CN116630290A

CN116630290A - Elevator shaft spline detection method, elevator shaft spline detection device, computer equipment and storage medium

Info

Publication number: CN116630290A
Application number: CN202310665169.8A
Authority: CN
Inventors: 萧粤柏; 彭焯贤; 王红; 刘闯; 梁杰泳
Original assignee: Hitachi Elevator China Co Ltd
Current assignee: Hitachi Elevator China Co Ltd
Priority date: 2023-06-06
Filing date: 2023-06-06
Publication date: 2023-08-22

Abstract

The application relates to a method, a device, computer equipment and a storage medium for detecting a hoistway sample line. When the movement of the elevator installation equipment is detected, the updated first visual field range information, the initial first position information and the initial second position information acquired by the first image acquisition equipment are input into a position correction model, the position correction model is acquired to iteratively update the updated first position information and the updated second position information corresponding to the sample line to be detected, the output target first position information and the target second position information are output, and the position information of the sample line to be detected after the movement is determined. Compared with the traditional sample line detection through a specific sensor, the sample line detection method and device based on the image sensor has the advantages that through the arrangement of two image acquisition devices, the sample line position is corrected through information interaction in the moving process of the elevator installation device, and the accuracy of sample line position detection is improved.

Description

Elevator shaft spline detection method, elevator shaft spline detection device, computer equipment and storage medium

Technical Field

The application relates to the technical field of elevator installation, in particular to an elevator hoistway spline detection method, an elevator hoistway spline detection device, computer equipment, a storage medium and a computer program product.

Background

With the development of industrial technology, elevators have been the requisite tools to shuttle between tall buildings. In the case of elevator installation, the installation position needs to be determined with reference to a spline line arranged in an elevator hoistway, however, the installation device has a certain range of movement with respect to the position value of the reference spline line every time the installation device is stopped in the hoistway when it is lifted in the hoistway. Therefore, when the elevator is installed, the position of the sample line needs to be determined in the process of changing the position of the installation device so as to ensure the normal installation of the elevator. Current methods of detecting a sample line are typically performed by a specific sensor product. However, detection by the sensor product is narrow in detection range, resulting in a decrease in detection accuracy.

Therefore, the current sample line detection method of the elevator shaft has the defect of low accuracy.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a hoistway spline detection method, apparatus, computer device, computer-readable storage medium, and computer program product that can improve detection accuracy.

In a first aspect, the present application provides a method for detecting a hoistway spline, the method comprising:

Acquiring initial first visual field range information acquired by a first image acquisition device at an initial position for a sample line to be detected, and initial second visual field range information acquired by a second image acquisition device at the initial position for the sample line to be detected; the initial position represents the initial position of the elevator installation equipment;

acquiring initial first position information of the sample line to be detected in the initial first visual field range information and initial second position information of the sample line to be detected in the initial second visual field range information;

detecting movement information of the elevator installation equipment, and acquiring updated first visual field range information acquired by the first image acquisition equipment; the updated first visual field range information characterizes visual field range information acquired by the position of the first image acquisition equipment after the elevator installation equipment moves aiming at the sample line to be detected;

and inputting the updated first visual field range information, the initial first position information and the initial second position information into a position correction model, acquiring updated first position information corresponding to the sample line to be detected and updated second position information corresponding to the sample line to be detected by the position correction model, outputting target first position information and target second position information, and determining the position information of the sample line to be detected after movement according to the target first position information and the target second position information.

In one embodiment, the first image acquisition device is arranged orthogonally to the second image acquisition device;

the acquiring the initial first visual field range information acquired by the first image acquisition device at the initial position for the sample line to be detected and the initial second visual field range information acquired by the second image acquisition device at the initial position for the sample line to be detected comprises the following steps:

acquiring an initial first distance between a first image acquisition device and the sample line to be detected at the initial position, and acquiring a first device view angle corresponding to the first image acquisition device;

determining the initial first field of view range information according to the initial first distance and the first device field of view angle;

acquiring an initial second distance between a second image acquisition device and the sample line to be detected at the initial position, and acquiring a second device view angle corresponding to the second image acquisition device;

and determining the initial second visual field range information according to the initial second distance and the second device visual field angle.

In one embodiment, the determining the initial first field of view range information according to the initial first distance and the first device field of view angle includes:

Obtaining an initial first view wide amplitude value of the first image acquisition device according to the product of the initial first distance and the view angle of the first device;

determining the initial first visual field range information according to the initial first visual field wide value;

the determining the initial second field of view range information according to the initial second distance and the second device field of view angle includes:

obtaining an initial second view wide amplitude value of the second image acquisition equipment according to the product of the initial second distance and the view angle of the second equipment;

and determining the initial second visual field range information according to the initial second visual field width value.

In one embodiment, the obtaining initial first position information of the sample line to be detected in the initial first field of view range information and initial second position information of the sample line to be detected in the initial second field of view range information includes:

according to the initial first visual field range information and the initial second visual field range information, acquiring an initial first visual field wide pixel value and an initial second visual field wide pixel value respectively; the initial first view wide pixel value and the initial second view wide pixel value respectively represent the number of pixels corresponding to the initial first view wide value and the number of pixels corresponding to the initial second view wide value;

Acquiring initial first pixel coordinates of the sample line to be detected in the initial first visual field range information;

determining the initial first position information according to the initial first pixel coordinates, the initial first view wide value and the initial first view wide pixel value;

acquiring initial second pixel coordinates of the sample line to be detected in the initial second visual field range information;

and determining the initial second position information according to the initial second pixel coordinates, the initial second field wide value and the initial second field wide pixel value.

