each floor can be obtained in a short time. This method is practical, simple, and convenient, facilitating the widespread application of absolute position in elevator shafts and improving the efficiency of elevator leveling position learning.

[0128] It should be noted that the steps shown in the above process or in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions.

[0129] This embodiment also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0130] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0131] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0132] S1, during the one-way operation of the elevator, a photoelectric sensor emits a detection beam to detect the horizontal distance between the elevator car and the object being measured. Based on the detected horizontal distance between the elevator car and the object being measured, the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the elevator main control system. The object being measured includes the lobby sill or the shaft wall between the upper and lower lobbies.

[0133] S2, the elevator main control system acquires the absolute position information of the shaft corresponding to the change in the level signal output by the photoelectric sensor when the elevator is running. This absolute position information of the shaft is acquired by the elevator shaft absolute position detection system.

[0134] S3 determines the elevator leveling number based on the number of changes in the level signal, and associates the acquired absolute position information of the shaft with the elevator leveling number to form the elevator leveling position data.

[0135] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0136] Furthermore, in conjunction with the elevator leveling position calibration method provided in the above embodiments, this embodiment can also provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any one of the elevator leveling position calibration methods in the above embodiments.

[0137] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0138] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0139] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A self-learning method for elevator leveling position, characterized in that, The method is applied to the elevator main control system; the method includes: During the one-way operation of the elevator, a photoelectric sensor emits a detection beam to detect the horizontal distance between the elevator car and the object being measured. Based on the detected horizontal distance between the elevator car and the object being measured, the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the elevator main control system. The object being measured includes the lobby sill or the shaft wall between the upper and lower lobbies. The elevator main control system acquires the absolute position information of the shaft when the elevator runs to the point where the level signal output by the photoelectric sensor changes; the absolute position information of the shaft is acquired by the elevator shaft absolute position detection system. The elevator leveling number is determined based on the number of changes in the level signal, and the obtained absolute position information of the shaft is associated with the elevator leveling number to form the elevator leveling position data.

2. The elevator leveling position self-learning method according to claim 1, characterized in that, During the one-way operation of the elevator, a photoelectric sensor emits a detection beam to detect the horizontal distance between the elevator car and the object being measured. Based on the detected horizontal distance between the elevator car and the object being measured, the photoelectric sensor outputs a level signal corresponding to the horizontal distance to the elevator main control system. The object being measured includes the lobby sill or the shaft wall between the upper and lower lobbies. The elevator main control system acquires the absolute position information of the shaft corresponding to the change in the level signal output by the photoelectric sensor when the elevator is running, including: During the one-way operation of the elevator, the photoelectric sensor continuously emits a horizontal beam of light to detect the horizontal distance between the elevator car and the object being measured in real time. The photoelectric sensor outputs multiple first-level signals and multiple second-level signals based on the change in horizontal distance; The first level signal / second level signal is a level signal generated after the beam emitted by the photoelectric sensor detects the horizontal distance between the car and the object being measured, and it is determined that the horizontal distance between the transmitting end of the photoelectric sensor and the object being measured does not exceed / exceeds a preset detection distance threshold; the preset detection distance threshold is used to calibrate the horizontal distance between the car door sill and the hall door sill of the elevator in the horizontal direction. At the moment when a signal change occurs between the first level signal and the second level signal, multiple absolute position information of the wellbore, collected by the wellbore absolute position detection system, is acquired at the moment of change.

3. The elevator leveling position self-learning method according to claim 2, characterized in that, The elevator main control system acquires the absolute position information of the shaft corresponding to the change in the level signal output by the photoelectric sensor when the elevator is running, including: When the elevator is running in an upward direction, acquire multiple absolute position information of the ascending shaft from bottom to top at each change moment from the first level signal to the second level signal / from the second level signal to the first level signal; When the elevator is running in the downward direction, acquire multiple absolute position information of the descending shaft from top to bottom at each change moment from the second level signal to the first level signal / from the first level signal to the second level signal.

