Method, apparatus, medium and electronic device for determining elevator landing floor

Abstract

The present disclosure relates to a method, device, medium and electronic equipment for determining an elevator landing floor, comprising: collecting, by a collection device, a wall feature of an elevator shaft through which an elevator car travels from the current acceleration to the current landing; comparing the wall feature with a pre-collected reference wall feature, and determining a current landing floor of the elevator car according to a comparison result; and if the current landing floor is consistent with a floor in call information of a robot, sending arrival information to the robot. Compared with determining the distance from the top or the ground to determine the elevator landing floor, the current landing floor of the elevator car is determined by comparing the wall feature of the elevator shaft through which the elevator car travels from the current acceleration to the current landing with the pre-collected wall feature, which can reduce the influence of errors and elevator shaft interference, improve the accuracy of determining the elevator landing floor, and further improve the accuracy of the robot getting on and off the elevator.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned delivery technology, and more specifically, to a method, apparatus, medium, and electronic equipment for determining the floor where an elevator stops. Background Technology

[0002] Indoor delivery robots need to autonomously move between floors using elevators. When the robot autonomously rides an elevator, it must obtain real-time information about the floor the elevator is currently at to determine if it is the target floor for delivery. One related technology involves installing a long-range laser rangefinder on the outside of the elevator car to detect the real-time distance between the top of the elevator car and the top of the elevator shaft, or the real-time distance between the bottom of the elevator car and the floor of the elevator shaft, thus determining the floor the elevator is at. However, as the number of floors increases, the data collection error accumulates, and interference from the elevator shaft further reduces the accuracy of determining the floor. Furthermore, long-range laser rangefinders are expensive. Summary of the Invention

[0003] The purpose of this disclosure is to provide a method, apparatus, medium, and electronic device for determining the floor where an elevator stops. By comparing the wall features of the elevator shaft along the route from the current acceleration to the current stop with pre-collected wall features, the current floor where the elevator car stops can be determined. This reduces errors and the influence of elevator shaft interference, improves the accuracy of determining the floor where the elevator stops, and thus improves the accuracy of the robot getting on and off the elevator.

[0004] To achieve the above objectives, the first aspect of this disclosure provides a method for determining the floor where an elevator stops, applied to a car device installed on an elevator car, comprising:

[0005] The elevator car's path from acceleration to its stop is collected by a data acquisition device located on the outside of the elevator car.

[0006] The wall features are compared with pre-collected reference wall features, and the current floor where the elevator car is stopped is determined based on the comparison results.

[0007] If the current floor where the robot is docked matches the floor in the robot's call information, then an arrival information is sent to the robot.

[0008] Optionally, comparing the wall features with pre-collected reference wall features includes:

[0009] Based on the feature type of the feature points in the wall features, the number of feature points corresponding to each feature type, and the collection timestamp of each feature point, a feature sequence of the wall features is constructed.

[0010] The feature sequence of the wall feature is compared with the reference feature sequence in the reference wall feature.

[0011] Optionally, constructing the feature sequence of the wall features based on the feature types of feature points in the wall features, the number of feature points corresponding to each feature type, and the acquisition timestamp of each feature point includes:

[0012] Based on the feature type of the feature points in the wall features and the collection timestamp of the feature points, determine the number of feature points corresponding to different feature types in each unit time period;

[0013] Determine the target feature type for each unit of time, wherein the target feature type is the feature type with the largest number of feature points within the unit of time.

[0014] The feature sequence of the wall feature is constructed based on the target feature type corresponding to each unit of time and the number of feature points under the target feature type.

[0015] Optionally, the step of collecting the wall features of the elevator shaft along the route the elevator car takes from its current acceleration to its current stop via the data acquisition device includes:

[0016] During the acquisition process of the acquisition device, it is determined whether the density of feature points in the wall features acquired by the acquisition device exceeds a preset density threshold.

[0017] If the density of feature points does not exceed the preset density threshold, the acquisition orientation of the acquisition device is adjusted to increase the density of feature points in the wall features subsequently acquired by the acquisition device.