In one embodiment, the inputting the updated first field of view information, the initial first location information, and the initial second location information into a location correction model includes:

inputting the updated first visual field range information, the initial first position information and the initial second position information into a position correction model, and acquiring updated first position information of the sample line to be detected in the updated first visual field range information by the position correction model;

determining an updated second distance according to the updated first position information, the initial first position information and the initial second distance; determining an updated second field of view wide value according to the updated second distance and a second device field of view angle of the second image acquisition device;

Acquiring updated second pixel coordinates of the sample line to be detected in updated second visual field range information, and determining updated second position information according to the updated second pixel coordinates, the updated second visual field width values and corresponding updated second visual field width pixel values;

determining an updated first distance according to the updated second position information, the initial second position information and the initial first distance; determining an updated first field of view wide value according to the updated first distance and a first device field of view angle of the first image acquisition device;

acquiring updated first pixel coordinates of the sample line to be detected in the updated first visual field range information, and determining new updated first position information according to the updated first pixel coordinates, the updated first visual field width values and corresponding updated first visual field width pixel values;

and returning to the step of determining an updated second distance based on the updated first position information, the initial first position information and the initial second distance until the updated first position information and the updated second position information converge, and outputting target first position information and target second position information.

In one embodiment, the obtaining updated first position information of the sample line to be detected in the updated first field of view range information includes:

acquiring updated first pixel coordinates of the sample line to be detected in the updated first visual field range information;

and determining the updated first position information according to the updated first pixel coordinates, the initial first view wide value and the corresponding initial first view wide pixel value.

In one embodiment, the determining the updated second distance according to the updated first location information, the initial first location information, and the initial second distance includes:

acquiring a first difference value between the updated first position information and the initial first position information, and determining an updated second distance according to a sum of the first difference value and the initial second distance;

determining an updated first distance from the updated second location information, the initial second location information, and the initial first distance, comprising:

and acquiring a second difference value between the updated second position information and the initial second position information, and determining an updated first distance according to the sum of the second difference value and the initial first distance.

In a second aspect, the present application provides an elevator hoistway spline detection device, the device comprising:

the first acquisition module is used for acquiring initial first visual field range information acquired by the first image acquisition equipment aiming at the sample line to be detected at an initial position and initial second visual field range information acquired by the second image acquisition equipment aiming at the sample line to be detected at the initial position; the initial position represents the initial position of the elevator installation equipment;

the second acquisition module is used for acquiring initial first position information of the sample line to be detected in the initial first visual field range information and initial second position information of the sample line to be detected in the initial second visual field range information;

the detection module is used for detecting the movement information of the elevator installation equipment and acquiring updated first visual field range information acquired by the first image acquisition equipment; the updated first visual field range information characterizes visual field range information acquired by the position of the first image acquisition equipment after the elevator installation equipment moves aiming at the sample line to be detected;

the determining module is configured to input the updated first field of view information, the initial first position information and the initial second position information into a position correction model, obtain updated first position information corresponding to the sample line to be detected and updated second position information corresponding to the sample line to be detected, output target first position information and target second position information, and determine the position information of the sample line to be detected after moving according to the target first position information and the target second position information.

In a third aspect, the present application provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when the processor executes the computer program.

In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method described above.

In a fifth aspect, the application provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method described above.

According to the elevator hoistway sample line detection method, the elevator hoistway sample line detection device, the elevator hoistway sample line detection computer device, the storage medium and the computer program product, through obtaining initial first position information of the sample line to be detected in initial first visual field range information collected by the first image collection device and initial second position information in initial second visual field range information, when the elevator installation device is detected to move, obtaining updated first visual field range information collected by the first image collection device, inputting the updated first visual field range information, the initial first position information and the initial second position information into the position correction model, obtaining the position correction model, iteratively updating the updated first position information and the updated second position information corresponding to the sample line to be detected, outputting target first position information and target second position information, and determining the position information of the sample line to be detected after the movement. Compared with the traditional sample line detection through a specific sensor, the sample line detection method and device based on the image sensor has the advantages that through the arrangement of two image acquisition devices, the sample line position is corrected through information interaction in the moving process of the elevator installation device, and the accuracy of sample line position detection is improved.

Drawings

Fig. 1 is an application environment diagram of an elevator hoistway pattern detection method in one embodiment;

fig. 2 is a flow chart of a method of hoistway pattern detection in one embodiment;

FIG. 3 is a schematic diagram of an image capture device deployment step in one embodiment;

FIG. 4 is a flow chart of an iterative update step in one embodiment;

fig. 5 is a flow chart of a method of hoistway pattern detection in another embodiment;

fig. 6 is a block diagram of a hoistway pattern detection device in one embodiment;

fig. 7 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The elevator hoistway sample line detection method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. In which fig. 1 a is a front view of the elevator installation and fig. 1 b is a top view of the elevator installation. The terminal 102 communicates with the image capture device 104 via a network. The image capture device 104 is mounted on an elevator mounting device. The terminal 102 may acquire data related to the sampling of the image acquisition device for the sampling lines and make a determination of the sampling line location based on the data. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, and tablet computers.

