CN111847150A - Control method for robot to take elevator, robot, server and system - Google Patents
Control method for robot to take elevator, robot, server and system Download PDFInfo
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- CN111847150A CN111847150A CN202010737119.2A CN202010737119A CN111847150A CN 111847150 A CN111847150 A CN 111847150A CN 202010737119 A CN202010737119 A CN 202010737119A CN 111847150 A CN111847150 A CN 111847150A
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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
- B66B1/3415—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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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Abstract
The invention provides a control method for a robot to take a ladder, the robot, a server and a system, comprising: sending a car map acquisition request to a server to acquire car internal map information of the elevator; obtaining a predicted idle area of the car according to the obtained map information inside the car; when the predicted idle area can contain the self-body, determining a first target position in the predicted idle area according to a preset rule; when the elevator reaches the floor where the robot is located, controlling the robot to walk to the first target position; after entering an elevator car, submitting an exit application to the server, wherein the exit application comprises target floor information; and after receiving an elevator leaving instruction sent by the server, driving out of the elevator car. The invention allows the same elevator to simultaneously accommodate a plurality of robots, thereby improving the utilization rate of the elevator and further improving the transportation efficiency of the whole system.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a control method for a robot to take a ladder, a robot, a server and a system.
Background
In recent years, with the development of robotics and the continuous and deep research of artificial intelligence, intelligent mobile robots play an increasingly important role in human life and are widely applied in many fields.
In some application scenarios, the robot needs to take an elevator to perform cross-floor work. When there are multiple robots, the elevator can become a bottleneck factor affecting overall transport efficiency.
In a conventional elevator riding control method for a robot, generally, only one robot is allowed to be accommodated in one elevator at any time. If the elevator space is large, only one robot is allowed to take the elevator at a time, and the elevator utilization rate is low.
There is therefore a need to allow the same elevator car to accommodate multiple robots simultaneously, or a mixture of multiple robots and multiple people, to improve elevator utilization.
Disclosure of Invention
One of the objectives of the present invention is to provide a control method, a robot, a server and a system for a robot to ride a ladder, so as to overcome the disadvantages of the prior art.
The technical scheme provided by the invention is as follows:
a control method for a robot to take a ladder is applied to the robot and comprises the following steps: sending a car map acquisition request to a server to acquire car internal map information of the elevator; obtaining a predicted idle area of the car according to the obtained map information inside the car; when the predicted idle area can contain the self-body, determining a first target position in the predicted idle area according to a preset rule; when the elevator reaches the floor where the robot is located, controlling the robot to walk to the first target position; after entering an elevator car, submitting an exit application to the server, wherein the exit application comprises target floor information; and after receiving an elevator leaving instruction sent by the server, driving out of the elevator car.
Further, after entering the elevator car, before submitting an elevator request to the server, the method includes: sending a location message to the server, the location message including location information of the robot and obstacle location information around the robot.
Further, after the robot walks to the first target position, the method further includes: and if a second optimal target position exists around the first target position, controlling the robot to walk from the first target position to the second target position.
The invention also provides a control method for the robot to take the elevator, which is applied to the server and comprises the following steps: constructing the car interior map information of the elevator; when a car map acquisition request sent by a robot is received, sending car internal map information of the elevator to the robot; when receiving a lift-out application sent by a robot, recording a target floor to which the robot arrives; when the elevator reaches the target floor, an indication to leave the elevator is sent to the corresponding robot.
Further, the constructing of the car interior map information of the elevator comprises: acquiring information of an occupied area in the elevator car through a camera in the elevator car; and constructing the car interior map information of the elevator according to the occupied area information.
Further, comprising: and when receiving the position information sent by the robot, updating the map information in the car according to the position information of the robot and the position information of the obstacles around the robot.
Further, the sending an elevator leaving indication to the corresponding robot when the elevator reaches the target floor includes: and when the elevator reaches the target floor and a plurality of robots exit the elevator at the target floor, sequentially sending an elevator leaving instruction to the corresponding robots according to the exit sequence planned by the exit route.
