Floor recognition method and floor recognition elevator terminal

Abstract

The embodiment of the present invention proposes a floor identification method and a floor identification elevator terminal, which relate to the field of intelligent device technology; it can control a robot to intelligently take an elevator to provide cross-floor services and is not restricted by related hardware facilities. The method includes: obtaining the actual running time taken by the elevator car from the floor where it was last started to the floor where the elevator car stopped running; obtaining the estimated time range value for the elevator car to run from the floor where it was last started to the target floor where the robot is located or planned to reach; when the actual running time is within the estimated time range value, and the elevator car runs in the direction of the target floor before stopping running, a confirmation message of reaching the target floor is sent to the robot.

Description

[Technical field]

[0001] The embodiments of the present invention relate to the technical field of intelligent devices, and in particular to a floor recognition method and a floor recognition elevator terminal. [Background technology]

[0002] With the development of Internet of Things technology, robots are widely used in hotels, shopping malls, restaurants and other places to perform tasks such as commodity delivery and document delivery, freeing up human resources and improving service efficiency. In some robot indoor delivery scenarios, robots need to provide services across floors. How to enable robots to intelligently take elevators to provide services across floors without being restricted by related hardware facilities is an urgent problem to be solved in related fields. [Summary of the invention]

[0003] The embodiment of the present invention provides a floor identification method and a floor identification elevator terminal, which can determine the floor where the elevator is located without the help of other hardware facilities, and then control a robot to enter or leave the elevator at a specified floor, thereby realizing the robot's intelligent elevator service across floors without being restricted by related hardware facilities.

[0004] In the first aspect, an embodiment of the present invention provides a floor identification method, which is applied to a floor identification elevator terminal, and the floor identification elevator terminal is arranged in an elevator car. The method includes: obtaining the actual running time taken by the elevator car to run from the floor where the elevator car was last started to the floor where the elevator car stopped running; obtaining an estimated time range value for the elevator car to run from the floor where the elevator car was last started to the target floor where the robot is located or planned to reach; when the actual running time is within the estimated time range value, and the elevator car runs in the direction of the target floor before stopping, sending confirmation information of reaching the target floor to the robot.

[0005] In the above-mentioned floor identification method, the elevator terminal obtains the actual running time spent by the elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running, and obtains the estimated time range value for the elevator car to run from the floor where the elevator car was last started to the target floor. By comparing whether the actual running time is within the estimated time range value, it is determined whether the floor where the elevator car stopped running is the robot's planned arrival or its designated floor, thereby controlling the robot to enter or leave the elevator to reach the designated floor.

[0006] The above-mentioned elevator operation method determines whether the elevator car has reached the designated floor by utilizing the convenience of obtaining time, directly obtaining and comparing the actual running time of the elevator car from starting to stopping on a specific floor, and the theoretical running time of the elevator car from a specific floor to a target floor. There is no need to additionally obtain the floor information of the elevator system, and there is no need to obtain information such as floor height through sensors. It can directly determine whether the elevator has reached the designated floor, thereby achieving the purpose of controlling the robot to intelligently take the elevator for cross-floor service without being restricted by related hardware facilities.

[0007] In one possible implementation, the elevator terminal pre-stores a correspondence between a planned running time range value of the elevator car from any floor of the building to any other floor, and obtaining the estimated time range value of the elevator car running from the floor where the elevator car was last started to the target floor includes:

[0008] In the planned operation time range value correspondence relationship, the planned operation time range value from the floor where the elevator car was located when it was last started to the target floor is found, and it is used as the estimated time range value.

[0009] In one possible implementation, sending confirmation information of reaching the target floor to the robot includes:

[0010] sending confirmation information of reaching the target floor to the robot located in the elevator car, so that the robot located in the elevator car leaves the elevator car; or,

[0011] The confirmation information of reaching the target floor is sent to the robot located in the corridor of the target floor waiting for the elevator car, so that the robot located in the corridor of the target floor enters the elevator car.

[0012] In one possible implementation, obtaining the actual running time of the elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running includes:

[0013] Get measurements from an accelerometer or barometer;

[0014] When it is detected according to the measurement value that the elevator car starts running, obtaining the first time when the elevator car starts running;

[0015] After the first time, when it is detected for the first time that the elevator car stops running, a second time when the elevator car stops running is obtained, and the difference between the second time and the first time is calculated to obtain the actual running time.

[0016] In one possible implementation, the method further includes:

[0017] When the actual running time is not within the estimated time range, or

[0018] When the actual running time is within the estimated time range, but the elevator car does not run in the direction of the target floor before stopping;

[0019] According to the actual running time and the floor where the elevator car was located when it was last started, in the pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, the floor where the elevator car is currently stopped is searched according to the direction of the elevator car running to the target floor.

[0020] In one possible implementation, the floor at which the elevator car was last started is the floor at which the elevator car stopped last time, or the starting floor of the floor identification elevator terminal sent by the robot to the robot when the robot just enters the elevator car.

[0021] In one possible implementation, after sending confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor, the method further includes:

[0022] Get accelerometer and / or barometer measurements;

[0023] In the case of receiving a confirmation information error message returned by the robot in response to the confirmation information, whenever it is detected that the elevator car stops running according to the measurement value, sending confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor until receiving information sent by the robot of entering the elevator car;

[0024] The starting floor sent by the robot is received as the floor where the elevator car was located when it was last started.

[0025] In one possible implementation, when the actual running time is within the estimated time range, and the elevator car runs in the direction of the target floor before stopping, sending confirmation information of reaching the target floor to the robot, including:

[0026] Obtaining the running direction of the elevator car;

[0027] Obtaining the relative position direction of the target floor compared to the floor where the elevator car was located when it was last started;

[0028] When the actual running time is within the estimated time range and the running direction is consistent with the relative position direction, confirmation information of reaching the target floor is sent to the robot.

[0029] In one possible implementation, obtaining the running direction of the elevator car includes:

[0030] When it is detected that the elevator car starts running or it is detected that the elevator car stops running, obtaining the measurement value of the accelerometer and / or the barometer within the current time range;

[0031] The corresponding acceleration direction and / or air pressure change are calculated according to the obtained measurement values ​​of the accelerometer and / or the barometer; and the running direction of the elevator car is obtained according to the acceleration direction and / or the air pressure change.

