Elevator floor detection method, electronic equipment, detection device and storage medium

Abstract

The present application discloses a method, electronic device, detection device and storage medium for detecting elevator floors, which can eliminate the adverse effects of the complex environment in the elevator shaft and the excessive height of the floors, and realize accurate identification of each elevator floor. The method for determining the elevator floor includes: determining the final rotation angle of the target component in the reference direction relative to the reference state according to the marker on the target component in the elevator lifting system, and the reference state is the state of the target component when it is at the reference floor; based on the first correspondence relationship between the number of floors and the rotation angle of the target component in the reference direction relative to its own reference state stored in advance, determining the number of target floors corresponding to the final rotation angle.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of elevator technology, and in particular to an elevator floor detection method, electronic equipment, detection device and storage medium. [Background technology]

[0002] At present, unmanned delivery represented by mobile robots is gradually becoming a new trend. When mobile robots deliver items in office buildings or residential buildings, they often need to take the elevator.

[0003] In the prior art, the original elevator system is often non-invasively modified to enable the mobile robot to know the current floor of the elevator. For example, the first method is to set a label on each floor and install a sensor on the elevator car. By sensing the label corresponding to each floor, the current floor of the elevator can be known. However, in the first method, since labels need to be installed on each floor, there is a problem of difficulty in installation, and the complex environment in the elevator shaft will cause the labels to fail, making it impossible to accurately determine the floor of the elevator; the second method is to install a positioning device on the top of the elevator car and the topmost floor of the elevator shaft. By detecting the position of the positioning device on the top of the elevator car, the current floor of the elevator can be known. However, when the elevator floor is too high, the positioning function of the positioning device in the second method fails, making it impossible to accurately determine the floor of the elevator. [Summary of the invention]

[0004] The embodiments of the present application provide a method, electronic equipment, detection device and storage medium for detecting elevator floors, which can eliminate the adverse effects of the complex environment in the elevator shaft and the excessive height of the floors, and realize accurate identification of each elevator floor.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting an elevator floor, the method comprising:

[0006] Determine, according to a marker on a target component in an elevator lifting system, a final rotation angle of the target component in a reference direction relative to a reference state, wherein the reference state is a state of the target component when it is at a reference floor;

[0007] Based on a pre-stored first correspondence between the number of floors and the rotation angle of the target component in the reference direction relative to its own reference state, the target floor number corresponding to the final rotation angle is determined.

[0008] In the embodiment of the present application, the rotation process of the target component in the elevator lifting system can be considered to be associated with the lifting process of the elevator car. Therefore, a marker can be set on the target component, and the final rotation angle of the target component in the reference direction relative to its own reference state during the lifting process of the elevator car can be determined based on the marker on the target component. Then, the first corresponding relationship between the number of elevator floors and the rotation angle of the target component in the reference direction relative to its own reference state can be used to accurately determine the number of target floors corresponding to the final rotation angle of the target component. Compared with the prior art, this method will not be affected by the complex environment in the elevator shaft and the excessive height of the floors, so that each elevator floor can be identified more accurately.

[0009] Optionally, determining the final rotation angle of the target component in the reference direction relative to the reference state according to the marker on the target component in the elevator lifting system includes:

[0010] Determining the actual rotation angle of the target component according to the marker;

[0011] Determine the actual rotation direction of the target component according to the marker; or,

[0012] receiving an actual rotation direction of the target component sent by a direction detection module;

[0013] The final rotation angle of the target component is determined according to the actual rotation angle and the actual rotation direction.

[0014] In an embodiment of the present application, the actual rotation angle and actual rotation direction of the target component during the lifting and lowering of the elevator car can be determined respectively according to the markers, or the actual rotation angle of the target component can be determined according to the markers, and the actual rotation direction of the target component can be determined by other auxiliary equipment, and then the actual rotation angle and actual rotation direction of the target component can be combined to accurately determine the final rotation angle of the target component when it rotates along the reference direction relative to its own reference state.

[0015] Optionally, the markers on the target component are a plurality of physical markers arranged at equal angular intervals, and determining the actual rotation angle of the target component according to the markers comprises:

[0016] Receive a distance fluctuation curve sent by a ranging module, where the distance fluctuation curve is generated when the ranging module is blocked by various physical markers in sequence when measuring the distance from the ranging module to the side of the target component;

[0017] determining the number of fluctuations according to the distance fluctuation curve;

[0018] The actual rotation angle of the target component is determined according to the number of fluctuations.

[0019] In an embodiment of the present application, the markers on the target component can be multiple physical marks set at equal angles. Then, the distance fluctuation between the ranging module and the target component during the rotation of the target component can be obtained through the ranging module, and the actual rotation angle of the target component can be accurately determined based on the above distance fluctuation.

[0020] Optionally, determining the actual rotation angle of the target component according to the number of fluctuations includes:

[0021] The actual rotation angle of the target component is determined based on the number of fluctuations and the pre-stored angular spacing values ​​between the physical markers.

[0022] In the embodiment of the present application, when determining the distance fluctuation between the ranging module and the target component, the actual rotation angle of the target component can be accurately determined by combining the known angular spacing value corresponding to each distance fluctuation.

[0023] Optionally, each physical marker has a different thickness, and determining the actual rotation direction of the target component according to the marker includes:

[0024] The actual rotation direction of the target component is determined based on the distance fluctuation curve.

