CN114524336A

CN114524336A - Floor recognition method and floor recognition elevator terminal

Info

Publication number: CN114524336A
Application number: CN202210035577.0A
Authority: CN
Inventors: 郭梦然; 程波
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2022-01-13
Filing date: 2022-01-13
Publication date: 2022-05-24

Abstract

The embodiment of the invention provides a floor identification method and a floor identification elevator terminal, relating to the technical field of intelligent equipment; the robot can be controlled to intelligently take elevator cross-floor service and is not limited by related hardware facilities. The method comprises the following steps: acquiring the actual running time spent by the floor where the elevator car runs from the last starting running to the floor where the elevator car stops running; obtaining the estimated time range value of the elevator car from the floor where the elevator car operates during the latest starting operation to the target floor where the robot is located or planned to arrive; and when the actual running time is within the estimated time range value and the elevator car runs in the direction towards the target floor before stopping running, sending confirmation information of reaching the target floor to the robot.

Description

Floor recognition method and floor recognition elevator terminal

[ technical field ] A method for producing a semiconductor device

The embodiment of the invention relates to the technical field of intelligent equipment, in particular to a floor identification method and a floor identification elevator terminal.

[ background of the invention ]

With the development of the internet of things technology, the robot is widely applied to places such as hotels, shopping malls, restaurants and the like, and works such as commodity distribution, file transfer and the like are executed, so that the human resources of the places are liberated, and the service efficiency is improved. In some indoor robot distribution scenes, the robot needs cross-floor service, how to realize the cross-floor service of the robot by taking an elevator intelligently is not limited by related hardware facilities, and the problem to be solved is urgent in the related field.

[ summary of the invention ]

The embodiment of the invention provides a floor identification method and a floor identification elevator terminal, which are used for determining the floor where an elevator is located under the condition of not using other hardware facilities, further controlling a robot to enter or leave the elevator at a specified floor, realizing the intelligent cross-floor service of the robot taking the elevator and being not limited by related hardware facilities.

In a first aspect, an embodiment of the present invention provides a floor identification method, which is applied to a floor identification elevator terminal, where the floor identification elevator terminal is disposed in an elevator car, and the method includes: obtaining the actual running time spent by the floor where the elevator car runs from the last starting running time to the floor where the elevator car stops running; obtaining the estimated time range value of the elevator car from the floor where the elevator car operates during the latest starting operation to the target floor where the robot is located or is planned to arrive; and when the actual running time is within the estimated time range value and the elevator car runs in the direction towards the target floor before stopping running, sending confirmation information of reaching the target floor to the robot.

According to the floor identification method, the elevator terminal obtains the actual running time spent by the elevator car from the floor where the elevator car runs when the elevator car is started for the last time to the floor where the elevator car runs when the elevator car stops running, the estimated time range value of the elevator car from the floor where the elevator car runs when the elevator car is started for the last time to the target floor is obtained, whether the floor where the elevator car runs when the elevator car stops running is the planned arrival of the robot or the appointed floor where the robot is located is determined by comparing whether the actual running time is within the estimated time range value, and therefore the robot is controlled to enter or leave the elevator which arrives at the appointed floor.

The elevator operation method determines whether the elevator car reaches the designated floor, directly acquires and compares the actual operation time of the elevator car from the starting to the stopping of the specific floor and the theoretical operation time of the elevator car from the operation of the specific floor to the target floor by using the convenience of acquisition time, does not need to additionally acquire the floor information of an elevator system, does not need to acquire information such as the height of the floor through a sensor, and directly determines whether the elevator reaches the designated floor, thereby realizing the purpose of controlling the robot to intelligently take the elevator to perform cross-floor service without being limited by related hardware facilities.

In one possible implementation manner, the elevator terminal stores a corresponding relationship of planned operation time range values of the elevator car from any floor of a building to any other floor in advance, and the obtaining of the estimated time range value of the elevator car from the floor where the elevator car was operated when the elevator car was started last time to the target floor includes:

and in the corresponding relation of the planned operation time range value, searching the planned operation time range value of the elevator car from the floor where the elevator car is started and operated last time to the target floor, and taking the planned operation time range value as the estimated time range value.

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

sending confirmation information of reaching the target floor to a robot located in the elevator car to enable the robot located in the elevator car to leave the elevator car; or the like, or, alternatively,

and sending confirmation information of reaching the target floor to a robot which is located in a target floor corridor and waits for the elevator car so that the robot located in the target floor corridor enters the elevator car.

In one possible implementation manner, the obtaining an actual operation time spent by the floor where the elevator car operates from the last starting operation to the floor where the elevator car stops operating includes:

obtaining measurements of an accelerometer or barometer;

when the starting operation of the elevator car is detected according to the measured value, acquiring the first time for starting the operation of the elevator car;

and after the first time, when the elevator car is detected to stop running for the first time, obtaining second time when the elevator car stops running, and calculating the difference value between the second time and the first time to obtain the actual running time.

In one possible implementation manner, the method further includes:

when the actual running time is not within the estimated time range value, or

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

and searching the floor corresponding to the actual running time when the elevator car stops at present according to the direction from which the elevator car runs to the target floor in the corresponding relation of the planned running time range values of the elevator car from any floor of the building to any other floor, which are stored in advance, according to the actual running time and the floor where the elevator car is started for the last time.

In one possible implementation manner, the floor where the elevator car was last started and operated is the floor where the elevator car stopped at the previous time, or the starting floor of the floor recognition elevator terminal is sent by the robot when the robot just enters the elevator car.

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

obtaining accelerometer and/or barometer measurements;

when receiving a confirmation information error message returned by the robot for the confirmation information, sending the confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor every time when the fact that the elevator car stops running is detected according to the measured value until the information sent by the robot to enter the elevator car is received;

and receiving the starting floor sent by the robot as the floor where the elevator car is located when the elevator car is started and operated last time.

In one possible implementation manner, when the actual operation time is within the estimated time range value and the elevator car is moving in the direction of the target floor before stopping moving, sending confirmation information of reaching the target floor to the robot includes:

acquiring the running direction of the elevator car;

obtaining the relative position direction of the target floor compared with the floor where the elevator car is located when the elevator car is started for the last time;

and when the actual running time is within the estimated time range value and the running direction is consistent with the relative position direction, sending confirmation information of reaching the target floor to the robot.