[0032] In a second aspect, an embodiment of the present invention provides a floor identification elevator terminal, wherein the floor identification elevator terminal is arranged in an elevator car; the floor identification elevator terminal includes an MCU controller; the MCU controller includes:

[0033] An actual running time acquisition module is used to acquire the actual running time spent by the elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running;

[0034] An estimated time range value obtaining module, used to obtain an estimated time range value for the elevator car to run from the floor where the elevator car was located when it was last started to the target floor where the robot is located or planned to reach;

[0035] A confirmation information sending module is used to send confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range and the elevator car runs in the direction of the target floor before stopping.

[0036] In one possible implementation, the floor identification elevator terminal includes a memory; the memory is used to pre-store the correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, and the estimated time range value acquisition module is specifically used to search the planned running time range value of the elevator car from the floor where it was located when it last started running to the target floor in the correspondence between the planned running time range values, and use it as the estimated time range value.

[0037] In one possible implementation, the confirmation information sending module is specifically used to:

[0038] sending confirmation information of reaching the target floor to the robot located in the elevator car, so that the robot located in the elevator car leaves the elevator car; or,

[0039] The confirmation information of reaching the target floor is sent to the robot located in the corridor of the target floor waiting for the elevator car, so that the robot located in the corridor of the target floor enters the elevator car.

[0040] In one possible implementation, the floor identification elevator terminal includes an accelerometer and / or a barometer; the accelerometer and / or the barometer provide parameters for detecting the start-up and stop-operation of the elevator car; the actual running time acquisition module includes:

[0041] A parameter acquisition module, used to obtain measurement values ​​of the accelerometer and / or the barometer;

[0042] A first time acquisition submodule, for acquiring a first time when the elevator car starts running when it is detected according to the measurement value that the elevator car starts running;

[0043] The actual running time calculation submodule is used to obtain a second time when the elevator car stops running when the elevator car stops running for the first time after the first time, and calculate the difference between the second time and the first time to obtain the actual running time.

[0044] In one possible implementation, the MCU controller further includes:

[0045] A floor search module is used to, when the actual running time is not within the estimated time range value, or when the actual running time is within the estimated time range value but the elevator car does not run in the direction of the target floor before stopping; based on the actual running time and the floor where the elevator car was located when it was last started, in the pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, search for the floor where the elevator car is currently stopped according to the direction of the elevator car running to the target floor.

[0046] In one possible implementation, the floor at which the elevator car was last started is the floor at which the elevator car stopped last time, or the starting floor of the floor identification elevator terminal sent by the robot to the robot when the robot just enters the elevator car.

[0047] In one possible implementation, the floor identification elevator terminal includes an accelerometer and / or a barometer; the accelerometer and / or the barometer provide parameters for detecting that the elevator car stops running; the floor identification further includes:

[0048] A parameter acquisition module, used to obtain measurement values ​​of the accelerometer and / or the barometer;

[0049] a message receiving module, configured to, upon receiving a confirmation information error message returned by the robot in response to the confirmation information, send confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor whenever it is detected that the elevator car stops running according to the measurement value, until receiving information of entering the elevator car sent by the robot;

[0050] The floor confirmation module is used to receive the starting floor sent by the robot as the floor where the elevator car was located when it was last started.

[0051] In one possible implementation, the confirmation information sending module includes:

[0052] A running direction acquisition submodule, used to acquire the running direction of the elevator car;

[0053] A relative position direction acquisition submodule, used to acquire the relative position direction of the target floor compared to the floor where the elevator car was located when it was last started and operated;

[0054] The third information sending submodule is used to send confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range value and the running direction is consistent with the relative position direction.

[0055] In one possible implementation, the floor identification elevator terminal includes an accelerometer and / or a barometer; the running direction acquisition submodule includes:

[0056] A parameter acquisition subunit, configured to acquire a measurement value of the accelerometer and / or the barometer within a current time range when it is detected that the elevator car starts running or stops running;

[0057] A calculation subunit, used for calculating the corresponding acceleration direction and / or air pressure change according to the measurement values ​​obtained from the accelerometer and / or the barometer;

[0058] The running direction obtaining subunit obtains the running direction of the elevator car according to the acceleration direction and / or the air pressure change.

[0059] It should be understood that the second aspect of the embodiment of the present invention is consistent with the technical solution of the first aspect of the embodiment of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated herein.

Brief Description of the Drawings

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 It is a topological structure diagram of an application scenario of an embodiment of the present invention;

[0062] Figure 2 is a schematic diagram of the structure of an elevator terminal for executing the floor identification method proposed in an embodiment of the present invention;

[0063] Figure 3 is a flowchart of the steps of the floor identification method proposed in an embodiment of the present invention;

[0064] Figure 4 This is a schematic diagram of an application scenario where a robot takes an elevator to perform cross-floor services;

[0065] Figure 5 is a flowchart of another floor identification method proposed by an embodiment of the present invention;

[0066] Figure 6 It is a functional module diagram of an MCU controller for executing a floor identification method proposed in an embodiment of the present invention. [Specific implementation method]

[0067] In order to better understand the technical solution of this specification, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0068] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0069] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0070] The existing technology determines the floor where the elevator is located and controls the robot to take the elevator to provide cross-floor services in the following ways:

[0071] 1. Perform an invasive elevator control modification on the elevator system and modify the elevator main control board, so as to know the elevator's location on the original communication protocol. On the one hand, due to the modification of the elevator main control board, the method of realizing cross-floor service by robot in elevator based on invasive elevator control modification has safety hazards; on the other hand, there are differences in the elevator main control boards installed in elevators of different buildings. The method of realizing cross-floor service by robot intelligent elevator based on invasive elevator control modification requires modification of different elevator main control boards, which is a large workload and wastes manpower and financial resources.

[0072] Second, install floor sensors, such as photoelectric switches, magnetic switches, and radio frequency identification switches (RFID) at the location of each floor of the elevator shaft corresponding to the building. The elevator obtains floor sensor information to determine the floor information that the elevator car has reached. The above method of realizing the robot's intelligent elevator ride for cross-floor service requires the installation of multiple sensors and other hardware facilities in the elevator shaft, which requires complex elevator control transformation, a large workload, and a waste of manpower and financial resources; sensors and other hardware facilities are greatly affected by the natural environment and have high maintenance costs.

[0073] 3. Install signal sensors at the top of the elevator shaft and the top of the car, such as wireless carrier communication sensors (UltraWide Band, UWB), barometers, laser radars, etc., send and receive signals through the signal sensors, calculate the floor height of the elevator car, and then obtain the floor information reached by the elevator car by converting the floor height. The above method of realizing the robot's intelligent elevator ride for cross-floor service requires the installation of hardware facilities such as sensors in the elevator shaft, and the floor height calibration in advance in different application scenarios. The engineering workload is large and wastes manpower and financial resources; hardware facilities such as sensors are greatly affected by the natural environment and have high maintenance costs.