In one embodiment, as shown in fig. 2, there is provided a method for detecting a hoistway sample line, which is described by taking an example that the method is applied to a terminal in fig. 1, and includes the following steps:

step S202, acquiring initial first visual field range information acquired by a first image acquisition device at an initial position for a sample line to be detected, and initial second visual field range information acquired by a second image acquisition device at the initial position for the sample line to be detected; the initial position characterizes the initial position of the elevator installation.

Wherein the sample line to be detected may be a sample line in an elevator hoistway, the sample line arranged in the elevator hoistway may be used for determining an elevator installation position. The first image capturing device and the second image capturing device may both be provided on the elevator installation device, for example, as shown in fig. 1, the first image capturing device and the second image capturing device may be in a state of being vertically and orthogonally provided. The first image acquisition device and the second image acquisition device can be used for detecting the position of the sample line to be detected. The elevator installation device can be used for installing an elevator in a hoistway, and since the relative position between the elevator installation device and the sample line position can change in the moving and ascending process of the elevator installation device, correction and update of the sample line position are required based on the information acquired by the first image acquisition device and the second image acquisition device for the sample line to be detected.

The terminal can determine initial information of the image acquisition device when the elevator installation device is at an initial position in the hoistway. For example, the terminal may acquire the initial first field-of-view range information acquired by the first image acquisition device for the sample line to be detected at the initial position, and the initial second field-of-view range information acquired by the second image acquisition device for the sample line to be detected at the initial position. The initial position is the position where the elevator installation equipment is initially located; the first visual field range information represents information in a visual field image which can be acquired by the first image acquisition device, and the second visual field range information represents information in a visual field image which can be acquired by the second image acquisition device. The above-mentioned respective visual field range information may include various types of information such as a distance between the image capturing device and the sample line, and a visual field width of the image capturing device.

The elevator installation device can be set to be in a horizontal state after entering a hoistway, the first image acquisition device and the second image acquisition device can be installed in a mode of aligning a sample line to be detected when being installed on the elevator installation device, and the first image acquisition device and the second image acquisition device have set imaging field widths and can be also called field width values; the imaging visual field width of the first image acquisition equipment and the second image acquisition equipment is larger than the fluctuation range between each stopping position of the elevator installation equipment where each image acquisition equipment is positioned in the lifting process in the hoistway; or not to tilt the device such that the reference line is out of view of the first image acquisition device or the second image acquisition device. For example, the first image capturing device and the second image capturing device may each be a camera, the width of the field of view of the first image capturing device is Wx, the width of the field of view of the second image capturing device is Wy, the offset of the position of the elevator installation device with respect to the direction of the first image capturing device is δx, and the offset of the position of the elevator installation device with respect to the direction of the second image capturing device is δy, so that Wx or Wy > δx or δy.

And when the elevator installation equipment is lifted in the well, the elevator installation equipment can incline, the terminal can also measure the inclination angle theta of the elevator installation equipment based on the IMU (Inertial Measurement Unit, the inertial sensor), so that the terminal can adjust the length of the telescopic rod of the elevator installation equipment based on the inclination angle, and the elevator installation equipment is restored to the horizontal position, so that the accuracy of the first image acquisition equipment and the second image acquisition equipment for acquiring the sample line position is improved.

Step S204, obtaining initial first position information of the sample line to be detected in initial first visual field range information and initial second position information of the sample line to be detected in initial second visual field range information.

When the elevator installation device is arranged at the initial position in the elevator hoistway, the terminal can acquire the initial first visual field range information of the first image acquisition device and the initial second visual field range information of the second image acquisition device. In the visual field range information, the terminal can acquire initial first position information and initial second position information of the sample line to be detected. The first visual field range information and the second visual field range information may include a plurality of pixels, the terminal may determine the initial first position information by detecting pixel coordinates of the sample line to be detected in the initial first visual field range information, and may determine the initial second position information by detecting pixel coordinates of the sample line to be detected in the initial second visual field range information.

Step S206, detecting movement information of the elevator installation equipment, and acquiring updated first visual field range information acquired by the first image acquisition equipment; updating the first visual field range information to represent the visual field range information acquired by the position of the first image acquisition equipment after the elevator installation equipment moves aiming at the sample line to be detected.

The elevator installation equipment can be used for installing an elevator in a motor well, and in the elevator installation process, the elevator installation equipment has moving behaviors such as ascending and the like. After the movement of the elevator installation apparatus, the position of the sample line to be detected with respect to the image pickup apparatuses may be changed, and the field of view information of the image pickup apparatuses may also be changed. The terminal can acquire updated first visual field range information acquired by the first image acquisition device when detecting the movement information of the elevator installation device. The updating of the first visual field range information can be performed by the first image acquisition device aiming at the first visual field range information acquired by the sample line to be detected on the position of the elevator installation device after the elevator installation device moves.

The updating of the first field of view information may be derived. For example, after the above-mentioned image pickup apparatuses are initially set in the elevator installation apparatus, the terminal may acquire initial photographing distance and initial field of view range information between the image pickup apparatus and the sample line to be detected, which are obtained by measurement; after the elevator installation is moved, the camera distance and the field of view information will not be measured, but the terminal is deduced from the camera distance, the field of view information and the spline position. For example, the position of the sample line is determined from the pixel information, and other information is derived.

