CN110606414A

CN110606414A - Robot elevator taking method and device, computer equipment and storage medium

Info

Publication number: CN110606414A
Application number: CN201910795795.2A
Authority: CN
Inventors: 刘熙旺; 李良; 张永生; 苏柏垣
Original assignee: Hitachi Building Technology Guangzhou Co Ltd
Current assignee: Hitachi Building Technology Guangzhou Co Ltd
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2019-12-24
Anticipated expiration: 2039-08-27
Also published as: CN110606414B

Abstract

The invention relates to a robot ladder taking method, a robot ladder taking device, computer equipment and a storage medium. The method comprises the following steps: receiving first destination layer information and at least one second destination layer information sent by a server; sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor; sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor. By adopting the method, the elevator waiting time of the robot for taking the elevator for multiple times can be reduced.

Description

Robot elevator taking method and device, computer equipment and storage medium

Technical Field

The invention relates to the technical field of elevators, in particular to a robot elevator taking method, a robot elevator taking device, computer equipment and a storage medium.

Background

With the wider application range of the robot, the corresponding application scenes of the robot also have the characteristic of diversification, such as hospitals, office buildings and markets. These application scenarios mostly belong to high-rise buildings equipped with elevators.

In a scene that a traditional robot takes an elevator, the robot sends an elevator waiting request when waiting for the elevator to wait for the arrival of the allocated elevator, the time occupied by the elevator waiting process at least comprises the time of allocating the elevator and the time of running the elevator to the floor where the robot is located, and the time is usually longer, so that the elevator waiting time of the robot is longer.

Disclosure of Invention

In view of the above, it is desirable to provide a method, an apparatus, a computer device, and a storage medium for taking a flight by a robot, which can reduce the waiting time when the robot needs to go to a plurality of destination floors.

The embodiment of the invention provides a robot elevator taking method, which comprises the following steps: receiving first destination layer information and at least one second destination layer information sent by a server; sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor; sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

The embodiment of the invention provides a robot elevator taking device, which comprises: the information receiving module is used for receiving first destination layer information and at least one second destination layer information sent by the server; the first instruction sending module is used for sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor; the second instruction sending module is used for sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

The embodiment of the invention provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the following steps: receiving first destination layer information and at least one second destination layer information sent by a server; sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor; sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps: receiving first destination layer information and at least one second destination layer information sent by a server; sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor; sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

According to the robot elevator taking method, the robot elevator taking device, the computer equipment and the storage medium, the controller receives first destination layer information and second destination layer information sent by the server, sends a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information, and the server sends a plurality of destination layer information to the controller at one time, so that the controller can pre-allocate elevators according to the moving time and the second destination layer information in the process that the robot returns to the elevator waiting area, and the elevator waiting time of the robot is reduced.

The embodiment of the invention provides a robot elevator taking method, which comprises the following steps: transmitting the first destination layer information and at least one second destination layer information to the controller; receiving a first elevator taking instruction sent by the controller; the first elevator taking instruction is sent by the controller according to the first destination floor information; controlling the robot to take the elevator to the first destination floor according to the first elevator taking command; receiving a second elevator taking instruction sent by the controller; the second elevator taking instruction is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; and controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

The embodiment of the invention provides a robot elevator taking device, which comprises: the information sending module is used for sending the first destination layer information and at least one second destination layer information to the controller; the first instruction receiving module is used for receiving a first elevator taking instruction sent by the controller; the first elevator taking instruction is sent by the controller according to the first destination floor information; the first control module is used for controlling the robot to take the elevator to the first destination floor according to the first elevator taking command; the second instruction receiving module is used for receiving a second elevator taking instruction sent by the controller; the second elevator taking instruction is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; and the second control module is used for controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

The embodiment of the invention provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the following steps: transmitting the first destination layer information and at least one second destination layer information to the controller; receiving a first elevator taking instruction sent by the controller; the first elevator taking instruction is sent by the controller according to the first destination floor information; controlling the robot to take the elevator to the first destination floor according to the first elevator taking command; receiving a second elevator taking instruction sent by the controller; the second elevator taking instruction is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; and controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps: transmitting the first destination layer information and at least one second destination layer information to the controller; receiving a first elevator taking instruction sent by the controller; the first elevator taking instruction is sent by the controller according to the first destination floor information; controlling the robot to take the elevator to the first destination floor according to the first elevator taking command; receiving a second elevator taking instruction sent by the controller; the second elevator taking instruction is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; and controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

According to the robot elevator taking method, the robot elevator taking device, the computer equipment and the storage medium, the server sends first destination floor information and second destination floor information to the controller, then the controller operates the elevator at the first destination floor according to a second elevator taking command, the second elevator taking command is sent by the server according to the moving time of the elevator waiting area and the second destination floor information, and the server sends a plurality of destination floor information to the controller at one time, so that the controller can pre-allocate the elevator according to the moving time and the second destination floor information in the process that the robot returns to the elevator waiting area, and the elevator waiting time of the robot is reduced.