[0018] Optionally, determining the current floor where the elevator car is stopped based on the comparison result includes:

[0019] Determine whether the current floor where the elevator car is stopped is unique in the comparison results;

[0020] If the current stopping floor of the elevator car is not unique in the comparison results, determine the direction of travel of the elevator car from this acceleration to this stop;

[0021] The displacement of the elevator car from this acceleration to this stop is determined based on the running direction and the comparison results;

[0022] The number of floors the elevator car passed through from this acceleration to this stop is determined based on the displacement;

[0023] The current floor where the elevator car is stopped is determined based on the floor where the acceleration begins and the floor number.

[0024] Optionally, the wall features may include wall features of one wall or wall features of multiple walls.

[0025] Optionally, the call information includes the robot's previous floor. If the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot, including:

[0026] If the current floor is the same as the previous floor, an entry command is sent to the robot. The entry command instructs the robot to enter the elevator car. The arrival information includes the entry command.

[0027] Optionally, the call information includes the destination floor the robot is heading to. If the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot, including:

[0028] If the current floor is the same as the destination floor, a departure command is sent to the robot. The entry command is used to instruct the robot to leave the elevator car. The arrival information includes the departure command.

[0029] A second aspect of this disclosure provides an apparatus for determining the floor where an elevator stops, comprising:

[0030] The acquisition module is configured to acquire wall features of the elevator shaft along the route the elevator car takes from the current acceleration to the current stop via an acquisition device located on the outside of the elevator car.

[0031] The comparison module is configured to compare the wall features with pre-collected reference wall features and determine the current floor where the elevator car is stopped based on the comparison results.

[0032] The sending module is configured to send arrival information to the robot if the current docking floor matches the floor in the robot's call information.

[0033] Optionally, the comparison module includes:

[0034] The construction submodule is configured to construct a feature sequence of the wall features based on the feature type of the feature points in the wall features, the number of feature points corresponding to each feature type, and the collection timestamp of each feature point.

[0035] The comparison submodule is configured to compare the feature sequence of the wall feature with the reference feature sequence in the reference wall feature.

[0036] Optionally, the construction submodule is configured to:

[0037] Based on the feature type of the feature points in the wall features and the collection timestamp of the feature points, determine the number of feature points corresponding to different feature types in each unit time period;

[0038] Determine the target feature type for each unit of time, wherein the target feature type is the feature type with the largest number of feature points within the unit of time.

[0039] The feature sequence of the wall feature is constructed based on the target feature type corresponding to each unit of time and the number of feature points under the target feature type.

[0040] Optionally, the acquisition module includes:

[0041] The determination submodule is configured to determine, during the acquisition process of the acquisition device, whether the density of feature points in the wall features acquired by the acquisition device exceeds a preset density threshold.

[0042] The adjustment submodule is configured to adjust the acquisition orientation of the acquisition device when the feature point density does not exceed the preset density threshold, so as to increase the feature point density in the wall features subsequently acquired by the acquisition device.

[0043] Optionally, the comparison module includes a result determination submodule, configured to determine whether the current floor where the elevator car is stopped is unique in the comparison result;

[0044] The direction determination submodule is configured to determine the direction of the elevator car from the current acceleration to the current stop when the current stopping floor of the elevator car is not unique in the comparison results.

[0045] The displacement determination submodule is configured to determine the displacement of the elevator car from the current acceleration to the current stop based on the running direction and the comparison result;

[0046] The floor number determination submodule is configured to determine the number of floors the elevator car passes through from the current acceleration to the current stop based on the displacement;

[0047] The floor-stopping determination submodule is configured to determine the current floor of the elevator car based on the floor where the acceleration begins and the number of floors.

[0048] Optionally, the wall features may include wall features of one wall or wall features of multiple walls.

[0049] Optionally, the call information includes the robot's previous floor, and the sending module includes an entry command sending submodule, configured to send an entry command to the robot if the current stopping floor is the same as the previous floor. The entry command is used to instruct the robot to enter the elevator car, and the arrival information includes the entry command.

[0050] Optionally, the call information includes the destination floor to which the robot is going, and the sending module includes a departure instruction sending submodule, which is configured to send a departure instruction to the robot if the current stopping floor is the same as the destination floor. The entry instruction is used to instruct the robot to leave the elevator car, and the arrival information includes the departure instruction.