Step S208, the updated first visual field range information, the initial first position information and the initial second position information are input into a position correction model, the position correction model is obtained to iteratively update the updated first position information corresponding to the sample line to be detected and the updated second position information corresponding to the sample line to be detected, the output target first position information and target second position information are output, and the position information of the sample line to be detected after movement is determined according to the target first position information and the target second position information.

After the elevator installation device moves, the terminal can input the determined updated first visual field range information, the initial first position information and the initial second position information into a position correction model, and the position correction model can iteratively update the updated first position information corresponding to the sample line to be detected and the updated second position information corresponding to the sample line to be detected and output a target first position and a target second position. The position correction model may be obtained by training based on updating first field of view sample information, initial first position sample information, initial second position sample information, and corresponding target first position tag information and target second position tag information, for example, the terminal may obtain the position correction model to be trained, based on updating the first field of view sample information, initial first position sample information, initial second position sample information, output target first position prediction information and target second position prediction information, and based on a comparison result of the target first position prediction information and the target first position tag information, and a comparison result of the target second position prediction information and the target second position tag information, adjust model parameters of the position correction model to be trained until a preset training end condition is satisfied, where the preset training end condition may be that the respective similarity is greater than or equal to a preset similarity threshold, or the number of training times reaches the preset training times.

The position correction model can output a final target first position and a final target second position in an iterative updating mode. For example, the location correction model may determine update first location information based on the update first field of view information, derive update second location information of the second image capturing device based on the update first location information, reversely optimize the update first location information of the first image capturing device based on the update second location information, and the terminal may output the target first location information and the target second location information when a preset condition is satisfied through multiple iterative updating. The preset condition may be that the updating of the first location information and the updating of the second location information reach convergence. Therefore, the terminal can determine the position information of the sample line to be detected after moving according to the output first position information of the target and the output second position information of the target. For example, the terminal can combine the target first position information and the target second position information, and because the first image acquisition device and the second image acquisition device can be arranged in a vertical orthogonal mode, the terminal can obtain the spatial position of the sample line to be detected based on the target first position information and the target second position information, so that when the elevator installation device moves in a hoistway, the position of the sample line is corrected, and an accurate sample line position result is obtained.

According to the elevator hoistway sample line detection method, the initial first position information of the sample line to be detected in the initial first visual field range information acquired by the first image acquisition equipment and the initial second position information in the initial second visual field range information are acquired, when the movement of the elevator installation equipment is detected, the updated first visual field range information acquired by the first image acquisition equipment is acquired, the updated first visual field range information, the initial first position information and the initial second position information are input into the position correction model, the position correction model is acquired, the updated first position information and the updated second position information corresponding to the sample line to be detected are iteratively updated, and then the output target first position information and the target second position information are determined. Compared with the traditional sample line detection through a specific sensor, the sample line detection method and device based on the image sensor has the advantages that through the arrangement of two image acquisition devices, the sample line position is corrected through information interaction in the moving process of the elevator installation device, and the accuracy of sample line position detection is improved.

In one embodiment, acquiring initial first field of view range information acquired by a first image acquisition device at an initial position for a sample line to be detected and initial second field of view range information acquired by a second image acquisition device at an initial position for the sample line to be detected includes: acquiring an initial first distance between a first image acquisition device and a sample line to be detected at an initial position, and acquiring a first device view angle corresponding to the first image acquisition device; determining initial first field of view range information according to the initial first distance and the first device field of view angle; acquiring an initial second distance between the second image acquisition equipment and the sample line to be detected at an initial position, and acquiring a second equipment view angle corresponding to the second image acquisition equipment; and determining initial second visual field range information according to the initial second distance and the second device visual field angle.

In this embodiment, the first image capturing apparatus and the second image capturing apparatus described above may be arranged in an orthogonal manner. For example, the arrangement may be perpendicular. When the elevator installation equipment is at an initial position in the hoistway, the terminal can acquire relevant parameters obtained by measuring the image acquisition equipment and the sample line, and initial first visual field range information and initial second visual field range information are respectively determined based on the relevant parameters. The measured parameters may include an initial first distance between the first image capturing device and the sample line to be detected at an initial position, and a first device view angle corresponding to the first image capturing device. The terminal may acquire the initial first distance and the first device view angle, so that the terminal may determine initial first view range information according to the initial first distance and the first device view angle.

And the measured parameters can also comprise an initial second distance between the second image acquisition device and the sample line to be detected at the initial position and a second device view angle corresponding to the second image acquisition device. The terminal can acquire the initial second distance and the second device view angle, and determine initial second view range information according to the initial second distance and the second device view angle. The initial first distance and the initial second distance respectively represent the photographing distance between the first image acquisition device and the sample line to be detected and the photographing distance between the second image acquisition device and the sample line to be detected in the initial position. The first device view angle and the second device view angle respectively represent an angle of a view range that can be photographed by the first image capturing device and an angle of a view range that can be photographed by the second image capturing device.

Specifically, as shown in fig. 3, fig. 3 is a schematic diagram of an image capturing device deployment step in one embodiment. Wherein X-cam represents the first image acquisition device, Y-cam represents the second image acquisition device, and both the first image acquisition device and the second image acquisition device can be cameras. The initial first distance is denoted as Dis_x0, and the first device field angle is denoted as θ1; the initial second distance is denoted as Dis_y0 and the second device field angle is denoted as θ2; as can be seen from fig. 3, the first image capturing device and the second image capturing device may be arranged in a perpendicular and orthogonal manner, so that the position of the sample line to be detected may be detected from different directions, and thus the spatial position of the sample line to be detected may be detected more accurately.