Drawings

FIG. 1 is a diagram of an exemplary embodiment of an application environment for a method for a robot to ride an elevator;

FIG. 2 is a schematic flow chart illustrating a method for a robot to ride an elevator according to an embodiment;

FIG. 3 is a schematic flow chart of a robot elevator-taking method according to another embodiment;

FIG. 4 is a schematic flow chart illustrating a ladder-taking method of the robot according to still another embodiment;

FIG. 5 is a schematic flow chart illustrating a method for taking a ladder by a robot according to still another embodiment;

fig. 6 is a block diagram showing the structure of the robot elevator-taking device according to an embodiment;

fig. 7 is a block diagram of the robot elevator-taking device in another embodiment;

FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments. The "stationary state" mentioned in this text may refer to a state in which the elevator stops at a certain floor to wait for a call; the "upward running state" refers to a state in which the elevator runs to a destination floor higher than the departure floor; the "downward movement state" refers to a state in which the elevator is moving to a destination floor lower than the departure floor.

The robot ladder-taking method provided by the invention can be applied to the application environment shown in figure 1. The server may refer to a server capable of implementing information interaction between the robot and the controller, and may be the elevator calling server 102. The controller may refer to a controller capable of performing information interaction with a server and controlling an elevator, and may be the call controller 104. The elevator call server 102 sends information to the elevator call controller 104 by means of wired connection or wireless communication. The call controller 104 assigns elevators based on the above information. The elevator call controller 104 controls one or more elevator main controllers by wired connection or wireless communication, thereby controlling the elevator.

In some application scenarios, the elevator calling server 102 may also be configured on the robot, which is equivalent to that the robot directly performs information interaction with the elevator calling controller 104; the function of the elevator main controller for controlling the operation of the elevator can also be configured on the elevator calling controller 104, which is equivalent to the elevator calling controller 104 directly controlling the operation of the elevator. The elevator calling server 102 may be implemented by an independent elevator calling server or an elevator calling server cluster composed of a plurality of elevator calling servers. The elevator controller 104 may be implemented as an independent elevator controller or as an elevator controller cluster formed by a plurality of elevator controllers.

In one embodiment, as shown in fig. 2, a robot elevator taking method is provided, which is described by taking the method as an example applied to the elevator calling controller 104 in fig. 1, and includes the following steps:

s202, receiving the first destination layer information and the at least one second destination layer information sent by the server.

The destination information may refer to description information of a floor to which the robot is to reach, and may further include tasks to be completed by the robot on each floor. Further, the first destination layer information corresponds to a first destination layer, and the second destination layer information corresponds to a second destination layer, and the second destination layer information may be one or more than one. For example, the first destination floor information and the second destination floor information are given below, where the robot needs to reach 5 th, 10 th and 20 th floors to complete the task a, the task B and the task C, respectively, so that the first destination floor information may be the task 5 th-a, and the second destination floor information may be the task 10 th-B and the task 20 th-C.

Specifically, when the robot is about to take the elevator to reach a certain floor to perform a task, the server sends first destination floor information and at least one second destination floor information to the elevator calling controller 104. The server may be the elevator call server 102.

S204, sending a first elevator taking instruction to a server according to the first destination layer information; the first elevator taking command is used for instructing the server to control the robot to take the elevator to the first destination floor.

The first elevator taking command is used for instructing the server to control the robot to take the elevator to reach the first destination floor, and specifically, the first elevator taking command can comprise an elevator entering command and an elevator exiting command, namely, the server controls the robot to enter the elevator car and leave the elevator car when the first destination floor is reached.

The elevator calling controller 104 allocates an elevator for reaching the first destination floor based on the first destination floor information, and transmits a first elevator riding command to the server. And the server controls the robot to take the elevator to reach the first destination floor according to the first elevator taking command.

S206, sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; and the second elevator taking command is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

The elevator waiting area refers to an area waiting for an elevator, and in some cases, the elevator waiting area can also specifically refer to an elevator waiting area in front of a certain elevator. The moving time is the time required for the robot to move to the elevator waiting area. And the second elevator taking command is used for instructing the server to control the robot to take the elevator to reach a second destination floor.

When the robot reaches the first destination floor, the robot leaves the elevator and performs a predetermined task (e.g., dispatching documents, articles, etc.). After the task is completed, when the robot needs to reach the second destination floor, the robot needs to go to the elevator waiting area of the first destination floor to take the elevator. At this time, the elevator calling controller 104 allocates an elevator for the robot to reach the second destination floor according to the moving time of the robot to reach the elevator waiting area and the second destination floor information, and transmits a second elevator taking command to the server, and the server controls the robot to take the elevator to reach the second destination floor according to the second elevator taking command.

In the robot elevator taking method provided in the above embodiment, the elevator calling controller 104 receives the first destination layer information and the at least one second destination layer information sent by the server, and sends the second elevator taking command to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information, so as to instruct the server to control the robot to take the elevator, thereby saving the elevator waiting time of the robot, and improving the working efficiency of the robot.

In one embodiment, the step of sending a second elevator taking instruction to the server according to the moving time of the robot to the elevator waiting area and the second destination floor information comprises: if the fact that the robot moves towards the elevator waiting area is determined, obtaining the moving time of the robot reaching the elevator waiting area; determining a target elevator from the controlled elevators according to the moving time and the second destination floor information; and if the target elevator reaches the first destination floor, sending a second elevator taking instruction to the server.

