CN112091968A

CN112091968A - Method and system for robot to get on and off elevator

Info

Publication number: CN112091968A
Application number: CN202010765781.9A
Authority: CN
Inventors: 徐宁
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2020-12-18
Also published as: WO2022022399A1

Abstract

The invention provides a method for getting on and off an elevator by a robot, which comprises the following steps: a step of identifying the number of people, which is to estimate whether the number of people entering the passenger elevator exceeds the limit number of people of the passenger elevator, if not, the step of identifying the weight is executed, and if so, the robot does not enter the passenger elevator; a weight identification step, namely estimating whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, executing a space identification step, and if so, not entering the passenger elevator; a space identification step, namely estimating whether the remaining space of the passenger elevator is enough for the robot to accommodate, if so, executing a route scheduling step, and if not, not entering the passenger elevator by the robot; and a route scheduling step, wherein the robot plans a route, enters the passenger elevator and stops at the side so as to leave a space inside the passenger elevator. The invention also provides a system of the method. The invention can enable the robot to take the passenger elevator, and realize man-machine sharing according to the accommodation capacity of the passenger elevator, and one elevator can be used for multiple machines.

Description

Method and system for robot to get on and off elevator

Technical Field

The invention relates to the technical field of robots, in particular to a method and a system for a robot to get on and off an elevator.

Background

Along with the development of science and technology, the wisdom community will also popularize, and people's life will be more intelligent, more convenient.

The existing robot can enter an intelligent office building, an intelligent community and the like, the robot needs to use an elevator to serve people, the existing robot often needs to take a special elevator or a goods elevator, the elevator is one elevator and one machine, but the goods elevator in the building is generally few, and along with the development of an intelligent society, more and more robots are applied to the aspects of people living, so that the inconvenience in use is caused. In this case, a lot of resources are consumed when the costs for the cargo elevator and the special elevator used for the robot are invested.

In consideration of more passenger elevators in the building, the invention provides a method and a system for a robot to get on and off the elevator, so that the robot can take the passenger elevators and realize man-machine sharing according to the accommodation capacity of the passenger elevators, and the robot has multiple elevators, thereby solving the problems of resource waste caused by the use of special elevators or goods elevators by the robot and inconvenience in use caused by the use of goods elevators.

Disclosure of Invention

Objects of the invention

In order to overcome at least one defect in the prior art, the invention provides a method and a system for a robot to get on and off an elevator, so that the robot can take a passenger elevator and realize man-machine sharing according to the accommodation capacity of the passenger elevator, wherein one elevator has multiple machines; the problem of among the prior art the robot use special ladder or goods lift cause the wasting of resources to and use the inconvenient use that goods lift caused is solved.

(II) technical scheme

As a first aspect of the present invention, the present invention discloses a method for getting on and off an elevator by a robot, comprising the steps of:

a step of identifying the number of people, which is to estimate whether the number of people entering the passenger elevator exceeds the limit number of people of the passenger elevator, if not, the step of identifying the weight is executed, and if so, the robot does not enter the passenger elevator;

a weight identification step, namely estimating whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, executing a space identification step, and if so, not entering the passenger elevator;

a space identification step, namely estimating whether the remaining space of the passenger elevator is enough for the robot to accommodate, if so, executing a route scheduling step, and if not, not entering the passenger elevator by the robot;

and a route scheduling step, wherein the robot plans a route, enters the passenger elevator and stops at the side so as to leave a space inside the passenger elevator.

In a possible embodiment, said step of identifying the number of persons comprises a step 101; the weight identifying step includes step 102; the space identification step comprises step 103; the route scheduling step includes step 104:

in the step 101, the robot analyzes the number of people in the passenger elevator and/or receives the number information transmitted by the robot in the passenger elevator through the image in the passenger elevator, so as to judge whether the number of people entering the passenger elevator by the robot exceeds the limit number of people of the passenger elevator, if not, the step 102 is executed, and if yes, the robot does not enter the passenger elevator;

in the step 102, the robot estimates the weight of the person inside the passenger elevator according to the image inside the passenger elevator and/or receives weight information transmitted by the robot inside the passenger elevator, so as to judge whether the weight of the person entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, the step 3 is executed, and if yes, the robot does not enter the passenger elevator;

in the step 103, the robot identifies the remaining space of the passenger elevator according to the internal image of the passenger elevator, so as to judge whether the remaining space of the passenger elevator is enough for the robot to accommodate itself, if so, the step 104 is executed, and if not, the robot does not enter the passenger elevator;

and 104, the robot enters the passenger elevator and exits the passenger elevator when the overweight of the passenger elevator is identified.