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

when the elevator car is detected to start running or the elevator car is detected to stop running, obtaining the measurement value of the accelerometer or/and the barometer within the current time range;

calculating corresponding acceleration direction or/and air pressure change according to the obtained measurement values of the accelerometer or/and the barometer; and obtaining the running direction of the elevator car according to the acceleration direction or/and the air pressure variation.

In a second aspect, an embodiment of the present invention provides a floor identification elevator terminal, where the floor identification elevator terminal is disposed in an elevator car; the floor identification elevator terminal comprises an MCU controller; the MCU controller includes:

the actual running time acquisition module is used for acquiring the actual running time spent by the floor where the elevator car runs from the last starting running time to the floor where the elevator car stops running;

the estimated time range value obtaining module is used for obtaining an estimated time range value of the elevator car from the floor where the elevator car operates during the latest starting operation to the target floor where the robot is located or is planned to arrive;

and the confirmation information sending module is used for sending the confirmation information of reaching the target floor to the robot when the actual running time is within the estimated time range value and the elevator car runs towards the target floor before stopping running.

In one possible implementation, the floor identification elevator terminal includes a memory; the memory is used for pre-storing the corresponding relation of the planned operation time range value of the elevator car from any floor of the building to any other floor, and the estimated time range value obtaining module is specifically used for searching the planned operation time range value of the elevator car from the floor where the elevator car is located to the target floor during the latest starting operation in the corresponding relation of the planned operation time range value and taking the searched planned operation time range value as the estimated time range value.

In one possible implementation manner, the acknowledgment information sending module is specifically configured to:

In one possible implementation manner, the floor identification elevator terminal comprises an accelerometer and/or a barometer; the accelerometer and/or barometer providing parameters for detecting elevator car start operation and detecting elevator car stop operation; the actual runtime acquisition module includes:

a parameter acquisition module for acquiring measurements of the accelerometer and/or the barometer;

the first time obtaining submodule is used for obtaining the first time for starting the elevator car to run when the elevator car is detected to run according to the measured value;

and the actual running time calculation submodule is used for acquiring second time for stopping running of the elevator car after the first time when the elevator car is detected to stop running for the first time, and calculating a difference value between the second time and the first time to acquire the actual running time.

In one possible implementation manner, the MCU controller further includes:

a floor searching module, configured to, when the actual operation time is not within the estimated time range value, or when the actual operation time is within the estimated time range value, but the elevator car does not move in a direction toward the target floor before stopping operation; and searching the floor corresponding to the actual running time when the elevator car stops at present according to the direction from which the elevator car runs to the target floor in the corresponding relation of the planned running time range values of the elevator car from any floor of the building to any other floor, which are stored in advance, according to the actual running time and the floor where the elevator car is started for the last time.

In one possible implementation manner, the floor identification elevator terminal comprises an accelerometer and/or a barometer; the accelerometer and/or barometer providing a parameter for detecting elevator car stopping; the floor identification further comprises:

the message receiving module is used for sending the confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor when the robot detects that the elevator car stops running according to the measured value under the condition of receiving a confirmation information error message returned by the robot aiming at the confirmation information until receiving the information sent by the robot and entering the elevator car;

and the floor confirmation module is used for receiving the initial floor sent by the robot and taking the initial floor as the floor where the elevator car is located when the elevator car is started and operated last time.

In one possible implementation manner, the acknowledgment information sending module includes:

the running direction obtaining submodule is used for obtaining the running direction of the elevator car;

the relative position and direction obtaining submodule is used for obtaining the relative position and direction of the target floor compared with the floor where the elevator car is located when the elevator car is started and operated for the last time;

and the third information sending submodule is used for sending confirmation information of arriving at the target floor to the robot when the actual running time is within the estimated time range value and the running direction is consistent with the relative position direction.

In one possible implementation manner, the floor identification elevator terminal comprises an accelerometer and/or a barometer; the operation direction obtaining sub-module comprises:

the parameter acquisition subunit is used for acquiring the measurement value of the accelerometer or/and the barometer within the current time range when the elevator car is detected to start running or the elevator car is detected to stop running;

the calculation subunit is used for calculating the corresponding acceleration direction or/and the air pressure change according to the obtained measurement values of the accelerometer or/and the air pressure meter;

and the running direction obtaining subunit obtains the running direction of the elevator car according to the acceleration direction or/and the air pressure variation.

It should be understood that the second aspect of the embodiment of the present invention is consistent with the technical solution of the first aspect of the embodiment of the present invention, and beneficial effects achieved by various aspects and corresponding possible implementation manners are similar, and are not described again.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a topology structure diagram of an application scenario according to an embodiment of the present invention;

fig. 2 is a schematic view of an elevator terminal structure for performing a floor recognition method according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating steps of a floor recognition method according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an application scenario in which a robot performs cross-floor service in an elevator;

fig. 5 is a flow chart illustrating steps of another floor identification method according to an embodiment of the present invention;

fig. 6 is a functional block diagram of an MCU controller for performing a floor recognition method according to an embodiment of the present invention.

[ detailed description ] embodiments

For better understanding of the technical solutions in the present specification, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.

It should be understood that the embodiments described are only a few embodiments of the present specification, and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step are within the scope of the present specification.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the specification. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The prior art determines the floor where the elevator is located, and the mode for controlling the robot to take the elevator to carry out cross-floor service comprises the following steps:

the method comprises the steps of carrying out invasive elevator control transformation on an elevator system, and modifying an elevator main control board, so that the floor where the elevator is located is obtained through the original communication protocol of the elevator. On one hand, the potential safety hazard of a method for realizing cross-floor service by taking an elevator by a robot based on invasive elevator control transformation is realized due to the modification of an elevator main control board; on the other hand, elevator main control boards installed in different building elevators are different, and the method for realizing the cross-floor service by the robot taking the elevator intelligently based on the invasive elevator control transformation needs to modify the different elevator main control boards, so that the workload is large, and the manpower and financial resources are wasted.