4. The elevator leveling position self-learning method according to claim 2, characterized in that, The step of acquiring multiple absolute position information of the wellbore, collected by the wellbore absolute position detection system, at the moment when a signal change occurs between the first level signal and the second level signal, includes: Multiple first-level signals and multiple second-level signals are output at intervals to form a pulse signal; When the first level signal is high and the second level signal is low, the falling edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the first level signal to the second level signal, and these positions are recorded as the elevator's ascending shaft absolute position information during the upward process; the rising edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the second level signal to the first level signal, and these positions are recorded as the elevator's descending shaft absolute position information during the downward process. When the first level signal is low and the second level signal is high, the rising edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the second level signal to the first level signal, and these positions are recorded as the elevator's ascending shaft absolute position information during the upward process; the falling edge of the pulse signal is used to acquire multiple absolute shaft positions corresponding to the moment when the pulse signal changes from the first level signal to the second level signal, and these positions are recorded as the elevator's descending shaft absolute position information during the downward process.

5. The elevator leveling position self-learning method according to claim 4, characterized in that, The step of associating the acquired absolute position information of the shaft with the elevator leveling number to form elevator leveling position data includes: The absolute position information of the rising shaft is associated with multiple floor numbers from small to large corresponding to the time of change, forming multiple elevator floor position data from small to large. The absolute position information of the descending shaft is associated with multiple leveling numbers from largest to smallest corresponding to the time of change, forming multiple elevator leveling position data from largest to smallest.

6. The elevator leveling position self-learning method according to any one of claims 1 to 5, characterized in that, After generating the elevator's leveling position data, the following is included: Obtain the vertical height distance between the transmitter of the photoelectric sensor and the car door sill; At multiple moments when the level signal changes, the leveling position data is calibrated based on the height distance to obtain the elevator's leveling position information.

7. The elevator leveling position self-learning method according to claim 6, characterized in that, The step of calibrating the leveling position data based on the height distance at multiple moments when the level signal changes, to obtain the elevator's leveling position information, includes: The system obtains the upward / downward delay distance of the elevator during the unidirectional operation of the elevator within a preset upward / downward delay time; the preset upward / downward delay time is the signal processing delay time of the elevator main control system during the upward / downward movement of the elevator. Based on the up / down delay distance and height distance, the leveling position data is calibrated sequentially to obtain the elevator's leveling position information.

8. The elevator leveling position self-learning method according to claim 7, characterized in that, The step of calibrating the leveling position data sequentially based on the up / down delay distance and height distance to obtain the elevator's leveling position information includes: The difference between the height distance and the uplink delay distance is calculated to obtain the distance difference; the ratio between the distance difference and the preset resolution in the elevator shaft absolute position detection system is used to obtain the uplink calibration value; the preset resolution is used to represent the minimum position change that the elevator shaft absolute position detection system can identify. Based on the sum of the upward calibration value and the absolute position information of the rising shaft, the leveling position data corresponding to multiple leveling numbers from small to large are calibrated in sequence to obtain multiple leveling position information of the elevator. Alternatively, calculate the sum of the downlink delay distance and the altitude distance to obtain the distance sum; The downlink calibration value is obtained based on the ratio between the distance and the preset resolution in the elevator shaft absolute position detection system. Based on the sum of the downward calibration value and the absolute position information of the descending shaft, the leveling position data corresponding to multiple leveling numbers from large to small are calibrated sequentially to obtain multiple leveling position information of the elevator.

9. A self-learning device for elevator leveling position, characterized in that, The device includes: an elevator main control system, a photoelectric sensor, and an elevator shaft absolute position detection system; The elevator main control system is connected to the photoelectric sensor and the elevator shaft absolute position detection system via a communication bus. The photoelectric sensor is fixed to the surface of the elevator car door sill and is used to emit a horizontal beam of light towards the elevator hall door / shaft wall, and to acquire the horizontal distance between the emitting end of the photoelectric sensor and the object detected by the horizontal beam; based on the horizontal distance, it outputs a level signal corresponding to the horizontal distance to the elevator main control system; the object being measured includes the hall sill or the shaft wall between the upper and lower halls; The elevator shaft absolute position detection system is used to acquire and output the elevator shaft absolute position information to the elevator main control system. The elevator main control system is used to execute the elevator leveling position self-learning method as described in any one of claims 1 to 8.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the elevator leveling position self-learning method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the elevator leveling position self-learning method as described in any one of claims 1 to 8.

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