[0025] In the embodiment of the present application, the multiple physical markers arranged on the target component have different thicknesses. Therefore, the actual rotation direction of the target component can be accurately and conveniently determined by the distance fluctuation between the ranging module and the target component measured by the ranging module.

[0026] Optionally, determining the actual rotation direction of the target component according to the distance fluctuation curve includes:

[0027] If the distance fluctuation value variation trend in the distance fluctuation curve conforms to a first sequence, determining the actual rotation direction of the target component as the reference direction based on a pre-stored second correspondence between the first sequence and the reference direction;

[0028] If the distance fluctuation value change trend in the distance fluctuation curve conforms to the second order, based on the pre-stored third correspondence between the second order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

[0029] In the embodiment of the present application, the distance fluctuation between the ranging module and the target component measured by the ranging module can be used to accurately and conveniently determine whether the target component rotates along the reference direction or the non-reference direction during this rotation process.

[0030] Optionally, the marker on the target component is a plurality of electronic tags arranged at equal angle intervals, and determining the actual rotation angle of the target component according to the marker includes:

[0031] Receiving a storage information sequence sent by a reader, wherein the storage information sequence includes storage information sequentially read when the reader senses each electronic tag;

[0032] Determining the number of reads according to the stored information sequence;

[0033] The actual rotation angle of the target component is determined according to the number of readings.

[0034] In an embodiment of the present application, the markers on the target component can be multiple electronic tags set at equal angles. Then, a storage information sequence composed of the storage information of each electronic tag during the rotation of the target component can be obtained by a reader, and the actual rotation angle of the target component can be accurately determined based on the above storage information sequence.

[0035] Optionally, determining the actual rotation angle of the target component according to the number of readings includes:

[0036] The actual rotation angle of the target component is determined based on the number of readings and the pre-stored angular spacing values ​​between the electronic tags.

[0037] In an embodiment of the present application, when the reader obtains a storage information sequence consisting of storage information of each electronic tag during the rotation of the target component, the actual rotation angle of the target component can be accurately determined in combination with the known angular spacing value corresponding to each time the storage information is read.

[0038] Optionally, each electronic tag has different storage information, and determining the actual rotation direction of the target component according to the identifier includes:

[0039] The actual rotation direction of the target component is determined based on the stored information sequence.

[0040] In the embodiment of the present application, the storage information corresponding to the multiple electronic tags set on the target component can be different. Therefore, the actual rotation direction of the target component can be accurately and conveniently determined through the storage information sequence obtained by the reader.

[0041] Optionally, determining the actual rotation direction of the target component according to the stored information sequence includes:

[0042] If the change trend of the stored information in the stored information sequence conforms to the third order, determining the actual rotation direction of the target component as the reference direction based on a pre-stored fourth corresponding relationship between the third order and the reference direction;

[0043] If the change trend of the stored information in the stored information sequence conforms to the fourth order, then based on the pre-stored fifth correspondence between the fourth order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

[0044] In the embodiment of the present application, whether the target component rotates along the reference direction or the non-reference direction during this rotation process can be accurately and conveniently determined through the change trend of the stored information in the stored information sequence obtained by the reader.

[0045] Optionally, determining the final rotation angle of the target component according to the actual rotation angle and the actual rotation direction includes:

[0046] If the actual rotation direction is the reference direction, taking the sum of the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle as the final rotation angle of the target component;

[0047] If the actual rotation direction is the non-reference direction, the difference between the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle is used as the final rotation angle of the target component.

[0048] In the embodiment of the present application, different calculation strategies are adopted according to whether the actual rotation direction is a reference direction or a non-reference direction to determine the latest rotation angle of the target component when it rotates along the reference direction relative to its own reference state.

[0049] Optionally, the direction detection module is at least one of an acceleration sensor and an air pressure sensor.

[0050] In the embodiment of the present application, at least one of an acceleration sensor and an air pressure sensor can be used as a direction detection module to provide a basis for determining the actual rotation direction of the target component.

[0051] In a second aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0052] A first determining unit is used to determine a final rotation angle of the target component in a reference direction relative to a reference state according to a marker on the target component in the elevator lifting system, wherein the reference state is a state of the target component when it is at a reference floor;

[0053] The second determining unit is used to determine the target floor number corresponding to the final rotation angle based on a pre-stored first correspondence between the floor number and the rotation angle of the target component relative to its own reference state in a reference direction.

[0054] Optionally, the second determining unit includes:

[0055] an actual rotation angle determination unit, used to determine the actual rotation angle of the target component according to the marker;

[0056] an actual rotation direction determining unit, used to determine the actual rotation direction of the target component according to the marker; or used to receive the actual rotation direction of the target component sent by a direction detection module;

[0057] A final rotation angle determination unit is used to determine the final rotation angle of the target component according to the actual rotation angle and the actual rotation direction.

[0058] Optionally, the marker on the target component is a plurality of physical markers arranged at equal angular intervals, and the actual rotation angle determination unit includes:

[0059] A receiving subunit, used for receiving a distance fluctuation curve sent by the ranging module, wherein the distance fluctuation curve is generated when the ranging module is blocked by various physical markers in sequence when measuring the distance from the ranging module to the side of the target component;

[0060] A fluctuation number determination subunit, used to determine the fluctuation number according to the distance fluctuation curve;

[0061] The actual rotation angle determination subunit is used to determine the actual rotation angle of the target component according to the number of fluctuations.