And secondly, installing a floor sensor, such as a photoelectric switch, a magnetic switch and a Radio Frequency Identification (RFID) switch, at a position, corresponding to each floor of the building, in the elevator shaft, and determining the floor information of the elevator car, which is reached by the elevator car, by acquiring the information of the floor sensor. According to the method for realizing the cross-floor service by taking the elevator intelligently by the robot, hardware facilities such as a plurality of sensors are required to be installed in an elevator shaft, complicated elevator control transformation is required, the workload is large, and the manpower and financial resources are wasted; the hardware facilities such as the sensor are greatly influenced by the natural environment, and the maintenance cost is high.

And thirdly, mounting a signal sensor, such as a wireless carrier communication sensor (UWB), a barometer, a laser radar and the like, at the top of the lift car at the top of the lift shaft, sending and receiving signals through the signal sensor, calculating the height of the floor where the lift car is located, and then converting the height of the floor to obtain the information of the floor where the lift car arrives during operation. According to the method for realizing the cross-floor service by the robot taking the elevator intelligently, hardware facilities such as sensors and the like are required to be installed in an elevator shaft, and the floor height is required to be calibrated in advance in different application scenes, so that the engineering quantity is large, and the manpower and financial resources are wasted; the hardware facilities such as the sensor are greatly influenced by the natural environment, and the maintenance cost is high.

In view of the above problems, an embodiment of the present invention provides a floor recognition method for determining floor information to which an elevator car travels by acquiring and comparing an actual travel time of the elevator car from a specific floor to a stop and a theoretical travel time of the elevator car from the specific floor to a target floor, so as to control a robot to enter or leave the elevator car when the elevator car reaches the specified floor. According to the method for realizing intelligent elevator taking of the robot, a sensor does not need to be installed in an elevator shaft, the elevator control modification equipment cost, the labor cost, the modification cost and the maintenance cost are reduced, and the method is not influenced by external factors such as environmental weather.

Fig. 1 is a topological structure diagram of an application scenario according to an embodiment of the present invention, and as shown in fig. 1, the floor identification method provided in the embodiment of the present invention is applied to a floor identification elevator terminal, the floor identification elevator terminal is in communication connection with a cloud platform, and the cloud platform is in communication connection with a robot; when the elevator car reaches the coverage area of the communication signal of the robot, the robot establishes communication connection with the floor recognition elevator terminal.

The cloud platform is used for forwarding a message sent by the robot to the floor recognition elevator terminal and forwarding a message sent by the floor recognition elevator terminal to the robot under the condition that the robot does not establish communication connection with the floor recognition elevator terminal or under the condition that the communication between the robot and the floor recognition elevator terminal is interrupted due to environmental factors.

The cloud platform is used for collecting operation information of a plurality of floor recognition elevator terminals, so that the floor recognition accuracy of different buildings can be analyzed in a unified mode, for example, when the floor recognition elevator terminals send messages to the robot, the same messages can be sent to the cloud platform, the cloud platform can collect the messages sent by the floor recognition elevator terminals and can also transmit the messages to the robot, and the situation that the robot cannot be controlled due to the fact that the communication connection between the floor recognition elevator terminals and the robot is interrupted is avoided.

The cloud platform can also send information of a target floor to any floor recognition elevator terminal so as to control the elevator to reach the target floor through the floor recognition elevator terminal and receive the robot. Illustratively, when a building has multiple elevators, and the multiple elevators are installed at different positions of the building, the robot takes elevator number 1 to reach floor two for meal delivery, the robot walks to elevator number 2 after meal delivery is finished, the robot receives geographic information acquired by a sensor in the walking process, compares the geographic information with a three-dimensional map stored locally in advance, and uploads the geographic information to a cloud platform, and after the cloud platform obtains the position of the robot, the floor information where the robot is located is taken as a target floor and sent to elevator number 2, so that the elevator number 2 is controlled to reach the floor two, and the robot completes the meal delivery task.

The floor recognition elevator terminal can be arranged on the top of the elevator car and also can be arranged in the elevator car. Fig. 2 is a schematic structural diagram of a floor recognition elevator terminal according to an embodiment of the present invention, and as shown in fig. 2, the floor recognition elevator terminal includes a communicator, an MCU controller 22, a key control board interface 23, and a power interface 24; the communicator can be a 4G communication module 211, a Bluetooth module 212, a Lora module 213 and the like, and the elevator terminal can be connected with a power supply through a power supply interface 24.

The MCU controller 22 is provided with at least one processor and at least one memory communicatively connected to the processor, the memory storing program instructions executable by the processor, the program instructions being capable of performing the floor identification method of fig. 3 or 5 as set forth in the embodiments of the present invention.

Fig. 3 is a flowchart of steps of a floor identification method according to an embodiment of the present invention, applied to an MCU controller, as shown in fig. 3, the steps include:

step S31: and acquiring the actual running time spent by the floor where the elevator car runs from the last starting running time to the floor where the elevator car stops running.

The last start run of the elevator car refers to the last start of the elevator car before the current stop. The floor that the elevator car was when starting operation last time is along with elevator operation dynamic change, the floor that the elevator operation was stopped for the Nth time, for the elevator operation of (N + 1) th time and start the floor, the actual operation time of the elevator car operation of this time, it is irrelevant with the last operation of elevator, also irrelevant with the operation of the back of elevator, guarantee that the error of the actual operation time of different elevator cars can not superpose, thereby guarantee the accuracy of the actual operation time of the elevator car operation of this time of obtaining each time.

Step S32: and obtaining the estimated time range value of the elevator car from the floor where the elevator car operates in the last starting operation to the target floor where the robot is located or is planned to arrive.

The elevator terminal can acquire the target floor through the communicator. The target floor mentioned here can be a floor where the robot currently waits for an elevator, the elevator car needs to reach the floor so that the robot can enter the car, and when the robot is located at the target floor and waits for the elevator, the elevator terminal can receive the target floor where the robot currently is located, which is sent by the cloud platform; the target floor can also be a target floor planned to be reached after the robot enters the car, when the robot is located in the elevator car, the elevator terminal is in communication connection with the robot, and the elevator terminal can receive the target floor planned to be reached by the robot sent by the cloud platform and can also receive the target floor planned to be reached by the robot sent by the robot.