Specifically, after the robot leaves the elevator waiting area of the first destination floor, the robot executes corresponding tasks on the first destination floor. After the task is completed, the robot needs to go to a second destination floor, the elevator calling controller 104 acquires the moving time when the robot reaches the elevator waiting area, and determines a target elevator from the elevator controlled by the elevator calling controller 104 (the elevator calling controller 104 can control the elevator by controlling the elevator main controller) by combining the second destination floor information sent by the server, wherein the target elevator is used for carrying the robot to reach the second destination floor. And when the target elevator runs to a first destination floor, namely the floor on which the robot currently executes the task, sending a second elevator taking command to the server. It can be understood that, when the robot only executes the task in the waiting area, the elevator calling controller 104 may allocate the elevator according to the time when the robot completes the task and the second destination floor information, and the elevator calling controller 104 may also allocate the elevator according to the time when the robot moves to the elevator and the second destination floor information.

In this embodiment, the elevator calling controller 104 may allocate a target elevator for reaching the second destination layer to the robot according to the moving time of the robot reaching the elevator waiting area and the second destination layer information, so that the elevator waiting time of the robot is reduced, and the server does not need to send information reaching the second destination layer to the elevator calling controller 104 again, thereby avoiding a situation that the communication link between the server and the elevator calling controller 104 is disconnected at the first destination layer, which causes the elevator calling controller 104 to be unable to allocate an elevator reaching the second destination layer to the robot, and improving the reliability of elevator taking.

In one embodiment, the moving time to the waiting area can be determined according to the distance between the robot and the waiting area and the moving speed. Specifically, after the robot leaves the elevator waiting area of the first destination floor, the elevator calling controller 104 acquires the distance between the robot and the elevator waiting area from the server, and when the distance gradually decreases, it may be determined that the robot moves to the elevator waiting area, and at this time, the moving speed of the robot is acquired from the server, and the moving time when the robot reaches the elevator waiting area is determined. The elevator calling controller 104 determines a target elevator for carrying the robot to reach the second destination floor from the elevator controlled by the elevator calling controller 104 (the elevator calling controller 104 can control the elevator by controlling the elevator main controller) according to the moving time of the robot to reach the elevator waiting area and the second destination floor information sent by the server. And when the target elevator runs to a first destination floor, namely the floor on which the robot currently executes the task, sending a second elevator taking command to the server. It is understood that the elevator calling controller 104 may also obtain the distance and the moving speed from the server after the robot leaves the elevator waiting area of the first destination floor; the server may also send the distance and the moving speed to the elevator call controller 104 as the distance between the robot and the elevator waiting area gradually decreases.

In this embodiment, when the robot moves to the elevator waiting area, the elevator calling controller 104 determines the moving time to reach the elevator waiting area by combining the distance between the robot and the elevator waiting area and the moving speed. And then the calling controller 104 allocates elevators for the robot according to the moving time of the robot reaching the elevator waiting area and the second destination floor information, and can more accurately determine the moving time of the robot reaching the elevator waiting area according to the real-time distance between the robot and the elevator waiting area.

In another embodiment, the moving time to the elevator waiting area may be the time when the server sends the moving time of the robot to the elevator calling controller 104 to reach the elevator waiting area. Specifically, after the robot leaves the elevator waiting area of the first destination floor, the server sends the moving time when the robot reaches the elevator waiting area to the elevator calling controller 104, and the elevator calling controller 104 determines a target elevator for carrying the robot to reach the second destination floor from the elevator controlled by the elevator calling controller 104 (the elevator calling controller 104 can control the elevator by controlling the elevator main controller) according to the moving time and the second destination floor information sent by the server. And when the target elevator runs to a first destination floor, namely the floor on which the robot currently executes the task, sending a second elevator taking command to the server. It will be appreciated that the server may send the hand-off time to the lobby controller 104 as the distance between the robot and the lobby decreases. Further, the server can obtain the moving time according to the distance and the moving speed; the preset time may be set as the moving time to the landing zone according to the preset time, for example: and sending the movement time of 5min to the elevator calling controller 104, and instructing the elevator calling controller 104 to control one elevator to stop at the first destination floor within 5min so as to wait for the robot to enter the elevator car of the elevator to take the elevator.

In this embodiment, the server actively sends the movement time to the elevator calling controller 104, and the elevator calling controller 104 may directly combine the movement time and the second destination layer information to allocate an elevator to the robot, thereby simplifying the operation of calculating the movement time by the elevator calling controller 104; meanwhile, the elevator calling controller 104 allocates an elevator to the robot in the moving process of the robot, so that the elevator is already in a state of waiting for the robot to enter the elevator when the robot arrives at an elevator waiting area, and the elevator waiting time of the robot can be effectively shortened.

In one embodiment, the step of determining a target elevator from the controlled elevators comprises: when the number of the controlled elevators is at least two, the running time of each elevator reaching the first destination floor is determined, and the elevator with the shortest running time is taken as the target elevator.