The terminal can determine the information of each visual field range through a preset function. For example, in one embodiment, the terminal may obtain a product of the initial first distance and the first device field of view angle, and obtain an initial first field of view wide value of the first image capturing device according to the product of the initial first distance and the first device field of view angle. The terminal can determine initial first field of view range information according to the initial first field of view wide value. In addition, the terminal can also obtain the product of the initial second distance and the view angle of the second device, and obtain an initial second view width value of the second image acquisition device according to the product of the initial second distance and the view angle of the second device. The terminal can then determine initial second field of view range information based on the initial second field of view width value.

Specifically, the above-mentioned predetermined function for determining the first view width value and the second view width value may be derived as follows: the camera view width value (Wx) or (Wy) = (distance dis_x or dis_y) × (2×tan ((device view angle θ1 or θ2)/2)) can be obtained by simplifying the above function. Wherein Tan represents orthogonality, when the elevator installation apparatus is at the initial position, dis_x is dis_x0, and dis_y0.

In addition, in some embodiments, the terminal may also determine a device field angle of the first image capturing device and the second image capturing device based on the field width values and the distances described above. The specific function may be as follows: camera characteristic coefficient (k_x) or (k_y): tan (camera view angle) = (initial view amplitude value (Wx 0) or (Wy 0))/(initial photographing distance (dis_x0) or (dis_y0)). I.e. the device field angle, may also be referred to as the camera characteristic coefficient. The camera characteristic coefficient of the first image capturing device is k_x, and the camera characteristic coefficient of the second image capturing device is k_y.

Through the embodiment, the terminal can determine the view field width value of the device at the initial position based on the distance between the image acquisition device and the sample line and the view field angle of the device, so that the terminal can determine the position of the sample line based on the view field width value, and the accuracy of sample line detection is improved.

In one embodiment, obtaining initial first position information of a sample line to be detected in initial first field of view range information and initial second position information of the sample line to be detected in initial second field of view range information includes: respectively acquiring an initial first visual field wide pixel value and an initial second visual field wide pixel value according to the initial first visual field range information and the initial second visual field range information; the initial first view wide pixel value and the initial second view wide pixel value respectively represent the pixel quantity corresponding to the initial first view wide value and the pixel quantity corresponding to the initial second view wide value; acquiring initial first pixel coordinates of a sample line to be detected in initial first visual field range information; determining initial first position information according to the initial first pixel coordinates, the initial first view wide value and the initial first view wide pixel value; acquiring initial second pixel coordinates of the sample line to be detected in initial second visual field range information; and determining initial second position information according to the initial second pixel coordinates, the initial second field wide value and the initial second field wide pixel value.

In this embodiment, the terminal may determine initial position information acquired by each image acquisition device based on the initial field-of-view range information. The terminal may acquire the number of pixels of the field of view corresponding to the initial first field of view width value as the initial first field of view width pixel value, and acquire the number of pixels of the field of view corresponding to the initial second field of view width value as the initial second field of view width pixel value. Therefore, the terminal can acquire the initial first visual field wide pixel value according to the initial first visual field range information, and acquire the initial second visual field wide pixel value according to the initial second visual field range information.

The first field of view range information may include a plurality of pixel information, where each pixel information may be identified as a coordinate, and the terminal may obtain an initial first pixel coordinate of the sample line to be detected in the initial first field of view range information. The terminal can also acquire initial second pixel coordinates of the sample line to be detected in the initial second field of view range information. The terminal can determine initial first position information according to the initial first pixel coordinate, the initial first view wide value and the initial first view wide pixel value; and determining initial second position information according to the initial second pixel coordinates, the initial second field wide value and the initial second field wide value.

Specifically, a specific function of the above-described position information may be as follows: pixel coordinates of (piano_x) or (piano_y) =sample line (field wide value (Wx) or (Wy)/field wide pixel value (w_pixel)). The piano_x represents first position information corresponding to the sample line to be detected by the first image acquisition device, and the piano_y represents second position information corresponding to the sample line to be detected by the second image acquisition device. The terminal can identify the pixel coordinates of the sample line to be detected according to the image acquired by the image acquisition equipment, and then the terminal can convert the pixel coordinates into position coordinates based on the obtained wide-view amplitude value and wide-view pixel value, so that the position information of the sample line to be detected is obtained.

According to the embodiment, the terminal can determine the initial position information of the sample line based on the pixel coordinates of the sample line and the visual field width of the image acquisition equipment, so that the accuracy of detecting the position of the sample line is improved.