The cloud platform is in communication connection with the robot and the elevator terminal respectively, has the function of uniformly sending scheduling information to the robot and the elevator terminal, and also has the function of receiving and analyzing information fed back by the robot and the elevator terminal.

After the elevator terminal obtains the target floor, the information can be sent to the key control panel in the car through the key control panel interface, and the elevator is controlled to select the target floor as the stop floor under the condition that the elevator main control panel is not modified.

Illustratively, at a first floor, a robot and a passenger enter an elevator car, the passenger selects a third floor by a key control panel in the car, the robot is in communication connection with an elevator terminal of the elevator car, the elevator terminal of the elevator car receives a fourth floor sent by the robot and controls the key control panel in the car to select the fourth floor, and an elevator main control panel controls the elevator car to stop running when the elevator car runs to the third floor and the fourth floor according to the original calculation logic of the elevator main control panel and opens an elevator door.

In one embodiment of the invention, the estimated time range value can be estimated by calculating the floor difference between the floor where the elevator car was located when the elevator car was last started and the target floor. Illustratively, the floor where the elevator car is located when the elevator car is started to operate last time is floor two, the target floor is floor six, the difference is four, the time for the elevator terminal to obtain the elevator to operate at the first floor is about 2 seconds, and the estimated time is calculated to be 8 seconds. According to the running speed error of the elevator, the speed of the elevator is between 92% and 105% of the standard speed, the time fluctuation threshold value is calculated to be 0.5 second, and the estimated time range value is 7.5 seconds to 8.5 seconds.

Step S33: and when the actual running time is within the estimated time range value and the elevator car runs towards the target floor before stopping running, sending confirmation information of reaching the target floor to the robot.

When the elevator car runs in a single direction, the time range value of the elevator from a specific floor to any other floor is unique, and when the elevator car runs in the direction towards a target floor before stopping running, whether the floor where the elevator car stops is the target floor can be judged according to whether the actual running time is in the estimated time range value. And determining whether the actual running time is within the estimated time range value, and determining the floor where the elevator car stops as the target floor.

According to the floor identification method provided by the embodiment of the invention, the floor where the elevator car arrives in the running process of the elevator is determined according to the relation between the actual running time of the elevator and the theoretical running time of the elevator, the information such as the height of the elevator car and the floor where the elevator is located does not need to be obtained through the acquisition sensor, and the floor where the elevator car is located is judged, so that the large-cost elevator control transformation related to the installation and maintenance of the sensor is avoided.

The embodiment of the invention provides that the elevator terminal determines that the floor where the elevator car stops is the target floor, and executes step S33, and can execute step S331 or execute step S332; in one realisation, in the case where the robot is located within the elevator car, the elevator terminal performs substep S331; in case the robot is located in the destination floor corridor waiting for an elevator car, the elevator terminal performs substep S332.

Step S331: sending confirmation information of reaching the target floor to the robot located in the elevator car to enable the robot located in the elevator car to leave the elevator car.

The elevator terminal can directly send the confirmation information of arriving at the target floor to the robot located in the elevator car through the 4G communication module 211, the Bluetooth module 212 and the Lora module 213, the confirmation information of arriving at the target floor can be sent to the cloud platform through the 4G communication module 211, and the cloud platform forwards the confirmation information of arriving at the target floor to the robot located in the elevator car.

Step S342: and sending confirmation information of reaching the target floor to a robot which is located in a target floor corridor and waits for the elevator car so that the robot located in the target floor corridor enters the elevator car.

The elevator terminal can directly send the confirmation information of arriving at the target floor to the robot located in the elevator car through the 4G communication module 211 and the Lora module 213, and can send the confirmation information of arriving at the target floor to the cloud platform through the 4G communication module 211, and the cloud platform forwards the confirmation information of arriving at the target floor to the robot located in the elevator car.

And after receiving the confirmation information of reaching the target floor, the robot determines the position of the robot according to the three-dimensional construction drawing drawn in the walking process, and determines the walking path by combining the position of the robot and the currently executed instruction, and leaves or enters the elevator car.

The floor identification method provided by the embodiment of the invention has the advantages that the floor planned to be reached by the robot and the floor where the robot is located when waiting for the elevator are unified into the target floor, the target floor is used as the reference, when the floor where the elevator car stops is determined to be the target floor, the confirmation information of reaching the target floor is sent to the robot, the robot selects to enter the elevator car or leave the elevator car according to the local information after receiving the confirmation information of reaching the target floor, and the elevator terminal does not need to generate redundant instructions, so that the effect of controlling the robot to take the elevator under two scenes of controlling the elevator to reach the target floor to receive the robot and controlling the elevator to send the robot to the target floor is realized.

Another embodiment of the invention provides an implementation method for acquiring the actual running time spent by the floor where the elevator car runs from the last starting running to the floor where the elevator car stops running.

With continued reference to fig. 2, the floor-identifying elevator terminal also includes an accelerometer 26 and a barometer 27. The measurements of the accelerometer 26 and/or the barometer 27 can be used as parameters for determining the car state. For example, the floor recognition elevator terminal acquires the measurement value of the accelerometer 26 every preset time T, detects that the measurement value of the accelerometer 26 at time 0 is 0, and the measurement value of the accelerometer 26 at time 0+ T is not 0, and can determine that the elevator car starts to start between time 0 and time T. The floor recognition elevator terminal obtains the measurement value of the barometer 27 every preset time T, detects that the measurement value of the barometer 27 at the time T is smaller than the measurement value of the barometer 27 at the time 2T, and determines that the elevator car starts to start between the time T and the time 2T when the measurement value of the barometer 27 at the time 0 is equal to the measurement value of the barometer 27 at the time T. Step S31 includes sub-steps S311 to S313:

step S311: obtaining measurements of the accelerometer and/or the barometer;

step S312: and when the starting operation of the elevator car is detected according to the measured value, the first time of the starting operation of the elevator car is obtained.

