CN110723604A - Elevator control method and device - Google Patents
Elevator control method and device Download PDFInfo
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- CN110723604A CN110723604A CN201910893544.8A CN201910893544A CN110723604A CN 110723604 A CN110723604 A CN 110723604A CN 201910893544 A CN201910893544 A CN 201910893544A CN 110723604 A CN110723604 A CN 110723604A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0012—Devices monitoring the users of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The application is suitable for the technical field of elevators, and provides an elevator operation method, which comprises the following steps: when elevator taking request information is detected, operating based on the elevator taking request information; when the fact that the operation is finished and the actual arrival floor is inconsistent with the target floor is detected, the elevator operates and executes elevator calibration processing based on floor information of a preset reference layer to obtain calibration information, and the offset of the current floor is determined based on the calibration information; determining floor information of the actual arrival floor based on the floor information of the target floor and the current floor offset; and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor. Once the robot has an elevator taking error, the actual arrival floor of the elevator is determined by acquiring the current elevator offset, and the robot can continue to take the elevator by running to the actual arrival floor to finish the elevator taking process.
Description
Technical Field
The application belongs to the technical field of elevators, and particularly relates to an elevator control method and device.
Background
In recent years, with the continuous development of artificial intelligence and robot technology, robots play an increasingly important role in people's daily life, wherein service robots have a wide development prospect in various commercial industries, including the fields of medical treatment, finance, logistics, catering and the like, and have wide applications, such as article delivery, user guidance, propaganda and explanation and the like. In certain applications, the robot may need to perform cross-floor work to complete an autonomous ride. And the cross-floor movement of the robot also enables the service of the robot to move from a single flat floor to a three-dimensional floor. In this scenario, the robot needs to perform a series of operations such as calling an elevator, determining a floor, entering and exiting the elevator, and the like, so as to complete the whole elevator taking process. However, when the robot takes the elevator, an elevator taking error occurs, for example, the robot goes out of the elevator at a non-target floor, which may cause serious consequences, the existing elevator equipment cannot solve the elevator taking error, and once the elevator taking error occurs, the robot cannot continuously take the elevator, thereby completing the whole elevator taking process.
Disclosure of Invention
The embodiment of the application provides an elevator control method and device, and the problem that once an elevator taking error occurs, a robot cannot continuously take the elevator to complete the whole elevator taking process can be solved.
In a first aspect, an embodiment of the present application provides an elevator control method, which is applied to an elevator, and the elevator control method includes:
when elevator taking request information is detected, operating based on the elevator taking request information; the elevator taking request information comprises the floor information of a departure floor and the floor information of a target floor corresponding to the current operation;
when the fact that the operation is finished and the actual arrival floor is inconsistent with the target floor is detected, the elevator operates and executes elevator calibration processing based on floor information of a preset reference layer to obtain calibration information, and the offset of the current floor is determined based on the calibration information;
determining floor information of the actual arrival floor based on the floor information of the target floor and the current floor offset;
and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor.
Further, when it is detected that the operation is finished and the target floor is not reached, performing elevator calibration processing to obtain calibration information, and determining the current floor offset based on the calibration information includes:
when the fact that the operation is finished and the actually arrived floor is inconsistent with the target floor is detected, the operation is carried out based on the floor information of the preset reference layer, and the first floor information of the floor where the operation is stopped is obtained;
and determining the offset of the current floor based on the floor information of the preset reference floor and the first floor information.
Furthermore, the departure floor is an elevator entering floor of the robot, and the target floor is a target elevator exiting floor of the robot; when the elevator taking request information is detected, the operation is carried out based on the elevator taking request information, and the method comprises the following steps:
when the elevator taking request information is detected, detecting whether the elevator is located at the starting floor currently;
when the current starting floor is detected and the robot enters an elevator car, the target floor based on the elevator taking request information is operated;
when the situation that the operation is finished and the actually arrived floor is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information, wherein the method comprises the following steps:
and when the fact that the actual exit floor of the robot is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information.
Further, after detecting whether the robot is currently at the departure floor when the elevator taking request information is detected, and before the target floor based on the elevator taking request information is operated when the robot is detected to be currently at the departure floor and enter the elevator car, the method further includes:
and when the elevator is detected not to be at the departure floor, the elevator is operated to the departure floor based on the floor information of the departure floor of the elevator taking request information.
Further, after the determining the floor information of the actually arriving floor based on the destination floor information and the current floor offset, the method further includes:
and sending the floor information of the actually arrived floor to a server.
