Robot elevator control method

Abstract

The application discloses a robot elevator riding control method, comprising the following steps: S1, acquiring elevator operation information and a robot call signal; S2, determining a stop floor of the elevator according to the call signal; S3, determining first reference data and / or second reference data of the number of robots according to the call signal; S4, detecting first actual data and / or second actual data of the elevator; S5, comparing the first actual data with the first reference data and / or the second actual data with the second reference data, and outputting a comparison result; and S6, when the comparison result is equal, outputting a conclusion expressing that robot elevator riding is normal, otherwise, outputting a conclusion expressing that robot elevator riding is abnormal. The application can realize detection of robot elevator riding loss and abnormal diagnosis of a detection device for detecting the number of robots or changes thereof.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevators, in particular to a robot elevator riding control method. BACKGROUND

[0002] With the advancement of robot technology and the continuous expansion of its application range, robots are being used in a variety of scenarios. In these application scenarios, robots often need to move between different floors to achieve their intended functions. Robot elevator riding has become a research and application hotspot in the field of elevators, but the focus of attention is mainly on the interaction and communication between the robot and the elevator during robot elevator riding. There are relatively few research results on the problem of robot getting lost during elevator riding due to reasons such as communication delay. In view of this problem, there have been several related results:

[0003] Document 1 (CN202110390407.X) discloses a method for preventing robot from getting lost, which includes: receiving state information of an elevator sent by an elevator control system; if it is detected that the robot does not arrive at a destination floor and the robot is located outside the elevator, obtaining a first floor where the robot is currently located according to the state information of the elevator, and sending a command to go to the destination floor to the elevator control system to instruct the elevator control system to control the elevator to stop at the first floor when it arrives, so that the robot can ride the elevator.

[0004] Document 2 (CN202111640681.4) proposes: using the IMU sensor carried by the robot itself, the displacement of the elevator is estimated by an improved integral ranging model, and the accuracy of the integral ranging model is considered. The target floor is divided into directly accessible floors and non-directly accessible floors. When the target floor is located in the non-directly accessible floor, the strategy given by the floor allocation module can reliably reach the target floor. When the floor position is lost due to abnormal elevator riding, the floor repositioning module will give a strategy to let the robot find the correct floor position again.

[0005] Document 3 (CN202210765727.3) discloses a robot elevator riding control method, which includes: in response to receiving elevator stop target floor information carrying a time stamp, comparing the time information indicated by the time stamp with the current real-time time information to obtain a time difference; if the time difference is greater than a preset time threshold, it is determined that the elevator is currently not stopped at the target floor; send a call instruction to make the elevator stop at the target floor again based on the call instruction. This application can determine whether the elevator actually arrives at the target floor. If not, the robot does not execute the elevator action temporarily, so as to avoid the situation that the robot makes a mistake in the elevator.

[0006] Document 4 (CN202210785348.0) discloses a method for positioning the floor where the robot exits the elevator, which includes: obtaining the elevator exit information of the robot, the elevator exit information carrying a first timestamp, the first timestamp being used to indicate the elevator exit time of the robot; obtaining the floor information of the elevator stopping at different floors, the floor information carrying a second timestamp, the second timestamp being used to indicate the time when the elevator sends the floor information to the robot; comparing the first timestamp with the second timestamp carried by each floor information respectively to obtain the target second timestamp with a time difference from the first timestamp within a preset time range; determining the floor information corresponding to the target second timestamp as the elevator exit floor of the robot.

[0007] Although documents 1-3 can avoid the robot getting lost or finding it again after getting lost, they need to rely on additional hardware devices, which increases the cost; document 4 relies on additional timestamp information, which increases the generation and processing of timestamp.

[0008] Therefore, how to avoid the robot getting lost during the elevator ride without increasing the hardware cost and additional information has become a technical problem to be solved. SUMMARY

[0009] The technical problem to be solved by the present application is how to avoid the robot getting lost during the elevator ride without increasing the hardware cost and additional information.