Detecting that the elevator car starts operation based on the measurement comprises: elevator car activation is detected from the accelerometer 26 measurements and elevator car activation is detected from the barometer 27.

Step S313: and after the first time, when the elevator car is detected to stop running for the first time, obtaining second time when the elevator car stops running, and calculating the difference value between the second time and the first time to obtain the actual running time.

The method comprises the steps of detecting the starting of an elevator car, determining that the state of the elevator changes from a stop state to an operation state, detecting the stopping of the elevator for the first time after the elevator car is started, and determining that the state of the elevator changes from the current operation state to the stop state. The state change of elevator is simple easily acquireed, need not accurate speed measurement, accurate measurement elevator car height etc.. And when the state changes, the timing is simple to calculate, continuous timing is not needed, and errors caused by interference of the external environment on the continuous timing are avoided.

In one example of the present invention, the state change of the elevator can be measured by the barometer and the accelerometer, and the change of the state of the elevator can be determined by detecting whether the measured values of the accelerometer and the barometer change without using the accelerometer and the barometer for quantitative analysis.

The embodiment of the invention can verify that: the actual running time obtained by the invention is only related to the starting time and the stopping time of the current running, is not related to the running state of the elevator car before the current running and is also not related to the running state of the elevator car after the current running.

Another embodiment of the invention provides an implementation method for obtaining the estimated time range value of the elevator car from the floor where the elevator car operates to the target floor during the latest starting operation, and the elevator terminal stores the corresponding relation of the planned operation time range value of the elevator car from any floor of the building to any other floor in advance.

With continued reference to fig. 2, the elevator terminal also includes a memory 25, and the correspondence of the planned operating time range values for the elevator car to reach any other floor from any floor of the building can be stored in the memory 25. The corresponding relation of the planned operation time range values of the elevator car from any floor of the building to any other floor can be stored in the cloud platform, so that the elevator operation conditions of all buildings can be analyzed uniformly.

In one example of the invention, the building has four floors, and the corresponding relation of the scheduled operation time range values of the elevator car from any floor of the building to any other floor comprises the following steps: the elevator car respectively arrives the corresponding relation of the planned operation time range values of the second floor, the third floor and the fourth floor from the first floor, the elevator car respectively arrives the corresponding relation of the planned operation time range values of the first floor, the third floor and the fourth floor from the second floor, the elevator car respectively arrives the corresponding relation of the planned operation time range values of the first floor, the second floor and the fourth floor from the third floor, and the elevator car respectively arrives the corresponding relation of the planned operation time range values of the first floor, the second floor and the third floor from the fourth floor.

The method comprises the steps of calibrating the time of an elevator car from a first floor to a second floor and from the first floor to a third floor in advance, and repeating the steps until the planned operation time of the elevator car from the first floor to the N floor is obtained, calculating a time fluctuation threshold value according to an error range allowed by an elevator standard and the speed of the elevator should be 92% -105% of the standard, calculating the time fluctuation threshold value on the basis of the planned operation time of the first floor from the first floor to each floor to obtain a planned operation time range value of the first floor from the first floor, counting the planned operation time range value of the first floor from the first floor, and obtaining the corresponding relation of the planned operation time range values of the elevator car from the first floor to the second floor from the second floor. For example, the planned travel time for the nominal floor one to floor three is 4 seconds, the fluctuation threshold is 0.5 seconds, and the planned travel time range value for the elevator car from floor one to floor three is 3.5 to 4.5 seconds. Table 1 shows the projected operating time range value correspondence pre-stored by an exemplary elevator terminal of the present invention.

Table 1:

step S32 includes sub-step S321: and in the corresponding relation of the planned operation time range value, searching the planned operation time range value of the elevator car from the floor where the elevator car is started and operated last time to the target floor, and taking the planned operation time range value as the estimated time range value.

In one example of the present invention, the memory 25 of the floor recognition elevator terminal stores the planned operation time range value correspondence shown in table 1 in advance, the MCU controller 22 calls the memory 25, inquires the planned operation time range value correspondence stored in the memory 25, obtains the floor where the elevator car operates from the latest start as the second floor, the target floor that the robot plans to reach as the fourth floor, and finds the estimated time range value for the elevator car to operate from the second floor to the fourth floor is 4 to 5 seconds.

According to the embodiment of the invention, the planned operation time range value of the elevator car from the floor to the target floor when the elevator car is started for the last time is searched in the corresponding relation of the pre-stored planned operation time range values of the elevator car from any floor to any other floor of the building, so that the accurate estimated time range value is directly obtained, and the operation difference of the elevator crossing different floors caused by acceleration and deceleration difference is avoided. For example, the time taken for an elevator to travel from floor one to floor two is greater than the time taken for an elevator to travel from floor one to floor three past floor two.

In the embodiment of the invention, when the actual operation time is within the estimated time range value, the fact that the scheduled operation time range value containing the actual operation time is found in the corresponding relation of the scheduled operation time range value when the elevator car reaches other arbitrary floors from any floor of the building can mean that the starting floor of the scheduled operation time range value is the floor where the elevator car is located during starting operation, and the stopping floor of the scheduled operation time range value is the target floor.

However, based on the corresponding relationship of the planned operation time range values of the elevator car from any floor of the building to any other floor, which is stored in advance, it is complicated to directly search the planned operation time range values containing the actual operation time in the corresponding relationship, and a plurality of planned operation time range values containing the actual operation time may exist in the corresponding relationship of the planned operation time range values of the elevator car from any floor of the building to any other floor. As shown in table 1, the range of planned operating times corresponds to the range of planned operating times for the elevator car to travel from floor two to floor one being 2.5-3.5 seconds, the range of planned operating times for the elevator car to travel from floor two to floor three being 2.5-3.5 seconds, and the range of planned operating times for the elevator car to travel from floor three to floor two being 2.5-3.5 seconds.

In view of the above situation, the embodiment of the present invention searches for the corresponding relationship between the planned operation time range values when the elevator car reaches any floor of the building to any other floor, and the estimated time range value corresponding to the operation of the elevator car from the floor where the elevator car was operated when the elevator car was operated from the last start operation to the target floor is used as a basis for determining whether the elevator car reaches the target floor in combination with the operation direction of the elevator car before the elevator car stops operating. When the elevator car runs in one direction towards the target floor, the specific planned running time range value only corresponds to one combination of the starting running floor and the stopping running floor.