In one embodiment, inputting updated first field of view information, initial first location information, and initial second location information into a location correction model includes: inputting the updated first visual field range information, the initial first position information and the initial second position information into a position correction model, and acquiring updated first position information of the sample line to be detected in the updated first visual field range information by the position correction model; determining an updated second distance according to the updated first position information, the initial first position information and the initial second distance; determining an updated second field of view wide value according to the updated second distance and a second device field of view angle of the second image acquisition device; acquiring updated second pixel coordinates of the sample line to be detected in updated second visual field range information, and determining updated second position information according to the updated second pixel coordinates, updated second visual field width values and corresponding updated second visual field width pixel values; determining an updated first distance according to the updated second position information, the initial second position information and the initial first distance; determining an updated first view width value according to the updated first distance and a first device view angle of the first image acquisition device; acquiring updated first pixel coordinates of a sample line to be detected in updated first visual field range information, and determining new updated first position information according to the updated first pixel coordinates, updated first visual field width values and corresponding updated first visual field width pixel values; and returning to the step of determining the updated second distance based on the updated first position information, the initial first position information and the initial second distance until the updated first position information and the updated second position information converge, and outputting the target first position information and the target second position information.

In this embodiment, after the elevator installation device moves in the elevator hoistway and reaches a new position, the position correction model may derive the position information of the sample line to be detected at each image acquisition device based on iterative update. The terminal can update the first visual field range information based on the position of the elevator installation equipment after moving, and updated first visual field range information is obtained. The terminal may determine to update the first field of view range information based on the first distance determined after the last movement and the first field of view angle of the first device in combination with a function of the field of view width value. The terminal may input the updated first field of view range information, the initial first position information, and the initial second position information into a position correction model, and obtain updated first position information of the sample line to be detected in the updated first field of view range information from the position correction model.

The position correction model can determine the updated first position information through the position information determining function. For example, in one embodiment, the terminal may obtain updated first pixel coordinates of the sample line to be detected in the updated first field of view range information, and determine the updated first location information according to the updated first pixel coordinates, the initial first field of view width value, and the corresponding initial first field of view width pixel value. Specifically, the function can be: piano_x=pixel coordinates of the swath x field width value Wx/field width value pixel (w_pixel)).

The updated first location information may be location coordinate information, and the terminal may determine the updated second distance based on the updated first location information, the initial first location information, and the initial second distance. And the terminal may also determine an updated second field of view width value based on the updated second distance and a second device field of view angle of the second image acquisition device. Wherein the position correction model may determine to update the second field of view width value based on a function of the field of view width value. After the position correction model determines to update the second visual field range information, updated second pixel coordinates can be obtained from the updated second visual field range information, namely, after the elevator installation equipment moves, the pixel coordinates of the sample line to be detected in the updated second visual field range information. The terminal may determine updated second location information based on the updated second pixel coordinates, the updated second field of view width value, and the corresponding updated second field of view width pixel value. Wherein the location correction model may derive updated second location information based on the location information determination function.

After determining to update the second location information, the terminal may also reversely adjust the updated first location information based on the updated second location information in the location correction model. For example, the terminal may determine the updated first distance based on the updated second location information, the initial second location information, and the initial first distance. The terminal may also determine, by the location correction model, an updated first field of view width value based on the updated first distance and the first device field of view angle of the first image acquisition device. The determined update distance after the elevator installation equipment moves can be determined through a preset distance update function. The updating of the first view width value may be determined by a position correction model based on a function corresponding to the view width value.

The terminal can acquire updated first pixel coordinates of the sample line to be detected in the updated first visual field range information by the position correction model, and determine new updated first position information according to the updated first pixel coordinates, the updated first visual field width values and the corresponding updated first visual field width pixel values. The new updated first location information may be updated first location information reversely adjusted based on the updated second location information. After the position correction model obtains the new updated first position information, the step of determining the updated second distance based on the updated first position information, the initial first position information and the initial second distance may be returned until the updated first position information and the updated second position information converge, and the target first position information and the target second position information are output. The terminal can carry out loop iteration adjustment on the first position information and the second position information by the position correction model, so as to obtain more accurate position information corresponding to the sample line to be detected.

Specifically, as shown in fig. 4, fig. 4 is a schematic flow chart of an iterative update step in one embodiment. The position correction model can calculate the photographing distance, the wide view range and the position of the sample line through the linkage of the two image acquisition devices. The first image capturing device may be a camera X, and the second image capturing device may be a camera Y. The terminal may previously measure initial distances and view width values corresponding to the cameras X and Y, that is, the above-mentioned initial first distance dis_x0 and initial second distance dis_y0, and initial first view width value Wx0 and initial second view width value Wy0. The terminal may also acquire a characteristic coefficient of the camera X, which may also be referred to as a view angle coefficient, that is, an orthogonal value corresponding to a view angle of the first image capturing device, and acquire a characteristic coefficient of the camera Y, that is, an orthogonal value of a view angle of the second image capturing device, where a specific acquisition function may be as follows: camera characteristic coefficient (k_x) or (k_y): tan (camera view angle) = (initial view amplitude value (Wx 0) or (Wy 0))/(initial photographing distance (dis_x0) or (dis_y0)).

The terminal can determine the first position information of the wire to be detected based on the initial first distance and the initial first width value, and correct the distance value corresponding to the detection sample line of the second image acquisition device based on the first position information of the previous time of the movement after the elevator installation device moves, so as to obtain the updated second distance. Wherein the distance correction may be determined by a preset distance detection function. After the position correction model determines to update the second distance, the updated second field of view width value may be further determined, so that the position correction model may determine the spline position information of the camera Y based on the updated second distance and the updated second field of view width value, that is, update the second position information.

After determining to update the second position information, the terminal may also reversely adjust the first distance and the first view width value of the camera X based on the updated second position information by using the position correction model, so as to obtain new updated first position information. The position correction model may perform the above steps in a loop to iteratively update the first position information and the second position information, thereby outputting the target first position information and the target second position information when the updated first position information and the updated second position information converge.