[0051] A third aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when executed by a processor, the program implements the steps of the method described in any one of the first aspects.

[0052] A fourth aspect of this disclosure provides an electronic device, comprising:

[0053] A memory on which computer programs are stored;

[0054] A processor for executing the computer program in the memory to implement the steps of the method of any one of the first aspects.

[0055] The above technical solution can achieve at least the following technical effects:

[0056] The system collects wall features of the elevator shaft along the route the elevator car takes from acceleration to its current stop using a data acquisition device. These wall features are then compared to pre-collected reference wall features to determine the current floor the elevator car is currently stopping at. If the current floor matches the floor specified in the robot's call message, an arrival notification is sent to the robot. Compared to determining the elevator's arrival floor by measuring the distance to the roof or ground over long distances, comparing the wall features of the elevator shaft along the route with pre-collected wall features reduces errors and the influence of elevator shaft interference, improving the accuracy of floor determination and consequently improving the robot's accuracy in getting on and off the elevator. Furthermore, compared to using a long-range laser rangefinder, collecting wall features only requires a short-range data acquisition device, reducing costs.

[0057] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0058] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0059] Figure 1 This is a flowchart illustrating a method for determining the floor where an elevator stops, according to an exemplary embodiment.

[0060] Figure 2 This is a schematic diagram illustrating the installation of a data acquisition device according to an exemplary embodiment.

[0061] Figure 3 This is an implementation illustrated according to an exemplary embodiment. Figure 1 The flowchart for step S12.

[0062] Figure 4 This is an implementation illustrated according to an exemplary embodiment. Figure 3 The flowchart of step S121.

[0063] Figure 5 This is a flowchart illustrating another method for determining the floor where an elevator stops, according to an exemplary embodiment.

[0064] Figure 6 This is a block diagram illustrating an apparatus for determining the floor where an elevator stops, according to an exemplary embodiment.

[0065] Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0066] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0067] Figure 1 This is a flowchart illustrating a method for determining the floor where an elevator stops, according to an exemplary embodiment. The method is applied to a car device installed on an elevator car and can be applied to elevators in delivery scenarios, such as food delivery or express delivery. Figure 1 As shown, the method includes the following steps.

[0068] In step S11, the wall features of the elevator shaft that the elevator car passes through during the current acceleration to the current stop are collected by the acquisition device.

[0069] The data acquisition device is located on the outside of the elevator car, see [link / reference]. Figure 2As shown, a data acquisition device is installed on the outside of the elevator car. This device can collect wall features of the elevator shaft during elevator operation. Optionally, the wall features include wall features of one wall or wall features of multiple walls. Figure 2 Taking the data acquisition device installed on the outer side of the upper end of the elevator car as an example, in feasible methods, the data acquisition device can be installed on the outer side of the lower end of the elevator car, or on the outer side of the side of the elevator car.

[0070] Here, "acceleration" refers to the elevator starting to move upwards (going upstairs) or downwards (going downstairs) from a stationary state, while "stopping" refers to the elevator returning to a stationary state from a running state. "Elevator shafts traversed" refers to the elevator shafts the elevator car passes through during the journey from "acceleration" to "stopping".

[0071] The data acquisition device can be a single-line lidar or a multi-line lidar. Since the data is being acquired from the elevator shaft wall features along the route from acceleration to the stop, a long-range lidar is unnecessary; a short-range lidar, such as one with a acquisition range of 2-5 meters, can be used.

[0072] In one possible implementation, the direction of the elevator car's movement from this acceleration to this stop is determined. Based on this direction, the data acquisition direction of the data acquisition device is determined; the data acquisition direction is the direction in which the data acquisition device transmits signals. Furthermore, the data acquisition device is controlled according to the data acquisition direction, traversing the elevator shaft wall features along the elevator car's path from this acceleration to this stop, wherein the direction of movement is consistent with the data acquisition direction.