[0074] In view of the above problems, an embodiment of the present invention proposes a floor recognition method, which obtains and compares the actual running time of the elevator car from starting to stopping on a specific floor and the theoretical running time of the elevator car from a specific floor to a target floor, and determines the floor information reached by the elevator car, so as to control the robot to enter or leave the elevator car when the elevator car reaches the specified floor. The above method for realizing the intelligent elevator riding of the robot does not require the installation of sensors in the elevator shaft, reduces the cost of elevator control equipment modification, labor cost, modification cost and maintenance cost, and will not be affected by external factors such as environmental weather.

[0075] Figure 1 is a topological structure diagram of an application scenario of an embodiment of the present invention, such as Figure 1As shown, the floor identification method proposed in the embodiment of the present invention is applied to the floor identification elevator terminal, the floor identification elevator terminal is communicated with the cloud platform, and the cloud platform is communicated with the robot; when the elevator car reaches the coverage range of the robot's communication signal, the robot establishes a communication connection with the floor identification elevator terminal.

[0076] The cloud platform is used to forward messages sent by the robot to the floor identification elevator terminal, and forward messages sent by the floor identification elevator terminal to the robot, when the robot fails to establish a communication connection with the floor identification elevator terminal, or when the communication between the robot and the floor identification elevator terminal is interrupted due to environmental factors.

[0077] The cloud platform is used to collect the operation information of multiple floor identification elevator terminals to uniformly analyze the floor identification accuracy of the floor identification method proposed in the embodiment of the present invention for different buildings. For example, when the floor identification elevator terminal sends a message to the robot, the same message will be sent to the cloud platform. The cloud platform can collect the messages sent by the floor identification elevator terminal and forward them to the robot to avoid the situation where the communication connection between the floor identification elevator terminal and the robot is interrupted, resulting in the inability to control the robot.

[0078] The cloud platform can also send information about the target floor to any floor identification elevator terminal, so as to control the elevator to reach the target floor to pick up the robot through the floor identification elevator terminal. For example, in a building with multiple elevators, and multiple elevators are installed in different locations in the building, the robot takes elevator No. 1 to reach floor 2 to deliver food, and walks to elevator No. 2 after the food delivery is completed. During the walking process, the robot receives geographic information collected by the sensor, compares the geographic information with its locally pre-stored three-dimensional map, and uploads it to the cloud platform. After the cloud platform obtains the location of the robot, it sends the floor information of the robot as the target floor to elevator No. 2 to control elevator No. 2 to reach floor 2 to pick up the robot that has completed the food delivery task.

[0079] The floor identification elevator terminal can be set on the top of the elevator car or inside the elevator car. Figure 2 is a schematic diagram of the structure of the floor recognition elevator terminal proposed in the embodiment of the present invention, such as Figure 2 As shown, the floor identification elevator terminal includes a communicator, an MCU controller 22, a key control panel interface 23, and a power interface 24; the communicator can be a 4G communication module 211, a Bluetooth module 212, a Lora module 213, etc., and the elevator terminal can be connected to a power source through the power interface 24.

[0080] The MCU controller 22 is provided with at least one processor and at least one memory in communication with the processor, wherein the memory stores program instructions executable by the processor, and the program instructions can execute the following steps proposed in the embodiment of the present invention: Figure 3 or Figure 5 The floor identification method shown.

[0081] Figure 3 is a flowchart of the steps of the floor recognition method proposed in an embodiment of the present invention, which is applied to an MCU controller, such as Figure 3 As shown, the steps include:

[0082] Step S31: Obtain the actual running time that the elevator car takes from the floor where the elevator car was last started to the floor where the elevator car stopped.

[0083] The most recent start-up of the elevator car refers to the last start of the elevator car before the current stop. The floor where the elevator car was located when it last started and ran changes dynamically with the elevator operation. The floor where the elevator stopped for the Nth time is the floor where the elevator started for the N+1th time. The actual running time of the elevator car's current run has nothing to do with the previous run of the elevator, nor with the next run of the elevator, ensuring that the errors of the actual running time of different elevator cars will not be superimposed, thereby ensuring the accuracy of the actual running time of the elevator car's current run obtained each time.

[0084] Step S32: Obtain an estimated time range value for the elevator car to run from the floor where the elevator car was when it was last started to the target floor where the robot is located or planned to reach.

[0085] The elevator terminal can obtain the target floor through the communicator. The target floor mentioned here can be the floor where the robot is currently waiting for the elevator. The elevator car needs to reach this floor so that the robot can enter the car. When the robot is at the target floor waiting for the elevator, the elevator terminal can receive the target floor where the robot is currently located sent by the cloud platform; the target floor here can also be the target floor that the robot plans to reach after entering the car. When the robot is in the elevator car, the elevator terminal and the robot are in communication connection, and the elevator terminal can receive the target floor that the robot plans to reach sent by the cloud platform, and can also receive the target floor that the robot plans to reach sent by the robot.

[0086] The cloud platform is communicated with the robot and the elevator terminal respectively, and has the function of uniformly sending scheduling information to the robot and the elevator terminal, and also has the function of receiving and analyzing the information fed back by the robot and the elevator terminal.

[0087] After the elevator terminal obtains the target floor, it can send information to the key control panel in the car through the key control panel interface, and control the elevator to select the target floor as the stop floor without modifying the elevator main control panel.

[0088] For example, on floor one, the robot and the passenger enter the elevator car, the passenger selects floor three on the button control panel inside the car, the robot communicates with the elevator terminal of the elevator car, the elevator terminal of the elevator car receives floor four sent by the robot, controls the button control panel inside the car to select floor four, and the elevator main control panel controls the elevator car to stop running when it reaches floors three and four, and opens the elevator door according to its original calculation logic.

[0089] In one embodiment of the present invention, the estimated time range value can be estimated by calculating the floor difference between the floor where the elevator car was last started and the target floor. For example, the floor where the elevator car was last started was floor 2, and the target floor was floor 6, with a difference of four floors. The time it takes for the elevator terminal to obtain one floor of the elevator is about 2 seconds, and the estimated time is calculated to be 8 seconds. According to the elevator's running speed error, the elevator speed should be between the standard 92%-105%, and the time fluctuation threshold is calculated to be 0.5 seconds, and the estimated time range value is 7.5 seconds to 8.5 seconds.