According to the embodiment, the terminal can circularly update the first position information and the second position information by using the position correction model, so that the spatial position of the sample line to be detected is determined based on the finally output target first position information and target second position information, and the accuracy of sample line position detection is improved.

In one embodiment, determining the updated second distance based on the updated first location information, the initial first location information, and the initial second distance comprises: and acquiring a first difference value between the updated first position information and the initial first position information, and determining an updated second distance according to the sum of the first difference value and the initial second distance.

In this embodiment, after the terminal obtains the updated first location information through the location correction model, the updated second distance may be determined based on a preset distance detection function. For example, the terminal may acquire a first difference value between the updated first location information and the initial first location information, and determine the updated second distance based on a sum of the first difference value and the initial second distance. Specifically, the updated second distance may also be referred to as a camera shooting distance, and may be denoted as dis_y, and the above distance detection function may specifically be as follows: camera shooting distance (dis_y) =initial distance (dis_y0) + (sample line current position value piano_x-sample line initial position value piano_x0).

In addition, in one embodiment, the terminal may further determine the updated first distance based on the updated second location information, the initial second location information, and the initial first distance. For example, the terminal may acquire a second difference value of the updated second location information and the initial second location information, and determine the updated first distance according to a sum of the second difference value and the initial first distance. Specifically, the updated first distance may also be referred to as a camera shooting distance, and may be represented as dis_x, and the above distance detection function may be specifically as follows: camera shooting distance (dis_x) =initial distance (dis_x0) + (sample line current position value piano_y-sample line initial position value piano_y0).

Through the embodiment, the terminal can continuously update the first distance and the second distance in the cyclic iteration updating distance based on the preset distance detection function by the position correction model, so that the accuracy of the position information of the sample line is improved, and the accuracy of the position detection of the sample line is improved.

In one embodiment, as shown in fig. 5, fig. 5 is a schematic flow chart of a method for detecting a hoistway pattern in another embodiment. In the present embodiment, the above-described fixed position deviation or error of the elevator installation apparatus in the x direction may be expressed as δx, and the fixed position deviation or error in the y direction may be expressed as δy. And the sample line size may be Φd. Two cameras, namely the first image acquisition device and the second image acquisition device, can be arranged on the elevator installation device. After the elevator installation device enters the hoistway, the elevator installation device can be set to be in a horizontal state, and the detection camera is aligned to the spline, namely, the image of the spline in the field of view of the camera is taken as a center position, and the initial distance values dis_x0, dis_y0 and the field width values Wx, wy are set. So that the terminal can determine the initial first position information and the initial second position information of the spline.

The terminal can also detect inclination by means of an inductor carried by the elevator installation during its ascent in the hoistway, for example by means of an IMU. The terminal can adjust the tilt state of the elevator installation device by telescoping the left and right support bars until the level is reached or at least not to tilt the device so that the reference line is out of view of the camera. Therefore, the terminal can identify the pixel coordinates of the sample line according to the image acquired by the cameras, and combine the pixel coordinates to enable the two cameras to calculate the visual field width value and the position information of the sample line in a linkage mode. For example, the process of setting the initial value of the width of the field of view through the input camera, setting the position value of the base line, correcting the distance value of the camera, correcting the width of the field of view, and correcting the position of the base line is circularly updated, and finally the position information of the base line to be detected, namely the position information obtained based on the first position information of the target and the second position information of the target, is output.

Specifically, in an application embodiment, the parameters generated by the above loop iteration update location information may be as follows:

as can be seen from the above table, the terminal determines in advance that the camera X detects the first position information corresponding to the sample line to be detected, and determines the second position information based on the first position information. In the first cycle, after the data of the camera X is fed back to the Y camera, the error of the measured data corresponding to the camera Y is-0.8, and after the data of the camera Y is fed back to the X, the error of the measured data is-0.4. After the first circulation of the terminal is performed by the position correction model, the measured values of X and Y are updated once through a feedback mechanism, and when the terminal enters the circulation 2, the error is reduced to 0.1mm, which indicates that the accuracy of the position of the sample line is improved.

Through the above embodiment, the terminal corrects the position of the sample line through information interaction in the moving process of the elevator installation equipment by arranging two image acquisition equipment on the elevator installation equipment, so that the accuracy of detecting the position of the sample line is improved. And the position of the object can still be effectively and accurately detected when the relative position of the image acquisition equipment and the detected object changes. Deviation of installation of the device based on the detection object due to change of the relative position of the image acquisition device and the detection object is avoided.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides an elevator hoistway sample line detection device for realizing the elevator hoistway sample line detection method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitations in the embodiments of the elevator hoistway sample line detection device or devices provided below can be referred to above for the limitations of the elevator hoistway sample line detection method, and will not be repeated here.

In one embodiment, as shown in fig. 6, there is provided a hoistway-like line detection apparatus including: a first acquisition module 500, a second acquisition module 502, a detection module 504, and a determination module 506, wherein:

the first acquiring module 500 is configured to acquire initial first field of view range information acquired by the first image acquiring device at an initial position for a sample line to be detected, and initial second field of view range information acquired by the second image acquiring device at the initial position for the sample line to be detected; the initial position characterizes the initial position of the elevator installation.