[0062] Optionally, the actual rotation angle determination subunit is specifically used for:

[0063] The actual rotation angle of the target component is determined based on the number of fluctuations and the pre-stored angular spacing values ​​between the physical markers.

[0064] Optionally, each physical marker has a different thickness, and the actual rotation direction determination unit includes:

[0065] The actual rotation direction determining subunit is used to determine the actual rotation direction of the target component according to the distance fluctuation curve.

[0066] Optionally, the actual rotation direction determination subunit is specifically used for:

[0067] If the distance fluctuation value variation trend in the distance fluctuation curve conforms to a first sequence, determining the actual rotation direction of the target component as the reference direction based on a pre-stored second correspondence between the first sequence and the reference direction;

[0068] If the distance fluctuation value change trend in the distance fluctuation curve conforms to the second order, based on the pre-stored third correspondence between the second order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

[0069] Optionally, the marker on the target component is a plurality of electronic tags arranged at equal angle intervals, and the actual rotation angle determination unit includes:

[0070] A receiving subunit, used for receiving a storage information sequence sent by a reader, wherein the storage information sequence includes storage information sequentially read when the reader senses each electronic tag;

[0071] A reading number determination subunit, used to determine the reading number according to the storage information sequence;

[0072] The actual rotation angle determination subunit is used to determine the actual rotation angle of the target component according to the number of readings.

[0073] Optionally, the actual rotation angle determination subunit is specifically used for:

[0074] The actual rotation angle of the target component is determined based on the number of readings and the pre-stored angular spacing values ​​between the electronic tags.

[0075] Optionally, each electronic tag has different storage information, and the actual rotation direction determination unit includes:

[0076] The actual rotation direction determining subunit is used to determine the actual rotation direction of the target component according to the stored information sequence.

[0077] Optionally, the actual rotation direction determination subunit is specifically used for:

[0078] If the change trend of the stored information in the stored information sequence conforms to the third order, determining the actual rotation direction of the target component as the reference direction based on a pre-stored fourth corresponding relationship between the third order and the reference direction;

[0079] If the change trend of the stored information in the stored information sequence conforms to the fourth order, then based on the pre-stored fifth correspondence between the fourth order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

[0080] Optionally, the final rotation angle determination unit is specifically used for:

[0081] If the actual rotation direction is the reference direction, taking the sum of the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle as the final rotation angle of the target component;

[0082] If the actual rotation direction is the non-reference direction, the difference between the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle is used as the final rotation angle of the target component.

[0083] Optionally, the direction detection module is at least one of an acceleration sensor and an air pressure sensor.

[0084] In a third aspect, an embodiment of the present application provides a device for detecting an elevator floor, the detection device comprising:

[0085] A detection module is used to detect the markers on the target components in the elevator lifting system and obtain the detection results;

[0086] A processing module is electrically connected to the detection module, and is used to receive the detection result, and determine the final rotation angle of the target component in a reference direction relative to a reference state based on the detection result, and determine the target floor number corresponding to the final rotation angle based on a first correspondence between the pre-stored floor number and the rotation angle of the target component in a reference direction relative to its own reference state, wherein the reference state is the state of the target component when it is at the reference floor.

[0087] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory, wherein the processor is configured to implement the steps of the method described in any embodiment of the first aspect when executing a computer program stored in the memory.

[0088] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as described in any embodiment of the first aspect.

[0089] It should be understood that the second to fifth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be described in detail.

Brief Description of the Drawings

[0090] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be 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 paying creative work.

[0091] Figure 1 A schematic diagram of the structure of an elevator lifting system provided in an embodiment of the present application;

[0092] Figure 2 A schematic diagram of a flow chart of a method for detecting elevator floors provided in an embodiment of the present application;

[0093] Figure 3 A schematic diagram of setting physical markers at equal angles on a target component provided in an embodiment of the present application;

[0094] Figure 4 A schematic diagram of setting electronic tags at equal angles on a target component provided in an embodiment of the present application;

[0095] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0096] Figure 6 A schematic diagram of the structure of an elevator floor detection device provided in an embodiment of the present application;

[0097] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. [Specific implementation method]

[0098] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0099] 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.

[0100] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0101] With the rapid development of the e-commerce industry, unmanned delivery has gradually become a new trend. For example, mobile robots are used to provide users with item delivery services, such as express delivery or take-out delivery. When mobile robots need to complete indoor delivery, for example, when they need to deliver items in office buildings or residential buildings, they need to take an elevator to the target floor, just like the manual delivery in the existing technology.

[0102] The inventor of this application has found that at this stage, the main method to enable the mobile robot to know the elevator floor is to perform non-invasive modification on the elevator system. The main methods are as follows: First, a label is set on each floor in the elevator shaft, and a sensor is installed on the elevator car. By sensing the label corresponding to each floor through the sensor, the current floor of the elevator can be known. This method requires setting labels on each floor, which is difficult to install, and the metal wall in the elevator shaft may also make the label invalid, resulting in the inability to accurately identify the floor; second, positioning devices are set on the top of the elevator car and the top of the elevator shaft respectively. The positioning device set on the top of the elevator shaft locates the positioning device on the top of the elevator car to determine the floor of the elevator. However, when the elevator floor is too high and the distance between the two positioning devices is large, the positioning function of the positioning device may be invalid, and the elevator floor cannot be accurately determined. That is, there is a problem that some floors cannot be identified.