In this embodiment, when the number of elevators controlled by the elevator call controller 104 is at least two, for example, two or three, the elevator call controller 104 determines the elevator with the shortest operation time as the target elevator from the operation times of the elevators reaching the first destination floor. For example, when the first destination floor is the 4 th floor and the second destination floor is the 8 th floor, the elevator call controller 104 controls two elevators, a and b, respectively. Where the operation time of elevator a to floor 4 is 1 minute and the operation time of elevator b to floor 4 is 2 minutes, the call controller 104 determines elevator a having an operation time of 1 minute as the target elevator. This running time may comprise the time when the elevator is running to the first destination floor to stop at other floors, e.g. when elevator a is on floor 2 and in an up-going state, it will stop at floor 3 before reaching floor 4, and then the running time to floor 4 comprises the stop time at floor 3. The operation time may include an operation time that the elevator first moves to a floor opposite to the second destination floor, for example, when the elevator a is at the 2 nd floor, and the elevator calling controller 104 controls the elevator a to move to the 4 th floor after controlling the elevator a to move to the first floor, where the operation time includes a time that the elevator a moves to the first floor. It is understood that when the elevator controlled by the call controller 104 is one, the call controller 104 determines that the elevator is the target elevator.

In one embodiment, when there are two elevators controlled by the call controller 104, the call controller 104 determines, based on the first destination floor, whether a second destination floor to which the robot will go is located above or below the first destination floor. When the second destination floor is above, the elevator calling controller 104 should ensure that the elevator is below the first destination floor and is in an upward running state or a static state; for example, when the second destination floor is the 7 th floor and the first destination floor is the 4 th floor, the robot needs to take an elevator running upwards from the 4 th floor to the 7 th floor, and the elevator allocated by the elevator calling controller 104 should be located below the 4 th floor or the 4 th floor and be in an upward running state or a static state. When the second destination floor is below, the call controller 104 should ensure that the elevator is above the first destination floor and is in a down run or stationary state. For example, when the second destination floor is the 4 th floor and the first destination floor is the 7 th floor, the robot needs to take the elevator running downwards from the 7 th floor to the 4 th floor, and at this time, the elevator allocated by the elevator calling controller 104 should be located above the 7 th floor or the 7 th floor and be in the running-downwards state or the static state. It will be appreciated that when an elevator is at the first destination floor and the operating condition is stationary or the operating condition is in alignment with the direction of the elevator the robot needs to ride (i.e., from the first destination floor to the second destination floor), the call controller 104 may preferentially identify that elevator as the target elevator.

In one embodiment, when the first destination floor is the bottom floor or the top floor of the elevator, the call controller 104 should determine the elevator having the shortest running time to run to the first destination floor as the target elevator. For example, when the first destination floor is the bottom floor of an elevator, such as floor 1, the call controller 104 should determine the elevator closest to floor 1 as the target elevator. For another example, when the first destination floor is the bottom floor of an elevator, such as floor 1, elevator a is located at floor 3, elevator b is located at floor 4, and the two operating states are identical (both in the static state or the downward operating state), and no stop is needed in the process of moving to floor 1, the time for moving to floor 1 of elevator a is shorter than that of elevator b, and the elevator calling controller 104 should determine elevator a as the target elevator. For another example, when the first destination floor is the bottom floor of an elevator, such as the 1 st floor, the elevator a is located at the 3 rd floor and is in a downward running state, stopping at the 2 nd floor is needed, and the time for running to the first destination floor is 2 minutes; the elevator b is positioned at the 4 th floor and is in a downward running state, and the time for running to the first destination floor is 1 minute; at this time, the call controller 104 should determine elevator b as the target elevator. For another example, when the first destination floor is the bottom floor of an elevator, such as the 1 st floor, the elevator a is located at the 3 rd floor, and the elevator a needs to be operated to the 4 th floor before being operated to the 1 st floor, and the operation time is 3 minutes; elevator b is on floor 5 and can run directly down to floor 1 for a run time of 2 minutes, at which time the call controller 104 should determine elevator b as the target elevator.

For example, when the first destination floor is the top floor of an elevator, such as floor 9, the call controller 104 should determine the elevator closest to floor 9 as the target elevator. For another example, when the first destination floor is the top floor of an elevator, such as the 9 th floor, the elevator a is located at the 6 th floor, the elevator b is located at the 5 th floor, and the two operating states are identical (both in the static state or in the upward operating state), and no stop is needed in the process of operating to the 9 th floor, the time for operating to the 9 th floor of the elevator a is shorter than that of the elevator b, and the elevator calling controller 104 should determine the elevator a as the target elevator. For another example, when the first destination floor is the top floor of an elevator, such as the 9 th floor, the elevator a is located at the 6 th floor and is in an upward running state, stopping at the 7 th floor is needed, and the time for running to the first destination floor is 2 minutes; the elevator b is positioned at the 5 th floor and is in an upward running state, and the time for running to the first destination floor is 1 minute; at this time, the call controller 104 should determine elevator b as the target elevator. For another example, when the first destination floor is the top floor of an elevator, such as the 9 th floor, the elevator a is located at the 6 th floor, and the elevator a needs to be operated to the 9 th floor after being operated to the 5 th floor, and the operation time is 3 minutes; elevator b is on floor 5 and can travel directly up to floor 9 for a 2 minute period of time, at which time the call controller 104 should determine elevator b as the target elevator.

It is understood that the above embodiments do not limit the elevator taking method of the robot, and the elevator operation time is also related to the performance, operation speed and other factors of the elevator, and when the elevator is allocated by the elevator calling controller 104, the operation time may also be determined by combining the performance, operation speed and other factors of the elevator, and the elevator which runs to the first destination floor in the shortest time may be selected from the determined operation time.