[0090] Step S33: When the actual running time is within the estimated time range, and the elevator car runs in the direction of the target floor before stopping, a confirmation message of reaching the target floor is sent to the robot.

[0091] When the elevator car is running in a single direction, the time range value for the elevator to reach any other floor from a specific floor is unique. When the elevator car is running in the direction of the target floor before stopping, it can be determined whether the floor where the elevator car stops is the target floor based on whether the actual running time is within the estimated time range. If the actual running time is within the estimated time range, it is determined that the floor where the elevator car stops is the target floor.

[0092] The floor identification method proposed in the embodiment of the present invention determines the floor reached by the elevator car during the operation of the elevator based on the relationship between the actual operation time of the elevator and the theoretical operation time of the elevator. It is no longer necessary to obtain information such as the height of the elevator car and the floor where the elevator is located by obtaining sensors to determine the floor where the elevator car is located, thereby avoiding high-cost elevator control modifications involving sensor installation and maintenance.

[0093] The embodiment of the present invention proposes that the elevator terminal determines that the floor where the elevator car is stopped is the target floor, executes step S33, and may execute sub-step S331, or execute sub-step S332; in one implementable manner, when the robot is in the elevator car, the elevator terminal executes sub-step S331; when the robot is in the corridor of the target floor waiting for the elevator car, the elevator terminal executes sub-step S332.

[0094] Step S331: Send confirmation information of reaching the target floor to the robot located in the elevator car, so that the robot located in the elevator car leaves the elevator car.

[0095] The elevator terminal can send the confirmation information of reaching the target floor directly to the robot in the elevator car through the 4G communication module 211, the Bluetooth module 212 and the Lora module 213, and can send the confirmation information of reaching the target floor to the cloud platform through the 4G communication module 211, and the cloud platform will then forward the confirmation information of reaching the target floor to the robot in the elevator car.

[0096] Step S342: Send confirmation information of reaching the target floor to the robot located in the corridor of the target floor waiting for the elevator car, so that the robot located in the corridor of the target floor enters the elevator car.

[0097] The elevator terminal can send the confirmation information of reaching the target floor directly to the robot in the elevator car through the 4G communication module 211 and the Lora module 213, and can send the confirmation information of reaching the target floor to the cloud platform through the 4G communication module 211, and the cloud platform will then forward the confirmation information of reaching the target floor to the robot in the elevator car.

[0098] After receiving confirmation that it has reached the target floor, the robot determines its location based on the three-dimensional map it draws during its walking process. The robot determines the walking path based on its location and the currently executed instructions to leave or enter the elevator car.

[0099] The floor recognition method proposed in the embodiment of the present invention unifies the floor that the robot plans to reach and the floor where the robot is located when waiting for the elevator as the target floor, and uses the target floor as a reference. When it is determined that the floor where the elevator car stops is the target floor, confirmation information of reaching the target floor is sent to the robot. After the robot receives the confirmation information of reaching the target floor, it chooses to enter or leave the elevator car according to local information. The elevator terminal does not need to generate redundant instructions, thereby achieving the effect of controlling the robot to intelligently take the elevator in two scenarios: controlling the elevator to reach the target floor to pick up the robot and controlling the elevator to send the robot to the target floor.

[0100] Another embodiment of the present invention proposes a method for obtaining the actual running time spent by an elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running. This embodiment obtains the actual running time based on the continuous state changes of the elevator, takes the time of a single start and stop of the elevator as a timing node, and obtains the time from the elevator car stopping to its last start.

[0101] Continue to refer Figure 2, the floor identification elevator terminal also includes an accelerometer 26 and a barometer 27. The measurement values ​​of the accelerometer 26 and / or the barometer 27 can be used as parameters for judging the state of the car. For example, the floor identification elevator terminal obtains the measurement value of the accelerometer 26 at every preset time T, and detects that the measurement value of the accelerometer 26 at time 0 is 0, and the measurement value of the accelerometer 26 at time 0+T is not 0, so it can be determined that the elevator car starts to start between time 0 and time T. The floor identification elevator terminal obtains the measurement value of the barometer 27 at every preset time T, and detects that the measurement value of the barometer 27 at time T is less than the measurement value of the barometer 27 at time 2T, and the measurement value of the barometer 27 at time 0 is equal to the measurement value of the barometer 27 at time T, so it can be determined that the elevator car starts to start between time T and time 2T. Step S31 includes sub-steps S311 to S313:

[0102] Step S311: obtaining measurement values ​​of the accelerometer and / or the barometer;

[0103] Step S312: when it is detected according to the measurement value that the elevator car starts running, the first time when the elevator car starts running is obtained.

[0104] Detecting the elevator car starting to run according to the measured values ​​includes: detecting the elevator car starting according to the measured values ​​of the accelerometer 26, and detecting the elevator car starting according to the barometer 27.

[0105] Step S313: After the first time, when the elevator car is detected to stop running for the first time, a second time when the elevator car stops running is obtained, and the difference between the second time and the first time is calculated to obtain the actual running time.

[0106] When the elevator car starts, it is determined that the elevator state has changed from the stopped state to the running state. When the elevator car stops for the first time after the elevator car starts, it is determined that the elevator state has changed from the current running state to the stopped state. The state change of the elevator is simple and easy to obtain, without the need for accurate speed measurement, accurate measurement of the elevator car height, etc. Timing when the state changes is simple to calculate, without the need for continuous timing, avoiding errors caused by external environment interference with continuous timing.

[0107] In one example of the present invention, the state change of the elevator can be measured by a barometer and an accelerometer. There is no need to use the accelerometer and the barometer for quantitative analysis. It is only necessary to detect whether the measured values ​​of the accelerometer and the barometer have changed to determine the change in the elevator state.

[0108] The embodiment of the present invention can verify that the actual running time obtained by the present invention is only related to the start time and stop time of the current run, and has nothing to do with the running status of the elevator car before the current run, nor with the running status of the elevator car after the current run.

[0109] Another embodiment of the present invention proposes a method for obtaining an estimated time range value for the elevator car to run from the floor where the elevator car was located when it was most recently started to run to the target floor. The elevator terminal pre-stores the corresponding relationship between the planned running time range values ​​of the elevator car from any floor of the building to any other floor.