In a second aspect, an embodiment of the present application provides an elevator control method, which is applied to a server device, and includes:
when the robot is detected to have an elevator taking error, acquiring robot identification information of the robot, floor information of an actual elevator taking floor and elevator running state information of an elevator taken by the robot; the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator; the floor information of the actually arrived floor is determined based on the destination floor information of the elevator operation and the current floor offset; the current floor offset is determined by calibration information obtained by running and executing elevator calibration processing based on floor information of a preset reference floor when the elevator detects that the running is finished and the actually arrived floor is inconsistent with the target floor;
when the elevator running state information identifies that the elevator equipment is occupied, generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor; the elevator operation instruction is used for triggering a second elevator except the first elevator to operate to the actual going-out floor to carry the robot and send the robot to the target floor;
and sending the elevator running instruction to the second elevator.
In a third aspect, an embodiment of the present application provides an elevator, including:
a first operation unit configured to operate based on elevator taking request information when the elevator taking request information is detected; the elevator taking request information comprises the floor information of a departure floor and the floor information of a target floor corresponding to the current operation;
the processing unit is used for running and executing elevator calibration processing based on floor information of a preset reference layer to obtain calibration information when the fact that the running is finished and an actual arrival floor is inconsistent with the target floor is detected, and determining the offset of the current floor based on the calibration information;
a determining unit configured to determine floor information of the actual arrival floor based on the floor information of the destination floor and the current floor offset;
and the second operation unit is used for operating from the current floor to the actual arrival floor based on the floor information of the actual arrival floor so as to send the elevator taking object positioned on the actual arrival floor to the target floor.
Further, the processing unit is specifically configured to:
when the fact that the operation is finished and the actually arrived floor is inconsistent with the target floor is detected, the operation is carried out based on the floor information of the preset reference layer, and the first floor information of the floor where the operation is stopped is obtained;
and determining the offset of the current floor based on the floor information of the preset reference floor and the first floor information.
Furthermore, the departure floor is an elevator entering floor of the robot, and the target floor is a target elevator exiting floor of the robot; the first operation unit is specifically configured to:
when the elevator taking request information is detected, detecting whether the elevator is located at the starting floor currently;
when the current starting floor is detected and the robot enters an elevator car, the target floor based on the elevator taking request information is operated;
the processing unit is specifically configured to:
and when the fact that the actual exit floor of the robot is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information.
Further, the elevator further includes:
and the third operation unit is used for operating the elevator to the departure floor based on the floor information of the departure floor of the elevator taking request information when detecting that the elevator is not positioned at the departure floor currently.
Further, the elevator further includes:
and the sending unit is used for sending the floor information of the actually arrived floor to a server.
In a fourth aspect, an embodiment of the present application provides a server, including:
the robot elevator taking system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring robot identification information of a robot, floor information of an actual elevator taking floor and elevator running state information of an elevator taken by the robot when the robot is detected to have an elevator taking error; the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator; the floor information of the actually arrived floor is determined based on the destination floor information of the elevator operation and the current floor offset; the current floor offset is determined by calibration information obtained by running and executing elevator calibration processing based on floor information of a preset reference floor when the elevator detects that the running is finished and the actually arrived floor is inconsistent with the target floor;
the generating unit is used for generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor when the elevator running state information identifies that the elevator is occupied; the elevator operation instruction is used for triggering a second elevator except the first elevator to operate to the actual going-out floor to carry the robot and send the robot to the target floor;
and the sending unit is used for sending the elevator running instruction to the second elevator.
In a fifth aspect, an embodiment of the present application provides an elevator, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the elevator control method according to the first aspect.
In a sixth aspect, the present application provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the elevator control method according to the second aspect.
In a seventh aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, implements the elevator control method according to the first aspect.
In an eighth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the elevator control method according to the second aspect is implemented.
In the embodiment of the application, when the elevator taking request information is detected, the operation is carried out based on the elevator taking request information; when the fact that the operation is finished and the actual arrival floor is inconsistent with the target floor is detected, the elevator operates and executes elevator calibration processing based on floor information of a preset reference layer to obtain calibration information, and the offset of the current floor is determined based on the calibration information; determining floor information of the actual arrival floor based on the floor information of the target floor and the current floor offset; and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor. According to the method, once the robot has an elevator taking error, the actual arrival floor of the elevator is determined by obtaining the current elevator offset, and the robot can continue to take the elevator to complete the whole elevator taking process by operating to the actual arrival floor.