In one embodiment, when the elevator controlled by the elevator controller 104 is 1, after the elevator controller 104 determines the elevator as the target elevator, the stops of the elevator at other floors should be reduced before the elevator carries the robot to the second destination floor. For example, when the first destination floor is the 4 th floor, the number of elevators controlled by the elevator calling controller 104 is 1, and the elevator is before the robot is loaded to the second destination floor, for example, when the elevator is running to the first destination floor, if the elevator calling controller 104 receives elevator calling requests for stopping at other floors, at this time, the elevator calling controller 104 should control some floors in which the elevator is stopped, or directly run to the first destination floor without stopping. For example, when the first destination floor is the 4 th floor, the number of elevators controlled by the elevator calling controller 104 is 1, and the elevator is before the robot is loaded to the second destination floor, for example, when the elevator is operated from the first destination floor to the second destination floor, if the elevator calling controller 104 receives an elevator calling request for stopping at other floors, at this time, the elevator calling controller 104 should control some floors in which the elevator is stopped, or directly operate to the second destination floor without stopping.

It will be appreciated that the above embodiments are not limiting and that the elevator call controller 104 controls the elevators to stop at other floors or not, as the case may be, and may be selected.

In one embodiment, as shown in fig. 3, a robot elevator taking method is provided, which is described by taking an example that the method is applied to an elevator calling server in fig. 1 as 102, and includes the following steps:

s302, sending the first destination layer information and at least one second destination layer information to the controller.

The destination layer information has the same meaning as the previous embodiment, and is not described herein again.

Specifically, the elevator calling server 102 sends the first destination layer information and the second destination layer information to the controller.

S304, receiving a first elevator taking instruction sent by the controller; the first elevator taking command is sent by the controller according to the first destination floor information; and S306, controlling the robot to take the elevator to a first destination floor according to the first elevator taking command.

The first elevator riding command is the same as the previous embodiment, and is not described herein.

After receiving the first elevator taking command sent by the controller, the elevator calling server 102 controls the robot to take the elevator to reach the first destination floor. The robot may perform a predetermined task after reaching the first destination level.

S308, receiving a second elevator taking instruction sent by the controller; and the second elevator taking command is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination floor information. And S310, controlling the robot to take the elevator to a second destination floor at the first destination floor according to the second elevator taking command.

The elevator calling server 102 receives the second elevator taking instruction sent by the controller. For example, when the robot needs to reach a second destination floor after completing a task at a first destination floor, the robot firstly goes to a waiting area of the first destination floor to take an elevator. At this time, the controller allocates an elevator for the robot to reach the second destination floor according to the moving time of the robot to reach the waiting area and the second destination floor information. And after receiving the second elevator taking instruction, the elevator taking server 102 controls the robot to take the elevator to a second destination floor.

In the robot elevator taking method, the elevator taking server 102 sends first destination layer information and at least one second destination layer information to the controller, and receives a second elevator taking instruction sent by the controller, wherein the second elevator taking instruction is obtained by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the elevator calling server 102 controls the robot to take the elevator according to the second elevator taking instruction, so that the elevator waiting time of the robot is saved, and the working efficiency of the robot can be improved.

In one embodiment, after the step of controlling the robot to take the elevator to the first destination floor according to the first elevator taking command, the method further comprises: when the robot fails to leave the elevator and the taken elevator is in a running state, sending a first elevator calling request to the controller; the first elevator call request is used to instruct the controller to control the elevator ride to travel to a first destination floor.

The elevator calling request is a request that the robot needs to take an elevator, which is sent to the controller by the elevator calling server 102.

Specifically, when the elevator reaches the first destination floor, the robot fails to leave the elevator and the elevator in which the robot takes is in a running state, the elevator calling server 102 sends a first elevator calling request to the controller, and the controller controls the elevator in which the robot takes to run to the first destination floor according to the first elevator calling request.

In another embodiment, after the step of controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command, the method further includes: when the robot fails to leave the elevator and the taken elevator is in a running state, sending a second elevator calling request to the controller; the second elevator call request is used for instructing the controller to control the elevator to travel to the second destination floor.

The elevator calling request is the same as the previous embodiment, and is not described herein. .

Specifically, when the elevator reaches the second destination floor, the robot fails to leave the elevator and the elevator in which the robot takes is in the running state, the elevator calling server 102 sends a second elevator calling request to the controller, and the controller controls the elevator in which the robot takes to run to the second destination floor according to the second elevator calling request.

When the elevator reaches the destination floor, but the robot fails to go out of the elevator and the elevator is in a running state, the elevator calling server 102 sends a call request to the controller, so that the controller controls the elevator to run to the destination floor, and the problem that the robot cannot reach the destination floor is solved.

In order to better understand the above method, an application example of the robot elevator taking method of the present invention is described in detail below.