In view of the above findings, embodiments of the present invention propose that the actual run time is not within the estimated time range value; or the actual running time is within the estimated time range value, but the elevator car does not run according to the direction to the target floor before stopping running, the actual running time is searched from the corresponding relation of the planned running time range value when the elevator car reaches any other floor from any floor of the building, the elevator car runs according to the direction to the target floor before stopping running, the elevator car comprises the stop running floor corresponding to the specific planned running time range value corresponding to the actual running time, and the elevator terminal enters the next floor for calculation based on the current stop running floor of the elevator.

When the actual operation time is not within the estimated time range value or when the actual operation time is within the estimated time range value, the elevator car does not move in the direction to the target floor before stopping operation;

The direction in which the elevator car travels to the target floor means a direction in which the elevator car can travel to the target floor. For example, the floor where the elevator car was last started is floor one, the target floor is underground floor two, and then the direction in which the elevator car travels to the target floor is the direction from floor one to underground floor two.

In one example of the invention, the elevator terminal stores the corresponding relation of the planned operation time range values as shown in table 1, the elevator starting operation and the elevator stopping operation are continuously detected, the time difference between the elevator starting operation and the elevator stopping operation is calculated for 3.2 seconds, and the actual operation time of the current operation of the elevator car is obtained to be 3.2 seconds. The floor where the elevator car is started is floor three, the floor where the elevator car is at the target floor is floor four, and the estimated time range value obtained by looking up the table 1 is 2.5-3.5; judging that the actual operation time is within the estimated time range value, but the elevator car does not move towards the direction of the target floor before stopping operation, determining that the elevator car does not reach the target floor, determining that the stop floor corresponding to the actual operation time is floor one by using the lookup table 1, determining that the starting floor of the next operation of the elevator car is floor one, acquiring the actual operation time and the estimated time range value next time by using the elevator terminal, and taking the floor one as the floor where the last start operation is carried out.

The embodiment of the invention separately calculates the floor number of the operation for each time of the elevator car, not only can judge whether the elevator car reaches the target floor, but also can obtain the parameters which are required to be obtained by the elevator terminal for the next operation of the elevator: the floor where the elevator car is located when the elevator car stops can be guaranteed to be continuously judged through floor superposition calculation in the embodiment of the invention because the floor where the elevator car is located when the elevator car is started and operated last time can be determined every time.

In order to avoid the floor calculation deviation caused by accumulating floors for multiple times, the embodiment of the invention provides that the floor where the elevator car is located when the elevator car is started for the last time is the floor where the elevator car stops for the previous time, or the starting floor sent to the elevator terminal by the robot when the robot just enters the elevator car.

The robot can obtain accurate information of the floor where the robot is located after completing specified services on a specific floor, the robot enters an elevator car from the specific floor and sends the obtained accurate information of the floor where the robot is located to an elevator terminal, the elevator terminal obtains an initial floor corresponding to the accurate information of the floor where the robot is located, the initial floor and the floor where the robot is located when the robot stops operating currently can be compared, and when the floor where the robot stops operating currently and deviates, the floor where the robot stops operating currently is corrected by the initial floor.

In an example of the invention, the first floor is a food delivery robot food delivery floor, the accurate information of the first floor sent by the cloud platform and received by the food delivery robot after food delivery is finished is the first floor, the food delivery robot enters the elevator car at the first floor, the elevator terminal receives the first floor sent by the food delivery robot, and the first floor is used as the floor where the first floor is located when the last starting operation of calculating the floor information for the next operation of the elevator is performed.

Fig. 4 is a schematic diagram of an application scenario in which a robot takes an elevator to perform a cross-floor service, and an example of the invention calculates an elevator floor based on the application scenario shown in fig. 4, where the robot enters an elevator car at a floor one, a floor recognition elevator terminal receives information that a target floor sent by the robot is floor five and receives information that a current floor sent by the robot is floor one, the elevator car is detected to start running for the first time, time 1 is recorded, the elevator car is detected to stop running for the first time after time 1, time 2 and time 1 are recorded with a time difference of 5.2 seconds as actual running time 1, a pre-stored planned running time range value corresponding relationship that the elevator car reaches any other floor from any floor of the building is searched, and an estimated time range value 1 that the elevator car reaches floor five from floor one is 10.5 seconds to 11 seconds, and searching the corresponding relation of the planned operation time range values of the elevator cars reaching other optional floors from any floor of the building when the actual operation time 1 is not in the estimated time range value 1, and obtaining that the elevator car stop operation floor corresponding to 5.2 seconds is floor three.

Detecting that the elevator car starts to run for the second time, recording time 3, detecting that the elevator car stops running for the first time after the time 3, recording time 4, taking the difference between the time 2 and the time 1 as actual running time 2, searching the corresponding relation of the planned running time range values of the elevator car from any floor of the building to any other floor, which is stored in advance, obtaining the estimated time range value 2 of the elevator car from the third floor to the fifth floor of the building, wherein the estimated time range value 2 is 7.2 seconds to 8.7 seconds, the actual running time 2 is within the estimated time range value 2, determining the arrival target floor, sending confirmation information of the arrival target floor to the robot, and the robot receiving the confirmation information of the arrival target floor and leaving the elevator car.

In a scene of controlling an elevator to reach a target floor and receive a robot, if an extreme condition of calculation error occurs, a floor recognition elevator terminal calculates the deviation of the target floor, when an elevator car does not actually reach the target floor, the floor recognition elevator terminal sends confirmation information of reaching the target floor to a robot, and when the robot does not have road condition acquisition equipment such as a camera and the like, the condition of error of entering the elevator car by the robot can occur.

In view of the above extreme situation, another embodiment of the present invention provides a method for correcting floor information calculated by a floor recognition elevator terminal based on a method for sending a robot to a starting floor of the floor recognition elevator terminal as a floor where an elevator car operates in the last starting operation, according to another embodiment of the present invention, and provides a method for controlling a robot to enter an elevator in the above extreme situation.