[0073] For example, in Figure 2 Based on this, the data acquisition device is installed on the outer side of the upper part of the elevator car. If the elevator is moving upwards, the acquisition device collects data from bottom to top, meaning the lidar lens rotates from bottom to top, first acquiring wall features close to the elevator car, and then gradually rotating upwards to acquire wall features farther away from the elevator car. If the elevator is moving downwards, the acquisition device collects data from top to bottom, meaning the lidar lens rotates from top to bottom, first acquiring wall features farther away from the elevator car, and then gradually rotating downwards to acquire wall features closer to the elevator car.

[0074] In another example, the data acquisition device is installed on the outer side of the lower end of the elevator car. If the elevator is moving upwards, the acquisition device collects data from bottom to top; that is, the lidar lens rotates from bottom to top, first acquiring wall features far from the elevator car, and then gradually rotating upwards to acquire wall features closer to the elevator car. If the elevator is moving downwards, the acquisition device collects data from top to bottom; that is, the lidar lens rotates from top to bottom, first acquiring wall features far from the elevator car, and then gradually rotating downwards to acquire wall features closer to the elevator car.

[0075] The wall features can be at least one of the following: protruding points of the wall, recessed points of the wall, or reflection points with different reflective lidar signal intensities.

[0076] Since the wall features of the elevator shaft are randomly generated during the construction of the elevator shaft, and the feature points are also random, and the operation of the elevator has a certain degree of uncertainty, such as the elevator oscillating within a small range, it cannot be guaranteed that the acquisition device can collect enough feature points during the acquisition process, resulting in low accuracy in determining the floor where the elevator stops. Therefore, in step S11, the acquisition of the wall features of the elevator shaft traversed by the elevator car from its current acceleration to its current stop via the acquisition device includes:

[0077] During the acquisition process of the acquisition device, it is determined whether the density of feature points in the wall features acquired by the acquisition device exceeds a preset density threshold.

[0078] Optionally, it can be determined whether the density of feature points in the wall features collected by the acquisition device per unit time exceeds a preset density threshold. Alternatively, it can be determined whether the density of feature points in the wall features collected by the acquisition device per unit displacement exceeds a preset density threshold.

[0079] If the feature point density does not exceed the preset density threshold, adjust the acquisition orientation of the acquisition device to increase the feature point density in the wall features subsequently acquired by the acquisition device.

[0080] In one embodiment, the data acquisition device is mounted on the elevator car via a rotatable mechanism. The acquisition orientation of the device can be adjusted by adjusting an optional mounting device. After adjusting the acquisition orientation, it is necessary to re-determine whether the density of feature points in the wall features acquired by the acquisition device exceeds a preset density threshold, until the density of feature points in the wall features subsequently acquired by the acquisition device increases.

[0081] In one possible implementation, adjusting the acquisition orientation of the acquisition device can be done by fine-tuning a preset angle within the same wall surface, or by adjusting it between different walls. For example, if the acquisition device is facing wall A and perpendicular to wall A, and the feature point density does not exceed a preset density threshold, then adjusting the acquisition orientation of the acquisition device can be done by making a preset angle with wall A, or by adjusting it to acquire wall features of wall B, for example, if wall A and wall B are adjacent perpendicular walls.

[0082] By adopting the above technical solution, and adjusting the acquisition orientation of the acquisition device when the feature point density does not exceed the preset density threshold, the problem of insufficient feature points leading to low accuracy in determining the elevator stop floor can be avoided, thus improving the accuracy of determining the elevator stop floor.

[0083] In step S12, the wall features are compared with the pre-collected reference wall features, and the current floor where the elevator car is stopped is determined based on the comparison results.

[0084] For example, during the process of the elevator car moving upward from the bottom of the elevator shaft, the reference wall features can be collected by the acquisition device, and the features can be stitched together as shown in the figure to obtain the upward reference wall features; and after the elevator car reaches the top floor, during the process of the elevator car moving downward from the top floor of the elevator shaft, the reference wall features can be collected by the acquisition device, and the features can be stitched together as shown in the figure to obtain the downward reference wall features.

[0085] Similarly, if the density of reference feature points in the reference wall features does not exceed the preset density threshold, the acquisition orientation of the acquisition device is adjusted to increase the density of reference feature points in the reference wall features subsequently acquired by the acquisition device.

[0086] In one implementation, Figure 3 This is an implementation illustrated according to an exemplary embodiment. Figure 1 The flowchart for step S12 shows that comparing the wall features with pre-collected reference wall features includes:

[0087] In step S121, a feature sequence of the wall features is constructed based on the feature type of the feature points in the wall features, the number of feature points corresponding to each feature type, and the collection timestamp of each feature point.

[0088] Similarly, for reference wall features, a reference feature sequence can be constructed based on the feature type of the reference feature points in the wall features, the number of feature points corresponding to each reference feature type, and the acquisition timestamp of each reference feature point.

[0089] In one implementation, Figure 4 This is an implementation illustrated according to an exemplary embodiment. Figure 3 The flowchart of step S121 shows that in step S121, constructing a feature sequence of the wall features based on the feature type of the feature points in the wall features, the number of feature points corresponding to each feature type, and the acquisition timestamp of each feature point includes:

[0090] In step S1211, the number of feature points corresponding to different feature types in each unit time is determined based on the feature type of the feature points in the wall features and the collection timestamp of the feature points.

[0091] For example, the wall features include a first feature point A with a protrusion height greater than a preset height threshold, a second feature point B with a protrusion height less than or equal to the preset height threshold, a third feature point C with a depression degree greater than a preset depression threshold, a fourth feature point D with a depression degree less than or equal to a preset depression threshold, a fifth feature point E with a reflected lidar signal strength greater than a preset intensity threshold, and a sixth feature point F with a reflected lidar signal strength less than or equal to a preset intensity threshold.

[0092] Based on the feature point acquisition timestamps, the number of first feature points A, second feature points B, third feature points C, fourth feature points D, fifth feature points E, and sixth feature points F within the first unit time were determined to be 32, 52, 64, 13, 26, and 67, respectively. Within the second unit time, the number of the same features points A, B, C, D, E, and F were 23, 25, 46, 31, 35, and 21, respectively.

[0093] In step S1212, the target feature type is determined to be the feature type with the largest number of feature points per unit time.

[0094] Following the example in step S1211, the sixth feature point F is determined to be a point whose reflective lidar signal intensity is less than or equal to a preset intensity threshold, and the third feature point C, whose target feature type in the second unit time is a point whose concavity degree is greater than a preset concavity threshold, is a point with a concavity degree greater than a preset concavity threshold.

[0095] In step S1213, a feature sequence of wall features is constructed based on the target feature type and the number of feature points under the target feature type for each unit of time.

[0096] Following the example in step S1212, based on the sixth feature point F of the target feature type and its quantity 67 within the first unit time, and the third feature point C of the target feature type and its quantity 46 within the second unit time, the feature sequence of the wall feature is constructed as: F67C46. This is illustrated using two unit time periods as an example.

[0097] In step S122, the feature sequence of the wall feature is compared with the reference feature sequence in the reference wall feature.

[0098] In step S13, if the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot.

[0099] In one implementation, the call information includes the robot's previous floor, and if the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot, including:

[0100] If the current floor is the same as the previous floor, an entry command is sent to the robot. The entry command instructs the robot to enter the elevator car. The arrival information includes the entry command.

[0101] The "upper floor" refers to the floor the robot is currently on, where it needs to take the elevator to leave and go to other floors.

[0102] In one implementation, the car unit connects to the server via wireless communication, and the server connects to the robot via wireless communication. The robot sends the generated call information to the server, which then forwards it to the car unit.

[0103] Optionally, the call information includes the destination floor the robot is heading to. If the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot, including:

[0104] If the current floor is the same as the destination floor, a departure command is sent to the robot. The entry command is used to instruct the robot to leave the elevator car. The arrival information includes the departure command.

[0105] The destination floor is the floor the robot needs to go to. For example, after the robot completes its delivery task, it needs to return to the floor where the delivery station is located.

[0106] The reference wall features include upward reference wall features and downward reference wall features. When comparing feature sequences, the reference feature sequences of upward and downward reference wall features may be identical, or the reference feature sequences of reference wall features in the same direction of travel may be identical. For example, the reference feature sequences of the first, second, and third reference wall features may all be F67C46. However, the first reference wall feature is for upward travel from the 2nd to the 3rd floor, the second reference wall feature is for downward travel from the 4th to the 3rd floor, and the third reference wall feature is for upward travel from the 5th to the 6th floor, making it impossible to determine the current floor where the elevator car is stopped. Therefore, based on the above embodiment, in step S12, determining the current floor where the elevator car is stopped according to the comparison result includes:

[0107] Determine whether the current floor where the elevator car is stopped in the comparison results is unique.

[0108] For example, if the current floor of the elevator car is unique in the comparison results between the feature sequence of the wall feature and the feature sequence of the reference wall feature, the current floor of the elevator car can be directly determined.

[0109] If the current stopping floor of the elevator car is not unique in the comparison results, determine the direction of travel of the elevator car from this acceleration to this stop;

[0110] For example, the direction of the elevator car's movement from this acceleration to this stop can be determined by using an accelerometer or barometer.

[0111] The displacement of the elevator car from this acceleration to this stop is determined based on the running direction and the comparison results;

[0112] For example, when the elevator is moving upwards, the displacement is positive; when the elevator is moving downwards, the displacement is negative.

[0113] The number of floors the elevator car passes through from this acceleration to this stop is determined based on the displacement.

[0114] The number of floors the elevator car passes through from this acceleration to this stop is determined based on the displacement and the height of each floor in the building where the elevator shaft is located. For example, if the displacement is 10 meters upwards and each floor is 3.3 meters high, then the elevator car passes through 3 floors from this acceleration to this stop. Or, if the displacement is 3.3 meters upwards, then the elevator car passes through 1 floor from this acceleration to this stop.

[0115] The current floor where the elevator car is stopped is determined based on the floor where this acceleration begins and the floor number.

[0116] For example, if the acceleration started on the 2nd floor and the floor number is 1, the current floor the elevator car is stopped at is determined to be the 3rd floor. Or, if the acceleration started on the 5th floor and the floor number is 1, the current floor the elevator car is stopped at is determined to be the 6th floor.

[0117] The present disclosure will now be described through an embodiment, see below. Figure 5 As shown, reference wall features are collected in advance. First, the elevator car runs upward from the ground floor of the building. During the operation, the wall features are scanned by LiDAR, and the wall features are spliced ​​according to the collection timestamp of the wall features to obtain the upward reference wall features.

[0118] Furthermore, as the elevator car descends from the top floor of the building, it scans the wall features using lidar and stitches the wall features together based on the acquisition timestamps to obtain a downward reference wall feature. Then, a reference wall feature is obtained based on the upward and downward reference wall features.

[0119] Furthermore, during actual elevator operation, the elevator accelerates from a known floor, and the floor where the elevator stopped after its previous run is usually the starting floor for this acceleration. The wall features of the elevator shaft along the route the elevator car takes from this acceleration to this stop are collected using a data acquisition device, and these wall features are compared with reference wall features to obtain the comparison results.

[0120] Furthermore, the direction of the elevator car's movement from this acceleration to this stop is determined, and the displacement of the elevator car from this acceleration to this stop is determined based on the direction of movement and the comparison results. Then, the number of floors along the route is determined based on the displacement and the height of each floor in the building where the elevator shaft is located. Finally, the current stop floor of the elevator car is determined based on the floor where this acceleration started and the number of floors.

[0121] Based on the same concept, this disclosure also provides an apparatus 600 for determining the floor where an elevator stops, used to perform the steps of the method for determining the floor where an elevator stops provided in the above method embodiments. The apparatus 600 can implement the method for determining the floor where an elevator stops in software, hardware or a combination of both. Figure 6 This is a block diagram illustrating an apparatus 600 for determining the floor where an elevator stops, according to an exemplary embodiment. Referring to Figure 6, the apparatus 600 includes: a data acquisition module 610, a comparison module 620, and a transmission module 630.

[0122] The acquisition module 610 is configured to acquire wall features of the elevator shaft that the elevator car passes through from the current acceleration to the current stop via an acquisition device, wherein the acquisition device is located on the outside of the elevator car.

[0123] The comparison module 620 is configured to compare the wall features with pre-collected reference wall features and determine the current floor where the elevator car is stopped based on the comparison results.

[0124] The sending module 630 is configured to send arrival information to the robot if the current docking floor matches the floor in the robot's call information.

[0125] Optionally, the comparison module 620 includes:

[0126] The construction submodule is configured to construct a feature sequence of the wall features based on the feature type of the feature points in the wall features, the number of feature points corresponding to each feature type, and the collection timestamp of each feature point.

[0127] The comparison submodule is configured to compare the feature sequence of the wall feature with the reference feature sequence in the reference wall feature.

[0128] Optionally, the construction submodule is configured to:

[0129] Based on the feature type of the feature points in the wall features and the collection timestamp of the feature points, determine the number of feature points corresponding to different feature types in each unit time period;

[0130] Determine the target feature type for each unit of time, wherein the target feature type is the feature type with the largest number of feature points within the unit of time.

[0131] The feature sequence of the wall feature is constructed based on the target feature type corresponding to each unit of time and the number of feature points under the target feature type.

[0132] Optionally, the acquisition module 610 includes:

[0133] The determination submodule is configured to determine, during the acquisition process of the acquisition device, whether the density of feature points in the wall features acquired by the acquisition device exceeds a preset density threshold.

[0134] The adjustment submodule is configured to adjust the acquisition orientation of the acquisition device when the feature point density does not exceed the preset density threshold, so as to increase the feature point density in the wall features subsequently acquired by the acquisition device.

[0135] Optionally, the comparison module 620 includes: a result determination submodule, configured to determine whether the current floor where the elevator car is stopped is unique in the comparison result;

[0136] The direction determination submodule is configured to determine the direction of the elevator car from the current acceleration to the current stop when the current stopping floor of the elevator car is not unique in the comparison results.

[0137] The displacement determination submodule is configured to determine the displacement of the elevator car from the current acceleration to the current stop based on the running direction and the comparison result;

[0138] The floor number determination submodule is configured to determine the number of floors the elevator car passes through from the current acceleration to the current stop based on the displacement;

[0139] The floor-stopping determination submodule is configured to determine the current floor of the elevator car based on the floor where the acceleration begins and the number of floors.

[0140] Optionally, the wall features may include wall features of one wall or wall features of multiple walls.

[0141] Optionally, the call information includes the robot's next floor, and the sending module 630 includes an entry command sending submodule, configured to send an entry command to the robot if the current stopping floor is the same as the next floor, the entry command being used to instruct the robot to enter the elevator car, and the arrival information including the entry command.

[0142] Optionally, the call information includes the destination floor to which the robot is going, and the sending module 630 includes a departure instruction sending submodule, which is configured to send a departure instruction to the robot if the current stopping floor is the same as the destination floor. The entry instruction is used to instruct the robot to leave the elevator car, and the arrival information includes the departure instruction.

[0143] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0144] Furthermore, it is worth noting that, for the sake of convenience and brevity, the embodiments described in the specification are all preferred embodiments, and the parts involved are not necessarily essential to the present invention. For example, the acquisition module 610 and the comparison module 620 can be independent devices or the same device in specific implementations, and this disclosure does not limit them.

[0145] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when executed by a processor, the program implements the steps of the method for determining the floor where an elevator stops as described in any of the preceding claims.

[0146] This disclosure also provides an electronic device, including:

[0147] A memory on which computer programs are stored;

[0148] A processor for executing the computer program in the memory to implement the steps of the method for determining the floor where the elevator stops, as described in any of the preceding claims.

[0149] Figure 7 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. The electronic device 700 can be configured as a car device, such as... Figure 7As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705, wherein the processor 701, memory 702, multimedia component 703, input / output (I / O) interface 704, and communication component can be connected via a system bus. Optionally, the electronic device 700 may also include RAM.

[0150] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the method for determining the elevator's stopping floor. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data, such as receiving call information, sending arrival information, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 703 may include a data acquisition device, such as a LiDAR. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication includes, for example, Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or one or more combinations thereof, and is not limited herein. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0151] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the method described above for determining the floor where the elevator stops.

[0152] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the method for determining the elevator's stopping floor described above. For example, the computer-readable storage medium may be the memory 702 including the program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the method for determining the elevator's stopping floor described above.

[0153] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0154] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0155] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for determining the floor where an elevator stops, characterized in that, A car device applied to an elevator car, including: The wall features of the elevator car along the elevator shaft from the current acceleration to the current stop are collected by a data acquisition device located on the outside of the elevator car. The wall features include at least one of the following: protruding points of the wall, recessed points of the wall, and reflection points with different reflective laser radar signal intensities. The wall features are compared with pre-collected reference wall features, and the current floor where the elevator car is stopped is determined based on the comparison results. If the current floor where the robot is docked matches the floor in the robot's call information, then an arrival information is sent to the robot.

2. The method according to claim 1, characterized in that, The comparison of the wall features with pre-collected reference wall features includes: Based on the feature type of the feature points in the wall features, the number of feature points corresponding to each feature type, and the collection timestamp of each feature point, a feature sequence of the wall features is constructed. The feature sequence of the wall feature is compared with the reference feature sequence in the reference wall feature.

3. The method according to claim 2, characterized in that, The step of constructing a feature sequence of the wall features based on the feature types of feature points in the wall features, the number of feature points corresponding to each feature type, and the acquisition timestamp of each feature point includes: Based on the feature type of the feature points in the wall features and the collection timestamp of the feature points, determine the number of feature points corresponding to different feature types in each unit time period; Determine the target feature type for each unit of time, wherein the target feature type is the feature type with the largest number of feature points within the unit of time. The feature sequence of the wall feature is constructed based on the target feature type corresponding to each unit of time and the number of feature points under the target feature type.

4. The method according to claim 1, characterized in that, The process of collecting wall features of the elevator shaft along the route the elevator car takes from its current acceleration to its current stop using a data acquisition device includes: During the acquisition process of the acquisition device, it is determined whether the density of feature points in the wall features acquired by the acquisition device exceeds a preset density threshold. If the density of feature points does not exceed the preset density threshold, the acquisition orientation of the acquisition device is adjusted to increase the density of feature points in the wall features subsequently acquired by the acquisition device.

5. The method according to claim 1, characterized in that, Determining the current floor where the elevator car is stopped based on the comparison results includes: Determine whether the current floor where the elevator car is stopped in the comparison results is unique; If the current stopping floor of the elevator car is not unique in the comparison results, determine the direction of travel of the elevator car from this acceleration to this stop; The displacement of the elevator car from this acceleration to this stop is determined based on the running direction and the comparison results; The number of floors the elevator car passed through from this acceleration to this stop is determined based on the displacement; The current floor where the elevator car is stopped is determined based on the floor where the acceleration begins and the floor number.

6. The method according to claim 1, characterized in that, The wall features include wall features of one wall or wall features of multiple walls.

7. The method according to any one of claims 1-6, characterized in that, The call information includes the robot's previous floor. If the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot, including: If the current floor is the same as the previous floor, an entry command is sent to the robot. The entry command instructs the robot to enter the elevator car. The arrival information includes the entry command.

8. The method according to any one of claims 1-6, characterized in that, The call information includes the destination floor the robot is heading to. If the current docking floor matches the floor in the robot's call information, then an arrival information is sent to the robot, including: If the current floor is the same as the destination floor, a departure command is sent to the robot. The entry command is used to instruct the robot to leave the elevator car. The arrival information includes the departure command.

9. A device for determining the floor where an elevator stops, characterized in that, include: The acquisition module is configured to acquire wall features of the elevator shaft that the elevator car passes through from the current acceleration to the current stop via an acquisition device. The acquisition device is located on the outside of the elevator car. The wall features include at least one of the following: protruding points of the wall, recessed points of the wall, and reflection points with different reflective laser radar signal intensities. The comparison module is configured to compare the wall features with pre-collected reference wall features and determine the current floor where the elevator car is stopped based on the comparison results. The sending module is configured to send arrival information to the robot if the current docking floor matches the floor in the robot's call information.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-8.

11. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-8.

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