When the robot needs to go to the 4 th floor and the 7 th floor to perform tasks in a high-rise building equipped with an elevator, the starting floor information corresponds to the 1 st floor, the first destination floor information corresponds to the 4 th floor, and the second destination floor information corresponds to the 7 th floor. And the calling server sends a calling request to the calling controller, wherein the calling request carries departure layer information, first destination layer information and second destination layer information. After receiving the elevator calling request, the elevator calling controller firstly allocates a first target elevator for reaching the 4 th floor according to first target floor information in the elevator calling request and controls the first target elevator to run to the 1 st floor. And when the first target elevator runs to the 1 st floor, sending a first elevator taking instruction to the elevator calling server. And the elevator calling server controls the robot to take the first target elevator according to the first elevator taking command. And after the robot takes the first target elevator, the elevator calling controller controls the first target elevator to run to the 4 th floor. When the elevator runs to the 4 th floor, the elevator calling controller sends a first elevator outgoing instruction to the elevator calling server. And the elevator calling server controls the robot to leave the first target elevator according to the first elevator outgoing command, so that the robot can execute tasks on the 4 th floor. And at the moment, the elevator calling server sends the distance between the robot and the elevator waiting area to the elevator calling controller in real time. After the robot finishes the task, when needing to go to the 7 th floor to execute the task, the distance received by the calling controller is gradually reduced in the process of moving to the waiting area, and at the moment, the calling server sends the moving speed of the robot to the calling controller. And the elevator calling controller determines the time when the robot reaches the elevator waiting area by combining the distance and the moving speed, and allocates a second target elevator for reaching the 7 th floor for the robot. And when the second target elevator runs to the 4 th floor, the elevator calling controller sends a second elevator taking instruction to the elevator calling server. And the elevator calling server controls the robot to take the second target elevator according to the second elevator taking instruction. And after the robot takes the second target elevator, the elevator calling controller controls the second target elevator to run to the 7 th floor. And when the second target elevator runs to the 7 th floor, the elevator calling controller sends a second elevator outgoing instruction to the elevator calling server. And the elevator calling server controls the robot to leave the second target elevator according to the second elevator outgoing instruction.

In one embodiment, the elevator calling server sends an elevator calling request to the elevator calling controller, and simultaneously sends a riding demand (such as a load demand) of the robot to the elevator calling controller, the elevator calling server also sends a new elevator calling demand to the elevator calling controller on a first destination floor, and the elevator calling controller sends an elevator calling instruction to the elevator calling server according to the elevator calling demand and whether the elevator arrives at the current floor of the robot. It can be understood that the elevator calling controller can determine whether the elevator meets the elevator taking requirement of the robot according to a detection device in the elevator, and if so, sends an elevator taking instruction to the elevator calling server. It can be understood that the elevator calling server can also obtain information in the elevator according to the detection device of the robot, judge whether the information meets the elevator taking requirements of the robot, and send an elevator entering failure instruction to the elevator calling controller if the information does not meet the elevator taking requirements of the robot.

In one embodiment, after the elevator calling server determines that the robot enters the elevator, an elevator entering success signal is sent to the elevator calling controller, and the elevator calling controller controls the elevator to operate according to the elevator entering success signal. It will be appreciated that the call controller can determine whether the robot has entered the elevator based on detection means in the elevator.

In one embodiment, the robot does not enter the elevator due to some factors (such as external interference, self failure and the like), when the elevator calling server determines that the robot does not enter the elevator, the elevator calling server sends an elevator entering failure signal to the elevator calling controller, and the elevator calling controller releases control over the elevator according to the elevator entering failure signal. It will be appreciated that the call controller can determine whether the robot has entered the elevator based on detection means in the elevator.

In one embodiment, after the elevator calling server determines that the robot leaves the elevator, an elevator outgoing success signal is sent to the elevator calling controller, and the elevator calling controller releases control over the elevator according to the elevator outgoing success signal. It will be appreciated that the call controller can determine whether the robot leaves the elevator based on detection means in the elevator.

In one embodiment, the robot does not leave the elevator due to some factors (such as external interference, self failure and the like), and after the elevator calling server determines that the robot does not leave the elevator, the elevator calling server sends an elevator calling failure signal to the elevator calling controller, and the elevator calling controller releases control over the elevator according to the elevator calling failure signal. It will be appreciated that the call controller can determine whether the robot leaves the elevator based on detection means in the elevator. In one embodiment, after confirming that the robot does not leave the elevator, the elevator calling server sends an elevator calling request to the elevator calling controller again, at this time, the departure floor information of the elevator calling request is 0, and the destination floor is a floor which the robot does not successfully arrive at. And at the moment, the elevator calling controller controls the elevator again according to the elevator calling request. If the elevator calling controller obtains that the elevator is in a static state, the elevator is controlled to open a door, and an elevator sending command is sent to the elevator calling server to control the robot to leave the elevator; if the elevator calling controller obtains that the elevator is in the running state, the elevator calling controller controls the elevator to run to a floor which the robot does not successfully reach, and after the elevator runs to the floor, the elevator calling controller sends an elevator sending instruction to the elevator calling server to control the robot to leave the elevator.

Wherein, the detecting device in the foregoing embodiments may be a camera, a millimeter wave radar, or the like.