[0110] Continue to refer Figure 2 The elevator terminal also includes a memory 25, and the corresponding relationship between the planned running time range value of the elevator car from any floor of the building to any other floor can be stored in the memory 25. The corresponding relationship between the planned running time range value of the elevator car from any floor of the building to any other floor can also be stored in the cloud platform to uniformly analyze the elevator operation status of all buildings.

[0111] In one example of the present invention, a building has four floors, and the corresponding relationships of the planned operating time range values ​​of the elevator car from any floor of the building to any other floor include: the corresponding relationships of the planned operating time range values ​​of the elevator car from floor one to floor two, floor three, and floor four respectively, the corresponding relationships of the planned operating time range values ​​of the elevator car from floor two to floor one, floor three, and floor four respectively, the corresponding relationships of the planned operating time range values ​​of the elevator car from floor three to floor one, floor two, and floor four respectively, and the corresponding relationships of the planned operating time range values ​​of the elevator car from floor four to floor one, floor two, and floor three respectively.

[0112] The time for the elevator car to run from floor one to floor two, from floor one to floor three, and so on is pre-calibrated until the planned running time from floor one to floor N is obtained. According to the error range allowed by the elevator standard, the elevator speed should be between 92%-105% of the standard. The time fluctuation threshold is calculated. The time fluctuation threshold is calculated based on the planned running time from floor one to each floor to obtain the planned running time range value from floor one to each floor. The planned running time range value from floor one to each floor is counted to obtain the corresponding relationship of the planned running time range value of the elevator car running from floor one to floor two to floor N. For example, the planned running time from floor one to floor three is calibrated to be 4 seconds, and the fluctuation threshold is 0.5 seconds, then the planned running time range value of the elevator car running from floor one to floor three is 3.5 to 4.5 seconds. Table 1 is a corresponding relationship of the planned running time range value pre-stored in an example elevator terminal of the present invention.

[0113] Table 1:

[0114]

[0115] Step S32 includes sub-step S321: in the correspondence relationship of the planned operation time range value, searching for the planned operation time range value from the floor where the elevator car was located when it was last started to reach the target floor, and using it as the estimated time range value.

[0116] In one example of the present invention, the memory 25 of the floor identification elevator terminal pre-stores the correspondence relationship of the planned operating time range values ​​as shown in Table 1, and the MCU controller 22 calls the memory 25, queries the correspondence relationship of the planned operating time range values ​​stored in the memory 25, and obtains that the floor where the elevator car was located when it was last started is floor two, and the target floor that the robot plans to reach is floor four, and the estimated time range value for the elevator car to run from floor two to floor four is 4-5 seconds.

[0117] In the embodiment of the present invention, in the pre-stored correspondence relationship of the planned running time range value of the elevator car from any floor of the building to any other floor, the planned running time range value of the elevator car from the floor where the elevator car was located when it was last started to reach the target floor is searched, and an accurate estimated time range value is directly obtained, thereby avoiding the running difference of the elevator across different floors caused by the difference in acceleration and deceleration. For example, the time it takes for the elevator to run from floor one to floor two is longer than the time it takes for the elevator to run from floor one to floor three passing through floor two.

[0118] In an embodiment of the present invention, when the actual running time is within the estimated time range value, it may mean that when the planned running time range value corresponding to the elevator car from any floor of the building to any other floor is found, the planned running time range value containing the actual running time is found, and the starting floor of the planned running time range value is the floor where the elevator car starts running, and the stopping floor of the planned running time range value is the target floor.

[0119] However, based on the correspondence relationship of the planned running time range values ​​of the elevator car from any floor of the building to any other floor pre-stored in the embodiment of the present invention, it is relatively complicated to directly search for the planned running time range value including the actual running time in the correspondence relationship, and there may be multiple planned running time range values ​​including the actual running time in the correspondence relationship of the planned running time range values ​​of the elevator car from any floor of the building to any other floor. As shown in the correspondence relationship of the planned running time range values ​​in Table 1, the planned running time range value of the elevator car from floor 2 to floor 1 is 2.5-3.5 seconds, the planned running time range value of the elevator car from floor 2 to floor 3 is 2.5-3.5 seconds, and the planned running time range value of the elevator car from floor 3 to floor 2 is 2.5-3.5 seconds.

[0120] In view of the above situation, the embodiment of the present invention searches for the estimated time range value corresponding to the elevator car running from the floor where the elevator car was located when it was last started to the target floor in the corresponding relationship of the planned running time range value from any floor of the building to any other floor, and combines the running direction of the elevator car before stopping the running as the basis for judging whether the elevator car has reached the target floor. When the elevator car runs in one direction toward the target floor, the specific planned running time range value has and only corresponds to one combination of the starting running floor and the stopping running floor.

[0121] In view of the above findings, an embodiment of the present invention proposes that when the actual running time is not within the estimated time range value; or the actual running time is within the estimated time range value, but the elevator car did not run in the direction of the target floor before stopping, it can be found in the corresponding relationship of the planned running time range value for the elevator car to reach any other floor from any floor of the building that the elevator car ran in the direction of the target floor before stopping, including the stop running floor corresponding to the specific planned running time range value corresponding to the actual running time. The elevator terminal enters the next floor calculation based on the current stop running floor of the elevator.

[0122] When the actual running time is not within the estimated time range, or when the actual running time is within the estimated time range, but the elevator car does not run in the direction of the target floor before stopping;

[0123] According to the actual running time and the floor where the elevator car was located when it was last started, in the pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, the floor where the elevator car is currently stopped is searched according to the direction of the elevator car running to the target floor.

[0124] The direction in which the elevator car moves toward the target floor refers to the direction in which the elevator car can move to the target floor. For example, if the elevator car was on floor 1 when it was last started, and the target floor is underground floor 2, then the direction in which the elevator car moves toward the target floor refers to the direction from floor 1 to underground floor 2.

[0125] In one example of the present invention, the elevator terminal stores the corresponding relationship of the planned operation time range value as shown in Table 1, and continuously detects the elevator start-up and the elevator stop-up, calculates the time difference between the elevator start-up and the elevator stop-up, and obtains the actual operation time of the elevator car for the current operation as 3.2 seconds. The floor where the elevator car is located when it starts is floor three, and the target floor is floor four. Look up Table 1 and obtain the estimated time range value as 2.5-3.5; judge that the actual operation time is within the estimated time range value, but the elevator car does not run in the direction of the target floor before stopping, and determine that the elevator car has not reached the target floor. Look up Table 1 to determine that the stop floor corresponding to the actual operation time is floor one, and determine that the starting floor of the elevator car for the next operation is floor one. The elevator terminal obtains the actual operation time and the estimated time range value next time, and can use floor one as the floor where it was when it started the operation the most recently.

