CN111332891A - Elevator taking method and elevator taking device - Google Patents
Elevator taking method and elevator taking device Download PDFInfo
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- CN111332891A CN111332891A CN202010225126.4A CN202010225126A CN111332891A CN 111332891 A CN111332891 A CN 111332891A CN 202010225126 A CN202010225126 A CN 202010225126A CN 111332891 A CN111332891 A CN 111332891A
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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
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/468—Call registering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The embodiment of the invention discloses an elevator taking method and an elevator taking device, wherein the method comprises the steps that a target elevator receives an elevator taking request, and the elevator taking request comprises a target robot identifier, an initial floor and a target floor; determining a target robot according to the target robot identification; travel to the initial floor; when a door opening signal sent by the target robot is received, opening an elevator door; closing the elevator door when receiving a boarding completion signal sent by the target robot; travel to the target floor; thereby realize the communication of elevator and robot, and then realize the autonomic demand of taking advantage of terraced of target robot to improve the work efficiency of robot, reduce the cost of labor.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of data communication, in particular to an elevator taking method and an elevator taking device.
[ background of the invention ]
With the continuous development of robot technology, robots are widely applied in various industries. Particularly, the robot has more remarkable application in the aspect of carrying goods, and people can be relieved from heavy physical labor through the robot.
In practical application, a robot often needs to shuttle and transport objects among different floors, but because an elevator in the traditional technology is basically designed according to the elevator taking requirement of human beings, the robot cannot realize automatic elevator taking through communication interoperation with the elevator, therefore, when the robot takes the elevator, workers need to be equipped to assist the elevator taking beside, the use scene and range of the robot are severely limited, and the smoothness of the robot in working is reduced.
[ summary of the invention ]
In view of the above, the present invention has been made to provide an elevator taking method and an elevator taking apparatus that overcome or at least partially solve the above problems.
The embodiment of the invention provides a ladder taking method, which comprises the following steps:
a target elevator receives an elevator taking request, wherein the elevator taking request comprises a target robot identifier, an initial floor and a target floor;
determining a target robot according to the target robot identification;
travel to the initial floor;
when a door opening signal sent by the target robot is received, opening an elevator door;
closing the elevator door when receiving a boarding completion signal sent by the target robot;
and moving to the target floor.
In a preferred embodiment, the step of traveling to the initial floor further comprises:
and sending a boarding signal to the target robot, wherein the boarding signal comprises a target elevator identification and an elevator door position.
In a preferred embodiment, the step of opening an elevator door upon receiving a door opening signal transmitted from the target robot further comprises:
determining that the target robot is located at the elevator door position.
In a preferred embodiment, after the step of traveling to the target floor, the method further comprises:
opening the elevator door;
sending a ladder signal to the target robot.
In a preferred embodiment, after the step of sending the ladder signal to the target robot, the method further includes:
receiving a stair-exiting completion signal sent by the target robot;
and closing the elevator door according to the elevator exit completion signal.
In a preferred embodiment, the step of closing the elevator door upon receiving the boarding completion signal transmitted from the target robot further includes:
determining that the target robot is located within the target elevator.
In a preferred embodiment, the elevator taking request is sent by the target robot, and is sent to the target elevator after being allocated by the server.
The embodiment of the invention also discloses a ladder taking method, which comprises the following steps:
a target robot sends a ladder taking request, wherein the ladder taking request comprises a target robot identifier, an initial floor and a target floor;
determining an elevator receiving the elevator taking request as a target elevator;
sending a door opening signal to the target elevator so that the target elevator opens an elevator door;
moving into the target elevator;
and sending a boarding completion signal to the target elevator so as to enable the target elevator to close the elevator door.
The embodiment of the invention also discloses an elevator taking device, which is applied to an elevator, and the device comprises:
the elevator first receiving module is used for receiving an elevator taking request, wherein the elevator taking request comprises a target robot identifier, an initial floor and a target floor;
the elevator first determining module is used for determining a target robot according to the target robot identification;
the elevator first operation module is used for operating to the initial floor;
the door opening module is used for opening the elevator door when receiving a door opening signal sent by the target robot;
the door closing module is used for closing the elevator door when receiving an elevator climbing completion signal sent by the target robot;
and the second elevator running module is used for running to the target floor.
