Elevator shaft real-time modeling monitoring method based on multiple area array laser radars

The invention provides an elevator shaft real-time modeling monitoring method based on a plurality of area array laser radars, which comprises the following steps of: calibrating a pose relation of a plurality of laser radars facing each surface of the inner wall of an elevator shaft on an elevator car, and establishing current laser radar point cloud data; splicing the laser radar point cloud data at adjacent moments to obtain a pose change initial value; dividing a space in the elevator shaft into a plurality of grids, calculating a PCA result of each grid, and extracting all planes in the laser radar point cloud data according to feature values of the PCA results as first plane parameters; matching is carried out according to the pose change initial value and the first plane parameter, matching cost is calculated through a function, and the pose change initial value with the minimum matching cost is obtained; and combining the pose change initial values with the minimum matching cost at different moments t