The present invention also provides a robot comprising: the first sending module is used for sending a car map obtaining request to the server so as to obtain car internal map information of the elevator; the target position determining module is used for obtaining a predicted idle area of the car according to the obtained map information inside the car; when the predicted idle area can contain the self-body, determining a first target position in the predicted idle area according to a preset rule; the elevator module is used for controlling the robot to walk to the first target position after the elevator reaches the floor where the robot is located; the second sending module is used for submitting an outgoing elevator application to the server after entering the elevator car, wherein the outgoing elevator application comprises target floor information; and the elevator exit module is used for driving out of the elevator car after receiving the indication of leaving the elevator sent by the server.
The present invention also provides a server comprising: the elevator car map building module is used for building the elevator car internal map information of the elevator; the third sending module is used for sending the car interior map information of the elevator to the robot when receiving a car map acquisition request sent by the robot; the fourth sending module is used for recording a target floor to which the robot arrives when receiving a lift-out application sent by the robot; when the elevator reaches the target floor, an indication to leave the elevator is sent to the corresponding robot.
The invention also provides a control system for the robot to take the ladder, which comprises the robot and the server.
The control method, the robot, the server and the system for the robot to take the elevator, provided by the invention, have the following beneficial effects:
1. according to the elevator car map information processing method and system, the elevator car internal map information of the elevator is built on the server, the elevator-taking robot acquires the elevator car internal map information in real time, and when the free area in the elevator car is enough, a plurality of robots take the same elevator, so that the same elevator is allowed to accommodate a plurality of robots at the same time, the elevator utilization rate is improved, and the transportation efficiency of the whole system is improved.
2. According to the elevator car interior map information updating method and the elevator car interior map information updating system, the elevator car interior map information on the server is updated according to the self position information sent by the robot in the elevator car and the position information of the obstacles around the robot, so that the robot taking the elevator can obtain the latest elevator car interior map information, and the robot is guided to take the elevator more accurately; and meanwhile, the additional arrangement of equipment such as a camera in the car is avoided, and the cost is reduced.
3. The invention dynamically adjusts the position of the robot in the car according to the actual idle area in the car, so that the occupation of the robot in the car is more compact, more idle areas capable of being utilized are reserved, more robots are accommodated at the same time, and the utilization rate of the elevator is further improved.
Drawings
The above features, technical features, advantages and implementations of a method, robot, server and system for controlling a robot to ride a ladder will be described in more detail in the following detailed description of preferred embodiments with reference to the accompanying drawings.
Fig. 1 is a flowchart of an embodiment of a control method for a robot to ride an elevator according to the present invention;
fig. 2 is a flowchart of an embodiment of a control method for a robot elevator used in a server according to the present invention;
FIG. 3 is a schematic structural diagram of one embodiment of a robot of the present invention;
FIG. 4 is a schematic diagram of one embodiment of a server of the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a control system for a robot elevator of the present invention;
fig. 6 is a schematic diagram of the map information inside the car.
The reference numbers illustrate:
100. the robot comprises a robot body, a server, 110, a first sending module, 120, a target position determining module, 130, an elevator module, 140, a second sending module, 150, an elevator exit module, 210, a car map building module, 220, a third sending module, 230 and a fourth sending module.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".
One embodiment of the present invention, as shown in fig. 1, is a control method for a robot to ride a ladder, applied to a robot, including:
step S110 sends a car map acquisition request to the server to acquire car interior map information of the elevator.
Specifically, after the robot needs to take the elevator for cross-floor operation or obtain the elevator taking authority, a car map acquisition request is sent to the server so as to know the situation of the free area inside the car of the target elevator, and whether the robot can take the elevator is judged according to the free area inside the car.
The car interior map information may include car free zone information, may also include occupied zone information, or both. If only the occupied area information exists, the robot can obtain the car idle area information according to the occupied area information.
The car interior map information is maintained on the server side, and the nearest space occupation situation inside the car is recorded.
The car interior map information may take the form of a flat, grid map. Each individual riding an elevator, such as a robot or a person or an object, may have its footprint within the car represented by a grid model of a corresponding size. For example, a rectangular envelope of the floor area of the robot in the elevator is obtained according to the length and the width of the robot, and the rectangular envelope is used as a grid model of the robot. Preferably, a grid model of the robot is derived from the length, width and safety distance of the robot. The model with the safety distance taken into consideration can avoid collision of the robot with other robots when the robot moves (such as rotates in place).