[0126] The embodiment of the present invention calculates the number of floors of each operation of the elevator car separately, which can not only determine whether the elevator car has reached the target floor, but also obtain the parameters that the elevator terminal needs to obtain for the next operation of the elevator: the floor where the elevator car was located when it was started for the most recent time. Since the new floor where the elevator car was located when it was started for the most recent time can be determined each time, the embodiment of the present invention can ensure continuous judgment of the floor where the elevator car is located when it stops through floor superposition calculation.

[0127] In order to avoid floor calculation deviation caused by multiple accumulation of floors, an embodiment of the present invention proposes that the floor where the elevator car is located when it is most recently started is the floor where the elevator car stopped last time, or the starting floor sent to the elevator terminal by the robot when the robot just enters the elevator car.

[0128] After the robot completes the designated business on a specific floor, it can obtain accurate information about the floor it is on. After the robot enters the elevator car from a specific floor, it sends the accurate information about the floor it is on to the elevator terminal. The elevator terminal obtains the starting floor corresponding to the accurate information about the floor sent by the robot, and can compare the starting floor with the currently stopped floor calculated locally. When there is a deviation in the currently stopped floor calculated locally, the starting floor is used to correct the currently stopped floor.

[0129] In one example of the present invention, floor one is the floor where the food delivery robot prepares meals. After the food delivery robot finishes preparing meals, the accurate information of the floor it is on that is received from the cloud platform is floor one. The food delivery robot enters the elevator car at floor one, and the elevator terminal receives the floor one sent by the food delivery robot, and uses floor one as the floor where the elevator was last started when calculating the floor information for the next operation.

[0130] Figure 4This is a schematic diagram of an application scenario in which a robot takes an elevator to perform cross-floor services. An example of the present invention is based on Figure 4 In the application scenario shown in FIG. 1 , the floor recognition method proposed in the embodiment of the present invention is executed to calculate the elevator floor. Figure 4 As shown, the robot enters the elevator car at floor one, and the floor identification elevator terminal receives information from the robot that the target floor is floor five, and receives information from the robot that the current floor is floor one. The elevator car is detected to start running for the first time, and time 1 is recorded. After time 1, the elevator car is detected to stop running for the first time, and time 2 is recorded. The time difference between time 2 and time 1 is 5.2 seconds as the actual running time 1. The pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor is found, and the estimated time range value 1 for the elevator car to reach floor five from floor one to floor five is 10.5 seconds to 11 seconds. The actual running time 1 is not within the estimated time range value 1. The pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor is found, and the floor where the elevator car stops running corresponding to 5.2 seconds is floor three.

[0131] The second time the elevator car is detected to start running, time 3 is recorded. After time 3, the first time the elevator car is detected to stop running, time 4 is recorded. The difference between time 2 and time 1 is 7.5 seconds as the actual running time 2. The pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor is found, and the estimated time range value 2 for the elevator car to reach floor five from floor three is 7.2 seconds to 8.7 seconds. The actual running time 2 is within the estimated time range value 2, and it is determined that the target floor has been reached. A confirmation message of reaching the target floor is sent to the robot. The robot receives the confirmation message of reaching the target floor and leaves the elevator car.

[0132] In the scenario of controlling the elevator to reach the target floor to pick up the robot, if an extreme calculation error occurs, the floor recognition elevator terminal calculates the target floor deviation, and the floor recognition elevator terminal sends a confirmation message of reaching the target floor to the robot when the elevator car has not actually reached the target floor. If the robot has no road condition collection equipment such as cameras, the robot may enter the elevator car incorrectly.

[0133] In response to the above extreme situation, based on the method proposed in other embodiments of the present invention of sending the robot to the starting floor of the floor identification elevator terminal as the floor where the elevator car was last started, so as to correct the floor information calculated by the floor identification elevator terminal, another embodiment of the present invention proposes a method for controlling the robot to enter the elevator under the above extreme situation.

[0134] Figure 5is a flowchart of another floor identification method proposed in an embodiment of the present invention. Figure 5 As shown, the steps include:

[0135] Step S51: Obtain the target floor where the robot is located or plans to reach.

[0136] Step S52: Obtain the actual running time that the elevator car takes from the floor where the elevator car was last started to the floor where the elevator car stopped.

[0137] Step S53: Obtain an estimated time range value for the elevator car to run from the floor where it was when it was last started to the target floor.

[0138] Step S54: When the actual running time is within the estimated time range, and the elevator car runs in the direction of the target floor before stopping, a confirmation message of reaching the target floor is sent to the robot.

[0139] Step S55: When receiving a confirmation information error message returned by the robot in response to the confirmation information, whenever it is detected that the elevator car has stopped running, the confirmation information of reaching the target floor is sent to the robot waiting in the corridor of the target floor until the information sent by the robot to enter the elevator car is received.

[0140] The robot receives confirmation information that it has reached the target floor, combines it with the 3D map of its own location, determines the walking path, and plans to enter the elevator car. However, due to the closed elevator door, the robot enters the elevator car incorrectly. For the currently received confirmation information, it returns a confirmation information error message to the floor identification elevator terminal.

[0141] The floor identification elevator terminal receives a confirmation information error message and determines that an error has occurred in its calculation of the floor information. Since the floor identification elevator terminal has controlled the button control panel in the car to select the target floor as the stop floor when receiving the target floor, the elevator car will definitely stop at the target floor. Therefore, whenever the embodiment of the present invention detects that the elevator car has stopped running, a confirmation message of reaching the target floor is sent to the robot waiting in the corridor of the target floor, so that the robot can enter the elevator car.

[0142] When the robot successfully enters the elevator car, it will send the information of entering the elevator car and the starting floor to the floor identification elevator terminal. The floor identification elevator terminal will correct the floor where the elevator car was last started based on the starting floor for the next operation of the elevator.

[0143] Step S56: receiving the starting floor sent by the robot as the floor where the elevator car was located when it was last started.

[0144] Another embodiment of the present invention proposes a method for determining whether the elevator car is running in the direction of the target floor, step S33 includes sub-steps S33-1 to S33-3; the floor identification elevator terminal also includes a barometer 27 and an accelerometer 26;

[0145] Step S33-1: Obtain the running direction of the elevator car.