The second obtaining module 502 is configured to obtain initial first position information of the sample line to be detected in initial first field of view range information, and initial second position information of the sample line to be detected in initial second field of view range information.

The detection module 504 is configured to detect movement information of the elevator installation device, and acquire updated first field of view range information acquired by the first image acquisition device; updating the first visual field range information to represent the visual field range information acquired by the position of the first image acquisition equipment after the elevator installation equipment moves aiming at the sample line to be detected.

The determining module 506 is configured to input the updated first field of view information, the initial first position information, and the initial second position information into the position correction model, obtain the updated first position information corresponding to the sample line to be detected and the updated second position information corresponding to the sample line to be detected, and output the target first position information and the target second position information, and determine the position information of the sample line to be detected after moving according to the target first position information and the target second position information.

In one embodiment, the first obtaining module 500 is configured to obtain an initial first distance between the first image capturing device and the sample line to be detected at an initial position, and obtain a first device view angle corresponding to the first image capturing device; determining initial first field of view range information according to the initial first distance and the first device field of view angle; acquiring an initial second distance between the second image acquisition equipment and the sample line to be detected at an initial position, and acquiring a second equipment view angle corresponding to the second image acquisition equipment; and determining initial second visual field range information according to the initial second distance and the second device visual field angle.

In one embodiment, the first obtaining module 500 is configured to obtain an initial first field of view wide value of the first image capturing device according to a product of the initial first distance and the field of view angle of the first device; and determining initial first visual field range information according to the initial first visual field wide value.

In one embodiment, the first obtaining module 500 is configured to obtain an initial second field of view wide value of the second image capturing device according to a product of the initial second distance and the field of view angle of the second device; and determining initial second visual field range information according to the initial second visual field wide value.

In one embodiment, the second obtaining module 502 is configured to obtain an initial first field wide pixel value and an initial second field wide pixel value according to the initial first field range information and the initial second field range information, respectively; the initial first view wide pixel value and the initial second view wide pixel value respectively represent the pixel quantity corresponding to the initial first view wide value and the pixel quantity corresponding to the initial second view wide value; acquiring initial first pixel coordinates of a sample line to be detected in initial first visual field range information; determining initial first position information according to the initial first pixel coordinates, the initial first view wide value and the initial first view wide pixel value; acquiring initial second pixel coordinates of the sample line to be detected in initial second visual field range information; and determining initial second position information according to the initial second pixel coordinates, the initial second field wide value and the initial second field wide pixel value.

In one embodiment, the determining module 506 is configured to input the updated first field of view range information, the initial first position information, and the initial second position information into the position correction model, and obtain, by the position correction model, updated first position information of the sample line to be detected in the updated first field of view range information; determining an updated second distance according to the updated first position information, the initial first position information and the initial second distance; determining an updated second field of view wide value according to the updated second distance and a second device field of view angle of the second image acquisition device; acquiring updated second pixel coordinates of the sample line to be detected in updated second visual field range information, and determining updated second position information according to the updated second pixel coordinates, updated second visual field width values and corresponding updated second visual field width pixel values; determining an updated first distance according to the updated second position information, the initial second position information and the initial first distance; determining an updated first view width value according to the updated first distance and a first device view angle of the first image acquisition device; acquiring updated first pixel coordinates of a sample line to be detected in updated first visual field range information, and determining new updated first position information according to the updated first pixel coordinates, updated first visual field width values and corresponding updated first visual field width pixel values; and returning to the step of determining the updated second distance based on the updated first position information, the initial first position information and the initial second distance until the updated first position information and the updated second position information converge, and outputting the target first position information and the target second position information.

In one embodiment, the determining module 506 is configured to obtain updated first pixel coordinates of the sample line to be detected in the updated first field of view information; and determining updated first position information according to the updated first pixel coordinates, the initial first view wide value and the corresponding initial first view wide pixel value.

In one embodiment, the determining module 506 is configured to obtain a first difference value between the updated first location information and the initial first location information, and determine an updated second distance according to a sum of the first difference value and the initial second distance;

in one embodiment, the determining module 506 is configured to obtain a second difference value between the updated second location information and the initial second location information, and determine the updated first distance according to a sum of the second difference value and the initial first distance.

The individual modules in the hoistway-like line detection device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of hoistway spline detection. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided that includes a memory having a computer program stored therein and a processor that when executing the computer program implements the method of hoistway pattern detection described above.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, implements the above-described hoistway spline detection method.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the above-described hoistway spline detection method.

The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A method of hoistway spline detection, the method comprising:

2. The method of claim 1, wherein the first image acquisition device is disposed orthogonal to the second image acquisition device;

3. The method of claim 2, wherein the determining the initial first field of view range information based on the initial first distance and the first device field of view angle comprises:

4. The method of claim 3, wherein the obtaining initial first position information of the sample line to be detected in the initial first field of view range information and initial second position information of the sample line to be detected in the initial second field of view range information comprises:

5. The method of claim 2, wherein the inputting the updated first field of view information, the initial first location information, and the initial second location information into a location correction model comprises:

6. The method of claim 5, wherein the obtaining updated first location information of the sample line to be detected in the updated first field of view information comprises:

7. The method of claim 5, wherein determining an updated second distance based on the updated first location information, the initial first location information, and the initial second distance comprises:

8. An elevator hoistway spline detection device, the device comprising:

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.