The embodiment of the invention also discloses a ladder taking device, which is applied to a robot, and the device comprises:
the elevator taking system comprises a first equipment sending module, a second equipment sending module and a third equipment sending module, wherein the first equipment sending module is used for sending elevator taking requests, and the elevator taking requests comprise target robot identifications, initial floors and target floors;
a first device determining module, which is used for determining the elevator receiving the elevator taking request as a target elevator;
the second equipment sending module is used for sending a door opening signal to the target elevator so as to enable the target elevator to open the elevator door;
a first movement module of equipment for moving into the target elevator;
and the equipment third sending module is used for sending a boarding completion signal to the target elevator so as to enable the target elevator to close the elevator door.
Compared with the prior art, the embodiment of the invention has the following advantages:
in the embodiment of the invention, when the target robot needs to take the elevator, an elevator taking request comprising the target robot identification, the initial floor and the target floor is sent; the target elevator receives the elevator taking request and obtains the target robot identification from the elevator taking request to determine the target robot so as to receive the signal sent by the target robot, thereby realizing the communication between the elevator and the robot; acquiring initial floor information from the elevator taking request to run to an initial floor; when a door opening signal sent by the target robot is received, opening the elevator door; closing the elevator door when receiving an elevator climbing completion signal sent by the target robot; obtaining target floor information according to the elevator taking request, and running to a target floor; thereby realize the autonomic demand of taking advantage of terraced of target robot, and then improve the work efficiency of robot, reduce the cost of labor.
[ description of the drawings ]
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, 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 flowchart illustrating steps of a boarding method according to a first embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of an elevator riding method according to a second embodiment of the present invention;
fig. 3 is a block diagram of a boarding device according to a third embodiment of the present invention;
fig. 4 is a block diagram of a boarding device according to a fourth embodiment of the present invention.
[ detailed description ] embodiments
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 1, fig. 1 shows a flowchart of steps of an elevator riding method according to a first embodiment of the present invention, where the method is applied to an elevator, and specifically includes the following steps:
In the embodiment of the invention, when the robot needs to take the elevator, the elevator taking request is generated, and when a plurality of robots need to take the elevator, the elevator taking requests sent by the robots are sequentially processed according to the preset sequence, and the robot corresponding to the elevator taking request which is processed is determined as the target robot. The elevator receiving the elevator taking request is determined as the target elevator. The boarding request includes a target robot identification, which can be the name, serial number, equipment delivery code, etc. of the target robot, by which the unique target robot can be determined. The initial floor may be the floor where the target robot is located and the target floor is the floor to which the target robot needs to reach.
In one example, when the elevator is a target elevator, the elevator is the target elevator, and the elevator taking request is directly sent to the target elevator by the target robot, so that the communication between the target robot and the target elevator is realized. Certainly, the elevator taking request can also be sent by the target robot and transmitted to the target elevator after being transferred by the server.
In another example, when the elevator is multi-part, the elevator taking request is sent by the target robot and sent to the target elevator after being allocated by the server.
In this example, the server may include a local server or a cloud server, and the server may schedule the plurality of elevators. And after receiving the elevator taking request sent by the target robot, the server determines a target elevator according to the current operating conditions of the plurality of elevators and then sends the elevator taking request to the target elevator.
Specifically, the step of the server determining the target elevator and sending the boarding request to the target elevator comprises the substeps of:
the server determines the elevator taking direction of the target robot according to the initial floor and the target floor in the elevator taking request;
determining an elevator with the same running direction as the elevator taking direction in the plurality of elevators as a first pre-dispatching elevator;
determining an elevator in a static state in the plurality of elevators as a second pre-dispatching elevator;
selecting an elevator with the carried weight less than the maximum carried weight from the first pre-dispatching elevator and the second pre-dispatching elevator as a quasi-dispatching elevator;
the elevator nearest to the initial floor is selected from the quasi-dispatching elevators as a target elevator, and an elevator taking request is sent to the target elevator.
Further, the elevator taking request can also comprise a priority, and when the server receives a plurality of elevator taking requests sent by different robots, the elevator taking requests are processed in sequence according to the priority of the elevator taking requests.
Preferably, the elevator taking request may further include weight information of the target robot, and it should be noted that the weight information is a sum of a net weight of the target robot and a weight of an actually carried article. The step of selecting the elevator with the carried weight less than the maximum carried weight from the first pre-dispatching elevator and the second pre-dispatching elevator by the server as the standard dispatching elevator comprises the following steps:
and selecting an elevator with the residual carrying weight less than or equal to the weight information of the target robot from the first pre-dispatching elevator and the second pre-dispatching elevator as a quasi-dispatching elevator, wherein the residual carrying weight is equal to the maximum carrying weight minus the carried weight.
And 102, determining the target robot according to the target robot identification.
The target robot is confirmed to the target elevator according to the target robot identification in the elevator taking request so as to realize near field communication with the target robot, and the interference of signals sent by other non-target robots to the target elevator can be avoided.
And 103, operating to the initial floor.
And after receiving the elevator taking request, the target elevator runs to the initial floor according to the initial floor information in the elevator taking request so as to receive the target robot.
In a preferred embodiment, the step of traveling to the initial floor further comprises:
and sending a boarding signal to the target robot, wherein the boarding signal comprises a target elevator identification and an elevator door position.
In this embodiment, after the operation of target elevator to initial floor, send the signal of ascending a ladder to the target robot, this signal of ascending a ladder includes target elevator sign and elevator door position. Specifically, the landing signal can be directly sent to the target robot by the target elevator so that the target robot determines the elevator door position of the target elevator and moves to the elevator door position. Including target elevator sign in this boarding signal, target elevator sign can be target elevator's name, serial number, equipment code etc. that dispatches from the factory, and only target elevator can be confirmed according to target elevator sign to the target robot to improve the accuracy that target robot and target elevator match, thereby prevent that target robot from taking the wrong elevator. Of course, the boarding signal can also be sent by the target elevator and transmitted to the target robot after being transferred by the server, and the details are not repeated here.
And 104, opening the elevator door when receiving a door opening signal sent by the target robot.
The target robot can send a door opening signal to the target elevator before the target robot is ready to log in the elevator, and when the target elevator receives the door opening signal, the elevator door is opened so that the target robot can enter the elevator.
Further, the step of opening the elevator door when receiving a door opening signal transmitted by the target robot further includes:
determining that the target robot is located at the elevator door position.
Specifically, the target elevator can determine the position of the target robot by the positioning device of the target robot. When the target elevator determines that the target robot is located at the elevator door position and receives a door opening signal sent by the target robot, the target elevator opens the elevator door; the continuity of opening the elevator door and taking the elevator by the target robot is kept.
And 105, closing the elevator door when receiving the boarding completion signal sent by the target robot.
In this embodiment, when the target elevator receives the signal of accomplishing of ascending a ladder that the target robot sent, close the lift-cabin door, can understand that the target elevator is receiving between the signal of opening the door and the signal of accomplishing of ascending a ladder, and the lift-cabin door lasts the open mode. In the prior art, the elevator door can be automatically closed after being opened for a certain time, so that a target robot can not smoothly enter the elevator. And in this embodiment, the elevator door of target elevator opens through the door opening signal that the target robot sent to it closes to last to send to the target robot and close after the signal is accomplished to the landing, can ensure that the target robot gets into the elevator smoothly.
It should be noted that, in another embodiment, the door opening signal may be a continuous signal sent by the target robot before entering the elevator, and when the target elevator receives or detects the door opening signal, the elevator door is opened; and when the door opening signal received by the target elevator disappears or the target elevator cannot detect the door opening signal, closing the elevator door. In the embodiment, a continuous door opening signal is adopted, the door opening signal is stopped to replace a boarding completion signal in the embodiment, the time for the elevator door to keep in an opening state is the same as the duration time of the door opening signal, and the control of the state of the elevator door of the target elevator by the target robot is realized to ensure that the target robot smoothly enters the elevator.
Further, the step of closing the elevator door when receiving the boarding completion signal sent by the target robot further includes:
determining that the target robot is located within the target elevator.
Specifically, the target elevator can determine the position of the target robot by the positioning device of the target robot. In this example, when the target elevator determines that the target robot is located in the target elevator and receives the boarding completion signal sent by the target robot, the target elevator closes the elevator door, ensuring that the target robot successfully enters the elevator.
And 106, running to the target floor.
After the target elevator closes the elevator door, the target elevator runs to the target floor from the initial floor so as to convey the target robot to the target floor, and therefore the target robot can take the elevator autonomously.
Further, after the step of traveling to the target floor, the method further comprises:
opening the elevator door;
sending a ladder signal to the target robot.
In the embodiment, after the target elevator reaches the target floor, the elevator door is opened, and an elevator signal is sent to the target robot; after receiving the elevator exit signal, the target robot moves out of the target elevator; therefore, the target robot can automatically take the elevator from the initial floor to the target floor. In this embodiment, the target robot shifts out the target elevator according to the received signal of going out to the ladder, compares with the scheme that the target robot detected the target elevator and shifts out the target elevator when the lift-cabin door of target elevator opens, and this embodiment can prevent that the target elevator from opening the lift-cabin door in the operation process, leads to the condition emergence that the target robot moved the wrong floor.
Further, after the step of sending the ladder signal to the target robot, the method further includes:
receiving a stair-exiting completion signal sent by the target robot;
and closing the elevator door according to the elevator exit completion signal.
In this example, after the target robot moves out of the target elevator, an exit completion signal is sent to the target elevator; the target elevator closes the elevator door according to the received elevator exit completion signal, so that the target robot is ensured to smoothly move out of the elevator, and the autonomous elevator taking task from the initial floor to the target floor is completed.
In addition, the target elevator closes the elevator door after the target robot moves out of the elevator and interrupts communication with the target robot to receive the next task.
In the embodiment of the invention, when the target robot needs to take the elevator, an elevator taking request comprising the target robot identification, the initial floor and the target floor is sent; the target elevator receives the elevator taking request and obtains the initial floor information from the elevator taking request so as to run to the initial floor; acquiring a target robot identifier from the elevator taking request to determine the target robot so as to receive a signal sent by the target robot, thereby realizing the communication between the elevator and the robot; when a door opening signal sent by the target robot is received, opening the elevator door; closing the elevator door when receiving an elevator climbing completion signal sent by the target robot; obtaining target floor information according to the elevator taking request, and running to a target floor; thereby realize the autonomic demand of taking advantage of terraced of target robot, and then improve the work efficiency of robot, reduce the cost of labor.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a ladder riding method according to a second embodiment of the present invention, where the method is applied to a robot, and specifically includes the following steps:
When the robot needs to take the elevator, the elevator taking request is generated, and when a plurality of robots need to take the elevator, the elevator taking requests sent by the robots are sequentially processed according to a preset sequence, and the robot corresponding to the elevator taking request which is processed is determined as a target robot. The elevator taking request comprises a target robot identification, the target robot identification can be that the name, the serial number, the equipment delivery code and the like of the target robot have uniqueness, and the only target robot can be determined through the target robot identification. The initial floor may be the floor where the target robot is located and the target floor is the floor to which the target robot needs to reach.
And step 202, determining the elevator receiving the elevator taking request as a target elevator.
In one example, when the elevator is a target elevator, the target robot can directly send a boarding request to the target elevator, and communication between the target robot and the target elevator is realized.
In another example, when the elevators are multi-part, the target robot may send an elevator taking request to the server, determine a target elevator after the server allocates the elevator taking request, and send the elevator taking request to the target elevator.
After the target elevator receives the elevator taking request, the target robot is determined according to the target robot identification in the elevator taking request, so that near field communication is realized with the target robot, and the interference of signals sent by other non-target robots to the target elevator can be avoided. And after receiving the elevator taking request, the target elevator operates to the initial floor according to the initial floor information in the elevator taking request.
Further, in an embodiment, the method further comprises:
receiving a boarding signal sent by the target elevator, wherein the boarding signal comprises a target elevator identification and an elevator door position
Specifically, after receiving a taking request, the target elevator returns a boarding signal aiming at the taking request, wherein the boarding signal comprises a target elevator identifier and an elevator door position. Specifically, the landing signal can be directly sent to the target robot by the target elevator so that the target robot determines the elevator door position of the target elevator and moves to the elevator door position. Including target elevator sign in this boarding signal, target elevator sign can be target elevator's name, serial number, equipment code etc. that dispatches from the factory, and only target elevator can be confirmed according to target elevator sign to the target robot to improve the accuracy that target robot and target elevator match, thereby prevent that target robot from taking the wrong elevator. Of course, the boarding signal can also be sent by the target elevator and transmitted to the target robot after being transferred by the server, and the details are not repeated here.
The target robot can send a door opening signal to the target elevator before the target robot is ready to log in the elevator, and when the target elevator receives the door opening signal, the elevator door is opened so that the target robot can enter the elevator.
Further, the step of sending a door opening signal to the target elevator to make the target elevator open an elevator door further includes:
when the target robot moves to the elevator door position, a door opening signal is sent to the target elevator so as to keep the continuity of opening the elevator door and taking the elevator by the target robot.
And step 204, moving to the target elevator.
When the target elevator receives the boarding completion signal sent by the target robot, the elevator door is closed, and it can be understood that the elevator door is in a continuously open state between the door opening signal and the boarding completion signal received by the target elevator. In the prior art, the elevator door can be automatically closed after being opened for a certain time, so that a target robot can not smoothly enter the elevator. And in this embodiment, open the lift-cabin door through the door opening signal that the target robot sent to it closes to continue to open until the target robot sends and climbs after the completion signal, can ensure that the target robot gets into the elevator smoothly.
It should be noted that, in another embodiment, the door opening signal may be a continuous signal sent by the target robot before entering the elevator, and when the target elevator receives or detects the door opening signal, the elevator door is opened; and when the door opening signal received by the target elevator disappears or the target elevator cannot detect the door opening signal, closing the elevator door. In the embodiment, a continuous door opening signal is adopted, the door opening signal is stopped to replace a boarding completion signal in the embodiment, the time for the elevator door to keep in an opening state is the same as the duration time of the door opening signal, and the control of the state of the elevator door of the target elevator by the target robot is realized to ensure that the target robot smoothly enters the elevator.
Further, the step of sending a boarding completion signal to the target elevator to cause the target elevator to close the elevator door further includes:
and when the target robot moves into the target elevator, sending an elevator boarding completion signal to the target elevator to ensure that the target robot enters the elevator before the elevator door of the target elevator is closed.
After the target elevator closes the elevator door, the elevator operates to a target floor so as to convey the target robot to the target floor, and therefore the target robot can take the elevator autonomously.
Further, the method further comprises:
and receiving an elevator exit signal sent by the target elevator.
In the embodiment, after the target elevator reaches the target floor, the elevator door is opened, and an elevator signal is sent to the target robot; after receiving the elevator exit signal, the target robot moves out of the target elevator; therefore, the target robot can automatically take the elevator from the initial floor to the target floor. In this embodiment, the target robot shifts out the target elevator according to the received signal of going out to the ladder, compares with the scheme that the target robot detected the target elevator and shifts out the target elevator when the lift-cabin door of target elevator opens, and this embodiment can prevent that the target elevator from opening the lift-cabin door in the operation process, leads to the condition emergence that the target robot moved the wrong floor.
Further, the method further comprises:
and sending an elevator completion signal to the target elevator so that the target elevator closes the elevator door.
In this example, after the target robot moves out of the target elevator, an exit completion signal is sent to the target elevator; the target elevator closes the elevator door according to the received elevator exit completion signal, so that the target robot is ensured to smoothly move out of the elevator, and the autonomous elevator taking task from the initial floor to the target floor is completed.
In addition, after the target robot sends out the elevator-taking completion signal, the communication with the target elevator is interrupted, so that the next elevator taking requirement is carried out.
For the method embodiment of the robot side, since it is basically similar to the method embodiment of the elevator side, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the embodiments. Further, those skilled in the art will also appreciate that the embodiments described in the specification are presently preferred and that no particular act is required of the embodiments of the application.
Referring to fig. 3, fig. 3 shows a block diagram of a third elevator riding device according to a third embodiment of the present invention, which is applied to an elevator and specifically includes the following modules:
the elevator first receiving module 301 is configured to receive an elevator taking request, where the elevator taking request includes a target robot identifier, an initial floor, and a target floor;
a first elevator determining module 302, configured to determine a target robot according to the target robot identifier;
a first elevator operation module 303 for operating to the initial floor;
the door opening module 304 is used for opening the elevator door when receiving a door opening signal sent by the target robot;
a door closing module 305 for closing the elevator door when receiving the boarding completion signal transmitted by the target robot;
an elevator second run module 306 for running to the target floor.
Further, in an embodiment, the first elevator operating module 302 further includes:
the first sending submodule of the elevator is used for sending a boarding signal to the target robot, and the boarding signal comprises a target elevator identification and an elevator door position.
Further, in an embodiment, the door opening module 304 further includes:
and the door opening determining submodule is used for determining that the target robot is positioned at the elevator door.
Further, in one embodiment, the second operation module 306 of the elevator further includes:
the elevator opening submodule is used for opening the elevator door;
and the second elevator sending submodule is used for sending an elevator signal to the target robot.
Further, in an embodiment, the apparatus further comprises:
the second receiving module of the elevator is used for receiving the elevator exit completion signal sent by the target robot;
and the elevator door closing module is used for closing the elevator door according to the elevator exit completion signal.
Further, in an embodiment, the elevator door closing module further includes:
a door close determination submodule for determining that the target robot is located within the target elevator.
Further, in one embodiment, the elevator taking request is sent by the target robot, and is sent to the target elevator after being allocated by the server.
For the elevator-side device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Referring to fig. 4, fig. 4 is a block diagram illustrating a structure of an elevator riding device according to a fourth embodiment of the present invention, where the elevator riding device is applied to a robot, and specifically includes the following modules:
a first device sending module 401, configured to send a ladder taking request, where the ladder taking request includes the target robot identifier, an initial floor, and a target floor;
a first device determining module 402, configured to determine an elevator receiving the elevator taking request as a target elevator;
a second device sending module 403, configured to send a door opening signal to the target elevator, so that the target elevator opens an elevator door;
a first device movement module 404 for moving into the target elevator;
a third sending module 405 of the device, configured to send a boarding completion signal to the target elevator, so that the target elevator closes the elevator door.
Further, in an embodiment, the apparatus further comprises:
the first receiving module of equipment is used for receiving the signal of ascending a ladder that target elevator sent, the signal of ascending a ladder includes target elevator sign and elevator door position.
Further, in one embodiment, the second device sending module 403 is further configured to send a door opening signal to the target elevator when the target robot moves to the elevator door position.
Further, in an embodiment, the apparatus further comprises:
and the second receiving module of the equipment is used for receiving the elevator exit signal sent by the target elevator.
Further, in an embodiment, the apparatus further comprises:
and the equipment fourth sending module is used for sending an elevator exit completion signal to the target elevator so as to enable the target elevator to close the elevator door.
Further, in an embodiment, the third sending module of the device is further configured to send a boarding completion signal to the target elevator when the target robot is located in the target elevator.
Further, in one embodiment, the elevator taking request is sent by the target robot, and is sent to the target elevator after being allocated by the server.
For the robot-side device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The elevator taking method and the elevator taking device provided by the invention are described in detail above, and the principle and the implementation mode of the invention are explained in the text by applying specific examples, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for boarding, the method comprising:
a target elevator receives an elevator taking request, wherein the elevator taking request comprises a target robot identifier, an initial floor and a target floor;
determining a target robot according to the target robot identification;
travel to the initial floor;
when a door opening signal sent by the target robot is received, opening an elevator door;
closing the elevator door when receiving a boarding completion signal sent by the target robot;
and moving to the target floor.
2. The boarding method of claim 1, wherein the step of traveling to the initial floor further comprises:
and sending a boarding signal to the target robot, wherein the boarding signal comprises a target elevator identification and an elevator door position.
3. The boarding method according to claim 2, wherein the step of opening an elevator door upon receiving a door opening signal transmitted by the target robot further comprises:
determining that the target robot is located at the elevator door position.
4. The boarding method of claim 3, further comprising, after the step of traveling to the target floor:
opening the elevator door;
sending a ladder signal to the target robot.
5. The boarding method of claim 4, further comprising, after the step of sending a boarding signal to the target robot:
receiving a stair-exiting completion signal sent by the target robot;
and closing the elevator door according to the elevator exit completion signal.
6. The boarding method according to claim 5, wherein the step of closing the elevator door upon receiving an boarding completion signal transmitted by the target robot further comprises:
determining that the target robot is located within the target elevator.
7. The boarding method of claim 1, wherein the boarding request is sent by the target robot, and is sent to the target elevator after being deployed by a cloud server.
8. A method for boarding, the method comprising:
a target robot sends a ladder taking request, wherein the ladder taking request comprises a target robot identifier, an initial floor and a target floor;
determining an elevator receiving the elevator taking request as a target elevator;
sending a door opening signal to the target elevator so that the target elevator opens an elevator door;
moving into the target elevator;
and sending a boarding completion signal to the target elevator so as to enable the target elevator to close the elevator door.
9. An elevator riding device, which is applied to an elevator, the device comprising:
the elevator first receiving module is used for receiving an elevator taking request, wherein the elevator taking request comprises a target robot identifier, an initial floor and a target floor;
the elevator first determining module is used for determining a target robot according to the target robot identification;
the elevator first operation module is used for operating to the initial floor;
the door opening module is used for opening the elevator door when receiving a door opening signal sent by the target robot;
the door closing module is used for closing the elevator door when receiving an elevator climbing completion signal sent by the target robot;
and the second elevator running module is used for running to the target floor.
10. An elevator apparatus, applied to a robot, comprising:
the elevator taking system comprises a first equipment sending module, a second equipment sending module and a third equipment sending module, wherein the first equipment sending module is used for sending elevator taking requests, and the elevator taking requests comprise target robot identifications, initial floors and target floors;
a first device determining module, which is used for determining the elevator receiving the elevator taking request as a target elevator;
the second equipment sending module is used for sending a door opening signal to the target elevator so as to enable the target elevator to open the elevator door;
a first movement module of equipment for moving into the target elevator;
and the equipment third sending module is used for sending a boarding completion signal to the target elevator so as to enable the target elevator to close the elevator door.
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| CN113359554A (en) * | 2021-06-04 | 2021-09-07 | 深圳市旺龙智能科技有限公司 | Elevator taking scheduling method for robot, robot scheduler and robot scheduling system |
| CN113657565A (en) * | 2021-08-17 | 2021-11-16 | 乐聚(深圳)机器人技术有限公司 | Robot cross-floor moving method and device, robot and cloud server |
| CN114314217A (en) * | 2021-11-27 | 2022-04-12 | 深圳市普渡科技有限公司 | Elevator taking control method and device, computer equipment and storage medium |
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