Fig. 5 is a flowchart of steps of another floor identification method according to an embodiment of the present invention, as shown in fig. 5, the steps include:

step S51: and acquiring the target floor where the robot is located or is planned to arrive.

Step S52: and acquiring the actual running time spent by the floor where the elevator car runs from the last starting running to the floor where the elevator car stops running.

Step S53: and obtaining the estimated time range value of the elevator car from the floor where the elevator car operates to the target floor when the elevator car operates at the latest starting time.

Step S54: and when the actual running time is within the estimated time range value and the elevator car runs in the direction towards the target floor before stopping running, sending confirmation information of reaching the target floor to the robot.

Step S55: and when receiving a confirmation information error message returned by the robot for the confirmation information, sending the confirmation information of reaching the target floor to the robot waiting at the target floor corridor every time when the elevator car is detected to stop running until receiving the information sent by the robot to enter the elevator car.

The robot receives the confirmation information of reaching the target floor, determines a walking path by combining with the three-dimensional map of the position of the robot, plans to enter the elevator car, and returns a confirmation information error message to the floor recognition elevator terminal aiming at the currently received confirmation information when the elevator door is closed and the robot enters the elevator car wrongly.

The floor recognition elevator terminal receives the confirmation information error message and determines that the floor information is calculated wrongly, and the floor recognition elevator terminal controls the key control board in the elevator car to select the target floor as the stop floor when receiving the target floor, so that the elevator car can stop at the target floor, and therefore when detecting that the elevator car stops running, the embodiment of the invention sends the confirmation information of reaching the target floor to the robot waiting at the corridor of the target floor, so that the robot enters the elevator car.

The robot successfully enters the elevator car, information of the robot entering the elevator car and an initial floor are sent to the floor recognition elevator terminal, and the floor recognition elevator terminal corrects the floor where the elevator car is located when the elevator car operates next time is started and operated last time according to the initial floor.

Step S56: and receiving the starting floor sent by the robot as the floor where the elevator car is located when the elevator car is started and operated last time.

Another embodiment of the present invention provides an implementation manner of determining whether the elevator car is moving toward the direction of the target floor, wherein step S33 includes substeps S33-1 to substep S33-3; the floor identifying elevator terminal also includes a barometer 27 and an accelerometer 26;

step S33-1: and acquiring the running direction of the elevator car.

The embodiment of the invention is based on the accuracy of the barometer 27 and the accelerometer 26 for qualitative analysis, e.g. the moment the elevator starts moving upwards, the measurement of the accelerometer 26 must increase upwards. When the elevator stops running upwards, the measured value of the acceleration must be increased downwards and then reduced to zero; at the moment the elevator starts to run downwards, the measured value of the acceleration must increase downwards. The values of the barometers are different at different heights, the elevator is started to run upwards, and the values of the barometers are reduced from a fixed value. The elevator stops moving upwards, and the value of the barometer is increased from a change value to a fixed value. Thus, the embodiment of the present invention obtains the traveling direction of the elevator car based on the measurement values of the barometer 27 and the accelerometer 26.

When the elevator car is detected to start running or the elevator car is detected to stop running, obtaining the measurement value of the accelerometer or the barometer within the current time range; acquiring a corresponding acceleration direction or air pressure variation calculated according to the acquired measurement value of the accelerometer or the barometer; and obtaining the running direction of the elevator car according to the acceleration direction or the air pressure variation.

The measurement values of the accelerometer or/and the barometer in the current time range are obtained, when the elevator car is detected to stop running or the elevator car is detected to start running at the time T, the measurement values of the accelerometer or/and the barometer at the time T are obtained, the measurement values of the accelerometer or/and the barometer at the time T +1, the measurement values of the accelerometer or/and the barometer at the time T +2 and the measurement values of the accelerometer or/and the barometer at the time T + n are obtained, and the value of n is set according to the use scene of the elevator terminal.

Or when the elevator car is detected to start running or the elevator car is detected to stop running, the measurement values of the accelerometer and the barometer in the current time range are obtained; acquiring corresponding acceleration direction and air pressure change quantity calculated according to the acquired measurement values of the accelerometer and the barometer; according to the acceleration direction and the air pressure change quantity, more accurate running direction of the elevator car is obtained

Step S33-2: and obtaining the relative position direction of the target floor compared with the floor where the elevator car is located when the elevator car is started for the last time.

Step S33-3: and when the actual running time is within the estimated time range value and the running direction is consistent with the relative position direction, sending confirmation information of reaching the target floor to the robot.

The embodiment of the invention uses the relative position of the target floor and the floor where the elevator car is located when the elevator car is started for the last time as a basis to verify whether the actual running direction of the elevator is the direction towards the target floor, the process of judging whether the actual running direction is the direction towards the target floor is adopted, the target floor information and the floor information where the elevator is located when the elevator is started are used as the existing information of the elevator terminal, the acceleration direction or/and the air pressure variation are obtained through the local barometer and the accelerometer of the elevator terminal, a sensor does not need to be installed in an elevator shaft, and the obtaining mode is simple.

Fig. 6 is a functional block diagram of an MCU controller for performing a floor recognition method according to an embodiment of the present invention, the MCU controller being provided in a floor recognition elevator terminal, as shown in fig. 6, the MCU controller including:

the actual operation time obtaining module 61 is used for obtaining the actual operation time spent by the floor where the elevator car operates from the last starting operation to the floor where the elevator car stops operating;

an estimated time range value obtaining module 62, configured to obtain an estimated time range value from a floor where the elevator car operates when the elevator car is started last time to a target floor where the robot is located or is scheduled to arrive;

and the confirmation information sending module 63 is configured to send the confirmation information of reaching the target floor to the robot when the actual operation time is within the estimated time range value and the elevator car is operated in the direction of the target floor before stopping operation.

Optionally, the floor identification elevator terminal comprises a memory, and the memory is connected or communicatively connected with the MCU controller; the memory is used for pre-storing the corresponding relation of the planned operation time range value of the elevator car from any floor of the building to any other floor, and the estimated time range value obtaining module is specifically used for searching the planned operation time range value of the elevator car from the floor where the elevator car is located to the target floor during the latest starting operation in the corresponding relation of the planned operation time range value and taking the searched planned operation time range value as the estimated time range value.