[0103] In view of this, an embodiment of the present application provides a method for determining an elevator floor, in which, considering that the rotation process of a target component in an elevator lifting system can be considered to be associated with the lifting process of an elevator car, a marker can be set on the target component, and based on the marker on the target component, the final rotation angle of the target component in a reference direction relative to its own reference state during the lifting process of the elevator car can be determined, and then the first corresponding relationship between the number of elevator floors and the rotation angle of the target component in a reference direction relative to its own reference state can be used to accurately determine the number of target floors corresponding to the final rotation angle of the target component. Compared with the prior art, this method will not be affected by the complex environment in the elevator shaft and the excessive height of the floor, so that each elevator floor can be identified more accurately.

[0104] For ease of understanding, an application scenario of the embodiment of the present application is first introduced. Figure 1 , which is a schematic diagram of a new elevator system provided in an embodiment of the present application. Figure 1The elevator comprises a car 101, a wire rope 102, a traction wheel 103, a guide wheel 104 and a counterweight 105. The car 101 is mainly used to carry objects to be taken by the elevator, for example, the objects here can be people, mobile robots or other objects. The traction wheel 103 is connected to the car 101 through the wire rope 102, and is mainly used to provide power for the ascent and descent of the car. The guide wheel 104 is mainly used to increase the distance between the car 101 and the counterweight 105, and change the movement direction of the wire rope 102. The counterweight 105 is mainly used to balance the weight of the car 101 and the weight of the load carried by the car 101 with its own weight, thereby improving the performance of the traction wheel 103.

[0105] Depend on Figure 1 It can be seen that when the traction wheel 103 and the guide wheel 104 rotate clockwise, the car 101 is in an ascending state; when the traction wheel 103 and the guide wheel 104 rotate counterclockwise, the car 101 is in a descending state. In other words, the rotation process of the traction wheel 103 and the guide wheel 104 in the elevator system can be considered to be associated with the lifting process of the car 101.

[0106] The following is an introduction to the technical solution provided by the embodiment of the present application in conjunction with the accompanying drawings. Figure 1 For example, see the application scenario shown in Figure 2 The embodiment of the present invention provides a method for detecting elevator floors, which is applied to electronic equipment. The process of the method is described as follows:

[0107] Step 201: Determine a final rotation angle of a target component in a reference direction relative to a reference state based on a marker on the target component in an elevator lifting system, wherein the reference state is a state of the target component when it is at a reference floor.

[0108] Considering Figure 1 In the process of the car 101 rising from the first floor to the top floor, the traction wheel 103 or the guide wheel 104 rotates clockwise, and the number of floors the car 101 is located at during the rising process is positively correlated with the clockwise rotation angle of the traction wheel 103 or the guide wheel 104; while in the process of the car 101 descending from the top floor to the first floor, the traction wheel 103 or the guide wheel 104 rotates counterclockwise, and the number of floors the car 101 is located at during the descending process is positively correlated with the counterclockwise rotation angle of the traction wheel 103 or the guide wheel 104.

[0109] Therefore, in the embodiment of the present application, the electronic device can use the characteristics of the rotation process of the traction wheel 103 or the guide wheel 104 in the elevator lifting system associated with the lifting process of the elevator car 101 to indirectly determine the floor where the car 101 is located. Prior to this, it is necessary to know the rotation of the traction wheel 103 or the guide wheel 104 during the lifting process of the elevator car 101.

[0110] As a possible implementation, the electronic device can set a marker on the target component of the elevator lifting system, where the target component can be considered to be any one of the traction wheel 103 or the guide wheel 104, and there is no special restriction here. Then, the final rotation angle of the target component in the reference direction relative to the reference state is determined by the marker on the target component. It should be understood that the reference state here can be considered to be the state of the target component when the car 101 is at the reference floor. For example, when the target component is the traction wheel 103, the reference state of the traction wheel 103 can be considered to be the state of the traction wheel 103 when the car 101 is at the reference floor. Exemplarily, the reference floor can be the first floor, or it can be the top floor, and of course it can also be any floor between the first floor and the top floor. There is no special restriction here.

[0111] For example, the electronic device can determine the actual rotation angle of the target component based on the marker on the target component, and determine the actual rotation direction of the target component based on the marker on the target component, or it can also receive the actual rotation direction of the target component sent by the direction detection module, where the direction detection module can be at least one of an acceleration sensor and an air pressure sensor. On the basis of determining the actual rotation direction and the actual rotation angle of the target component, the final rotation angle of the target component in the reference direction relative to its own reference state can be accurately determined based on the actual rotation direction and the actual rotation angle of the target component.

[0112] The following describes in detail how to determine the actual rotation angle of the target component based on the markers when using different types of markers.

[0113] Actual rotation angle detection method 1: The markers of the target component are multiple physical markers set at equal angle intervals.

[0114] In an embodiment of the present application, a ranging module can be fixedly set on the side of the target component, and the ranging module can be used to measure the distance from itself to the side of the target component. Before a plurality of physical markers are set at equal angular intervals on the side of the target component, the distance measured by the ranging module is a fixed value during the rotation of the target component. After the physical markers are set at equal angular intervals on the target component, this means that in the process of the ranging module measuring the distance from itself to the side of the target component, every certain angular spacing value will be blocked by a certain physical marker, causing the measured distance to fluctuate, thereby forming a distance fluctuation curve. The electronic device can receive the above-mentioned distance fluctuation curve, determine the number of fluctuations based on the distance fluctuation curve, and further determine the actual rotation angle of the target component based on the number of fluctuations obtained.

