A storey monitoring method when a robot takes an elevator, comprising: placing the robot in the elevator, and recording an acceleration waveform of the elevator during an ascending process and a descending process; cutting the recorded acceleration waveform into sample training sets of multiple different acceleration states; performing training according to the sample training sets to obtain acceleration waveform classifiers; obtaining displacement of each storey, and marking the obtained displacement of each storey as a storey height of each storey; obtaining gravitational acceleration on the robot in a static state in the elevator and transient acceleration on the robot in a moving state in the elevator, a starting storey number, and the storey height of each storey; subtracting the gravitational acceleration on the robot in the static state from the transient acceleration on the robot in the moving state to obtain an acceleration change waveform of the robot; comparing the acceleration change waveform by using the acceleration waveform classifiers of the elevator, to determine an acceleration waveform classifier to which the acceleration change waveform corresponds, obtaining a configured state machine and a transition relationship between different movement statuses in the state machine, determining a moving direction of the elevator according to the transition 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 the moving direction of the elevator and a correspondence between the acceleration waveform classifier and a movement status of the elevator; obtaining actual displacement of the elevator in a complete movement status of the elevator, the complete movement status comprising a process from being static, to moving at an accelerating speed, to moving at a uniform speed, to moving at a decelerating speed, and to being static; and obtaining a storey that the elevator is on after the complete movement status according to the actual displacement of the elevator, the starting storey number, and the storey height of each storey. placing the robot in the elevator, and recording an acceleration waveform of the elevator during an ascending process and a descending process; cutting the recorded acceleration waveform into sample training sets of multiple different acceleration states; performing training according to the sample training sets to obtain acceleration waveform classifiers; obtaining displacement of each storey, and marking the obtained displacement of each storey as a storey height of each storey; obtaining gravitational acceleration on the robot in a static state in the elevator and transient acceleration on the robot in a moving state in the elevator, a starting storey number, and the storey height of each storey; subtracting the gravitational acceleration on the robot in the static state from the transient acceleration on the robot in the moving state to obtain an acceleration change waveform of the robot; comparing the acceleration change waveform by using the acceleration waveform classifiers of the elevator, to determine an acceleration waveform classifier to which the acceleration change waveform corresponds, obtaining a configured state machine and a transition relationship between different movement statuses in the state machine, determining a moving direction of the elevator according to the transition 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 the moving direction of the elevator and a correspondence between the acceleration waveform classifier and a movement status of the elevator; obtaining actual displacement of the elevator in a complete movement status of the elevator, the complete movement status comprising a process from being static, to moving at an accelerating speed, to moving at a uniform speed, to moving at a decelerating speed, and to being static; and obtaining a storey that the elevator is on after the complete movement status according to the actual displacement of the elevator, the starting storey number, and the storey height of each storey.