[0146] The embodiment of the present invention is based on the accuracy of the barometer 27 and the accelerometer 26 used for qualitative analysis. For example, at the moment when the elevator starts to run upward, the measured value of the accelerometer 26 must increase upward. When the elevator stops running upward, the measured value of the acceleration must increase downward and then decrease until it reaches zero; at the moment when the elevator starts to run downward, the measured value of the acceleration must increase downward. The barometer values ​​are different at different heights. When the elevator starts to run upward, the barometer value must decrease from a fixed value. When the elevator stops running upward, the barometer value must increase from a changing value to a fixed value. Therefore, the embodiment of the present invention obtains the running direction of the elevator car based on the measured values ​​of the barometer 27 and the accelerometer 26.

[0147] When it is detected that the elevator car starts running or stops running, the measurement value of the accelerometer or the barometer within the current time range is obtained; the corresponding acceleration direction or air pressure change is calculated based on the obtained measurement value of the accelerometer or the barometer; the running direction of the elevator car is obtained according to the acceleration direction or the air pressure change.

[0148] Obtaining the measurement value of the accelerometer and / or the barometer within the current time range can mean that when the elevator car is detected to stop running or the elevator car is detected to start running at time T, the measurement value of the accelerometer and / or the barometer at time T is obtained, the measurement value of the accelerometer and / or the barometer at time T+1, the measurement value of the accelerometer and / or the barometer at time T+2, and the measurement value of the accelerometer and / or the barometer at time T+n are obtained, and the value of n is set according to the usage scenario of the floor identification elevator terminal.

[0149] It is also possible to obtain the measurement values ​​of the accelerometer and the barometer within the current time range when the elevator car is detected to start running or to detect that the elevator car stops running; obtain the corresponding acceleration direction and air pressure change according to the obtained accelerometer and barometer measurement values; obtain a more accurate running direction of the elevator car according to the acceleration direction and air pressure change

[0150] Step S33-2: Obtain the relative position direction of the target floor compared to the floor where the elevator car was located when it was last started.

[0151] Step S33-3: When the actual running time is within the estimated time range and the running direction is consistent with the relative position direction, a confirmation message of reaching the target floor is sent to the robot.

[0152] The embodiment of the present invention uses the relative position of the target floor and the floor where the elevator car was located when it was last started and operated as a basis to verify whether the actual running direction of the elevator is towards the target floor. In the above process of judging whether the actual running direction is towards the target floor, the target floor information and the floor information where the elevator was located when it was started are the existing information of the elevator terminal. The acceleration direction and / or the air pressure change are obtained by the local barometer and accelerometer of the elevator terminal. There is no need to install sensors in the elevator shaft, and the acquisition method is simple.

[0153] Figure 6 is a functional module diagram of an MCU controller for executing a floor identification method proposed in an embodiment of the present invention. The MCU controller is arranged in a floor identification elevator terminal, such as Figure 6 As shown, the MCU controller includes:

[0154] The actual running time acquisition module 61 is used to acquire the actual running time spent by the elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running;

[0155] An estimated time range value obtaining module 62 is used to obtain an estimated time range value for the elevator car to run from the floor where the elevator car was located during the most recent startup operation to the target floor where the robot is located or is planned to reach;

[0156] The confirmation information sending module 63 is used to send confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range and the elevator car runs in the direction of the target floor before stopping.

[0157] Optionally, the floor identification elevator terminal includes a memory, which is connected or communicatively connected to the MCU controller; the memory is used to pre-store the correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, and the estimated time range value acquisition module is specifically used to search the planned running time range value of the elevator car from the floor where it was located when it was last started to reach the target floor in the planned running time range value correspondence, and use it as the estimated time range value.

[0158] Optionally, the confirmation information sending module is specifically used to:

[0159] sending confirmation information of reaching the target floor to the robot located in the elevator car, so that the robot located in the elevator car leaves the elevator car; or,

[0160] The confirmation information of reaching the target floor is sent to the robot located in the corridor of the target floor waiting for the elevator car, so that the robot located in the corridor of the target floor enters the elevator car.

[0161] Optionally, the floor identification elevator terminal includes an accelerometer and / or a barometer; the accelerometer and / or the barometer provide parameters for detecting the start-up operation of the elevator car and detecting the stop of the elevator car; the accelerometer is connected or communicatively connected to the MCU controller; the barometer is connected or communicatively connected to the MCU controller;

[0162] The actual running time acquisition module includes:

[0163] A parameter acquisition module, used to obtain measurement values ​​of the accelerometer and / or the barometer;

[0164] A first time acquisition submodule, for acquiring a first time when the elevator car starts running when it is detected according to the measurement value that the elevator car starts running;

[0165] The actual running time calculation submodule is used to obtain a second time when the elevator car stops running when the elevator car stops running for the first time after the first time, and calculate the difference between the second time and the first time to obtain the actual running time.

[0166] Optionally, the MCU controller further includes:

[0167] A floor search module is used to, when the actual running time is not within the estimated time range value, or when the actual running time is within the estimated time range value but the elevator car does not run in the direction of the target floor before stopping; based on the actual running time and the floor where the elevator car was located when it was last started, in the pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, search for the floor where the elevator car is currently stopped according to the direction of the elevator car running to the target floor.

[0168] Optionally, the floor at which the elevator car was most recently started is the floor at which the elevator car stopped last time, or the starting floor of the floor identification elevator terminal sent by the robot to the floor when the robot just enters the elevator car.

[0169] Optionally, the floor identification elevator terminal includes an accelerometer and / or a barometer; the accelerometer and / or the barometer provide parameters for detecting that the elevator car stops running; the accelerometer is connected or communicatively connected to the MCU controller; the barometer is connected or communicatively connected to the MCU controller; the MCU controller also includes:

[0170] A parameter acquisition module, used to obtain measurement values ​​of the accelerometer and / or the barometer;

[0171] a message receiving module, configured to, upon receiving a confirmation information error message returned by the robot in response to the confirmation information, send confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor whenever it is detected that the elevator car stops running, until receiving information of entering the elevator car sent by the robot;

[0172] The floor confirmation module is used to receive the starting floor sent by the robot as the floor where the elevator car was located when it was last started.

[0173] Optionally, the confirmation information sending module includes:

[0174] A running direction acquisition submodule, used to acquire the running direction of the elevator car;

[0175] A relative position direction acquisition submodule, used to acquire the relative position direction of the target floor compared to the floor where the elevator car was located when it was last started and operated;

[0176] The third information sending submodule is used to send confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range value and the running direction is consistent with the relative position direction.