[0115] As a possible implementation, the above-mentioned angular spacing values ​​between the physical markers are pre-stored in the electronic device. Then, after determining the number of distance fluctuations based on the distance fluctuation curve, the above-mentioned angular spacing value and the number of distance fluctuations can be combined to jointly determine the actual rotation angle of the target component.

[0116] For example, the angular spacing value between the physical markers pre-stored in the electronic device is 30 degrees, and the number of distance fluctuations determined based on the distance fluctuation curve is 5 times, then the actual rotation angle of the target component is 150 degrees.

[0117] Actual rotation angle detection method 2: The marker of the target component is a plurality of electronic tags arranged at equal angle intervals.

[0118] In the embodiment of the present application, a reader can be fixedly arranged on the side of the target component. Before a plurality of electronic tags are arranged at equal angles on the side of the target component, the reader cannot read any electronic tag storage information during the rotation of the target component. After a plurality of electronic tags are arranged at equal angles on the target component, this means that as the target component rotates, the reader will read the storage information in an electronic tag at every certain angle interval, thereby forming a storage information sequence. The electronic device can receive the above storage information sequence, determine the number of reads according to the storage information sequence, and further determine the actual rotation angle of the target component based on the obtained number of reads.

[0119] As a possible implementation, the above-mentioned angular spacing values ​​between the electronic tags are pre-stored in the electronic device. Then, after determining the number of readings based on the stored information sequence, the above-mentioned angular spacing value and the number of readings can be combined to jointly determine the actual rotation angle of the target component.

[0120] For example, the angular spacing value between the electronic tags pre-stored in the electronic device is 30 degrees, and the number of readings determined based on the stored information sequence is 8 times, then the actual rotation angle of the target component is 240 degrees.

[0121] In the above embodiment, after determining the actual rotation angle of the target component by different types of markers, the actual rotation direction of the target component may be further determined based on the different types of markers.

[0122] Actual rotation direction detection method 1: The markers of the target component are multiple physical markers set at equal angles and with different thicknesses.

[0123] In an embodiment of the present application, when the markers of the target component are multiple physical markers arranged at equal angular intervals and have different thicknesses, the electronic device can determine the actual rotation direction of the target component based on the received distance fluctuation curve.

[0124] As a possible implementation, the electronic device pre-stores a correspondence between a reference direction and a distance fluctuation value in a distance fluctuation curve based on a first order change, and pre-stores a correspondence between a non-reference direction and a distance fluctuation value in the distance fluctuation curve based on a second order change, where the non-reference direction is the opposite direction of the reference direction. When the electronic device determines that the trend of the distance fluctuation value change in the distance fluctuation curve conforms to the first order, the actual rotation direction of the target component is determined to be the reference direction based on the pre-stored correspondence between the reference direction and the distance fluctuation value in the distance fluctuation curve based on the first order change; conversely, when the electronic device determines that the trend of the distance fluctuation value change in the distance fluctuation curve conforms to the second order, the actual rotation direction of the target component is determined to be the non-reference direction based on the pre-stored correspondence between the non-reference direction and the distance fluctuation value in the distance fluctuation curve based on the second order change.

[0125] For example, see Figure 3 If the thickness of the physical markers 1-8 increases successively, then if the target component rotates clockwise, the ranging module can measure the distance between itself and the side of the target component counterclockwise, and the distance fluctuation caused by being blocked by the physical marker 8-1 successively, then the distance fluctuation value in the obtained distance fluctuation curve decreases successively; if the target component rotates counterclockwise, the ranging module can measure the distance between itself and the side of the target component clockwise, and the distance fluctuation caused by being blocked by the physical markers 1-8 successively, then the distance fluctuation value in the obtained distance fluctuation curve increases successively.

[0126] The electronic device may store a correspondence between a reference direction (clockwise direction) and a decreasing distance fluctuation value in a distance fluctuation curve, as well as a correspondence between a non-reference direction (counterclockwise direction) and an increasing distance fluctuation value in the distance fluctuation curve. When the electronic device determines that the changing trend of the distance fluctuation value in the distance fluctuation curve conforms to a decreasing order, based on the pre-stored corresponding relationship between the reference direction (clockwise direction) and the decreasing distance fluctuation value in the distance fluctuation curve, the actual rotation direction of the target component is determined to be the reference direction (clockwise direction); conversely, when the electronic device determines that the changing trend of the distance fluctuation value in the distance fluctuation curve conforms to an increasing order, based on the pre-stored corresponding relationship between the non-reference direction (counterclockwise direction) and the increasing distance fluctuation value in the distance fluctuation curve, the actual rotation direction of the target component is determined to be the non-reference direction (counterclockwise direction).

[0127] The second method for detecting the actual rotation direction: the markers of the target component are multiple electronic tags arranged at equal angle intervals, and the stored information in the tags is different.

[0128] In an embodiment of the present application, when the identifier of the target component is a plurality of electronic tags arranged at equal angle intervals and the storage information thereof is different, the electronic device can determine the actual rotation direction of the target component according to the received storage information sequence.