Optionally, the car interior map information includes robot floor area information and non-robot floor area information. As shown in fig. 6, assuming that the car interior space has entered robot a, robot B, and person a, robot C wants to enter the car, the car interior map information at this time includes the floor area of robot A, B, the non-robot (person a) floor area, and the vacant area. Furthermore, the information of the occupied area of the robot comprises the elevator exit floors of the corresponding robot, so that the elevator waiting robot can acquire the elevator exit information of the robot in the elevator car, and the position of the robot exiting the elevator on the floor is considered as a candidate position, so that the utilization rate of the elevator space is improved.
Step S120 obtains the predicted empty area of the car based on the obtained car interior map information.
And if the car interior map information comprises car free area information, taking the car free area as a predicted free area of the car. If the map information in the car only comprises the occupied area information, the size of the car is subtracted from the occupied area to obtain the predicted idle area of the car.
Step S130, when it is evaluated that the predicted free area can accommodate itself, determining a first target position in the predicted free area according to a preset rule.
In particular, when the free area is expected to have sufficient contiguous space to contain the robot's own grid model, then the free area is said to be expected to be able to accommodate itself. This means that the first target position of the robot must be found from the expected free area and the robot can take the elevator.
In order to accommodate as many robots as possible in the car, it is necessary to arrange the robots entering the car compactly, so that a preset rule is set so that all the robots riding on the car select the first target position according to the preset rule.
For example, the preset rule is to select the position of the leftmost upper corner of the idle area as the target position, so that the robot can move "inside" the car as much as possible and is arranged from left to right. Of course, the position of the top right corner of the free area may also be selected as the target position, and the above is just one example of the preset rule.
After the first target position is determined, the robot can plan a route to the first target position according to the map information inside the car. In this way, when the elevator arrives, the robot can follow a pre-planned route to the first target position.
And step S140, after the elevator reaches the floor where the robot is located, controlling the robot to walk to the first target position.
Specifically, when it is detected that the elevator car door is opened or an indication of entering the elevator is received, it indicates that the elevator has reached the floor where the robot is located, and the robot can enter the elevator car and travel to the first target position according to a pre-planned route.
In the process of entering the car, the robot scans the car space while walking. The robot can report the position information of the robot and the position information of the surrounding obstacles scanned at that time to the server in real time. In order to reduce the amount of reported information, after the position information reaches the first target position, the position information and the position information of the peripheral obstacles scanned by the robot at the position are reported to the server through the position information, so that the server refreshes the map information in the car.
Because a robot or a person goes out of the elevator and the map information inside the car is advanced information, the predicted idle area has certain predictability and is not necessarily accurate. Preferably, if the robot finds that a second target position exists around the first target position after reaching the first target position, the robot continues to walk to the second target position.
Optionally, in the process of walking to the first target position, if it is detected that the first target position is occupied, or the first target position cannot be reached, and a third suboptimal target position exists around the first target position, the robot is controlled to walk to the third target position.
According to a preset rule, the second target position is a position better than the first target position, and the first target position is a position better than the third target position. The relative relationship between the three is considered here.
For example, the preset rule is to select the position at the top left corner of the free area as the target position. If the robot reaches the first target position, the robot can move to the area by judging whether a space is left or in front of the robot and then reaches the second target position. And if the robot judges that the front part of the robot has the obstacle and cannot reach the first target position, selecting the right side or the rear space of the first target position as a third target position for residing.
Optionally, after reaching the new target position, the robot reports the position information and the position information of the obstacles around the position information to the server through the position information, so that the server refreshes the map information inside the car.
Except that the robot which just enters the car moves to the optimal target position according to the actual idle area, the robot which has not taken out of the car can also move to a better target position according to the idle area around the robot according to the preset rule. Because the situation in the car changes, the robot which does not go out of the car can report the position information of the robot and the position information of obstacles around the robot to the server through the position information, so that the server refreshes the map information in the car; and when the position of the mobile terminal changes, the mobile terminal reports the position information of the mobile terminal and the position information of obstacles around the mobile terminal to the server so as to reduce the number of messages.
And S150, after entering the elevator car, submitting an elevator exit application to the server, wherein the elevator exit application comprises target floor information.
