Story monitoring method when robot takes elevator, electronic device, and computer storage medium

An electronic device, comprising:

• at least one memory configured to store computer program code;
• and
• at least one processor configured to access said memory, read said computer program code, and operate as instructed by said computer program code, said computer program code including:
• obtaining code configured to cause said at least one processor to obtain gravity acceleration of a robot in a static state in an elevator and transient acceleration of the robot in a moving state in the elevator, a starting story number, and a story height of each story;
• subtracting code configured to cause said at least one processor to subtract the gravity acceleration of the robot in the static state from the transient acceleration of the robot in the moving state to obtain an acceleration change waveform of the robot;
• comparing code configured to cause said at least one processor to compare the acceleration change waveform to an acceleration waveform classifier grouping corresponding to the elevator, to obtain an acceleration waveform classifier to which the acceleration change waveform belongs, obtain a configured state machine and a conversion relationship between different movement statuses in the state machine, determine a moving direction of the elevator according to the conversion relationship and a next acceleration waveform classifier adjacent to an acceleration static waveform classifier, and obtain a movement status of the elevator at each moment according to a correspondence between the acceleration waveform classifier and a movement status of the elevator and the moving direction of the elevator;
• obtaining actual displacement code configured to cause said at least one processor to obtain actual displacement of the elevator in a complete movement status of the elevator, the complete movement status comprising a process of a static state, to an accelerating state, to a uniform speed state, to a decelerating state, and to a static state;
• and
• obtaining a story code configured to cause said at least one processor to obtain a story that the elevator is on after a complete movement status according to the actual displacement of the elevator, the starting story number, and the story height of each story.

One or more non-volatile computer readable storage media comprising computer executable instructions that, when executed by one or more processors, the computer executable instructions cause the processors to perform:

• obtaining gravity acceleration of a robot in a static state in an elevator and transient acceleration of the robot in a moving state in the elevator, a starting story number, and a story height of each story;
• subtracting the gravity acceleration of the robot in the static state from the transient acceleration of the robot in the moving state to obtain an acceleration change waveform of the robot;
• comparing the acceleration change waveform to an acceleration waveform classifier grouping corresponding to the elevator, to obtain an acceleration waveform classifier to which the acceleration change waveform belongs, obtaining a configured state machine and a conversion relationship between different movement statuses in the state machine, determining a moving direction of the elevator according to the conversion relationship and a next acceleration waveform classifier adjacent to an acceleration static waveform classifier, and obtaining a movement status of the elevator at each moment according to a correspondence between the acceleration waveform classifier and a movement status of the elevator and the moving direction of the elevator;
• obtaining actual displacement of the elevator in a complete movement status of the elevator, the complete movement status comprising a process of a static state, to an accelerating state, to a uniform speed state, to a decelerating state, and to a static state;
• and
• obtaining a story that the elevator is on after a complete movement status according to the actual displacement of the elevator, the starting story number, and the story height of each story.