[0129] As a possible implementation, the electronic device pre-stores a correspondence between a reference direction and the stored information in the stored information sequence based on the third order, and pre-stores a correspondence between a non-reference direction and the stored information in the stored information sequence based on the fourth order, where the non-reference direction is the opposite direction of the reference direction. When the electronic device determines that the trend of the stored information in the stored information sequence conforms to the third order, the actual rotation direction of the target component is determined to be the reference direction based on the correspondence between the pre-stored reference direction and the stored information in the stored information sequence based on the third order; conversely, when the electronic device determines that the trend of the stored information in the stored information sequence conforms to the fourth order, the actual rotation direction of the target component is determined to be the non-reference direction based on the correspondence between the pre-stored non-reference direction and the stored information in the stored information sequence based on the fourth order.

[0130] For example, see Figure 4 , the information stored in the electronic tags AH is different, and the specific information stored in the electronic tags AH is not particularly limited here. If the target component rotates clockwise, the reader can read the information stored in the electronic tag HA counterclockwise; if the target component rotates counterclockwise, the reader can read the information stored in the electronic tag AH clockwise. It should be understood that since the information stored in the electronic tags AH is different, the sequence of the information stored in the electronic tag HA read counterclockwise is obviously different from the sequence of the information stored in the electronic tag AH read clockwise.

[0131] The electronic device pre-stores a correspondence between a reference direction (clockwise direction) and changes in the stored information in the stored information sequence based on HA, and pre-stores a correspondence between a non-reference direction and changes in the stored information in the stored information sequence based on AH, where the non-reference direction is the opposite direction of the reference direction. When the electronic device determines that the change trend of the stored information in the stored information sequence conforms to the order of HA, based on the pre-stored correspondence between the reference direction (clockwise direction) and changes in the stored information in the stored information sequence based on HA, the actual rotation direction of the target component is determined to be the reference direction (clockwise); conversely, when the electronic device determines that the change trend of the stored information in the stored information sequence conforms to the order of AH, based on the pre-stored correspondence between the non-reference direction and changes in the stored information in the stored information sequence based on AH, the actual rotation direction of the target component is determined to be the non-reference direction (counterclockwise).

[0132] In an embodiment of the present application, after the actual rotation angle and the actual rotation direction of the target component are determined based on different types of markers, the final rotation angle of the target component can be further determined based on the determined actual rotation angle and the actual rotation direction of the target component.

[0133] As a possible implementation, if the electronic device determines that the actual rotation direction of the target component is the reference direction, the sum of the original final rotation angle of the target component along the reference direction relative to its own reference state (corresponding to the original floor where the car 101 was located) and the actual rotation angle of the current target component is taken as the final rotation angle of the target component.

[0134] For example, the original final rotation angle of the target component pre-stored in the electronic device relative to its own reference state along the reference direction is 100 degrees, the actual direction of the current target component is the reference direction, and the actual rotation angle is 50 degrees, then the final rotation angle of the target component is 150 degrees.

[0135] If the electronic device determines that the actual rotation direction of the target component is a non-reference direction, the difference between the original final rotation angle of the target component relative to its own reference state along the reference direction and the actual rotation angle of the current target component is used as the final rotation angle of the target component.

[0136] For example, the original final rotation angle of the target component pre-stored in the electronic device relative to its own reference state along the reference direction is 100 degrees, the actual direction of the current target component is a non-reference direction, and the actual rotation angle is 40 degrees, then the final rotation angle of the target component is 60 degrees.

[0137] Step 202: Based on a pre-stored first correspondence between the number of floors and the rotation angle of the target component in a reference direction relative to its own reference state, determine the target floor number corresponding to the final rotation angle.

[0138] In the embodiment of the present application, after the electronic device determines the final rotation angle of the target component in the reference direction relative to its own reference state, it can determine the current floor number based on the correlation between the final rotation angle and the floor number.

[0139] As a possible implementation, the electronic device can be considered to have pre-stored a first correspondence between the number of floors and the rotation angle of the target component in a reference direction relative to its own reference state. After obtaining the above-mentioned final rotation angle, the target floor number can be determined based on the above-mentioned first correspondence.

[0140] See also Figure 6 Based on the same inventive concept, an embodiment of the present application provides an electronic device, which includes: a first determination unit 301 and a second determination unit 302.

[0141] A first determining unit 301 is used to determine a final rotation angle of the target component in a reference direction relative to a reference state according to a marker on the target component in the elevator lifting system, where the reference state is a state of the target component when it is at a reference floor;

[0142] The second determining unit 302 is used to determine the target floor number corresponding to the final rotation angle based on a pre-stored first correspondence between the floor number and the rotation angle of the target component relative to its own reference state in a reference direction.

[0143] Optionally, the second determining unit 302 includes:

[0144] An actual rotation angle determination unit, used to determine an actual rotation angle of the target component according to the marker;

[0145] An actual rotation direction determination unit, used to determine the actual rotation direction of the target component according to the marker; or used to receive the actual rotation direction of the target component sent by the direction detection module;

[0146] The final rotation angle determination unit is used to determine the final rotation angle of the target component according to the actual rotation angle and the actual rotation direction.

[0147] Optionally, the markers on the target component are multiple physical markers arranged at equal angle intervals, and the actual rotation angle determination unit includes:

[0148] A receiving subunit, used to receive a distance fluctuation curve sent by the ranging module, where the distance fluctuation curve is generated when the ranging module is blocked by various physical markers in sequence when measuring the distance from itself to the side of the target component;

[0149] A fluctuation number determination subunit, used to determine the fluctuation number according to the distance fluctuation curve;

[0150] The actual rotation angle determination subunit is used to determine the actual rotation angle of the target component according to the number of fluctuations.

[0151] Optionally, the actual rotation angle determination subunit is specifically used for:

[0152] Based on the number of fluctuations and the pre-stored angular spacing values ​​between the physical markers, the actual rotation angle of the target component is determined.

[0153] Optionally, each physical marker has a different thickness, and the actual rotation direction determination unit includes:

[0154] The actual rotation direction determining subunit is used to determine the actual rotation direction of the target component according to the distance fluctuation curve.

[0155] Optionally, the actual rotation direction determination subunit is specifically used for:

[0156] If the distance fluctuation value variation trend in the distance fluctuation curve conforms to the first sequence, then based on a pre-stored second correspondence between the first sequence and the reference direction, determining the actual rotation direction of the target component as the reference direction;

[0157] If the distance fluctuation value change trend in the distance fluctuation curve conforms to the second order, based on the pre-stored third correspondence between the second order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

[0158] Optionally, the marker on the target component is a plurality of electronic tags arranged at equal angle intervals, and the actual rotation angle determination unit includes:

[0159] A receiving subunit, used for receiving a storage information sequence sent by a reader, wherein the storage information sequence includes storage information sequentially read when the reader senses each electronic tag;

[0160] A read times determination subunit, used to determine the read times according to the stored information sequence;

[0161] The actual rotation angle determination subunit is used to determine the actual rotation angle of the target component according to the number of readings.

[0162] Optionally, the actual rotation angle determination subunit is specifically used for:

[0163] Based on the number of readings and the pre-stored angular spacing values ​​between the electronic tags, the actual rotation angle of the target component is determined.

[0164] Optionally, each electronic tag has different storage information, and the actual rotation direction determination unit includes:

[0165] The actual rotation direction determining subunit is used to determine the actual rotation direction of the target component according to the stored information sequence.

[0166] Optionally, the actual rotation direction determination subunit is specifically used for:

[0167] If the change trend of the stored information in the stored information sequence conforms to the third order, then based on a fourth corresponding relationship between the pre-stored third order and the reference direction, determining the actual rotation direction of the target component as the reference direction;

[0168] If the change trend of the stored information in the stored information sequence conforms to the fourth order, based on the fifth corresponding relationship between the pre-stored fourth order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

[0169] Optionally, the final rotation angle determination unit is specifically used for:

[0170] If the actual rotation direction is the reference direction, the sum of the original final rotation angle of the target component relative to the reference state in the reference direction and the actual rotation angle is taken as the final rotation angle of the target component;

[0171] If the actual rotation direction is a non-reference direction, the difference between the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle is used as the final rotation angle of the target component.

[0172] Optionally, the direction detection module is at least one of an acceleration sensor and an air pressure sensor.

[0173] See also Figure 6 Based on the same inventive concept, an embodiment of the present application provides an elevator floor detection device, which includes: a detection module 401 and a processing module 402.

[0174] The detection module 401 is used to detect the marker on the target component in the elevator lifting system and obtain the detection result;

[0175] The processing module 402 is electrically connected to the detection module 401, and is used to receive the detection results, and determine the final rotation angle of the target component in the reference direction relative to the reference state based on the detection results, and determine the target floor number corresponding to the final rotation angle based on a first correspondence between the pre-stored floor number and the rotation angle of the target component in the reference direction relative to its own reference state, wherein the reference state is the state of the target component when it is at the reference floor.

[0176] See also Figure 7 Based on the same inventive concept, an embodiment of the present application provides an electronic device, the electronic device includes at least one processor 501, the processor 501 is used to execute a computer program stored in a memory, and implement the embodiment of the present application as provided in Figure 2 The steps of the elevator floor detection method are shown.

[0177] Optionally, the processor 501 may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0178] Optionally, the electronic device may further include a memory 502 connected to the at least one processor 501, and the memory 502 may include a ROM, a RAM, and a disk memory. The memory 502 is used to store data required by the processor 501 when it is running, that is, it stores instructions that can be executed by the at least one processor 501. The at least one processor 501 executes the instructions stored in the memory 502 to execute the following. Figure 2The method shown. The number of the memory 502 is one or more. The memory 502 is Figure 7 However, it should be noted that the memory 502 is not a mandatory functional module, so Figure 7 Shown by dotted lines.

[0179] The entity devices corresponding to the first determining unit 301 and the second determining unit 302 may be the aforementioned processor 501. The electronic device may be used to execute Figure 2 Therefore, for the functions that can be realized by each functional module in the electronic device, please refer to Figure 2 The corresponding description in the illustrated embodiment will not be repeated here.

[0180] The present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 2 The method described.

[0181] 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 method for detecting elevator floors, characterized in that: The method comprises: Determine, according to a marker on a target component in an elevator lifting system, a final rotation angle of the target component in a reference direction relative to a reference state, wherein the reference state is a state of the target component when it is at a reference floor; Determine the target floor number corresponding to the final rotation angle based on a first correspondence relationship pre-stored between the number of floors and the rotation angle of the target component in the reference direction relative to its own reference state; Determining the final rotation angle of the target component in the reference direction relative to the reference state according to the marker on the target component in the elevator lifting system includes: Determining the actual rotation angle of the target component according to the marker; Determine the actual rotation direction of the target component according to the marker; or, receiving an actual rotation direction of the target component sent by a direction detection module; The final rotation angle of the target component is determined according to the actual rotation angle and the actual rotation direction.

2. The method according to claim 1, characterized in that: The markers on the target component are a plurality of physical markers arranged at equal angle intervals, and determining the actual rotation angle of the target component according to the markers includes: Receive a distance fluctuation curve sent by a ranging module, where the distance fluctuation curve is generated when the ranging module is blocked by various physical markers in sequence when measuring the distance from the ranging module to the side of the target component; determining the number of fluctuations according to the distance fluctuation curve; The actual rotation angle of the target component is determined according to the number of fluctuations.

3. The method according to claim 2, characterized in that Determining the actual rotation angle of the target component according to the number of fluctuations includes: The actual rotation angle of the target component is determined based on the number of fluctuations and the pre-stored angular spacing values ​​between the physical markers.

4. The method according to claim 2, characterized in that: Each physical marker has a different thickness, and determining the actual rotation direction of the target component according to the marker includes: The actual rotation direction of the target component is determined based on the distance fluctuation curve.

5. The method according to claim 4, characterized in that Determining the actual rotation direction of the target component according to the distance fluctuation curve includes: If the distance fluctuation value variation trend in the distance fluctuation curve conforms to a first sequence, determining the actual rotation direction of the target component as the reference direction based on a pre-stored second correspondence between the first sequence and the reference direction; If the distance fluctuation value change trend in the distance fluctuation curve conforms to the second order, based on the pre-stored third correspondence between the second order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

6. The method according to claim 1, characterized in that The marker on the target component is a plurality of electronic tags arranged at equal angle intervals, and determining the actual rotation angle of the target component according to the marker includes: Receiving a storage information sequence sent by a reader, wherein the storage information sequence includes storage information sequentially read when the reader senses each electronic tag; Determining the number of reads according to the stored information sequence; The actual rotation angle of the target component is determined according to the number of readings.

7. The method according to claim 6, characterized in that Determining the actual rotation angle of the target component according to the number of readings includes: The actual rotation angle of the target component is determined based on the number of readings and the pre-stored angular spacing values ​​between the electronic tags.

8. The method according to claim 6, characterized in that Each electronic tag has different storage information, and determining the actual rotation direction of the target component according to the identifier includes: The actual rotation direction of the target component is determined based on the stored information sequence.

9. The method according to claim 8, characterized in that Determining the actual rotation direction of the target component according to the stored information sequence comprises: If the change trend of the stored information in the stored information sequence conforms to the third order, determining the actual rotation direction of the target component as the reference direction based on a pre-stored fourth corresponding relationship between the third order and the reference direction; If the change trend of the stored information in the stored information sequence conforms to the fourth order, then based on the pre-stored fifth correspondence between the fourth order and the non-reference direction, the actual rotation direction of the target component is determined to be the non-reference direction, and the non-reference direction is the opposite direction of the reference direction.

10. The method according to any one of claims 5 or 9, characterized in that: Determining the final rotation angle of the target component according to the actual rotation angle and the actual rotation direction includes: If the actual rotation direction is the reference direction, taking the sum of the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle as the final rotation angle of the target component; If the actual rotation direction is the non-reference direction, the difference between the original final rotation angle of the target component in the reference direction relative to the reference state and the actual rotation angle is used as the final rotation angle of the target component.

11. The method according to claim 1, characterized in that: The direction detection module is at least one of an acceleration sensor and an air pressure sensor.

12. An electronic device, characterized in that: The electronic device comprises: A first determining unit is used to determine a final rotation angle of the target component in a reference direction relative to a reference state according to a marker on the target component in the elevator lifting system, wherein the reference state is a state of the target component when it is at a reference floor; The first determination unit includes: an actual rotation angle determination unit, configured to determine an actual rotation angle of the target component according to the marker; An actual rotation direction determination unit, used to determine the actual rotation direction of the target component according to the marker; or used to receive the actual rotation direction of the target component sent by the direction detection module; A final rotation angle determination unit, used to determine the final rotation angle of the target component according to the actual rotation angle and the actual rotation direction; The second determining unit is used to determine the target floor number corresponding to the final rotation angle based on a pre-stored first correspondence between the floor number and the rotation angle of the target component relative to its own reference state in a reference direction.

13. An elevator floor detection device, characterized in that: The detection device comprises: A detection module is used to detect the markers on the target components in the elevator lifting system and obtain the detection results; a processing module, electrically connected to the detection module, for receiving the detection result, and determining a final rotation angle of the target component in a reference direction relative to a reference state based on the detection result, and determining a target floor number corresponding to the final rotation angle based on a first correspondence between a pre-stored floor number and a rotation angle of the target component in a reference direction relative to its own reference state, wherein the reference state is a state of the target component when it is at a reference floor; Determining the final rotation angle of the target component in a reference direction relative to a reference state based on the detection result includes: determining the actual rotation angle of the target component according to the marker; determining the actual rotation direction of the target component according to the marker; or, receiving the actual rotation direction of the target component sent by a direction detection module; and determining the final rotation angle of the target component according to the actual rotation angle and the actual rotation direction.

14. An electronic device, characterized in that: The electronic device comprises at least one processor and a memory connected to the at least one processor, and the at least one processor is configured to implement the steps of the method according to any one of claims 1 to 11 when executing a computer program stored in the memory.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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