And step S160, after receiving the elevator leaving instruction sent by the server, driving out of the elevator car.
Specifically, the robot submits a lift-out application to the server after entering the elevator car, and the target floor to be reached is informed, so that the server informs the robot of lift-out after the elevator reaches the target floor.
Optionally, a lift application is submitted to the server when the first target position is reached. The robot in the car provides a lift-out application at the latest on the previous floor of the target floor, so that the server can know the target floor of each robot in time and perform unified planning on lift-out of the robot, and particularly when a plurality of robots lift-out on the same floor exist simultaneously, unified scheduling and lift-out route planning need to be performed on the robots.
In the embodiment, the map information in the car is acquired in real time, and when the free area in the car is enough, the robot takes the elevator, so that the same elevator is allowed to accommodate a plurality of robots at the same time, the utilization rate of the elevator is improved, and the transportation efficiency of the whole system is improved; the position of the robot in the car is dynamically adjusted according to the actual idle area in the car, so that the occupation of the robot in the car is more compact, more idle areas capable of being utilized are reserved, more robots are accommodated at the same time, and the utilization rate of the elevator is further improved.
One embodiment of the present invention, as shown in fig. 2, is a control method for a robot to take a ladder, applied to a server, including:
step S210 constructs car interior map information of the elevator.
Specifically, the car interior map information includes car free area information, and/or occupied area information. According to the map information inside the elevator car, the elevator taking robot can know the condition of the free area inside the elevator car of the target elevator in real time, and judge whether the elevator can be taken by the elevator taking robot according to the free area inside the elevator car.
The car interior map information may take the form of a flat, grid map. The footprint area of each individual riding elevator within the car may be represented by a grid model of corresponding size.
The car interior map information is maintained on the server side. The initial map information is derived from the car size. When a robot or a person enters or exits the elevator, the map information in the elevator car also changes dynamically.
According to one embodiment, the information of an occupied area in a car is acquired through a camera in the car of the elevator; and constructing the car interior map information of the elevator according to the occupied area information. The information of the occupied area inside the car can be acquired at regular time through a camera, for example, the average running time of each floor (for example, from the floor 1 to the floor 2) is T, sampling is carried out according to the intervals of T/2 and T/3, and the information of the occupied area inside the car is acquired according to the sampled pictures. The inside camera of elevator car also can gather the inside regional information that is occupied of car through the incident trigger, for example, when elevator car door closed, the elevator began the operation, triggers the inside regional information that is occupied of car of camera collection car.
In another embodiment, the car interior map information of the elevator is constructed from position messages sent by different robots in the car.
The position information of each robot includes position information of the robot itself and obstacle position information around the robot. All robots may be constrained to determine their own position information and their surrounding obstacle position information based on the same coordinate system, for example, a planar coordinate system as shown in fig. 6, with the length and width directions of the car horizontal plane as the x-axis and y-axis of the reference planar coordinate system. Therefore, according to the position messages sent by all the robots in the car, the information of all occupied areas in the car, and which areas belong to the occupied areas of the robots and which areas belong to the occupied areas of the non-robots can be obtained.
Optionally, the car interior map information includes robot floor area information and non-robot floor area information. Furthermore, the information of the occupied area of the robot comprises the elevator exit floor corresponding to the robot, so that the elevator waiting robot can acquire the elevator exit information of the robot in the elevator car, and the position of the robot exiting from the elevator car at the floor is considered as a candidate position.
The mode can not only avoid additionally adding cameras and other equipment in the car, but also reduce the cost; and the map information in the car with richer contents can be provided, and the robot can be guided to board the elevator more accurately.
Step S220 is to transmit car interior map information of an elevator to the robot when receiving a car map acquisition request transmitted by the robot.
Optionally, when receiving a position message sent by the robot, updating the map information inside the car according to the position information of the robot and the position information of the obstacles around the robot.
Optionally, when the map information inside the elevator car is updated, the server actively sends the updated map information inside the elevator car to each robot waiting for entering the elevator, so that the elevator-taking robot can know the latest condition of the free area inside the elevator car in time.
Step S230 records a target floor to which the robot arrives when receiving an exit request sent by the robot.
Step S240 transmits an elevator leaving instruction to the corresponding robot when the elevator reaches the target floor.
Optionally, when the elevator reaches the target floor and a plurality of robots exit from the target floor, the exit sequence of the robots is planned, and the exit instructions are sequentially sent to the corresponding robots according to the exit sequence. Further, the server may plan the exit routes of the robots, and inform the planned exit routes to the corresponding robots.
Sometimes, in order to let the target robot go out of the elevator, some robots need to be let out of the way, namely, the robot is informed to go out of the elevator first, and after the target robot goes out of the elevator, the robot is informed to return to the elevator.
So, carry out unified dispatch of going out the elevator to the robot through the server, can make a plurality of robots go out the elevator in proper order, avoid going out the elevator confusion.
According to the elevator taking robot, the map information inside the elevator car is constructed and updated in time on the server, so that the elevator taking robot takes the elevator according to the latest map information inside the elevator car, the elevator taking with one elevator car accommodating a plurality of robots at the same time is realized, and the overall transportation efficiency is improved.
One embodiment of the present invention, as shown in fig. 3, is a robot 100 comprising:
the first sending module 110 is configured to send a car map obtaining request to the server to obtain car interior map information of the elevator.
Specifically, after the robot needs to take the elevator for cross-floor operation or obtain the elevator taking authority, a car map acquisition request is sent to the server so as to know the situation of the free area inside the car of the target elevator, and whether the robot can take the elevator is judged according to the free area inside the car.
The car interior map information may include car free zone information, may also include occupied zone information, or both. If only the occupied area information exists, the robot can obtain the car idle area information according to the occupied area information.
The car interior map information is maintained on the server side, and the nearest space occupation situation inside the car is recorded.
The car interior map information may take the form of a flat, grid map. Each individual riding an elevator, such as a robot or a person or an object, may have its footprint within the car represented by a grid model of a corresponding size. For example, a rectangular envelope of the floor area of the robot in the elevator is obtained according to the length and the width of the robot, and the rectangular envelope is used as a grid model of the robot. Preferably, a grid model of the robot is derived from the length, width and safety distance of the robot. The model with the safety distance taken into consideration can avoid collision of the robot with other robots when the robot moves (such as rotates in place).
Optionally, the car interior map information includes robot floor area information and non-robot floor area information. Furthermore, the information of the occupied area of the robot comprises the elevator exit floors of the corresponding robot, so that the elevator waiting robot can acquire the elevator exit information of the robot in the elevator car, and the position of the robot exiting the elevator on the floor is considered as a candidate position, so that the utilization rate of the elevator space is improved.
The target position determining module 120 is configured to obtain a predicted idle area of the car according to the obtained car interior map information; when the predicted free area is evaluated to be capable of accommodating itself, a first target position is determined in the predicted free area according to a preset rule.
Specifically, if the car interior map information includes car empty area information, the car empty area is set as a predicted empty area of the car. If the map information in the car only comprises the occupied area information, the size of the car is subtracted from the occupied area to obtain the predicted idle area of the car.
When the free area is expected to have sufficient contiguous space to contain the robot's own grid model, then the free area is expected to be able to accommodate itself. This means that the first target position of the robot must be found from the expected free area and the robot can take the elevator.
In order to accommodate as many robots as possible in the car, it is necessary to arrange the robots entering the car compactly, so that a preset rule is set so that all the robots riding on the car select the first target position according to the preset rule.
For example, the preset rule is to select the position of the leftmost upper corner of the idle area as the target position, so that the robot can move "inside" the car as much as possible and is arranged from left to right. Of course, the position of the top right corner of the free area may also be selected as the target position, and the above is just one example of the preset rule.
After the first target position is determined, the robot can plan a route to the first target position according to the map information inside the car. In this way, when the elevator arrives, the robot can follow a pre-planned route to the first target position.
And the elevator module 130 is used for controlling the robot to walk to the first target position after the elevator reaches the floor where the robot is located.
Specifically, when it is detected that the elevator car door is opened or an indication of entering the elevator is received, it indicates that the elevator has reached the floor where the robot is located, and the robot can enter the elevator car and travel to the first target position according to a pre-planned route.
In the process of entering the car, the robot scans the car space while walking. The robot can report the position information of the robot and the position information of the surrounding obstacles scanned at that time to the server in real time. In order to reduce the amount of reported information, after the position information reaches the first target position, the position information and the position information of the peripheral obstacles scanned by the robot at the position are reported to the server through the position information, so that the server refreshes the map information in the car.
Because a robot or a person goes out of the elevator and the map information inside the car is advanced information, the predicted idle area has certain predictability and is not necessarily accurate. Preferably, if the robot finds that a second target position exists around the first target position after reaching the first target position, the robot continues to walk to the second target position.
Optionally, in the process of walking to the first target position, if it is detected that the first target position is occupied, or the first target position cannot be reached, and a third suboptimal target position exists around the first target position, the robot is controlled to walk to the third target position.
According to a preset rule, the second target position is a position better than the first target position, and the first target position is a position better than the third target position. The relative relationship between the three is considered here.
For example, the preset rule is to select the position at the top left corner of the free area as the target position. If the robot reaches the first target position, the robot can move to the area by judging whether a space is left or in front of the robot and then reaches the second target position. And if the robot judges that the front part of the robot has the obstacle and cannot reach the first target position, selecting the right side or the rear space of the first target position as a third target position for residing.
Optionally, after reaching the new target position, the robot reports the position information and the position information of the obstacles around the position information to the server through the position information, so that the server refreshes the map information inside the car.
Except that the robot which just enters the car moves to the optimal target position according to the actual idle area, the robot which has not taken out of the car can also move to a better target position according to the idle area around the robot according to the preset rule. Because the situation in the car changes, the robot which does not go out of the car can report the position information of the robot and the position information of obstacles around the robot to the server through the position information, so that the server refreshes the map information in the car; and when the position of the mobile terminal changes, the mobile terminal reports the position information of the mobile terminal and the position information of obstacles around the mobile terminal to the server so as to reduce the number of messages.
And a second sending module 140, configured to submit an elevator exit request to the server after entering the elevator car, where the elevator exit request includes the target floor information.
And the elevator exit module 150 is used for driving out of the elevator car after receiving the indication of leaving the elevator sent by the server.
Specifically, the robot submits a lift-out application to the server after entering the elevator car, and the target floor to be reached is informed, so that the server informs the robot of lift-out after the elevator reaches the target floor.
Optionally, a lift application is submitted to the server when the first target position is reached. The robot in the car provides a lift-out application at the latest on the previous floor of the target floor, so that the server can know the target floor of each robot in time and perform unified planning on lift-out of the robot, and particularly when a plurality of robots lift-out on the same floor exist simultaneously, unified scheduling and lift-out route planning need to be performed on the robots.
In the embodiment, the map information in the car is acquired in real time, and when the free area in the car is enough, the robot takes the elevator, so that the same elevator is allowed to accommodate a plurality of robots at the same time, the utilization rate of the elevator is improved, and the transportation efficiency of the whole system is improved; the position of the robot in the car is dynamically adjusted according to the actual idle area in the car, so that the occupation of the robot in the car is more compact, more idle areas capable of being utilized are reserved, more robots are accommodated at the same time, and the utilization rate of the elevator is further improved.
One embodiment of the present invention, as shown in fig. 4, is a server 200, comprising:
a car map building module 210 for building car interior map information of the elevator.
Specifically, the car interior map information includes car free area information, and/or occupied area information. According to the map information inside the elevator car, the elevator taking robot can know the condition of the free area inside the elevator car of the target elevator in real time, and judge whether the elevator can be taken by the elevator taking robot according to the free area inside the elevator car.
The car interior map information may take the form of a flat, grid map. The footprint area of each individual riding elevator within the car may be represented by a grid model of corresponding size.
The car interior map information is maintained on the server side. The initial map information is derived from the car size. When a robot or a person enters or exits the elevator, the map information in the elevator car also changes dynamically.
According to one embodiment, the information of an occupied area in a car is acquired through a camera in the car of the elevator; and constructing the car interior map information of the elevator according to the occupied area information. The information of the occupied area inside the car can be acquired at regular time through a camera, for example, the average running time of each floor (for example, from the floor 1 to the floor 2) is T, sampling is carried out according to the intervals of T/2 and T/3, and the information of the occupied area inside the car is acquired according to the sampled pictures. The inside camera of elevator car also can gather the inside regional information that is occupied of car through the incident trigger, for example, when elevator car door closed, the elevator began the operation, triggers the inside regional information that is occupied of car of camera collection car.
In another embodiment, the car interior map information of the elevator is constructed from position messages sent by different robots in the car.
The position information of each robot includes position information of the robot itself and obstacle position information around the robot. All robots may be constrained to determine their own position information and their surrounding obstacle position information based on the same coordinate system, for example, a planar coordinate system as shown in fig. 6, with the length and width directions of the car horizontal plane as the x-axis and y-axis of the reference planar coordinate system. Therefore, according to the position messages sent by all the robots in the car, the information of all occupied areas in the car, and which areas belong to the occupied areas of the robots and which areas belong to the occupied areas of the non-robots can be obtained.
Optionally, the car interior map information includes robot floor area information and non-robot floor area information. Furthermore, the information of the occupied area of the robot comprises the elevator exit floor corresponding to the robot, so that the elevator waiting robot can acquire the elevator exit information of the robot in the elevator car, and the position of the robot exiting from the elevator car at the floor is considered as a candidate position.
The mode can not only avoid additionally adding cameras and other equipment in the car, but also reduce the cost; and the map information in the car with richer contents can be provided, and the robot can be guided to board the elevator more accurately.
And a third sending module 220, configured to send car interior map information of an elevator to the robot when receiving a car map acquisition request sent by the robot.
Optionally, the car map building module is further configured to update the car interior map information according to the position information of the robot and the position information of the obstacles around the robot when receiving the position information sent by the robot.
Optionally, when the map information inside the elevator car is updated, the server actively sends the updated map information inside the elevator car to each robot waiting for entering the elevator, so that the elevator-taking robot can know the latest condition of the free area inside the elevator car in time.
A fourth sending module 230, configured to record a destination floor to which the robot arrives when receiving a lift exit request sent by the robot; when the elevator reaches the target floor, an indication to leave the elevator is sent to the corresponding robot.
Optionally, when the elevator reaches the target floor and a plurality of robots exit from the target floor, the exit sequence of the robots is planned, and the exit instructions are sequentially sent to the corresponding robots according to the exit sequence. Further, the server may plan the exit routes of the robots, and inform the planned exit routes to the corresponding robots.
Sometimes, in order to let the target robot go out of the elevator, some robots need to be let out of the way, namely, the robot is informed to go out of the elevator first, and after the target robot goes out of the elevator, the robot is informed to return to the elevator.
So, carry out unified dispatch of going out the elevator to the robot through the server, can make a plurality of robots go out the elevator in proper order, avoid going out the elevator confusion.
According to the elevator taking robot, the map information inside the elevator car is constructed and updated in time on the server, so that the elevator taking robot takes the elevator according to the latest map information inside the elevator car, the elevator taking with one elevator car accommodating a plurality of robots at the same time is realized, and the overall transportation efficiency is improved.
An embodiment of the present invention, as shown in fig. 5, is a control system for a robot to ride a ladder, including the robot 100 and the server 200 according to the foregoing embodiments.
In one embodiment, the server 200 obtains information of occupied areas inside the elevator car through a camera inside the elevator car; and constructing the car interior map information of the elevator according to the occupied area information.
The robot 100 sends a car map acquisition request to the server 200 to acquire car interior map information of the elevator; obtaining a predicted idle area of the car according to the obtained map information inside the car; when the estimated idle area can contain the self-body, determining a first target position in the estimated idle area according to a preset rule; when the elevator reaches the floor where the robot is located, controlling the robot to walk to a first target position; and after entering the elevator car, submitting an elevator exit application to a server, wherein the elevator exit application comprises target floor information.
The server 200 records the destination floor to which the robot 100 is going to arrive, upon receipt. When the elevator reaches the target floor, an indication to leave the elevator is sent to the corresponding robot 100.
The robot 100 travels out of the elevator car upon receiving the instruction to leave the elevator from the server 200.
Another embodiment differs from the previous embodiment in that:
the robot 100 entering the car and the robot 100 not exiting the car report their own position information and the position information of the obstacle around the position information to the server 200 through the position message.
The server 200 constructs car interior map information of the elevator from the position messages sent by the different robots in the car. The position information of each robot includes position information of the robot itself and obstacle position information around the robot.
In this embodiment, through the cooperation of the server 200 and the robot 100, the function that a plurality of robots take the same elevator together is realized, and the utilization rate and the whole transmission efficiency of the elevator are improved.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A control method for a robot to ride a ladder is characterized by being applied to a robot and comprising the following steps:
sending a car map acquisition request to a server to acquire car internal map information of the elevator;
obtaining a predicted idle area of the car according to the obtained map information inside the car;
when the predicted idle area can contain the self-body, determining a first target position in the predicted idle area according to a preset rule;
when the elevator reaches the floor where the robot is located, controlling the robot to walk to the first target position;
after entering an elevator car, submitting an exit application to the server, wherein the exit application comprises target floor information;
and after receiving an elevator leaving instruction sent by the server, driving out of the elevator car.
2. The method as claimed in claim 1, wherein the step of, after entering the elevator car, before submitting the elevator request to the server, comprises:
sending a location message to the server, the location message including location information of the robot and obstacle location information around the robot.
3. The method of claim 1, wherein after the robot walks to the first target position, the method further comprises:
and if a second optimal target position exists around the first target position, controlling the robot to walk from the first target position to the second target position.
4. A control method for a robot to take a ladder is characterized by being applied to a server and comprising the following steps:
constructing the car interior map information of the elevator;
when a car map acquisition request sent by a robot is received, sending car internal map information of the elevator to the robot;
when receiving a lift-out application sent by a robot, recording a target floor to which the robot arrives;
when the elevator reaches the target floor, an indication to leave the elevator is sent to the corresponding robot.
5. The method as claimed in claim 4, wherein the constructing the car interior map information of the elevator comprises:
acquiring information of an occupied area in the elevator car through a camera in the elevator car;
and constructing the car interior map information of the elevator according to the occupied area information.
6. The method of controlling robot boarding according to claim 4, comprising:
and when receiving the position information sent by the robot, updating the map information in the car according to the position information of the robot and the position information of the obstacles around the robot.
7. The method as claimed in claim 4, wherein the step of sending an elevator leaving instruction to the corresponding robot when the elevator arrives at the target floor includes:
and when the elevator reaches the target floor and a plurality of robots exit the elevator at the target floor, sequentially sending an elevator leaving instruction to the corresponding robots according to the exit sequence planned by the exit route.
8. A robot, comprising:
the first sending module is used for sending a car map obtaining request to the server so as to obtain car internal map information of the elevator;
the target position determining module is used for obtaining a predicted idle area of the car according to the obtained map information inside the car; when the predicted idle area can contain the self-body, determining a first target position in the predicted idle area according to a preset rule;
the elevator module is used for controlling the robot to walk to the first target position after the elevator reaches the floor where the robot is located;
the second sending module is used for submitting an outgoing elevator application to the server after entering the elevator car, wherein the outgoing elevator application comprises target floor information;
and the elevator exit module is used for driving out of the elevator car after receiving the indication of leaving the elevator sent by the server.
9. A server, comprising:
the elevator car map building module is used for building the elevator car internal map information of the elevator;
the third sending module is used for sending the car interior map information of the elevator to the robot when receiving a car map acquisition request sent by the robot;
the fourth sending module is used for recording a target floor to which the robot arrives when receiving a lift-out application sent by the robot; when the elevator reaches the target floor, an indication to leave the elevator is sent to the corresponding robot.
10. A control system for a robot riding a ladder, comprising the robot of claim 8 and the server of claim 9.
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| CN202010737119.2A CN111847150A (en) | 2020-07-28 | 2020-07-28 | Control method for robot to take elevator, robot, server and system |
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| CN114180427A (en) * | 2021-11-29 | 2022-03-15 | 北京云迹科技有限公司 | Robot, method and device for controlling robot to take elevator and storage medium |
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| CN115246604A (en) * | 2021-04-27 | 2022-10-28 | 三菱电机株式会社 | Work plan making auxiliary system for robot |
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Application publication date: 20201030 |