On the other hand, when the robot is detected to have an elevator taking error, acquiring robot identification information of the robot, floor information of an actual elevator taking floor and elevator running state information of elevator equipment taken by the robot; when the elevator running state information identifies that the elevator equipment is occupied, generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor; and sending the elevator running instruction to the second elevator. According to the method, when the elevator is occupied by the elevator running state information, the server can allocate other elevators to run to the actual elevator-taking floor of the robot, so that the robot can continue to take the elevator, and the whole elevator taking process is completed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of an elevator operation method provided in a first embodiment of the present application;
fig. 2 is a schematic diagram of a robot riding an elevator in an elevator running method according to a first embodiment of the present application;
fig. 3 is a schematic flowchart of S102 refinement in an elevator running method provided in the first embodiment of the present application;
fig. 4 is a schematic flow chart of another method of operating an elevator provided in a second embodiment of the present application;
fig. 5 is a schematic flow chart of another elevator operation method provided in a third embodiment of the present application;
fig. 6 is an interaction diagram between a server and an elevator in another elevator operation method provided in the third embodiment of the present application;
fig. 7 is a diagrammatic illustration of an elevator provided in accordance with a fourth embodiment of the present application;
fig. 8 is a schematic diagram of a server according to a fifth embodiment of the present application;
fig. 9 is a diagrammatic illustration of an elevator provided in accordance with a sixth embodiment of the present application;
fig. 10 is a schematic diagram of a server according to a seventh embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic flow chart of an elevator operation method according to a first embodiment of the present application. The main body of the elevator operation method in this embodiment is an elevator. The elevator operation method as shown in fig. 1 may include:
s101: when elevator taking request information is detected, operating based on the elevator taking request information; the elevator taking request information comprises the floor information of the departure floor and the floor information of the target floor corresponding to the current operation.
The elevator detects whether elevator taking request information exists in real time, the elevator can directly acquire the elevator taking request information, for example, a robot triggers and generates the elevator taking request information by clicking a button on the elevator; the elevator boarding request information transmitted from another device may be received, and for example, the robot identifies the departure floor and the destination floor, generates elevator boarding request information, and transmits the elevator boarding request information to the elevator. The elevator taking request information includes the floor information of the departure floor and the floor information of the target floor corresponding to the current operation.
The elevator is operated on the basis of the elevator boarding request information, i.e. from the departure floor to the destination floor. The robot is taken as an example in the running process, the elevator obtains that the floor information of the current floor is the same as the floor information of the starting floor, the elevator equipment reaches the starting floor at the moment, the elevator informs the robot to enter the elevator, the robot runs to the target floor after the elevator detects that the robot enters the elevator, the elevator reaches the target floor at the moment when the elevator detects that the floor information of the current floor is the same as the floor information of the target floor, and for the robot, the elevator is taken out when the robot reaches the target floor.
S102: and when the operation is detected to be finished and the actual arrival floor is not consistent with the target floor, operating and executing elevator calibration processing based on the floor information of the preset reference floor to obtain calibration information, and determining the offset of the current floor based on the calibration information.
The elevator determines the running state based on the elevator taking request information and the floor information of the floor where the elevator is located, namely whether the running is finished or not is determined, and when the elevator detects that the floor information of the floor where the elevator is located at present changes from the floor information of the starting floor to the floor information of the target floor, the elevator is identified to finish running at the moment.
When the elevator detects that the floor information of the floor where the elevator is located is the same as the floor information of the target floor, the elevator arrives at the target floor by the identification, and because the elevator possibly makes mistakes in the running process, the elevator acquires that the elevator arrives at the target floor, but the actual arrival floor is inconsistent with the target floor, at the moment, because the elevator makes mistakes, the elevator cannot directly acquire the actual arrival floor, and the elevator can judge whether the actual arrival floor is consistent with the target floor by receiving the information sent by other equipment.
Or, for example, the robot takes the elevator, as shown in fig. 2, fig. 2 is an application scenario diagram of the robot taking the elevator. When the elevator finishes the operation, the elevator detects that the elevator reaches a target floor, the elevator door is opened, the robot goes out of the elevator, but because the elevator makes mistakes, the elevator opens the door at the actual arrival floor, the robot goes out of the elevator, the robot can confirm the floor where the robot is located currently through the sensor, whether the floor is the target floor is determined, when the robot determines that the current floor is not the target floor, namely the robot goes out of the elevator at the wrong floor, the information can be sent to the elevator, and the elevator can determine that the actual arrival floor is inconsistent with the target floor.
When the fact that the operation is finished is detected based on the method, and the actual arrival floor is inconsistent with the target floor, the operation is performed based on floor information of a preset reference layer, at the moment, the elevator needs to be operated to the preset reference layer and elevator calibration processing is executed, the preset reference layer of the elevator is used for calibrating the floor of the elevator car, namely, the calibration function is triggered when the elevator car passes through the preset reference layer every time, the specific calibration method is not limited, only the current error elevator can be calibrated, the offset between the actual arrival floor and the target floor is determined, calibration information can be determined through the calibration processing, and the current floor offset can be determined based on the calibration information, wherein the current floor offset is the offset between the actual arrival floor and the target floor.
Further, in order to accurately obtain the current floor offset amount and thus improve the accuracy of the determination of the floor information of the actual arrival floor, S102 may include S1021 to S1022, and as shown in fig. 3, S1021 to S1022 specifically include the following steps:
s1021: and when the operation is detected to be finished and the actually arrived floor is not consistent with the target floor, the operation is carried out based on the floor information of the preset reference layer, and the first floor information of the floor where the operation is stopped is obtained.
When the fact that the operation is finished and the actual arrival floor is inconsistent with the target floor is detected, the operation is carried out based on the floor information of the preset reference layer, at the moment, the elevator needs to operate to the preset reference layer and execute elevator calibration processing, however, due to the fact that the elevator generates offset errors, when the elevator detects that the elevator arrives at the preset reference layer, the elevator actually arrives at the first floor instead of the preset reference layer, and the first floor information of the first floor is obtained.
S1022: and determining the offset of the current floor based on the floor information of the preset reference floor and the first floor information.
Because the elevator makes mistakes in the actual operation process, the actually arrived floor is not consistent with the target floor, the same deviation occurs in each operation, and the difference between the floor information of the actually arrived floor and the floor information of the target floor is equal to the difference between the floor information of the preset reference floor and the first floor information, so the difference between the floor information of the preset reference floor and the first floor information is obtained based on the floor information of the preset reference floor and the first floor information, and the current floor offset is determined. For example, if the floor actually reached is M (unknown), the destination floor is Y, the preset reference floor is 1, and the first floor is N, the current floor offset is Y-M or N-1.
S103: and determining the floor information of the actual arrival floor based on the floor information of the target floor and the current floor offset.
Because the current floor offset is an elevator running offset value, when the floor information of a target floor and the current floor offset are known, the floor information of an actually arriving floor can be obtained through calculation. That is, when the floor actually reached is M (unknown), the destination floor is Y, the preset reference floor is 1, and the first floor is N, the current floor offset is Y-M-N-1, and the floor actually reached is M-Y-N + 1.
Further, in order that the server can know the running state of the elevator, the elevator is allocated reasonably, the use of the elevator is convenient, after S103, the method further comprises the following steps: and sending the floor information of the actually arrived floor to a server. The server can determine the floor information of the floor where the robot actually goes out of the elevator based on the floor information of the floor where the robot actually goes out of the elevator, and when the elevator running state information identification elevator is occupied, the server can allocate other elevators to run to the floor where the robot actually goes out of the elevator.
S104: and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor.
The elevator travels from the current floor to the actual arrival floor based on the floor information of the actual arrival floor. The elevator runs based on the floor information of a preset reference floor, and after the floor information of an actual arrival floor is acquired, the elevator needs to run from the preset reference floor to the actual arrival floor so as to send an elevator taking object at the actual arrival floor to the target floor. The elevator-taking object may be a person or a robot.
In the embodiment of the application, when the elevator taking request information is detected, the operation is carried out based on the elevator taking request information; when the fact that the operation is finished and the actual arrival floor is inconsistent with the target floor is detected, the elevator operates and executes elevator calibration processing based on floor information of a preset reference layer to obtain calibration information, and the offset of the current floor is determined based on the calibration information; determining floor information of the actual arrival floor based on the floor information of the target floor and the current floor offset; and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor. According to the method, once the robot has an elevator taking error, the actual arrival floor of the elevator is determined by obtaining the current elevator offset, and the robot can continue to take the elevator to complete the whole elevator taking process by operating to the actual arrival floor.
Referring to fig. 4, fig. 4 is a schematic flow chart of another elevator operation method provided in a second embodiment of the present application. The main body of the elevator operation method in this embodiment is an elevator. In order to determine the actual elevator exit floor of the robot when the actual elevator exit floor of the robot does not coincide with the target floor and to allow the robot to continue to use the elevator normally, the present embodiment differs from the first embodiment in S201 to S203, where S204 in the present embodiment is the same as S103 in the first embodiment, S201 to S203 are performed before S204, and S205 is performed after S204. As shown in fig. 4, S201 to S203, S205 are specifically as follows:
s201: and when the elevator taking request information is detected, detecting whether the elevator is at the starting floor currently.
In this embodiment, the departure floor is an elevator entrance floor of the robot, the destination floor is a target elevator exit floor of the robot, when the elevator detects elevator taking request information, the elevator acquires current floor information, judges whether the elevator is currently on the departure floor based on the current floor information, and determines that the elevator is currently on the departure floor when the current floor information is consistent with the floor information of the departure floor.
Further, in order to enable the robot to enter the elevator at the triggering floor, after S201 and before S202, the method may further include: and when the elevator is detected not to be at the departure floor, the elevator is operated to the departure floor based on the floor information of the departure floor of the elevator taking request information. When the elevator detects that the elevator is not located at the departure floor, the robot enters the elevator and runs to the departure floor based on the floor information of the departure floor of the elevator taking request information.
S202: and when the current position at the starting floor is detected and the robot is detected to enter an elevator car, the target floor based on the elevator taking request information is operated.
The elevator detects whether the robot enters the elevator, and the detection can be carried out through a sensor of the robot, for example, the sensor of the robot can judge the position of the robot, and whether the robot enters the elevator can be determined through the position of the robot; detection can also be performed by sensors installed on the elevator. When the elevator detects that the elevator is at the starting floor currently and detects that the robot enters the elevator car, the target floor based on the elevator taking request information runs from the starting floor.
S203: and when the fact that the actual exit floor of the robot is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information.
When the elevator detects that the floor information of the floor where the elevator is located at present is the same as the floor information of the target floor, the identification marks that the elevator reaches the target floor, the elevator acquires that the elevator reaches the target floor due to the fact that the elevator possibly makes mistakes in the operation process, but the actual arrival floor is inconsistent with the target floor, at the moment, the elevator cannot directly acquire the actual arrival floor due to the fact that the elevator makes mistakes, the elevator can acquire the elevator riding state of the robot, and whether the actual elevator exit floor of the robot is consistent with the target floor is detected through the elevator riding state of the robot. Specifically, the boarding state of the robot can be determined by the robot itself and transmitted to the elevator.
The elevator calibration processing is performed to obtain calibration information, and the current floor offset is determined based on the calibration information, which can refer to the general related description of the previous embodiment and is not described herein again.
S205: and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor.
When the elevator deviates, the robot makes an error in the elevator taking process, the elevator runs based on the floor information of the preset reference layer, and after the floor information of the actual arrival floor is obtained, the elevator needs to run from the preset reference layer to the actual arrival floor so as to send the robot at the actual arrival floor to the target floor. When the elevator reaches the actual arrival floor, the robot which is at the wrong floor or the robot which can not enter the elevator can enter the elevator.
Referring to fig. 5, fig. 5 is a schematic flow chart of another elevator operation method provided in a third embodiment of the present application. The execution main body of the elevator operation method in the embodiment is the server. The server interacts with at least two elevators, an interactive diagram is shown in fig. 6, a robot in the interactive diagram takes an elevator taking error when taking a first elevator, and when the first elevator is occupied, the server generates an elevator running instruction and sends the elevator running instruction to a second elevator. The elevator operation method as shown in fig. 5 may include:
s301: when the robot is detected to have an elevator taking error, acquiring robot identification information of the robot, floor information of an actual elevator taking floor and elevator running state information of an elevator taken by the robot; the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator; the floor information of the actually arrived floor is determined based on the destination floor information of the elevator operation and the current floor offset; and the current floor offset is determined by calibration information obtained by running and executing elevator calibration processing based on floor information of a preset reference floor when the elevator detects that the running is finished and the actually arrived floor is inconsistent with the target floor.
The server acquires elevator taking state information of the robot in real time, wherein the elevator taking state information identifies whether the robot has an elevator taking error, and the server detects whether the robot has the elevator taking error based on the elevator taking state information sent by the robot. The elevator taking error can comprise that the robot cannot enter the elevator or the exit floor of the robot is inconsistent with the destination building.
When the server detects that the robot has an elevator taking error, the robot identification information of the robot, the floor information of an actual elevator exit floor and the elevator running state information of an elevator taken by the robot are obtained. The elevator running state information of the elevator taken by the robot can identify whether the elevator is occupied or not, namely whether other running tasks exist or not, the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator, the floor information of the actually arriving floor is determined based on the target floor information of the elevator running and the current floor offset, and the current floor offset is determined based on the obtained calibration information when the elevator detects that the running is finished and the actually arriving floor is inconsistent with the target floor. Specifically, reference may be made to the related description in the first embodiment, and details are not repeated here.
S302: when the elevator running state information identifies that the elevator is occupied, generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor; the elevator operation instruction is used for triggering a second elevator except the first elevator to operate to the actual going-out floor to carry the robot and send the robot to the target floor;
when the elevator is occupied by the elevator running state information identification information, an elevator running instruction is generated based on the robot identification information and the floor information of the actual elevator-out floor, namely the elevator running instruction comprises the robot identification information and the floor information of the actual elevator-out floor, wherein the elevator running instruction is used for triggering a second elevator except a first elevator to run to the actual elevator-out floor to carry the robot, and sending the robot to a target floor, and the second elevator can be any idle elevator except the first elevator and the first elevator in the same building.
S303: and sending the elevator running instruction to the second elevator.
The server sends the elevator operation instruction to the second elevator, the second elevator runs to the actual elevator exit floor when receiving the elevator operation instruction, and when the second elevator runs to the second floor, the elevator door is opened, and the robot enters the elevator.
In the embodiment, when the robot is detected to have an elevator taking error, the robot identification information of the robot, the floor information of an actual elevator exit floor and the elevator running state information of the elevator equipment taken by the robot are acquired; when the elevator running state information identifies that the elevator equipment is occupied, generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor; and sending the elevator running instruction to the second elevator. According to the method, when the elevator is occupied by the elevator running state information, the server can allocate other elevators to run to the actual elevator-taking floor of the robot, so that the robot can continue to take the elevator, and the whole elevator taking process is completed.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Referring to fig. 7, fig. 7 is a schematic view of an elevator according to a fourth embodiment of the present application. The units are included for executing the steps in the embodiments corresponding to fig. 1, 3-4. Please refer to the related description of the embodiments corresponding to fig. 1 to fig. 3. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 7, the elevator 7 includes:
a first operation unit 710 for operating based on the elevator taking request information when the elevator taking request information is detected; the elevator taking request information comprises the floor information of a departure floor and the floor information of a target floor corresponding to the current operation;
the processing unit 720 is used for running and executing elevator calibration processing based on floor information of a preset reference floor to obtain calibration information when the fact that the running is finished and the actual arrival floor is inconsistent with the target floor is detected, and determining the offset of the current floor based on the calibration information;
a determining unit 730, configured to determine floor information of the actual arrival floor based on the floor information of the destination floor and the current floor offset;
a second operation unit 740 configured to operate from the current floor to the actual arrival floor based on the floor information of the actual arrival floor, so as to deliver the elevator riding object at the actual arrival floor to the destination floor.
Further, the processing unit 720 is specifically configured to:
when the fact that the operation is finished and the actually arrived floor is inconsistent with the target floor is detected, the operation is carried out based on the floor information of the preset reference layer, and the first floor information of the floor where the operation is stopped is obtained;
and determining the offset of the current floor based on the floor information of the preset reference floor and the first floor information.
Furthermore, the departure floor is an elevator entering floor of the robot, and the target floor is a target elevator exiting floor of the robot; the first operation unit 710 is specifically configured to:
when the elevator taking request information is detected, detecting whether the elevator is located at the starting floor currently;
when the current starting floor is detected and the robot enters an elevator car, the target floor based on the elevator taking request information is operated;
the processing unit 720 is specifically configured to:
and when the fact that the actual exit floor of the robot is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information.
Further, the elevator 7 further includes:
and the third operation unit is used for operating the elevator to the departure floor based on the floor information of the departure floor of the elevator taking request information when detecting that the elevator is not positioned at the departure floor currently.
Further, the elevator 7 further includes:
and the sending unit is used for sending the floor information of the actually arrived floor to a server.
Referring to fig. 8, fig. 8 is a schematic diagram of a server according to a fifth embodiment of the present application. The units are included for performing the steps in the corresponding embodiment of fig. 5. Please refer to fig. 5 for a corresponding embodiment. For convenience of explanation, only the portions related to the present embodiment are shown. See also
Fig. 8, the server 8 includes:
the acquiring unit 810 is used for acquiring robot identification information of the robot, floor information of an actual elevator exit floor and elevator running state information of an elevator taken by the robot when the robot is detected to have an elevator taking error; the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator; the floor information of the actually arrived floor is determined based on the destination floor information of the elevator operation and the current floor offset; the current floor offset is determined by calibration information obtained by running and executing elevator calibration processing based on floor information of a preset reference floor when the elevator detects that the running is finished and the actually arrived floor is inconsistent with the target floor;
a generating unit 820, configured to generate an elevator operation instruction based on the robot identification information and floor information of the actual elevator exit floor when the elevator operation state information identifies that the elevator is occupied; the elevator operation instruction is used for triggering a second elevator except the first elevator to operate to the actual going-out floor to carry the robot and send the robot to the target floor;
a sending unit 830 for sending the elevator operation command to the second elevator.
Fig. 9 is a schematic view of an elevator provided in a sixth embodiment of the present application. As shown in fig. 9, the elevator 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92, e.g. an elevator run program, stored in said memory 91 and executable on said processor 90. The processor 80, when executing the computer program 92, implements the steps in the various elevator operation method embodiments described above, such as steps 101-104 shown in fig. 1. Alternatively, the processor 90, when executing the computer program 92, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 710 to 740 shown in fig. 7.
Illustratively, the computer program 92 may be partitioned into one or more modules/units that are stored in the memory 91 and executed by the processor 90 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 92 in the elevator 9. For example, the computer program 92 may be divided into a first operation unit, a processing unit, a determination unit, and a second operation unit, and the specific functions of each unit are as follows:
a first operation unit configured to operate based on elevator taking request information when the elevator taking request information is detected; the elevator taking request information comprises the floor information of a departure floor and the floor information of a target floor corresponding to the current operation;
the processing unit is used for running and executing elevator calibration processing based on floor information of a preset reference layer to obtain calibration information when the fact that the running is finished and an actual arrival floor is inconsistent with the target floor is detected, and determining the offset of the current floor based on the calibration information;
a determining unit configured to determine floor information of the actual arrival floor based on the floor information of the destination floor and the current floor offset;
and the second operation unit is used for operating from the current floor to the actual arrival floor based on the floor information of the actual arrival floor so as to send the elevator taking object positioned on the actual arrival floor to the target floor.
The elevator may include, but is not limited to, a processor 90, a memory 91. It will be understood by those skilled in the art that fig. 9 is only an example of an elevator 9 and does not constitute a limitation of the elevator 9 and may comprise more or less components than those shown, or some components in combination, or different components, e.g. the elevator floor detection device may also comprise an input output device, a network access device, a bus, etc.
The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal memory unit of the elevator 9, such as a hard disk or a memory of the elevator 9. The memory 91 may be an external storage device of the elevator 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided in the elevator 9. Further, the memory 91 may also comprise both an internal memory unit and an external memory device of the elevator 9. The memory 91 is used for storing the computer program and other programs and data needed by the elevator. The memory 91 may also be used to temporarily store data that has been output or is to be output.
Fig. 10 is a schematic diagram of a server according to a seventh embodiment of the present application. As shown in fig. 10, the server 10 of this embodiment includes: a processor 100, a memory 101 and a computer program 102, e.g. an elevator run program, stored in said memory 101 and executable on said processor 100. The processor 100 when executing the computer program 102 implements the steps in the various elevator operation method embodiments described above, e.g. steps 301 to 303 shown in fig. 5. Alternatively, the processor 100, when executing the computer program 102, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 810 to 830 shown in fig. 8.
Illustratively, the computer program 102 may be partitioned into one or more modules/units that are stored in the memory 101 and executed by the processor 100 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 102 in the server 10. For example, the computer program 102 may be divided into an acquisition unit, a generation unit, and a transmission unit, and the specific functions of each unit are as follows:
the robot elevator taking system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring robot identification information of a robot, floor information of an actual elevator taking floor and elevator running state information of an elevator taken by the robot when the robot is detected to have an elevator taking error; the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator; the floor information of the actually arrived floor is determined based on the destination floor information of the elevator operation and the current floor offset; the current floor offset is determined by calibration information obtained by running and executing elevator calibration processing based on floor information of a preset reference floor when the elevator detects that the running is finished and the actually arrived floor is inconsistent with the target floor;
the generating unit is used for generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor when the elevator running state information identifies that the elevator is occupied; the elevator operation instruction is used for triggering a second elevator except the first elevator to operate to the actual going-out floor to carry the robot and send the robot to the target floor;
and the sending unit is used for sending the elevator running instruction to the second elevator.