Optionally, the confirmation information sending module is specifically configured to:

and sending the confirmation information of reaching the target floor to a robot which is positioned in a corridor of the target floor and waits for the elevator car so as to enable the robot positioned in the corridor of the target floor to enter the elevator car.

Optionally, the floor-identifying elevator terminal comprises an accelerometer and/or a barometer; the accelerometer and/or barometer providing parameters for detecting elevator car start operation and detecting elevator car stop operation; the accelerometer is connected or in communication connection with the MCU controller; the barometer is connected or in communication connection with the MCU controller;

the actual runtime acquisition module includes:

Optionally, the MCU controller further comprises:

a floor searching module, configured to, when the actual operation time is not within the estimated time range value, or when the actual operation time is within the estimated time range value, but the elevator car does not move in a direction toward the target floor before stopping operation; according to the actual running time and the floor where the elevator car is started last time, in the corresponding relation of the planned running time range value of the elevator car from any floor of the building to any other floor, which is stored in advance, the floor where the elevator car stops at present is searched for the actual running time corresponding to the elevator car according to the running direction of the elevator car to the target floor.

Optionally, the floor where the elevator car was last started is the floor where the elevator car stopped last time, or the robot sends the starting floor of the floor identification elevator terminal to the robot when the robot just entered the elevator car.

Optionally, the floor identification elevator terminal comprises an accelerometer and/or a barometer; the accelerometer and/or barometer providing a parameter for detecting elevator car stopping; the accelerometer is connected or in communication connection with the MCU controller; the barometer is connected or in communication connection with the MCU controller; the MCU controller further includes:

the message receiving module is used for sending the confirmation information of reaching the target floor to the robot waiting in the corridor of the target floor when the robot detects that the elevator car stops running under the condition of receiving a confirmation information error message returned by the robot aiming at the confirmation information until receiving the information sent by the robot and entering the elevator car;

Optionally, the acknowledgement information sending module includes:

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

Optionally, the floor-identifying elevator terminal comprises an accelerometer or a barometer; the operation direction obtaining sub-module comprises:

the parameter acquisition subunit is used for acquiring the measured value of the accelerometer or/and the barometer within the current time range when the elevator car is detected to start running or the elevator car is detected to stop running;

the calculation subunit is used for calculating the corresponding acceleration direction or/and the air pressure change according to the acquired measurement values of the accelerometer or/and the barometer;

The MCU controller provided in the above-described illustrated embodiment is configured to execute the technical solution of the above-described illustrated method embodiment, and further reference may be made to the relevant description in the method embodiment for realizing the principle and the technical effect, which are not described herein again.

An embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, where the computer instructions cause the computer to execute a floor identification method provided in an embodiment shown in fig. 1 to 5 of this specification.

The non-transitory computer readable storage medium described above may take any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM) or flash memory, an optical fiber, a portable compact disc read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present description may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

In the description of embodiments of the invention, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present description in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present description.

The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It should be noted that the terminal according to the embodiment of the present invention may include, but is not limited to, a Personal Computer (PC), a Personal Digital Assistant (PDA), a wireless handheld device, a tablet computer (tablet computer), a mobile phone, an MP3 player, an MP4 player, and the like.

In the several embodiments provided in the present specification, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In addition, functional units in the embodiments of the present description may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A method of floor identification, the method comprising:

obtaining the actual running time spent by the floor where the elevator car runs from the last starting running time to the floor where the elevator car stops running;

obtaining the estimated time range value of the elevator car from the floor where the elevator car operates during the latest starting operation to the target floor where the robot is located or is planned to arrive;

and when the actual running time is within the estimated time range value and the elevator car runs in the direction towards the target floor before stopping running, sending confirmation information of reaching the target floor to the robot.

2. A floor recognition elevator terminal is characterized in that the floor recognition elevator terminal is arranged on an elevator car and comprises an MCU controller; the MCU controller includes:

3. The floor identifying elevator terminal of claim 2, wherein the floor identifying elevator terminal includes a memory; the memory is used for pre-storing the corresponding relation of the planned operation time range value of the elevator car from any floor of the building to any other floor, and the estimated time range value obtaining module is specifically used for searching the planned operation time range value of the elevator car from the floor where the elevator car is located to the target floor during the latest starting operation in the corresponding relation of the planned operation time range value and taking the searched planned operation time range value as the estimated time range value.

4. Floor identification elevator terminal according to claim 2, characterized in that the acknowledgement information sending module is specifically configured to:

5. Floor identifying elevator terminal according to claim 2, characterized in that the floor identifying elevator terminal comprises an accelerometer and/or a barometer; the accelerometer and/or barometer providing parameters for detecting elevator car start operation and detecting elevator car stop operation; the actual runtime acquisition module includes:

6. The floor identification elevator terminal of claim 3, wherein the MCU controller further comprises:

and the floor searching module is used for searching the floor where the actual running time corresponds to the current stop of the elevator car in the corresponding relationship of the planned running time range values of the elevator car from any floor of the building to any other floor, which is stored in advance, according to the actual running time and the floor where the elevator car is started for the last time, when the actual running time is not in the estimated time range value or when the actual running time is in the estimated time range value and the elevator car does not run in the direction towards the target floor before stopping running.

7. Floor identifying elevator terminal according to claim 6, characterized in that the floor at which the last start run of the elevator car was, was the floor at which the elevator car stopped the previous time, or the starting floor at which the robot sent the floor identifying elevator terminal when the robot just entered the elevator car.

8. Floor identifying elevator terminal according to claim 2, characterized in that the floor identifying elevator terminal comprises an accelerometer and/or a barometer; the accelerometer and/or barometer providing a parameter for detecting elevator car stopping; the MCU controller further comprises:

9. The floor recognition elevator terminal of claim 2, wherein the confirmation information sending module comprises:

10. Floor identifying elevator terminal according to claim 9, characterized in that the floor identifying elevator terminal comprises an accelerometer or a barometer; the operation direction obtaining sub-module comprises: