CN110877338B - Elevator dispatching method, medium, terminal and device for auxiliary robot - Google Patents
Elevator dispatching method, medium, terminal and device for auxiliary robot Download PDFInfo
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- CN110877338B CN110877338B CN201911205866.5A CN201911205866A CN110877338B CN 110877338 B CN110877338 B CN 110877338B CN 201911205866 A CN201911205866 A CN 201911205866A CN 110877338 B CN110877338 B CN 110877338B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- 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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- 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
- B66B5/0037—Performance analysers
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Abstract
The invention discloses an elevator dispatching method, medium, terminal and device for an auxiliary robot. The method comprises the following steps: obtaining the time T from the current position to the elevator entrance of the departure floor0(ii) a Calculating the time T of a plurality of elevators in a building respectively reaching a departure flooriForming a time list T-list; acquiring the sum time T in the time list T-list0Nearest TjWill TjThe corresponding elevator is taken as a target boarding elevator; and calling the target riding elevator to a starting floor, and sending the serial number of the target riding elevator to the robot. The invention determines the target elevator which is most suitable for the robot to take through a wireless communication mode and an IoT cloud computing means, thereby optimizing an elevator dispatching method, reducing the time for waiting for the elevator when the robot takes the elevator, ensuring the energy-saving and efficient operation of the elevator and improving the working efficiency of the robot.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to an elevator dispatching method, medium, terminal and device for an auxiliary robot.
[ background of the invention ]
With the rapid development of artificial intelligence, artificial intelligent robot dollies (hereinafter referred to as robots) are gradually present in various buildings and undertake tasks such as navigation, exhibition, delivery and the like. Along with the increasing acceptance of people to robots in buildings, the capacity requirements of people to robots are gradually improved, for example, in service industries such as restaurants, hotels and hotels, service robots need to carry out goods delivery, ordering and other operations among all floors. At present, the robot is difficult to interact with the elevator, the robot is difficult to take the elevator to go upstairs and downstairs to serve users of a target floor, each floor can only be provided with one robot to serve the users of the floor, and the cost is high. Some methods for interaction between a robot and an elevator are also proposed in the prior art, but in the process of interaction between the robot and the elevator, a process that the robot waits for the elevator to arrive exists, so that the working efficiency of the robot is low.
[ summary of the invention ]
The invention provides an elevator dispatching method, medium, terminal and device for an auxiliary robot, which are used for preventing the robot from waiting for an elevator and greatly improving the working efficiency of the robot.
The technical scheme for solving the technical problems is as follows: an elevator dispatching method for an auxiliary robot, comprising the steps of:
step 1, acquiring the time T from the current position of the robot to the elevator entrance of the departure floor0；
Step 2, calculating the time T of a plurality of elevators in the building respectively arriving at the departure flooriForming a time list T-list, wherein i is (1, 2, … …, T), and T is the number of elevators;
step 3, obtaining the time T and the time in the time list T-list0Nearest TjThe said T isjThe corresponding elevator is taken as a target boarding elevator;
and 4, calling the target riding elevator to a starting floor, and sending the serial number of the target riding elevator to the robot.
In a preferred embodiment, the time T of arrival of each of a plurality of elevators at the departure floor in a building is calculatediThe method specifically comprises the following steps:
s201, acquiring a target floor of the robot movement, and determining the riding direction of the robot according to the position relation between a starting floor and the target floor;
s202, obtaining the current running direction of each elevator in the building, calling a corresponding preset formula according to the fact whether the current running direction of the elevator is consistent with the riding direction of the robot to calculate the time T of the elevator reaching the starting floori。
In a preferred embodiment, said time T is calculated using a first preset formula when the current direction of travel of the elevator coincides with the direction of ride of the robotiWhen the current running direction of the elevator is inconsistent with the riding direction of the robot, the time T is calculated by adopting a second preset formulai，
The first preset formula is specifically as follows:
Ti＝(D*abs(J-K)/V)+T’*(M+N)；
the second preset formula is specifically as follows:
Ti＝(D*abs(K+X-J)/V)+T’*(M+N)；
d is the average height of each floor of the building, J represents the current stop floor of the elevator, K represents the departure floor of the robot, M is an internal recruitment list, N is an external recruitment list, V represents the average running speed of the elevator, X represents the total floor number of the building, T' represents the average stop time of each floor of the elevator, and the abs function is an absolute value taking function.
In a preferred embodiment, the step 1 is specifically: after receiving the task, the robot acquires the current position and the position of the elevator opening of the departure floor, and calculates the time T from the movement to the elevator opening of the departure floor by calculating the distance between the current position and the position of the elevator opening of the departure floor0And combining said T0And sending the data to a cloud server.
In a preferred embodiment, the method further comprises a robot speed adjusting step, specifically: calculating the time T0And time TjAccording to the interval, the current movement speed of the robot is adjusted according to the size of the interval.
A second aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described elevator dispatching method for an auxiliary robot.
A third aspect of the embodiments of the present invention provides an elevator dispatching terminal for an auxiliary robot, including the computer-readable storage medium and a processor, where the processor, when executing a computer program on the computer-readable storage medium, implements the steps of the elevator dispatching method for an auxiliary robot.
A fourth aspect of an embodiment of the present invention provides an elevator dispatching device for an auxiliary robot, including an obtaining module, a first calculating module, a comparing module, and a calling module,
the acquisition module is used for acquiring the time T from the current position to the elevator entrance of the departure floor of the robot0；
The first calculation module is used for calculating the time when a plurality of elevators in the building respectively reach the departure floorInter TiForming a time list T-list, wherein i is (1, 2, … …, T), and T is the number of elevators;
the comparison module is used for acquiring the time T in the time list T-list0Nearest TjThe said T isjThe corresponding elevator is taken as a target boarding elevator;
the calling module is used for calling the target riding elevator to a starting floor and sending the sequence number of the target riding elevator to the robot.
In a preferred embodiment, the first computing module specifically includes:
the riding direction determining unit is used for acquiring a target floor of the robot movement and determining the riding direction of the robot according to the position relation between the starting floor and the target floor;
a calculating unit for obtaining the current running direction of each elevator in the building, and calling a corresponding preset formula to calculate the time T of the elevator reaching the starting floor according to whether the current running direction of the elevator is consistent with the riding direction of the roboti。
In a preferred embodiment, the calculation unit calculates the time T using a first preset formula when the current running direction of the elevator coincides with the riding direction of the robotiWhen the current running direction of the elevator is inconsistent with the riding direction of the robot, the calculating unit adopts a second preset formula to calculate the time Ti，
The first preset formula is specifically as follows:
Ti＝(D*abs(J-K)/V)+T’*(M+N)；
the second preset formula is specifically as follows:
Ti＝(D*abs(K+X-J)/V)+T’*(M+N)；
d is the average height of each floor of the building, J represents the current stop floor of the elevator, K represents the departure floor of the robot, M is an internal recruitment list, N is an external recruitment list, V represents the average running speed of the elevator, X represents the total floor number of the building, T' represents the average stop time of each floor of the elevator, and the abs function is an absolute value taking function.
In a preferred embodiment, the robot comprises a second calculation module, the second calculation module is used for acquiring the current position and the position of the elevator opening of the departure floor after receiving the task, and calculating the time T moving to the elevator opening of the departure floor by calculating the distance between the current position and the position of the elevator opening of the departure floor0And combining said T0And sending the data to a cloud server.
In a preferred embodiment, the elevator dispatching device for an auxiliary robot further comprises a robot speed adjustment module, in particular for calculating the time T0And time TjAnd adjusting the current movement speed of the robot according to the size of the interval.
The invention provides an elevator dispatching method, a medium, a terminal and a device for assisting a robot, which are used for determining a target elevator which is most suitable for the robot to take through a wireless communication mode and an IoT cloud computing means, so that the elevator dispatching method is optimized, the time for waiting for the elevator is shortened when the robot takes the elevator, the energy-saving and efficient operation of the elevator is ensured, and the working efficiency of the robot is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of an elevator dispatching method for an auxiliary robot provided in embodiment 1;
fig. 2 is a schematic structural diagram of an elevator dispatching device for an auxiliary robot provided in embodiment 2;
fig. 3 is a schematic structural diagram of an elevator dispatching terminal for an auxiliary robot provided in embodiment 3.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flow chart of a building elevator dispatching method provided in embodiment 1 of the present invention, as shown in fig. 1, including the following steps:
step 1, acquiring the time T from the current position of the robot to the elevator entrance of the departure floor0The departure floor is generally the floor where the robot is currently located, and the robot includes but is not limited to an unmanned device, an intelligent mobile device, a remote sensing mobile device, and the like. In this embodiment, after the robot receives a delivery task sent by a user, the robot uses various sensor devices integrated with the robot and a pre-stored space map to locate the current position and the position of the elevator entrance of the departure floor, and then the time T for the robot to move to the elevator entrance of the departure floor can be calculated according to the preset movement speed and the distance between the current position and the position of the elevator entrance of the departure floor0And the T is transmitted through wireless transmission technologies such as a 4G cellular network and wifi0And sending the data to a cloud server. In other preferred embodiments, the cloud server may also directly obtain the current position and the current movement speed of the robot, and then calculate and generate the time T from the current position to the elevator entrance of the departure floor0。
Step 2, calculating the time T of a plurality of elevators in the building respectively arriving at the departure flooriAnd forming a time list T-list, wherein i is (1, 2, … …, T), and T is the number of elevators. Generally, a plurality of elevators can run at the elevator entrance of a building at the same time, and whether the robot can directly take the elevator without waiting is related to the working efficiency of the robot, so that the elevators in the building need to be reasonably dispatched. This exampleThe time T of the elevator reaching the departure floor can be calculated by a preset formulaiThe method comprises the following steps:
s201, acquiring a target floor of the robot movement, and determining the riding direction of the robot according to the position relation between a starting floor and the target floor;
s202, obtaining the current running direction of each elevator in the building, calling a corresponding preset formula according to the fact whether the current running direction of the elevator is consistent with the riding direction of the robot to calculate the time T of the elevator reaching the starting floori。
Specifically, when the current running direction of the elevator is consistent with the riding direction of the robot, the time T is calculated by adopting a first preset formulaiWhen the current running direction of the elevator is inconsistent with the riding direction of the robot, the time T is calculated by adopting a second preset formulai，
The first preset formula is used as follows:
Ti＝(D*abs(J-K)/V)+T’*(M+N)；
the second preset formula is used as follows:
Ti＝(D*abs(K+X-J)/V)+T’*(M+N)；
d is the average height of each floor of the building, J represents the current stop floor of the elevator, K represents the departure floor of the robot, M is an internal recruitment list, N is an external recruitment list, V represents the average running speed of the elevator, X represents the total floor number of the building, T' represents the average stop time of each floor of the elevator, and the abs function is an absolute value taking function. In a preferred embodiment, the current stopping floor of the elevator can be obtained by sensing devices installed on the elevator car and in the elevator shaft or by reading the control system of the elevator itself. The elevator car can be provided with an inertia speed measuring unit, and the time, the acceleration, the speed information and the like of the elevator from starting acceleration to uniform speed running and the deceleration running when the elevator is about to reach the target position can be measured through the inertia speed measuring unit, so that the real-time running position of the elevator can be calculated. For example, in one embodiment, the sensing device comprises a receiving unit and a floor tag, wherein the receiving unit and the floor tag are installed on the elevator car, the other receiving unit and the floor tag are installed in the elevator shaft, the position of the floor tag installed when the elevator stops at each floor corresponds to the position of the receiving unit, and the floor tag comprises but is not limited to an electronic tag, an IC card, an ID card, a magnetic stripe, a two-dimensional code, a bar code or a contact unit and the like.
In a preferred embodiment, the average running speed of the elevator can be obtained by various methods, such as measuring the speed of the traction ropes by a speed measuring device, collecting the starting time and the stopping time of the elevator by an elevator monitoring system, obtaining the running speeds of a plurality of elevators by using a statistical method and obtaining the average running speed of the elevator, and the like, which can be directly obtained by those skilled in the art in the prior art documents, so that the detailed description is not given in the present invention.
Step 3, after the time list T-list is calculated, all T in the T-list are comparediAnd T0Obtaining the time T in the T-list0Nearest TjThe said T isjThe corresponding elevator is taken as a target boarding elevator. In particular, T may be included according to a chronological order0And all TiBy querying the time axis, the time axis closest to the T is obtained0T ofj。
And 4, calling the target riding elevator to a starting floor, sending the serial number of the target riding elevator to the robot, moving the robot to an elevator port corresponding to the target riding elevator, enabling the target riding elevator to reach the starting floor, and enabling the robot to start a riding elevator process, so that the waiting time of the robot is shortened, and the working efficiency of the robot is improved.
In a preferred embodiment, the method further comprises a robot speed adjusting step, specifically:
s601, calculating time T0And time TjThe interval of (a);
s602, inquiring a preset corresponding relation table, and acquiring a robot speed correction value corresponding to the interval;
and S603, fine-tuning the current movement speed of the robot through the robot speed correction value.
In the above preferred embodiment, said TjMay be arranged at T0Front and closest to the T0At the moment, the target boarding elevator reaches the elevator opening before the robot arrives; or may be arranged at T0Posterior and closest to the T0At this time, the robot arrives at the elevator entrance earlier than the target elevator. When T isjArranged at T0Front and closest to the T0The robot speed correction value is used to increase the current movement speed of the robot, and TjAnd T0The larger the interval is, the larger the robot speed correction value is, so that the waiting time of the target elevator is reduced, and the user experience of simultaneously taking the elevator is avoided being reduced. When T isjArranged at T0Posterior and closest to the T0The robot speed correction value is used to increase the current movement speed of the robot, at which time TjAnd T0The smaller the interval, the larger the robot speed correction value, thereby ensuring that the robot arrives at the elevator entrance before the target elevator.
The embodiment provides an elevator dispatching method for assisting a robot, which is characterized in that a target elevator most suitable for the robot to take is determined through a wireless communication mode and an IoT cloud computing means, so that the elevator dispatching method is optimized, the time for waiting for the elevator is reduced when the robot takes the elevator, the energy-saving and efficient operation of the elevator is ensured, and the working efficiency of the robot is improved.
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 invention.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the elevator dispatching method for the auxiliary robot is realized.
Fig. 2 is a schematic structural diagram of an elevator dispatching device for an auxiliary robot according to embodiment 2 of the present invention, as shown in fig. 2, including an obtaining module 100, a first calculating module 200, a comparing module 300 and a calling module 400,
the acquisition module 100 is used for acquiring the time T from the current position to the elevator entrance of the departure floor0；
The first calculation module 200 is used for calculating the time T of a plurality of elevators in the building respectively arriving at the departure flooriForming a time list T-list, wherein i is (1, 2, … …, T), and T is the number of elevators;
the comparing module 300 is configured to obtain the time T from the time list T-list0Nearest TjThe said T isjThe corresponding elevator is taken as a target boarding elevator;
the calling module 400 is configured to call the target boarding elevator to a departure floor, and send a serial number of the target boarding elevator to the robot.
In a preferred embodiment, the first computing module 200 specifically includes:
a riding direction determining unit 201, configured to obtain a target floor of the robot movement, and determine a riding direction of the robot according to a positional relationship between a departure floor and the target floor;
a calculating unit 202, configured to obtain a current operation direction of each elevator in the building, and call a corresponding preset formula to calculate a time T for the elevator to reach the departure floor according to whether the current operation direction of the elevator and a riding direction of the robot are consistent or noti。
When the current running direction of the elevator is consistent with the riding direction of the robot, the calculating unit 202 calculates the time T by adopting a first preset formulaiWhen the current running direction of the elevator is not consistent with the riding direction of the robot, the calculating unit 202 calculates the time T by using a second preset formulai，
The first preset formula is specifically as follows:
Ti＝(D*abs(J-K)/V)+T’*(M+N)；
the second preset formula is specifically as follows:
Ti＝(D*abs(K+X-J)/V)+T’*(M+N)；
d is the average height of each floor of the building, J represents the current stop floor of the elevator, K represents the departure floor of the robot, M is an internal recruitment list, N is an external recruitment list, V represents the average running speed of the elevator, X represents the total floor number of the building, T' represents the average stop time of each floor of the elevator, and the abs function is an absolute value taking function.
In a preferred embodiment, the robot comprises a second calculation module 500, the second calculation module 500 is used for obtaining the current position and the position of the elevator entrance of the departure floor after receiving the task, and calculating the time T moving to the elevator entrance of the departure floor by calculating the distance between the current position and the position of the elevator entrance of the departure floor0And combining said T0And sending the data to a cloud server.
In a preferred embodiment, the elevator dispatching device for auxiliary robot further comprises a robot speed adjustment module 600, the robot speed adjustment module 600 being specifically used for calculating the time T0And time TjAnd adjusting the current movement speed of the robot according to the size of the interval.
The embodiment of the invention also provides an elevator dispatching terminal for the auxiliary robot, which comprises the computer readable storage medium and a processor, wherein the processor realizes the steps of the elevator dispatching method for the auxiliary robot when executing the computer program on the computer readable storage medium. Fig. 3 is a schematic structural diagram of an elevator dispatching terminal for an auxiliary robot according to embodiment 3 of the present invention, and as shown in fig. 3, the elevator dispatching terminal 8 for an auxiliary robot of this embodiment includes: a processor 80, a readable storage medium 81 and a computer program 82 stored in said readable storage medium 81 and executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in the various method embodiments described above, such as steps 1 through 4 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules in the above-described device embodiments, such as the functions of the modules 100 to 400 shown in fig. 2.
Illustratively, the computer program 82 may be partitioned into one or more modules that are stored in the readable storage medium 81 and executed by the processor 80 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 82 in the elevator dispatching terminal 8.
The elevator dispatching terminal 8 may include, but is not limited to, a processor 80, a readable storage medium 81. It will be understood by those skilled in the art that fig. 3 is only an example of an elevator dispatching terminal 8, and does not constitute a limitation to the elevator dispatching terminal 8, and may include more or less components than those shown, or combine some components, or different components, for example, the elevator dispatching terminal may further include a power management module, an arithmetic processing module, an input-output device, a network access device, a bus, etc.
The Processor 80 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 device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The readable storage medium 81 may be an internal storage unit of the elevator dispatching terminal 8, such as a hard disk or a memory of the elevator dispatching terminal 8. The readable storage medium 81 may also be an external storage device of the elevator dispatching terminal 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like equipped on the elevator dispatching terminal 8. Further, the readable storage medium 81 may also include both an internal storage unit of the elevator dispatching terminal 8 and an external storage device. The readable storage medium 81 is used to store the computer program and other programs and data needed by the elevator dispatching terminal. The readable storage medium 81 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 method 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 invention.
In the embodiments provided in the present invention, 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 invention 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 invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (8)
1. An elevator dispatching method for an auxiliary robot, comprising the steps of:
step 1, acquiring time T0 of a robot moving from a current position to an elevator entrance of a departure floor;
step 2, calling a corresponding preset formula according to whether the current running direction of the elevator is consistent with the riding direction of the robot to calculate the time Ti of the multiple elevators in the building respectively reaching the starting floor to form a time list T-list, wherein i is (1, 2, … …, T), and T is the number of the elevators;
step 3, obtaining the Tj closest to the time T0 in the time list T-list, and taking the elevator corresponding to the Tj as a target boarding elevator;
step 4, calling the target riding elevator to a starting floor, and sending the serial number of the target riding elevator to the robot;
when the current running direction of the elevator is consistent with the riding direction of the robot, the time Ti is calculated by adopting a first preset formula, when the current running direction of the elevator is inconsistent with the riding direction of the robot, the time Ti is calculated by adopting a second preset formula,
the first preset formula specifically includes: ti ═ D × abs (J-K)/V) + T' ((M + N);
the second preset formula is specifically as follows: ti ═ D × abs (K + X-J)/V) + T' ((M + N);
d is the average height of each floor of the building, J represents the current stop floor of the elevator, K represents the departure floor of the robot, M is an internal recruitment list, N is an external recruitment list, V represents the average running speed of the elevator, X represents the total floor number of the building, T' represents the average stop time of each floor of the elevator, and the abs function is an absolute value taking function.
2. The elevator dispatching method for the auxiliary robot according to claim 1, wherein calculating the time Ti when a plurality of elevators in a building respectively reach the departure floor is specifically:
s201, acquiring a target floor of the robot movement, and determining the riding direction of the robot according to the position relation between a starting floor and the target floor;
s202, acquiring the current running direction of each elevator in the building, and calling a corresponding preset formula to calculate the time Ti of the elevator reaching the starting floor according to whether the current running direction of the elevator is consistent with the riding direction of the robot.
3. Method for elevator dispatching for an auxiliary robot according to claim 1 or 2, characterized in that said step 1 is in particular: after receiving the task, the robot acquires the current position and the position of the departure floor elevator entrance, calculates the time T0 for moving to the departure floor elevator entrance by calculating the distance between the current position and the position of the departure floor elevator entrance, and sends the T0 to the cloud server.
4. A computer-readable storage medium, characterized in that a computer program is stored which, when being executed by a processor, carries out the elevator dispatching method for an auxiliary robot according to any one of claims 1-3.
5. An elevator dispatching terminal for an auxiliary robot, characterized in that it comprises the computer-readable storage medium of claim 4 and a processor which, when executing a computer program on the computer-readable storage medium, implements the steps of the elevator dispatching method for an auxiliary robot as claimed in any of claims 1-3.
6. An elevator dispatching device for an auxiliary robot is characterized by comprising an acquisition module, a first calculation module, a comparison module and a calling module,
the acquisition module is used for acquiring the time T0 from the current position of the robot to the elevator entrance of the departure floor;
the first calculation module is used for calling a corresponding preset formula according to whether the current running direction of the elevator is consistent with the riding direction of the robot to calculate the time Ti when a plurality of elevators in the building respectively reach the starting floor, so as to form a time list T-list, wherein i is (1, 2, … …, T), and T is the number of the elevators;
the comparison module is used for acquiring the Tj closest to the time T0 in the time list T-list and taking the elevator corresponding to the Tj as a target boarding elevator; the calling module is used for calling the target riding elevator to a starting floor and sending the serial number of the target riding elevator to the robot;
when the current running direction of the elevator is consistent with the riding direction of the robot, the first calculation module calculates the time Ti by adopting a first preset formula, when the current running direction of the elevator is inconsistent with the riding direction of the robot, the first calculation module calculates the time Ti by adopting a second preset formula,
the first preset formula specifically includes: ti ═ D × abs (J-K)/V) + T' ((M + N);
the second preset formula is specifically as follows: ti ═ D × abs (K + X-J)/V) + T' ((M + N);
d is the average height of each floor of the building, J represents the current stop floor of the elevator, K represents the departure floor of the robot, M is an internal recruitment list, N is an external recruitment list, V represents the average running speed of the elevator, X represents the total floor number of the building, T' represents the average stop time of each floor of the elevator, and the abs function is an absolute value taking function.
7. The elevator dispatching device for an auxiliary robot of claim 6, wherein the first computing module specifically comprises:
the riding direction determining unit is used for acquiring a target floor of the robot movement and determining the riding direction of the robot according to the position relation between the starting floor and the target floor;
and the calculating unit is used for acquiring the current running direction of each elevator in the building and calling a corresponding preset formula to calculate the time Ti of the elevator reaching the starting floor according to whether the current running direction of the elevator is consistent with the riding direction of the robot.
8. Elevator dispatching device for an auxiliary robot, according to claim 6 or 7, characterized in that the robot comprises a second calculation module,
and the second calculation module is used for acquiring the current position and the position of the departure floor elevator entrance after receiving the task, calculating the time T0 for moving to the departure floor elevator entrance by calculating the distance between the current position and the position of the departure floor elevator entrance, and sending the T0 to the cloud server.
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