The server may include, but is not limited to, a processor 100, a memory 101. Those skilled in the art will appreciate that fig. 10 is merely an example of a server 10 and is not intended to limit server 10 and may include more or fewer components than those shown, or some components in combination, or different components, e.g., the server may also include input output devices, network access devices, buses, etc.
The Processor 100 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 101 may be an internal storage unit of the server 10, such as a hard disk or a memory of the server 10. The memory 101 may also be an external storage device of the server 10, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the server 10. Further, the memory 101 may also include both an internal storage unit and an external storage device of the server 10. The memory 101 is used for storing the computer program and other programs and data required by the server. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application 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, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An elevator control method, characterized by being applied to an elevator, the elevator control method comprising:
when elevator taking request information is detected, operating based on the elevator taking request information; the elevator taking request information comprises the floor information of a departure floor and the floor information of a target floor corresponding to the current operation;
when the fact that the operation is finished and the actual arrival floor is inconsistent with the target floor is detected, the elevator operates and executes elevator calibration processing based on floor information of a preset reference layer to obtain calibration information, and the offset of the current floor is determined based on the calibration information;
determining floor information of the actual arrival floor based on the floor information of the target floor and the current floor offset;
and based on the floor information of the actual arrival floor, the elevator is operated from the current floor to the actual arrival floor so as to send the elevator taking object at the actual arrival floor to the target floor.
2. The elevator control method according to claim 1, wherein when it is detected that the operation is ended and the destination floor is not reached, performing elevator calibration processing to obtain calibration information, and determining a current floor offset based on the calibration information comprises:
when the fact that the operation is finished and the actually arrived floor is inconsistent with the target floor is detected, the operation is carried out based on the floor information of the preset reference layer, and the first floor information of the floor where the operation is stopped is obtained;
and determining the offset of the current floor based on the floor information of the preset reference floor and the first floor information.
3. The elevator control method according to claim 1, wherein the departure floor is an entry floor of a robot, and the destination floor is a target exit floor of the robot; when the elevator taking request information is detected, the operation is carried out based on the elevator taking request information, and the method comprises the following steps:
when the elevator taking request information is detected, detecting whether the elevator is located at the starting floor currently;
when the current starting floor is detected and the robot enters an elevator car, the target floor based on the elevator taking request information is operated;
when the situation that the operation is finished and the actually arrived floor is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information, wherein the method comprises the following steps:
and when the fact that the actual exit floor of the robot is inconsistent with the target floor is detected, elevator calibration processing is carried out to obtain calibration information, and the current floor offset is determined based on the calibration information.
4. The elevator control method according to claim 3, further comprising, after the detecting whether the current floor is at the departure floor when the elevator boarding request information is detected, and before the destination floor traveling based on the elevator boarding request information when the current floor is detected and the robot enters the elevator car, the detecting step of:
and when the elevator is detected not to be at the departure floor, the elevator is operated to the departure floor based on the floor information of the departure floor of the elevator taking request information.
5. The elevator control method of claim 3, further comprising, after said determining floor information for the actually arriving floor based on the destination floor information and the current floor offset:
and sending the floor information of the actually arrived floor to a server.
6. An elevator control method, characterized by being applied to a server apparatus, the elevator control method comprising:
when the robot is detected to have an elevator taking error, acquiring robot identification information of the robot, floor information of an actual elevator taking floor and elevator running state information of an elevator taken by the robot; the floor information of the actual exit floor is determined by the floor information of the actually arriving floor sent by the elevator; the floor information of the actually arrived floor is determined based on the destination floor information of the elevator operation and the current floor offset; the current floor offset is determined by calibration information obtained by running and executing elevator calibration processing based on floor information of a preset reference floor when the elevator detects that the running is finished and the actually arrived floor is inconsistent with the target floor;
when the elevator running state information identifies that the elevator is occupied, generating an elevator running instruction based on the robot identification information and the floor information of the actual elevator exit floor; the elevator operation instruction is used for triggering a second elevator except the first elevator to operate to the actual going-out floor to carry the robot and send the robot to the target floor;
and sending the elevator running instruction to the second elevator.
7. Elevator comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the method according to any of claims 1 to 5 when executing the computer program.
8. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of claim 6 when executing the computer program.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of claim 6.
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