[0010] In order to solve the above technical problem, the present application discloses a robot elevator control method, which comprises the following steps:

[0011] Step S1, obtaining the elevator operation information and the call signal of the robot, the call signal at least including the departure floor and the destination floor of the robot;

[0012] Step S2, determining the stopping floor of the elevator according to the call signal;

[0013] Step S3, determining the first reference data and / or the second reference data of the number of robots according to the call signal, the first reference data referring to the change of the number of robots during the stopping period of the elevator car at the stopping floor, and the second reference data referring to the number of robots when the elevator car travels in the interval between adjacent stopping floors;

[0014] Step S4, detecting the first actual data and / or the second actual data of the elevator, the first actual data referring to the data of the robot getting on / off the car during the stopping period of the elevator car at the stopping floor, and the second actual data referring to the number of robots in the elevator car;

[0015] Step S5, comparing the first actual data with the first reference data and / or the second actual data with the second reference data, and outputting the comparison result;

[0016] Step S6, when the comparison result is equal, output a conclusion expressing that the robot takes the elevator normally, otherwise output a conclusion expressing that the robot takes the elevator abnormally.

[0017] Preferably, the step S2 further comprises: a sub-step S2-1, screening a first call signal assigned to the target elevator from all call signals (only when a group control system is equipped); a sub-step S2-2, determining an expected direction of taking the elevator according to the departure floor and the destination floor of the first call signal; a sub-step S2-3, further screening a second call signal with the expected direction of taking the elevator consistent with the running direction of the elevator from the first call signal; a sub-step S2-4, performing a set operation on the departure floor and the destination floor of the second call signal to obtain a first floor set; and a sub-step S2-5, screening a second floor located in front of the elevator car relative to the running direction of the elevator from the first floor set and taking it as a stop floor.

[0018] Preferably, the S3 determines the first reference data and / or the second reference data of the number of robots in the following manner: the first reference data is determined according to the stop floor data before the elevator starts running in a certain running direction; and / or the adjacent stop floor interval and the second reference data corresponding thereto are determined according to the stop floor data before the elevator starts running in a certain running direction, and the first reference data and / or the second reference data are determined again according to the updated stop floor only when a new call signal is received before the elevator car arrives at the end point of this run.

[0019] Preferably, the S3 determines the first reference data and / or the second reference data of the number of robots in the following manner: before each start of the elevator, the nearest stop floor closest to the current stop floor in front of the elevator running is determined according to the stop floor, and the first reference data of the nearest stop floor is determined; and / or before each start of the elevator, the nearest stop floor closest to the current stop floor and the nearest adjacent stop floor interval composed of the current stop floor and the nearest stop floor are determined according to the stop floor, and the second actual data of the elevator car in the nearest adjacent stop floor interval is determined according to the call signal.

[0020] Preferably, the step S3 obtains the first reference data according to the following steps: sub-step S3-A1, counting the number of call signals with a certain landing floor as a departure floor and taking it as the number of robots getting into the car at the landing floor; sub-step S3-A2, counting the number of call signals with a certain landing floor as a destination floor and taking it as the number of robots leaving the car at the landing floor; sub-step S3-A3, calculating the difference between the number of robots getting into the car and the number of robots leaving the car corresponding to the same landing floor, and taking the difference as the number of robots changing during the period of the elevator stopping at the landing floor.

[0021] Preferably, the step S3 obtains the second reference data according to the following steps before the elevator starts running in a certain running direction: sub-step S3-B1, determining each adjacent landing floor interval according to the landing floors; sub-step S3-B2, setting the cumulative value to 0; sub-step S3-B3, selecting an adjacent landing floor interval that has not been selected and is closest to the current floor of the elevator car from each adjacent landing floor interval as a selected adjacent landing floor interval; sub-step S3-B4, for the selected adjacent landing floor interval, taking the landing floor that is closest to the current floor of the elevator car among the two landing floors constituting the adjacent landing floor interval as a first landing floor; sub-step S3-B5, determining the first reference data corresponding to the first landing floor according to the call signals with the first landing floor as a departure floor or a destination floor; sub-step S3-B6, calculating the sum of the cumulative value and the first reference data corresponding to the first landing floor and taking it as the second reference data corresponding to the selected adjacent landing floor interval; sub-step S3-B7, judging whether there are still adjacent landing floor intervals that have not been selected, if yes, updating the cumulative value to the second reference data, returning to sub-step S3-B3, otherwise ending.

[0022] Preferably, the step S3 obtains the second reference data before each start of the elevator according to the following steps: sub-step S3-C1, determining each adjacent landing interval according to the landing floors; sub-step S3-C2, determining a first adjacent landing interval and a second adjacent landing interval according to the current floor of the elevator car, wherein the first adjacent landing interval refers to the adjacent landing interval that the elevator is about to enter, and the second adjacent landing interval is adjacent to the first adjacent landing interval and is the adjacent landing interval that the elevator car has just left or is currently in; sub-step S3-C3, taking the landing floor that is closest to the current floor of the elevator car among the two landing floors constituting the first adjacent landing interval as a first landing floor; sub-step S3-C4, determining the first reference data corresponding to the first landing floor according to a call signal with the first landing floor as the departure floor or the destination floor; and sub-step S3-C5, calculating the sum of the second reference data corresponding to the second adjacent landing interval and the first reference data corresponding to the first landing floor and taking the sum as the second reference data of the first landing floor.

[0023] Preferably, the elevator is provided with a load detection device for detecting the load in the elevator car; and the step S3 determines the first reference data and the second reference data according to the detection results output by the load detection device during the stop of the elevator car at the landing floor.

[0024] Preferably, the step S3 takes the number of times that the increase in the detection result during the stop exceeds a threshold value as the number of robots entering the car, and takes the number of times that the decrease in the detection result during the stop exceeds a threshold value as the number of robots entering the car.

[0025] Preferably, the mass m of the robot satisfies: M-ΔM≤m≤M+ΔM, and n*ΔM is much smaller than M, wherein M is the average mass of the robot, ΔM is the maximum deviation of the mass of the robot from the average mass, n is the maximum number of robots that can be carried by the elevator car at the same time, and the load detection device takes the quotient of the load in the car detected by it and the average mass M of the robot after rounding as the second actual data.

[0026] Preferably, the robot elevator taking control method, after obtaining the first actual data of a landing floor and the second actual data of two adjacent landing interval intervals with the landing floor as the end points, calculates the difference between the two second actual data, and performs abnormal detection on the detection device obtaining the first actual data and the detection device obtaining the second actual data according to whether the difference is consistent with the first actual data.

[0027] Preferably, when the second actual data corresponding to a certain adjacent stop floor interval is consistent with the second reference data but the first actual data and the first reference data corresponding to the two adjacent stop floors of the adjacent stop floor interval are inconsistent, the robot elevator control method determines that the detection device for detecting the first actual data is abnormal; when the first actual data corresponding to a certain stop floor is consistent with the first reference data but the second actual data and the second reference data corresponding to the two adjacent stop floor intervals with the stop floor as the end point are inconsistent, the robot elevator control method determines that the detection device for detecting the second actual data is abnormal.

[0028] Preferably, when the first reference data corresponding to a certain stop floor is not zero, if the second actual data of the interval with the stop floor as the starting point is equal to the second reference data and the first actual data is not equal to the first reference data, it is determined that the detection device for obtaining the second actual data is abnormal.

[0029] Preferably, when the comparison result of the first actual data of a certain stop floor with its first reference data is not equal, the stop floor is recorded, and the robot elevator control method controls the elevator to stop at the recorded stop floor again at the right moment; when the comparison result of the second actual data and the second reference data is not equal, the robot elevator control method controls the elevator to stop at the recorded stop floor again at the right moment according to the determination that the earlier stop floor of the two terminal stop floors of the interval is recorded in the direction of elevator operation.

[0030] Beneficial technical effects

[0031] The present application fully utilizes the relationship between the number of robots in the elevator car during the stop of the elevator at the stop floor and the number of robots in the elevator car when the elevator is in the moving state to realize the detection of the lost robot in the robot elevator process and the abnormal diagnosis of the detection device for detecting the number of robots or the change thereof by analyzing the feature that the call signal of all robots in the robot elevator process contains the departure floor and the destination floor. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a schematic diagram of the steps of the robot elevator control method of the present application. DETAILED DESCRIPTION

[0033] The present application will be further described in detail below in combination with the drawings and the specific embodiments.

[0034] The present application is only for such a scenario that the elevator is only used for transporting the robot for elevator, without considering the mixed riding of the robot and the passenger, and the call signal of the robot contains the departure floor and the destination floor information of the robot.

[0035] In such an application scenario, the floors at which the elevator is to stop can be obtained by counting the call signals of the robots, the number of robots entering and leaving the car at each stop floor, and the number of robots in the car during the interval between adjacent stop floors, and there is a certain correspondence between the number of robots and the number of robots entering and leaving the car at the stop floor. Based on a full analysis of the characteristics of the application scenario and the existing correspondence, the application proposes a method for preventing robots from taking the elevator and getting lost, as follows:

[0036] Embodiment 1

[0037] In this embodiment, the robot elevator control method includes the following steps:

[0038] Step S1, obtain elevator operation information and robot call signals, the call signals at least including the departure floor and the destination floor of the robot;

[0039] Step S2, determine the stop floor of the elevator according to the call signals;

[0040] Step S3, determine the first reference data and / or the second reference data of the number of robots according to the call signals, the first reference data referring to the change in the number of robots during the stop of the elevator car at the stop floor, and the second reference data referring to the number of robots when the elevator car is running in the interval between adjacent stop floors;

[0041] Step S4, detect the first actual data and / or the second actual data of the elevator, the first actual data referring to the data of robots entering / leaving the car during the stop of the elevator car at the stop floor, and the second actual data referring to the number of robots in the elevator car;

[0042] Step S5, compare the first actual data with the first reference data and / or the second actual data with the second reference data, and output the comparison result;

[0043] Step S6, when the comparison result is equal, output a conclusion expressing that the robot takes the elevator normally, otherwise output a conclusion expressing that the robot takes the elevator abnormally.

[0044] Specifically, step S2 further includes:

[0045] Sub-step S2-1, select the first call signal assigned to the target elevator from all call signals (only when a group control system is provided);

[0046] Sub-step S2-2, determine the expected direction of taking the elevator according to the departure floor and the destination floor of the first call signal;

[0047] Sub-step S2-3, further filtering the first call signals to obtain second call signals whose desired directions of travel are consistent with the direction of travel of the elevator;

[0048] Sub-step S2-4, performing a set operation on the departure floors and destination floors of the second call signals to obtain a first floor set;

[0049] Sub-step S2-5, filtering the second floor in the first floor set that is located in front of the position of the elevator car relative to the direction of travel of the elevator and taking it as a stop floor.

[0050] The first reference data and / or the second reference data determined according to the call signals in step S3 can be in multiple ways.

[0051] An exemplary way is: determining the first reference data according to the stop floor data before the elevator starts to run in a certain direction of travel; and / or determining the adjacent stop floor interval and the second reference data corresponding thereto according to the stop floor data before the elevator starts to run in a certain direction of travel, and only determining the first reference data and / or the second reference data again according to the updated stop floor data when a new call signal is received before the elevator car reaches the end of this run.

[0052] The step S3 obtains the first reference data as follows:

[0053] Sub-step S3-A1, counting the number of call signals with a certain stop floor as a departure floor and taking it as the number of robots entering the car at the stop floor;

[0054] Sub-step S3-A2, counting the number of call signals with a certain stop floor as a destination floor and taking it as the number of robots leaving the car at the stop floor;

[0055] Sub-step S3-A3, calculating the difference between the number of robots entering the car and the number of robots leaving the car corresponding to the same stop floor, and taking the difference as the change in the number of robots during the stop of the elevator at the stop floor.

[0056] The step S3 obtains the second reference data as follows before the elevator starts to run in a certain direction of travel:

[0057] Sub-step S3-B1, determining each adjacent stop floor interval according to the stop floor;

[0058] Sub-step S3-B2, setting the cumulative value to 0;

[0059] Sub-step S3-B3, selecting, from each of the adjacent stop floor intervals, an adjacent stop floor interval that has not been selected and is closest to the floor where the elevator car is currently located as a selected adjacent stop floor interval;

[0060] Sub-step S3-B4, for the selected adjacent stop floor interval, determining, as a first stop floor, a stop floor that is closest to the floor where the elevator car is currently located among the two stop floors that constitute the adjacent stop floor interval;

[0061] Sub-step S3-B5, determining, as the first reference data corresponding to the first stop floor, the first reference data according to the call signal that takes the first stop floor as a departure floor or a destination floor;

[0062] Sub-step S3-B6, calculating a sum of the cumulative value and the first reference data corresponding to the first stop floor and taking the sum as the second reference data corresponding to the selected adjacent stop floor interval;

[0063] Sub-step S3-B7, determining whether there is still an adjacent stop floor interval that has not been selected, and if yes, updating the cumulative value as the second reference data, returning to sub-step S3-B3, and otherwise ending.

[0064] Another exemplary manner is that, before each start of the elevator, determining, according to the stop floors, a nearest stop floor that is closest to the current stop floor in front of the elevator, and determining the first reference data of the nearest stop floor; and / or before each start of the elevator, determining, according to the stop floors, a nearest stop floor that is closest to the current stop floor and a nearest adjacent stop floor interval constituted by the current stop floor and the nearest stop floor, and determining, according to the call signal, the second actual data of the elevator car during the nearest adjacent stop floor interval.

[0065] The step S3 obtains the second reference data according to the following steps before each start of the elevator:

[0066] Sub-step S3-C1, determining each adjacent stop floor interval according to the stop floors;

[0067] Sub-step S3-C2, determining a first adjacent stop floor interval and a second adjacent stop floor interval according to the floor where the elevator car is currently located, the first adjacent stop floor interval being an adjacent stop floor interval that the elevator is about to enter, and the second adjacent stop floor interval being adjacent to the first adjacent stop floor interval and being an adjacent stop floor interval that the elevator car has just left or is currently located in;

[0068] Sub-step S3-C3, taking the stop floor closest to the current floor of the elevator car as the first stop floor among the two stop floors constituting the first adjacent stop floor interval;

[0069] Sub-step S3-C4, determining the first reference data corresponding to the first stop floor according to the call signal taking the first stop floor as the departure floor or the destination floor;

[0070] Sub-step S3-C5, calculating the sum of the second reference data corresponding to the second adjacent stop floor interval and the first reference data corresponding to the first stop floor and taking the sum as the second reference data of the first stop floor.

[0071] For the acquisition of the first actual data and the second actual data, there can be multiple ways, such as using a camera arranged in the car (when the second actual data, it can be the elevator hall) to shoot video images, and then using image recognition technology to obtain, or using the communication device carried by the robot itself which can communicate with the elevator or the landing to obtain by counting the number of communication connections from the robot, in addition, the first actual data can also be obtained by using the intelligent light curtain arranged on the elevator car door. In this embodiment, the elevator is provided with a load detection device for detecting the load in the elevator car; the step S3 determines the first reference data and the second reference data according to the detection results output by the load detection device during the stop of the elevator car at the stop floor, which is as follows:

[0072] Step S3 takes the number of times that the increase in the detection results during the stop exceeds the threshold value as the number of robots entering the car, and takes the number of times that the decrease in the detection results during the stop exceeds the threshold value as the number of robots entering the car.