[0177] Optionally, the floor identification elevator terminal includes an accelerometer or a barometer; the running direction acquisition submodule includes:

[0178] A parameter acquisition subunit, configured to acquire a measurement value of the accelerometer and / or the barometer within a current time range when it is detected that the elevator car starts running or stops running;

[0179] A calculation subunit, used for calculating the corresponding acceleration direction and / or air pressure change according to the measurement values ​​obtained from the accelerometer and / or the barometer;

[0180] The running direction obtaining subunit obtains the running direction of the elevator car according to the acceleration direction and / or the air pressure change.

[0181] The MCU controller provided in the above-mentioned embodiment is used to execute the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effects can be further referred to the relevant description in the method embodiment, which will not be repeated here.

[0182] An embodiment of the present invention provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the instructions of the present invention. Figure 1 to Figure 5 The illustrated embodiment provides a floor identification method.

[0183] The above-mentioned non-transient computer-readable storage medium can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, - but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (read only memory, ROM), erasable programmable read-only memories (erasable programmable read only memory, EPROM) or flash memory, optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0184] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0185] The program code embodied on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0186] Computer program code for performing the operations of the present specification may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0187] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0188] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0189] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0190] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0191] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0192] It should be noted that the terminals involved in the embodiments of the present invention may include but are not limited to personal computers (PCs), personal digital assistants (PDAs), wireless handheld devices, tablet computers, mobile phones, MP3 players, MP4 players, etc.

[0193] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0194] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0195] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0196] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A floor recognition method, characterized in that: The method comprises: Obtain the actual running time of the elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running; Obtain an estimated time range value for the elevator car to travel from the floor where the elevator car was located when it was last started to the target floor where the robot is located or planned to reach; When the actual running time is within the estimated time range, and the elevator car runs in the direction of the target floor before stopping, a confirmation message of reaching the target floor is sent to the robot; In the case of receiving a confirmation information error message returned by the robot in response to the confirmation information, whenever it is detected that the elevator car stops running, sending the confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor until receiving the information of entering the elevator car sent by the robot; The starting floor sent by the robot is received as the floor where the elevator car was located when it was last started.

2. A floor identification elevator terminal, characterized in that: The floor identification elevator terminal is arranged in the elevator car, and the floor identification elevator terminal comprises an MCU controller; The MCU controller includes: An actual running time acquisition module is used to acquire the actual running time spent by the elevator car from the floor where the elevator car was last started to the floor where the elevator car stopped running; An estimated time range value obtaining module, used to obtain an estimated time range value for the elevator car to run from the floor where the elevator car was located when it was last started to the target floor where the robot is located or planned to reach; a confirmation information sending module, configured to send confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range and the elevator car runs in the direction of the target floor before stopping; a message receiving module, configured to, upon receiving a confirmation information error message returned by the robot in response to the confirmation information, send confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor whenever it is detected according to the measurement value that the elevator car stops running, until receiving information of entering the elevator car sent by the robot; The floor confirmation module is used to receive the starting floor sent by the robot as the floor where the elevator car was located when it was last started.

3. The floor identification elevator terminal according to claim 2, characterized in that: The floor identification elevator terminal includes a memory; the memory is used to pre-store the correspondence relationship between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, and the estimated time range value acquisition module is specifically used to find the planned running time range value of the elevator car from the floor where it was on when it was last started to reach the target floor in the planned running time range value correspondence relationship, and use it as the estimated time range value.

4. The floor identification elevator terminal according to claim 2, characterized in that: The confirmation information sending module is specifically used for: sending confirmation information of reaching the target floor to the robot located in the elevator car, so that the robot located in the elevator car leaves the elevator car; or, The confirmation information of reaching the target floor is sent to the robot located in the corridor of the target floor waiting for the elevator car, so that the robot located in the corridor of the target floor enters the elevator car.

5. The floor identification elevator terminal according to claim 2, characterized in that: The floor identification elevator terminal comprises an accelerometer and / or a barometer; the accelerometer and / or the barometer provide parameters for detecting the start-up operation of the elevator car and detecting the stop-operation of the elevator car; The actual running time acquisition module includes: A parameter acquisition module, used to obtain measurement values ​​of the accelerometer and / or the barometer; A first time acquisition submodule, for acquiring a first time when the elevator car starts running when it is detected according to the measurement value that the elevator car starts running; The actual running time calculation submodule is used to obtain a second time when the elevator car stops running when the elevator car stops running for the first time after the first time, and calculate the difference between the second time and the first time to obtain the actual running time.

6. The floor identification elevator terminal according to claim 3, characterized in that: The MCU controller also includes: A floor search module is used to search for the floor where the elevator car is currently stopped according to the actual running time in the pre-stored correspondence between the planned running time range values ​​of the elevator car from any floor of the building to any other floor, based on the actual running time and the floor where the elevator car was located when it was last started, when the actual running time is not within the estimated time range value, or when the actual running time is within the estimated time range value but the elevator car did not run in the direction of the target floor before stopping.

7. The floor identification elevator terminal according to claim 6, characterized in that: The floor at which the elevator car was located when it was most recently started is the floor at which the elevator car stopped last time, or the starting floor of the floor identification elevator terminal sent by the robot to the robot when the robot just enters the elevator car.

8. The floor identification elevator terminal according to claim 2, characterized in that: The floor identification elevator terminal comprises an accelerometer and / or a barometer; the accelerometer and / or the barometer provide parameters for detecting that the elevator car has stopped running; The MCU controller also includes: The parameter acquisition module is used to obtain the measurement values ​​of the accelerometer and / or the barometer.

9. The floor identification elevator terminal according to claim 2, characterized in that: The confirmation information sending module includes: A running direction acquisition submodule, used to acquire the running direction of the elevator car; A relative position direction acquisition submodule, used to acquire the relative position direction of the target floor compared to the floor where the elevator car was located when it was last started and operated; The third information sending submodule is used to send confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range value and the running direction is consistent with the relative position direction.

10. The floor identification elevator terminal according to claim 9, characterized in that: The floor identification elevator terminal includes an accelerometer or a barometer; the running direction acquisition submodule includes: A parameter acquisition subunit, configured to acquire a measurement value of the accelerometer and / or the barometer within a current time range when it is detected that the elevator car starts running or stops running; A calculation subunit, used for calculating the corresponding acceleration direction and / or air pressure change according to the measurement values ​​obtained from the accelerometer and / or the barometer; The running direction obtaining subunit obtains the running direction of the elevator car according to the acceleration direction and / or the air pressure change.

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