In one embodiment, a method for taking a ladder by a robot is provided, as shown in fig. 4, comprising the steps of: s402, the calling server sends departure layer information, first destination layer information and second destination layer information to the calling controller; s404, the elevator calling controller allocates elevators according to the received departure floor information, the first destination floor information and the second destination floor information; s406, after receiving an elevator exit instruction sent by the elevator calling controller, the elevator calling server controls the robot to leave the elevator; s408, judging whether the destination floor is the last floor or not after the robot leaves the elevator; when the destination layer is not the last one, executing S410, and the calling server sends the moving time to the calling controller; s412, the elevator calling controller judges whether the robot reaches an elevator waiting area or not according to the moving time, and skips to S410 when the robot does not reach the elevator waiting area; when the robot arrives at the elevator waiting area, jumping to S404; in S408, when the destination floor is the last, the boarding operation is ended.

In S408, it is determined whether the destination floor is the last floor, and the calling controller may determine according to destination floor information sent by the calling server, or the calling server may determine according to a calling instruction sent by the calling controller.

In one embodiment, S410 may be: and the elevator calling server sends the distance between the robot and the elevator waiting area and the moving speed to the elevator calling controller.

In one embodiment, a method for a robot to take a ladder is provided, as shown in fig. 5, comprising the steps of: s502, after the elevator is allocated by the elevator calling controller; s504, the elevator calling controller sends an elevator taking instruction to an elevator calling server, and the elevator calling server controls the robot to take the elevator according to the elevator taking instruction; s506, judging whether the elevator meets the elevator taking requirements of the robot or not, wherein S506 can be executed by both the elevator calling controller and the elevator calling server; s508, when the elevator meets the elevator taking requirements (such as load requirements) of the robot, the robot enters the elevator, and the elevator calling server sends an elevator entering success command to the elevator calling controller; s510, controlling the elevator to run to a target floor by the elevator calling controller according to the elevator entering success command; s512, the elevator calling controller judges whether the elevator reaches a destination layer and whether the elevator is opened, and if the elevator calling controller judges that the elevator does not reach the destination layer and the elevator is not opened, the elevator calling controller continuously executes S512; s514, after the elevator reaches a destination floor and the elevator is opened, the elevator calling controller sends an elevator sending command to the elevator calling server and controls the elevator to be opened; s516, after the robot successfully exits the elevator, the elevator calling server sends the successful exit command of the robot to the elevator calling controller, and the elevator calling controller releases control over the elevator according to the successful exit command; after the robot fails to go out of the elevator, the elevator calling server sends the elevator calling failure command of the robot to the elevator calling controller, and the elevator calling controller releases control over the elevator according to the elevator calling failure command. In S506, when the elevator does not meet the elevator exit requirement of the robot, S518 the elevator calling server sends an elevator entry failure instruction to the elevator calling controller; and S520, releasing the control of the elevator by the elevator calling controller according to the elevator entering failure instruction.

It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention.

Based on the same idea as the robot elevator taking method in the above embodiment, the present invention also provides a robot elevator taking device, which can be used for executing the robot elevator taking method. For convenience of explanation, in the schematic structural diagram of the embodiment of the robot elevator taking device, only the part related to the embodiment of the present invention is shown, and those skilled in the art will understand that the illustrated structure does not constitute a limitation to the device, and may include more or less components than those illustrated, or combine some components, or arrange different components.

In one embodiment, as shown in fig. 6, there is provided a robotic ladder riding device 600, comprising: an information receiving module 602, a first instruction sending module 604 and a second instruction sending module 606, wherein:

the information receiving module 602 is configured to receive the first destination layer information and the at least one second destination layer information sent by the server.

A first instruction sending module 604, configured to send a first elevator taking instruction to a server according to the first destination floor information; the first elevator taking command is used for instructing the server to control the robot to take the elevator to the first destination floor.

A second instruction sending module 606, configured to send a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; and the second elevator taking command is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

In one embodiment, the second instruction sending module 606 further includes: the system comprises a moving time obtaining submodule, a target elevator determining submodule and a second instruction sending submodule.

Wherein, the moving time obtaining submodule is used for: if the fact that the robot moves towards the elevator waiting area is determined, obtaining the moving time of the robot reaching the elevator waiting area; a target elevator determination submodule for: determining a target elevator from the controlled elevators according to the moving time and the second destination floor information; a second instruction sending submodule, configured to: and if the target elevator reaches the first destination floor, sending a second elevator taking instruction to the server.

In one embodiment, the moving time obtaining sub-module is further configured to: determining the distance and the moving speed of the robot and the elevator waiting area, and determining the moving time according to the distance and the moving speed.

In one embodiment, the moving time obtaining sub-module is further configured to: and receiving the moving time of arriving at the elevator waiting area sent by the server.

In one embodiment, the target elevator determination submodule is further operable to: when the number of the controlled elevators is at least two, the running time of each elevator reaching the first destination floor is determined, and the elevator with the shortest running time is taken as the target elevator.

In one embodiment, as shown in fig. 7, there is provided a robot elevator riding device 700, including: an information sending module 702, a first instruction receiving module 704, a first control module 706, a second instruction receiving module 708, and a second control module 710, wherein:

an information sending module 702, configured to send the first destination layer information and the at least one second destination layer information to the controller.

A first instruction receiving module 704, configured to receive a first elevator taking instruction sent by the controller; the first elevator taking command is sent by the controller according to the first destination floor information.

And the first control module 706 is used for controlling the robot to take the elevator to the first destination floor according to the first elevator taking command.

A second instruction receiving module 708, configured to receive a second elevator taking instruction sent by the controller; and the second elevator taking command is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination floor information.

And the second control module 710 is used for controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

In one embodiment, the first control module 706 is further configured to: when the robot fails to leave the elevator and the taken elevator is in a running state, sending a first elevator calling request to the controller; the first elevator call request is used to instruct the controller to control the elevator ride to travel to a first destination floor.

In one embodiment, the second control module 710 is further configured to: when the robot fails to leave the elevator and the taken elevator is in a running state, sending a second elevator calling request to the controller; the second elevator call request is used for instructing the controller to control the elevator to travel to the second destination floor.

It should be noted that, the ladder taking device for a robot of the present invention corresponds to the ladder taking method for a robot of the present invention one to one, and the technical features and the advantages thereof described in the embodiments of the ladder taking method for a robot are all applicable to the embodiments of the ladder taking device for a robot.

In addition, in the above-mentioned exemplary embodiment of the robot elevator taking device, the logic division of the program modules is only an example, and in practical applications, the above-mentioned function distribution may be performed by different program modules according to needs, for example, due to the configuration requirements of corresponding hardware or the convenience of implementation of software, that is, the internal structure of the robot elevator taking device is divided into different program modules to perform all or part of the above-mentioned functions.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the elevator taking data of the robot. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a robot elevator-taking method.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the inventive arrangements and is not intended to limit the computing devices to which the inventive arrangements may be applied, as a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the above described method embodiments when the processor executes the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the respective method embodiment as described above.

It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium and sold or used as a stand-alone product. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

The terms "comprises" and "comprising," and any variations thereof, of embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or (module) elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples are only illustrative of several embodiments of the present invention, but should not be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A robot elevator taking method is characterized by comprising the following steps:

receiving first destination layer information and at least one second destination layer information sent by a server;

sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor;

sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

2. The method according to claim 1, wherein the step of transmitting a second boarding instruction to the server according to the moving time of the robot to the waiting area and the second destination floor information comprises:

if the fact that the robot moves towards the elevator waiting area is determined, obtaining the moving time of the robot reaching the elevator waiting area;

determining a target elevator from the controlled elevators according to the moving time and the second destination floor information;

and if the target elevator reaches the first destination floor, sending a second elevator taking instruction to the server.

3. The method of claim 2, wherein the step of obtaining the travel time of the robot to the landing zone comprises:

determining the distance and the moving speed of the robot from the elevator waiting area, and determining the moving time according to the distance and the moving speed;

and/or the presence of a gas in the gas,

and receiving the moving time of arriving at the elevator waiting area sent by the server.

4. Method according to claim 2, characterized in that the step of determining the target elevator from the elevators controlled comprises:

and when the number of the controlled elevators is at least two, determining the running time of each elevator reaching the first destination floor, and taking the elevator with the shortest running time as a target elevator.

5. A robot elevator taking method is characterized by comprising the following steps:

transmitting the first destination layer information and at least one second destination layer information to the controller;

receiving a first elevator taking instruction sent by the controller; the first elevator taking instruction is sent by the controller according to the first destination floor information;

controlling the robot to take the elevator to the first destination floor according to the first elevator taking command;

receiving a second elevator taking instruction sent by the controller; the second elevator taking instruction is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information;

and controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

6. The method of claim 5,

after the step of controlling the robot to take the elevator to the first destination floor according to the first elevator taking command, the method further comprises the following steps:

when the robot fails to leave the elevator and the taken elevator is in a running state, sending a first elevator calling request to the controller; the first elevator calling request is used for instructing the controller to control the taken elevator to run to the first destination floor;

and/or the presence of a gas in the gas,

after the step of controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command, the method further includes:

when the robot fails to leave the elevator and the taken elevator is in a running state, sending a second elevator calling request to the controller; the second elevator call request is for instructing the controller to control the riding elevator to travel to the second destination floor.

7. A robot ladder riding device, characterized in that the device comprises:

the information receiving module is used for receiving first destination layer information and at least one second destination layer information sent by the server;

the first instruction sending module is used for sending a first elevator taking instruction to the server according to the first destination layer information; the first elevator taking instruction is used for instructing the server to control the robot to take the elevator to the first destination floor;

the second instruction sending module is used for sending a second elevator taking instruction to the server according to the moving time of the robot reaching the elevator waiting area and the second destination layer information; the second elevator taking instruction is used for instructing the server to control the robot to take the elevator to the second destination floor at the first destination floor.

8. A robot ladder riding device, characterized in that the device comprises:

the information sending module is used for sending the first destination layer information and at least one second destination layer information to the controller;

the first instruction receiving module is used for receiving a first elevator taking instruction sent by the controller; the first elevator taking instruction is sent by the controller according to the first destination floor information;

the first control module is used for controlling the robot to take the elevator to the first destination floor according to the first elevator taking command;

the second instruction receiving module is used for receiving a second elevator taking instruction sent by the controller; the second elevator taking instruction is sent by the controller according to the moving time of the robot reaching the elevator waiting area and the second destination layer information;

and the second control module is used for controlling the robot to take the elevator to the second destination floor at the first destination floor according to the second elevator taking command.

9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.