[0073] The mass m of the robot satisfies: M-ΔM≤m≤M+ΔM, n*ΔM is much smaller than M, where M is the average mass of the robot, ΔM is the maximum deviation of the mass of the robot relative to the average mass, n is the maximum number of robots that can be carried by the elevator car at the same time, and the load detection device takes the quotient of the load in the car detected by it and the average mass M of the robot after rounding as the second actual data.

[0074] When the comparison result of the first actual data of a stop floor and its first reference data is not equal, the stop floor is recorded, and the elevator taking control method controls the elevator to stop at the recorded stop floor again at an appropriate time;

[0075] When the second actual data is not equal to the second reference data, the robot elevator control method determines to record the preceding stop floor of the two terminal stop floors of the section in the direction of the elevator operation, and controls the elevator to stop at the recorded stop floor again.

[0076] The purpose of this is that when the comparison result is not equal, it indicates that the robot has gone astray (here, astray includes the robot getting off at a wrong floor and / or failing to get into the car at its departure floor), and the stop floor is determined to be recorded, and the elevator is controlled to stop at the stop floor again, so that the astray robot can correct the error.

[0077] Embodiment 2

[0078] This embodiment mainly uses the correspondence between the number of robots in the section and the number of robots getting into and out of the car at the stop floor, and the relationship between the number of robots in the section and its reference data and the number of robots getting into and out of the car at the stop floor and its reference data to realize the abnormal diagnosis of the detection device used to detect the first actual data and the second actual data. The realization of the abnormal diagnosis mainly includes the following ways:

[0079] Way 1, the robot elevator control method calculates the difference between the two second actual data after obtaining the first actual data of a certain stop floor and the second actual data of the section with the two adjacent stop floors as endpoints, and realizes the abnormal detection of the detection device obtaining the first actual data and the detection device obtaining the second actual data according to whether the difference is consistent with the first actual data.

[0080] This way only uses the relationship between the first actual data and the second actual data to realize the abnormal detection of the detection device, but this way can only indicate that at least one of the two detection devices has an abnormality, and cannot specify which one or both have an abnormality.

[0081] Way 2, when the second actual data corresponding to a certain adjacent stop floor section is consistent with the second reference data, but the first actual data and the first reference data corresponding to the two adjacent stop floors of the adjacent stop floor section are not consistent, the robot elevator control method determines that the detection device for detecting the first actual data is abnormal;

[0082] When the first actual data corresponding to a certain stop floor is consistent with the first reference data, but the second actual data and the second reference data corresponding to the section with the two adjacent stop floors as endpoints are not consistent, the robot elevator control method determines that the detection device for detecting the second actual data is abnormal.

[0083] Mode 3: When the first reference data corresponding to a certain stop floor is not zero, if the second actual data of the interval with the stop floor as the starting point is equal to the second reference data and the first actual data is not equal to the first reference data, it is determined that the detection device obtaining the second actual data is abnormal.

[0084] Mode 3 is similar to Mode 2 in thinking, but the limit conditions to be met are relatively lower.

[0085] The present application is described in detail above through specific embodiments and examples, but these do not constitute a limitation on the present application. Many modifications and improvements can also be made by those skilled in the art without departing from the principles of the present application, and these should also be considered as within the scope of protection of the present application.

Claims

1. A robot call control method characterized by comprising: The method comprises the following steps: Step S1, obtaining elevator operation information and a robot call signal, the call signal comprising at least a departure floor and a destination floor of the robot; Step S2, determining a stop floor of the elevator according to the call signal; Step S3, determining first reference data and / or second reference data of the number of robots according to the call signal, the first reference data referring to the change of the number of robots during the stop of the elevator car at the stop floor, and the second reference data referring to the number of robots when the elevator car travels in the interval between adjacent stop floors; Step S4, detecting first actual data and / or second actual data of the elevator, the first actual data referring to the data of the robot getting on / off the car during the stop of the elevator car at the stop floor, and the second actual data referring to the number of robots in the elevator car; Step S5, comparing the first actual data with the first reference data and / or the second actual data with the second reference data, and outputting the comparison result; Step S6, outputting a conclusion expressing that the robot takes the elevator normally when the comparison result is equal, or outputting a conclusion expressing that the robot takes the elevator abnormally otherwise.

2. The robot elevator call control method according to claim 1, characterized by, The step S2 further comprises: Sub-step S2-1, screening a first call signal assigned to the target elevator from all call signals (only when a group control system is provided); Sub-step S2-2, determining the expected direction of taking the elevator according to the departure floor and the destination floor of the first call signal; Sub-step S2-3, further screening a second call signal having the expected direction of taking the elevator consistent with the direction of elevator operation from the first call signal; Sub-step S2-4, performing a set operation on the departure floor and the destination floor of the second call signal to obtain a first floor set; Sub-step S2-5, screening a second floor located in front of the elevator car relative to the direction of elevator operation from the first floor set, and taking the second floor as the stop floor. 3.The robot elevator call control method according to claim 1, characterized in that, The S3 determines the first reference data and / or the second reference data of the number of robots in the following manner: The first reference data is determined according to the stop floor data before the elevator starts to run in a certain direction of operation; and / or the second reference data corresponding to the interval between adjacent stop floors is determined according to the stop floor data before the elevator starts to run in a certain direction of operation, and the first reference data and / or the second reference data are determined again according to the updated stop floor only when a new call signal is received before the elevator car reaches the end point of the current operation.

4. The robot elevator call control method according to claim 1, characterized by, The S3 determines the first reference data and / or the second reference data of the number of robots in the following manner: The elevator determines the nearest stop floor closest to the current stop floor in front of the elevator before each start and determines the first reference data of the nearest stop floor; and / or the elevator determines the nearest stop floor closest to the current stop floor and the nearest adjacent stop floor interval composed of the current stop floor and the nearest stop floor according to the stop floors before each start, and determines the second actual data of the elevator car in the nearest adjacent stop floor interval according to the call signals. 5.The robot elevator call control method according to claim 1, wherein, The step S3 obtains the first reference data according to the following steps: Sub-step S3-A1, counting the number of call signals with a certain stop floor as the departure floor and taking it as the number of robots getting into the car at the stop floor; Sub-step S3-A2, counting the number of call signals with a certain stop floor as the destination floor and taking it as the number of robots leaving the car at the stop floor; Sub-step S3-A3, calculating the difference between the number of robots getting into the car and the number of robots leaving the car corresponding to the same stop floor, and taking the difference as the change in the number of robots during the stop of the elevator at the stop floor. 6.The robot elevator call control method according to claim 3, wherein, The step S3 obtains the second reference data according to the following steps before the elevator starts in a certain running direction: Sub-step S3-B1, determining each adjacent stop floor interval according to the stop floors; Sub-step S3-B2, setting the cumulative value to 0; Sub-step S3-B3, selecting the adjacent stop floor interval closest to the current floor of the elevator car from the adjacent stop floor intervals that have not been selected as the selected adjacent stop floor interval; Sub-step S3-B4, for the selected adjacent stop floor interval, taking the stop floor closest to the current floor of the elevator car among the two stop floors constituting the adjacent stop floor interval as the first stop floor; Sub-step S3-B5, determining the first reference data corresponding to the first stop floor according to the call signals with the first stop floor as the departure floor or the destination floor; Sub-step S3-B6, calculating the sum of the cumulative value and the first reference data corresponding to the first stop floor and taking it as the second reference data corresponding to the selected adjacent stop floor interval; Sub-step S3-B7, judging whether there are still adjacent stop floor intervals that have not been selected, if yes, updating the cumulative value to the second reference data, returning to sub-step S3-B3, otherwise ending. 7.The robot elevator call control method according to claim 4, wherein, The step S3 obtains the second reference data according to the following steps before each start of the elevator: Sub-step S3-C1, determining each adjacent stop floor interval according to the stop floors; Sub-step S3-C2, determining the first adjacent stop floor interval and the second adjacent stop floor interval according to the current floor of the elevator car, the first adjacent stop floor interval refers to the adjacent stop floor interval that the elevator will enter, and the second adjacent stop floor interval is adjacent to the first adjacent stop floor interval and is the adjacent stop floor interval that the elevator car has just left or is currently located in; Sub-step S3-C3, taking the stop floor closest to the current floor of the elevator car as the first stop floor among the two stop floors constituting the first adjacent stop floor interval; Sub-step S3-C4, determining the first reference data corresponding to the first stop floor according to the call signal taking the first stop floor as the departure floor or the destination floor; Sub-step S3-C5, calculating the sum of the second reference data corresponding to the second adjacent stop floor interval and the first reference data corresponding to the first stop floor and taking the sum as the second reference data of the first stop floor.

8. The robot call control method according to any one of the preceding claims 1 to 7, wherein the elevator is provided with a load detection device for detecting the load in the elevator car; and the step S3 determines the first reference data and the second reference data according to the detection results output by the load detection device during the stop of the elevator car at the stop floor. The step S3 takes the number of times the increase in the detection result during the stop exceeds a threshold value as the number of robots entering the car, and takes the number of times the decrease in the detection result during the stop exceeds a threshold value as the number of robots entering the car. The mass m of the robot satisfies: M-∆M≤m ≤M+∆M, and n*∆M is much smaller than M, where M is the average mass of the robot, ∆M is the maximum deviation of the mass of the robot from the average mass, n is the maximum number of robots that can be carried by the elevator car at the same time, and the load detection device takes the quotient of the load in the car detected by it and the average mass M of the robot after rounding off as the second actual data. 9.The robot elevator call control method according to claim 8, wherein, The robot call control method calculates the difference between the two second actual data after obtaining the first actual data of a stop floor and the second actual data of the two adjacent stop floor intervals with the stop floor as the end point, and determines whether the detection device obtaining the first actual data and the detection device obtaining the second actual data are abnormal according to whether the difference is consistent with the first actual data. 10.The robot elevator call control method according to claim 8, wherein, 12. The robot call control method according to claim 1, wherein when the second actual data corresponding to a certain adjacent stop floor interval is consistent with the second reference data but the first actual data and the first reference data corresponding to the two adjacent stop floors of the adjacent stop floor interval are inconsistent, the robot call control method determines that the detection device for detecting the first actual data is abnormal; and when the first actual data corresponding to a certain stop floor is consistent with the first reference data but the second actual data and the second reference data corresponding to the two adjacent stop floor intervals with the stop floor as the end point are inconsistent, the robot call control method determines that the detection device for detecting the second actual data is abnormal. 11.The robot elevator call control method according to claim 1, wherein, When the first reference data corresponding to a certain stop floor is not zero, if the second actual data of the interval with the stop floor as the starting point is equal to the second reference data and the first actual data is not equal to the first reference data, it is determined that the detection device obtaining the second actual data is abnormal. ​ ​ ​ 13.The robot elevator call control method according to claim 1, wherein, ​ 14.The robot call control method according to claim 1, wherein, when the first actual data of a certain stop floor is not equal to the first reference data thereof, the stop floor is recorded, and the robot call control method controls the elevator to stop at the recorded stop floor again at an appropriate time; and when the second actual data is not equal to the second reference data, the robot call control method controls the elevator to stop at the recorded stop floor again at an appropriate time according to a determination that a stop floor closer to a front end of the two terminal stop floors of the zone in the direction of elevator travel is recorded. ​ ​

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