In a possible implementation mode, the number information comprises the number of people in the passenger elevator and/or the number of robots in the passenger elevator; the weight information comprises the weight of people in the passenger elevator and/or the weight of a robot in the passenger elevator; in the step 102, the robot identifies the posture and height of the person according to the image inside the passenger elevator, and then estimates the weight of the person inside the passenger elevator.

In one possible implementation, in step 102, the robot determines the weight of the person inside the passenger elevator and/or the weight information in combination with whether the weight of the robot itself exceeds the passenger elevator limit weight.

In a possible implementation manner, the robot judges the remaining space of the passenger elevator through scene recognition.

In a possible embodiment, the step of identifying the number of people comprises the steps of 201; the weight identifying step includes step 202; the space identifying step comprises step 203;

in the step 201, the elevator management control system judges whether the number of people entering the passenger elevator exceeds the limit number of people of the passenger elevator according to the number of people identified by the camera in the passenger elevator, if not, the step 202 is executed, and if yes, the robot does not enter the passenger elevator;

in the step 202, the elevator management control system judges whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator or not according to the weight obtained by the self-weighing system and the received self weight sent by the robot, if not, the step 203 is executed, and if yes, the robot does not enter the passenger elevator;

in step 203, the elevator management control system determines whether the remaining space of the passenger elevator is enough for the robot to accommodate according to the fact that the camera inside the passenger elevator identifies the remaining space of the passenger elevator and the received volume of the elevator itself sent by the robot, if so, the route scheduling step is executed, and if not, the robot does not enter the passenger elevator.

In a possible embodiment, the weight identifying step comprises step 302; the spatial identification step comprises step 303;

in the step 302, the elevator management control system judges whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator or not according to the weight obtained by the self-weighing system and the received self weight sent by the robot, if not, the step 303 is executed, and if yes, the robot does not enter the passenger elevator;

in step 303, the robot identifies the remaining space of the passenger elevator according to the internal image of the passenger elevator, so as to determine whether the remaining space of the passenger elevator is enough for the robot to accommodate itself, if so, the route scheduling step is executed, and if not, the robot does not enter the passenger elevator.

As a second aspect of the present invention, the present invention discloses a system for getting on and off an elevator by a robot, comprising:

the number of people recognition module is used for estimating whether the number of people exceeding the passenger elevator limit when the robot enters the passenger elevator, if not, executing the weight recognition step, and if so, not entering the passenger elevator;

the weight identification module is used for estimating whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, executing a space identification step, and if so, not entering the passenger elevator;

the space identification module is used for estimating whether the remaining space of the passenger elevator is enough for the robot to accommodate, if so, executing a route scheduling step, and if not, the robot does not enter the passenger elevator;

and the route scheduling module is used for planning a route, entering the passenger elevator and stopping along the side so as to reserve a space in the passenger elevator.

The number identification module comprises a first number identification module; the weight identification module comprises a first weight identification module; the space identification module comprises a first space identification module; the route scheduling module comprises a first route scheduling module;

in a possible embodiment, the system comprises said robot, said robot comprising:

the camera is arranged on the robot and used for shooting images inside the passenger elevator;

the first person number identification module is used for analyzing the number of persons in the elevator and/or receiving the number information transmitted by the robot in the elevator through the image in the elevator, so as to judge whether the number of persons entering the elevator by the robot exceeds the limit number of persons in the elevator, if not, the first weight identification module is executed, and if yes, the robot does not enter the elevator;

the first weight identification module is used for estimating the weight of a person in the passenger elevator according to the image in the passenger elevator and/or receiving weight information transmitted by the robot in the passenger elevator so as to judge whether the weight of the person entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, the first space identification module is operated, and if so, the robot does not enter the passenger elevator;

the first space identification module is used for identifying the remaining space of the passenger elevator according to the internal image of the passenger elevator so as to judge whether the remaining space of the passenger elevator is enough to be accommodated by the robot, if so, the first route scheduling module is operated, and if not, the robot does not enter the passenger elevator;

and the first route scheduling module is used for exiting the passenger elevator when the overweight of the passenger elevator is identified.

In a possible implementation mode, the number information comprises the number of people in the passenger elevator and/or the number of robots in the passenger elevator; the weight information comprises the weight of people inside the passenger elevator and/or the weight of robots inside the passenger elevator.

In a possible implementation manner, the first weight recognition module is configured to recognize the posture and the height of a person according to the image inside the passenger elevator, and then estimate the weight of the person inside the passenger elevator.

In a possible embodiment, the first weight identification module is configured to determine the weight of the person inside the passenger elevator and/or the weight information in combination with whether the weight of the robot itself exceeds the passenger elevator limit weight.

In a possible implementation manner, the space identification module is configured to determine the remaining space of the passenger elevator through scene identification.

In one possible embodiment, the people recognition module comprises a second people recognition module; the weight recognition module comprises a second weight recognition module; the space identification module comprises a second space identification module;

the second person number identification module is used for judging whether the number of persons entering the passenger elevator exceeds the limit number of persons of the passenger elevator or not by the elevator management control system according to the number of persons identified by the camera in the passenger elevator, if not, the operation of the second weight identification module is executed, and if yes, the robot does not enter the passenger elevator;

the second weight identification module is used for judging whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator or not by the elevator management control system according to the weight obtained by the self-weighing system and the received self weight sent by the robot, if not, the operation of the second space identification module is executed, and if yes, the robot does not enter the passenger elevator;

the second space identification module is used for identifying the remaining space of the passenger elevator and the received self volume sent by the robot according to a camera in the passenger elevator by the elevator management control system, judging whether the remaining space of the passenger elevator is enough to be accommodated by the robot or not, if so, executing the route scheduling step, and if not, enabling the robot to not enter the passenger elevator.

In one possible embodiment, the weight identification module comprises a third weight identification module; the space recognition module comprises a third space recognition module;

the third weight identification module is used for judging whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator or not by an elevator management control system according to the weight obtained by a self-weighing system and the received self weight sent by the robot, if not, the operation of the third space identification module is executed, and if yes, the robot does not enter the passenger elevator;

and the third space identification module is used for identifying the remaining space of the passenger elevator by the robot according to the internal image of the passenger elevator so as to judge whether the remaining space of the passenger elevator is enough to be accommodated by the robot, if so, executing the route scheduling step, and if not, entering the passenger elevator by the robot.

(III) advantageous effects

According to the method and the system for the robot to get on and off the elevator, when the robot analyzes and judges that the number of people exceeding the passenger elevator limit does not exist when the robot enters the passenger elevator, the weight of the passenger elevator does not exceed the passenger elevator limit, and the remaining space of the passenger elevator is enough for the robot to accommodate the passenger elevator, the robot enters the passenger elevator. Make the robot can take the visitor's ladder to realize the man-machine sharing according to the holding capacity of visitor's ladder, a ladder multimachine has solved among the prior art the robot and has used the wasting of resources that special ladder or goods ladder caused, and the awkward problem that uses goods ladder to cause.

According to the method for getting on and off the elevator by the robot, when the elevator management control system judges that the number of people exceeding the limit number of the elevator does not exist when the robot enters the elevator, the weight of the elevator does not exceed the limit weight of the elevator, and the remaining space of the elevator is enough for the robot to accommodate, the robot enters the elevator. Make the robot can take the visitor's ladder to realize the man-machine sharing according to the holding capacity of visitor's ladder, a ladder multimachine has solved among the prior art the robot and has used the wasting of resources that special ladder or goods ladder caused, and the awkward problem that uses goods ladder to cause.

According to the method for the robot to get on and off the elevator, when the number of people exceeding the limit of the passenger elevator does not exist when the robot enters the passenger elevator, the elevator management control system judges that the weight exceeding the limit of the passenger elevator does not exist when the robot enters the passenger elevator, and the robot enters the passenger elevator when the robot autonomously detects that the remaining space of the passenger elevator is enough for the robot to accommodate the robot when the passenger elevator is opened. Make the robot can take the visitor's ladder to realize the man-machine sharing according to the holding capacity of visitor's ladder, a ladder multimachine has solved among the prior art the robot and has used the wasting of resources that special ladder or goods ladder caused, and the awkward problem that uses goods ladder to cause.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.

Fig. 1 is a flow chart of a method for getting on and off an elevator by a robot provided by the invention.

Fig. 2 is a flowchart of a first embodiment of a method for a robot to get on and off an elevator provided by the present invention.

Fig. 3 is a flowchart of a second embodiment of a method for a robot to get on and off an elevator provided by the present invention.

Fig. 4 is a flowchart of a third embodiment of a method for getting on and off an elevator by a robot according to the present invention.

Fig. 5 is a schematic structural diagram of a system for getting on and off an elevator by a robot according to the present invention.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are used for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the scope of the invention.

A first embodiment of a method for getting on and off an elevator by a robot according to the present invention will be described in detail with reference to fig. 1 and 2. As shown in fig. 1 and fig. 2, the method for getting on and off an elevator by a robot provided by this embodiment mainly includes: the method comprises a person number identification step, a weight identification step, a space identification step and a route scheduling step.

only when the three conditions are met, namely the robot does not exceed the passenger elevator limit number of people when entering the passenger elevator, does not exceed the passenger elevator limit weight and has enough robot accommodating space, the robot can take the passenger elevator (namely, the operation of the route scheduling step is executed).

And a route scheduling step, wherein the robot plans a route, enters the passenger elevator and stops at the side so as to leave a space inside the passenger elevator. In the route scheduling step, the robot can plan a route according to the remaining space of the passenger elevator, so that the robot enters the passenger elevator according to the planned route; after the robot enters the passenger elevator, the robot can stop at a preset distance from people in the passenger elevator, and can also stop at the edge of the passenger elevator or at the edge of people in the passenger elevator, so that more residual space of the passenger elevator is reserved for the use of the coming people.

The robot can monitor the surrounding situation at any time when the robot stops in the passenger elevator. The robot can monitor the distance between the robot and the person in the passenger elevator and/or the edge of the passenger elevator, so that the robot can make adjustment at any time, thereby reducing the influence on the person in the passenger elevator and avoiding the damage to the person in the passenger elevator.

Wherein the step of identifying the number of people comprises the step 101; the weight identifying step includes step 102; the space identification step comprises step 103;

step 101, analyzing the number of people in a passenger elevator and/or receiving the number information transmitted by a robot in the passenger elevator by the robot through an image in the passenger elevator, so as to judge whether the number of people entering the passenger elevator by the robot exceeds the limit number of people of the passenger elevator, if not, executing step 102, and if so, not entering the passenger elevator by the robot; the robot positioned in the passenger elevator is the robot in the passenger elevator; the number of persons equal to the number of persons in the robot is stored in the robot;

in one embodiment, a robot in the passenger elevator does not exist, so that the robot at the passenger elevator opening can shoot images in the passenger elevator through a camera arranged on the robot, and the legs, the face or the outline of a person can be identified by utilizing the identification technology of the human body; the number of people in the passenger elevator can be determined according to the number of the faces, so that the robot can judge whether the number of people exceeding the limit number of the passenger elevator exists after entering the passenger elevator according to the number of people in the passenger elevator and the number of people equal to the number of people, and if the number of people exceeding the limit number of the passenger elevator exists, the robot does not enter the passenger elevator so as to avoid the phenomenon that the number of people exceeding the limit number of the passenger elevator exists. The robot can know the number of the passengers limited by the passenger elevator through a camera arranged by the robot after analyzing the number of the passengers in the passenger elevator through the image in the passenger elevator.

In one embodiment, if there is a robot inside the passenger elevator, the number information of the passenger elevator can be transmitted to the robot at the passenger elevator entrance through the robot inside the passenger elevator, so that the robot can judge whether the number of people exceeding the limit of the passenger elevator exists after the robot enters the passenger elevator according to the number information and the number of people equal to the number of people.

In another embodiment, if there is a robot inside the passenger elevator, the robot at the passenger elevator entrance can determine whether there is a phenomenon that the number of people exceeds the limit number of people of the passenger elevator according to the number information transmitted by the robot inside the passenger elevator and the shot images inside the passenger elevator and by combining the number of people equal to the number of people.

After determining that the number of people in the elevator and/or the information of the number of people combined with the number of people equivalent to the robot does not exceed the number of people limited by the elevator after the robot enters the elevator, the user can know whether the weight of the elevator exceeds the limit weight of the elevator through step 102.

102, the robot estimates the weight of a person in the passenger elevator according to the image in the passenger elevator and/or receives weight information transmitted by the robot in the passenger elevator, so as to judge whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, executing a step 103, and if so, not entering the passenger elevator; the robot stores its own weight therein.

In one embodiment, the robot in the passenger elevator does not exist, the robot at the passenger elevator entrance can estimate the weight of the person in the passenger elevator according to the shot image in the passenger elevator, so that whether the weight of the person exceeds the limit weight of the passenger elevator or not can be judged by combining the self weight, and if the weight of the person exceeds the limit weight of the passenger elevator, the robot does not enter the passenger elevator, so that the situation that the weight of the person exceeds the limit weight of the passenger elevator, the operation of the passenger elevator is influenced, and the safety in the passenger elevator is guaranteed. The robot can know the limited weight of the passenger elevator through a camera arranged by the robot after analyzing the weight of the passenger elevator through the image inside the passenger elevator.

In one embodiment, the robot inside the passenger elevator exists, and weight information can be transmitted to the robot at the passenger elevator entrance through the robot inside the passenger elevator, so that the robot can judge whether the weight of the robot exceeds the limit weight of the passenger elevator or not after entering the passenger elevator according to the weight information and the self weight.

In another embodiment, the robot inside the passenger elevator still exists, and at this time, the robot at the passenger elevator entrance can judge whether the phenomenon that the weight of the passenger elevator is beyond the limit weight of the passenger elevator exists or not by combining the weight of the robot inside the passenger elevator according to the weight information transmitted by the robot inside the passenger elevator and the image inside the passenger elevator shot by the robot.

After it is determined that the weight of the person inside the passenger elevator and/or the weight information in combination with the weight of the robot does not exceed the limit weight of the passenger elevator after the robot enters the passenger elevator, the problem of whether the remaining space of the passenger elevator is enough for the robot to accommodate can be known through step 103.

103, identifying the remaining space of the passenger elevator by the robot according to the internal image of the passenger elevator so as to judge whether the remaining space of the passenger elevator is enough to be accommodated by the robot, if so, executing a step 104, and if not, not entering the passenger elevator by the robot; in step 103, the robot can identify the passenger elevator interior person and the position of the passenger elevator interior robot according to the passenger elevator interior image, and further can identify the remaining space of the passenger elevator; the robot can also identify the unoccupied area in the passenger elevator according to the image in the passenger elevator, and further identify the remaining space of the passenger elevator. The robot can judge whether the passenger elevator residual space can be sufficiently accommodated by the robot according to the size of the passenger elevator residual space and the size of the robot.

The number information comprises the number of people in the passenger elevator and/or the number of robots in the passenger elevator; the weight information comprises the weight of people inside the passenger elevator and/or the weight of robots inside the passenger elevator. The number of the robots in the passenger elevator is the same as the number of the robots in the passenger elevator.

The information of the number of people can also comprise the number of people limited by the passenger elevator.

In one embodiment, the number of people in the passenger elevator can be equal to the number of people in the passenger elevator, and the number of people limited by the passenger elevator can be transmitted to the robot at the passenger elevator entrance, so that the robot at the passenger elevator entrance can judge whether the number of people exceeds the number of people limited by the passenger elevator by combining the number of people equal to the number of people.

The number of people in the passenger elevator, which is transmitted by the robot in the passenger elevator, can be acquired by the robot in the passenger elevator before entering the passenger elevator, (because the robot in the passenger elevator possibly enters the passenger elevator after entering the passenger elevator), and can also include the number acquired in the passenger elevator when taking the passenger elevator.

In another embodiment, the number of people equal to the number of the robots in the passenger elevator and the number of people limited by the passenger elevator can be transmitted to the robot at the passenger elevator entrance, so that the robot at the passenger elevator entrance can judge whether the number of people exceeding the number limited by the passenger elevator exists after the robot enters the passenger elevator by combining the number of people in the passenger elevator and the number of people equal to the number of people in the passenger elevator.

The weight information may also include passenger elevator limit weight.

In one embodiment, the robot inside the passenger elevator can transmit the weight of the person inside the passenger elevator, the weight of the robot inside the passenger elevator, the limit weight of the passenger elevator and the like to the robot at the passenger elevator entrance, so that the robot at the passenger elevator entrance can judge whether the weight of the robot exceeds the limit weight of the passenger elevator or not by combining the weight of the robot.

The weight of the person in the passenger elevator, which is transmitted by the robot in the passenger elevator, can be obtained by the robot in the passenger elevator before entering the passenger elevator, (because the phenomenon that the person enters the passenger elevator may exist after the robot in the passenger elevator enters the passenger elevator), and can also be obtained in the passenger elevator when the person takes the passenger elevator.

In another embodiment, the robot inside the passenger elevator can transmit the weight of the robot inside the passenger elevator, the limit weight of the passenger elevator, and the like to the robot at the passenger elevator entrance, and the robot at the passenger elevator entrance can determine whether the weight of the person inside the passenger elevator is beyond the limit weight of the passenger elevator by combining the weight of the person inside the passenger elevator and the self weight analyzed by the image inside the passenger elevator.

In the step 102, the robot identifies the posture and height of the person according to the image inside the passenger elevator, and then estimates the weight of the person inside the passenger elevator. The robot can estimate the weight of each person by identifying the body posture and the height of each person in the passenger elevator, and further estimate the weight of the persons in the passenger elevator.

Because the person who takes the passenger elevator may carry objects, the robot can also recognize the objects in the passenger elevator according to the images in the passenger elevator, and then estimate the weight of the objects in the passenger elevator. At this time, the weight of the person inside the passenger elevator may include the weight of the passenger elevator interior.

In step 102, the robot determines whether the weight of the person inside the passenger elevator and/or the weight information in combination with the weight of the robot itself exceeds the passenger elevator limit weight. When no robot in the passenger elevator exists, the robot can judge whether the phenomenon that the weight of the entering passenger elevator exceeds the limit weight of the passenger elevator exists or not by the weight of the person in the passenger elevator and combining the weight of the robot. When the robot in the passenger elevator exists, the robot can judge whether the imagination that the weight of the entering passenger elevator exceeds the limit weight of the passenger elevator exists or not by combining the weight information transmitted by the robot in the passenger elevator and the weight of the robot. When the robot in the passenger elevator exists, the robot can judge whether the phenomenon that the weight of the robot exceeds the limit weight of the passenger elevator exists when the robot enters the passenger elevator or not by combining the weight of the robot and the weight information transmitted by the robot in the passenger elevator.

In step 103, the robot determines the remaining space of the passenger elevator through scene recognition. The robot can restore the scene according to the image in the passenger elevator, can identify the space occupied by the people in the passenger elevator and the robot in the passenger elevator by using a scene identification technology, and can also identify the unoccupied space in the passenger elevator, namely the residual space of the passenger elevator.

The robot can compare the length, width and height of the rectangular solid occupying the bottom of the passenger elevator with the length, width and height of the robot by identifying the length, width and height of the remaining space of the passenger elevator, so that whether the remaining space of the passenger elevator is enough for the robot to accommodate is judged.

In step 104, the robot enters the passenger elevator and exits the passenger elevator when the robot recognizes that the passenger elevator is overweight. Because the weight of the people inside the passenger elevator (including the weight of objects inside the passenger elevator) estimated by the robot according to the posture and the height of the people can have errors, when the robot just enters the passenger elevator, if the weight exceeding the limit weight of the passenger elevator caused by the self entering is identified, the robot can drive away from the inside of the passenger elevator to wait for the next riding.

The robot can judge whether the weight of the passenger elevator exceeds the limit weight of the passenger elevator through a voice recognition system of the robot; the robot can identify the overweight character through a camera arranged on the robot to judge whether the phenomenon of exceeding the limit weight of the passenger elevator exists.

The invention provides a method for getting on and off an elevator by a robot, which is characterized in that the robot enters a passenger elevator when analyzing and judging that the number of people does not exceed the limit number of the passenger elevator, the weight does not exceed the limit weight of the passenger elevator and the residual space of the passenger elevator is enough for the robot to accommodate the passenger elevator. The method for the robot to get on and off the elevator enables the robot to take a passenger elevator and realize man-machine sharing according to the accommodation capacity of the passenger elevator, and the robot has multiple machines on one elevator, so that the problems of resource waste caused by the fact that the robot uses a special elevator or a goods elevator and inconvenience in use caused by the fact that the robot uses the goods elevator in the prior art are solved.

A second embodiment of a method for getting on and off an elevator by a robot according to the present invention will be described in detail with reference to fig. 1 and 3. As shown in fig. 1 and fig. 3, the method for getting on and off an elevator by a robot provided by this embodiment mainly includes: the method comprises a person number identification step, a weight identification step, a space identification step and a route scheduling step.

only when the three conditions are met, namely the robot does not exceed the passenger elevator limit number of people when entering the passenger elevator, does not exceed the passenger elevator limit weight and has enough left space for the robot to accommodate, the robot takes the passenger elevator (namely, the operation of the route scheduling step is executed).

Wherein the step of identifying the number of people comprises step 201; the weight identifying step includes step 202; the space identifying step comprises step 203;

in the step 201, the elevator management control system judges whether the number of people entering the passenger elevator exceeds the limit number of people of the passenger elevator according to the number of people identified by the camera in the passenger elevator, if not, the step 202 is executed, and if yes, the robot does not enter the passenger elevator; the number of people identified by the camera in the passenger elevator comprises the number of people in the passenger elevator and the number of people in machines in the passenger elevator;

in the step 202, the elevator management control system judges whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator or not according to the weight obtained by the self-weighing system and the received self-weight sent by the robot, if not, the step 203 is executed, if yes, the robot does not enter the passenger elevator, and at the moment, the elevator management control system transmits the weight measured by the self-weighing system to the robot through a communication interface so as to inform the robot that the robot cannot take the passenger elevator; the robot sends the self weight to an elevator management control system through the wireless communication interface; the weight obtained by the self-weighing system is the weight of the person in the passenger elevator and the weight of the robot in the passenger elevator.

In step 203, the elevator management control system determines whether the remaining space of the passenger elevator is enough for the robot to accommodate according to the fact that the camera inside the passenger elevator identifies the remaining space of the passenger elevator and the received volume of the elevator itself sent by the robot, if so, the route scheduling step is executed, and if not, the robot does not enter the passenger elevator. The robot sends its own volume to the elevator management control system through a wireless communication interface provided by the elevator management system.

When the elevator management control system judges that the number of people exceeding the passenger elevator limit number when the robot enters the passenger elevator, the passenger elevator limit weight is exceeded or the remaining space of the passenger elevator is not enough for the robot to accommodate, the elevator management control system informs that the robot cannot enter the passenger elevator through a wireless communication interface provided by the elevator management control system.

In step 203, when the elevator management control system determines that the remaining space of the elevator is enough for the robot to accommodate, the elevator management control system sends a door opening instruction to the elevator whose remaining space is enough for the robot to accommodate, and sends a ready-to-take instruction to the robot, so that the robot enters the elevator after the elevator reaches the floor where the robot is located and the door is opened; the passenger elevator door opening instruction can be to open a door when arriving at a certain floor, and the robot can prepare for taking an elevator in advance after receiving the taking instruction, such as moving to a passenger elevator entrance. The elevator management control system can judge whether the remaining space of the passenger elevators is enough for the robot to accommodate so as to reduce the waiting time of the robot when the robot takes the passenger elevators.

The elevator management control system in the embodiment can weigh more accurately the weight in the passenger elevator; the weighing efficiency is improved.

According to the method for getting on and off the elevator by the robot, when the elevator management control system judges that the number of people exceeding the limit number of the elevator does not exist when the robot enters the elevator, the weight of the elevator does not exceed the limit weight of the elevator, and the remaining space of the elevator is enough for the robot to accommodate, the robot enters the elevator. The method for the robot to get on and off the elevator enables the robot to take a passenger elevator and realize man-machine sharing according to the accommodation capacity of the passenger elevator, and the robot has multiple machines on one elevator, so that the problems of resource waste caused by the fact that the robot uses a special elevator or a goods elevator and inconvenience in use caused by the fact that the robot uses the goods elevator in the prior art are solved.

A third embodiment of a method for getting on and off an elevator by a robot according to the present invention will be described in detail with reference to fig. 1 and 4. As shown in fig. 1 and 4, the method for getting on and off an elevator by a robot provided by this embodiment mainly includes: the method comprises a person number identification step, a weight identification step, a space identification step and a route scheduling step.

Wherein the weight identifying step comprises step 302; the spatial identification step comprises step 303;

in the step 302, the elevator management control system judges whether the weight of the robot entering the passenger elevator exceeds the limit weight of the passenger elevator or not according to the weight obtained by the self-weighing system and the received self weight sent by the robot, if not, the step 303 is executed, if yes, the robot does not enter the passenger elevator, and at the moment, the elevator management control system transmits the weight measured by the self-weighing system to the robot through a communication interface so as to inform the robot that the robot cannot take the passenger elevator; the robot sends the self weight to an elevator management control system through the wireless communication interface; the weight obtained by the self-weighing system is the weight of the person in the passenger elevator and the weight of the robot in the passenger elevator.

In step 303, the robot identifies the remaining space of the passenger elevator according to the internal image of the passenger elevator, so as to determine whether the remaining space of the passenger elevator is enough for the robot to accommodate itself, if so, the route scheduling step is executed, and if not, the robot does not enter the passenger elevator. The passenger elevator internal image can be a passenger elevator internal image shot by the robot when the passenger elevator is opened.

In step 303, the robot determines the remaining space of the passenger elevator through scene recognition. The robot can restore the scene according to the image in the passenger elevator, can identify the space occupied by the people in the passenger elevator and the robot in the passenger elevator by using a scene identification technology, and can also identify the unoccupied space in the passenger elevator, namely the residual space of the passenger elevator.

According to the method for the robot to get on and off the elevator, when the number of people exceeding the limit of the passenger elevator does not exist when the robot enters the passenger elevator, the elevator management control system judges that the weight exceeding the limit of the passenger elevator does not exist when the robot enters the passenger elevator, and the robot enters the passenger elevator when the robot autonomously detects that the remaining space of the passenger elevator is enough for the robot to accommodate the robot when the passenger elevator is opened. The method for the robot to get on and off the elevator enables the robot to take a passenger elevator and realize man-machine sharing according to the accommodation capacity of the passenger elevator, and the robot has multiple machines on one elevator, so that the problems of resource waste caused by the fact that the robot uses a special elevator or a goods elevator and inconvenience in use caused by the fact that the robot uses the goods elevator in the prior art are solved.

A first embodiment of a system for getting on and off an elevator by a robot according to the present invention will be described in detail with reference to fig. 5. As shown in fig. 5, the system for getting on and off the elevator by the robot provided by this embodiment mainly includes: the system comprises a number identification module, a weight identification module, a space identification module and a route scheduling module.

only when the three conditions are met, namely the robot enters the passenger elevator without the phenomenon that the number of people exceeds the limit number of the passenger elevator, the phenomenon that the weight of the passenger elevator exceeds the limit weight of the passenger elevator does not exist, and the remaining space of the passenger elevator is enough for the robot to accommodate, the robot can take the passenger elevator (namely, the operation of the route scheduling module is executed).

And the route scheduling module is used for planning a route, entering the passenger elevator and stopping along the side so as to reserve a space in the passenger elevator. After the robot enters the passenger elevator, the robot can stop at a preset distance from people in the passenger elevator, and can also stop at the edge of the passenger elevator or at the edge of people in the passenger elevator, so that more residual space of the passenger elevator is reserved for the use of the coming people.

the system includes the robot, the robot including:

the camera is arranged on the robot and used for shooting images inside the passenger elevator; the camera can also shoot the information of the number of people limited by the passenger elevator, the information of the weight limited by the passenger elevator, the overweight character and the like.

The first person number identification module is used for analyzing the number of persons in the elevator and/or receiving the number information transmitted by the robot in the elevator through the image in the elevator, so as to judge whether the number of persons entering the elevator by the robot exceeds the limit number of persons in the elevator, if not, the first weight identification module is executed, and if yes, the robot does not enter the elevator; the robot positioned in the passenger elevator is the robot in the passenger elevator; the number of persons equal to the number of persons in the robot is stored in the robot;

in one embodiment, if there is no robot inside the passenger elevator, the first person identification module of the robot at the passenger elevator entrance can identify the legs, faces, contours, etc. of a person according to the shot images inside the passenger elevator by using the human body identification technology; the number of people in the passenger elevator can be determined according to the number of the faces, so that the robot can judge whether the number of people exceeding the limit number of the passenger elevator exists after entering the passenger elevator according to the number of people in the passenger elevator and the number of people equal to the number of people, and if the number of people exceeding the limit number of the passenger elevator exists, the robot does not enter the passenger elevator so as to avoid the phenomenon that the number of people exceeding the limit number of the passenger elevator exists. The robot can know the number of the passengers limited by the passenger elevator through a camera arranged by the robot after analyzing the number of the passengers in the passenger elevator through the image in the passenger elevator.

In one embodiment, if there is a robot inside the passenger elevator, the robot inside the passenger elevator can transmit the number information of the passenger elevator to the first number identification module of the robot at the passenger elevator entrance, so that the robot can judge whether the number of people exceeding the limit of the passenger elevator exists after the robot enters the passenger elevator according to the number information and the number of people equal to the number of people.

In another embodiment, if there is a robot inside the passenger elevator, the first person identification module of the robot at the passenger elevator entrance may determine whether there is a phenomenon that the number of people exceeds the limit number of people of the passenger elevator after entering the passenger elevator according to the number information transmitted by the robot inside the passenger elevator and the captured image inside the passenger elevator.

After the number of people in the passenger elevator and/or the number of people information combined with the number of people equivalent to the robot does not exceed the number of people limited by the passenger elevator after the robot enters the passenger elevator is determined, whether the problem that the weight of the robot exceeds the limit weight of the passenger elevator can be known through the first weight identification module.

The first weight identification module is used for estimating the weight of a person in the passenger elevator according to the image in the passenger elevator and/or receiving weight information transmitted by the robot in the passenger elevator so as to judge whether the weight of the person entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, the first space identification module is operated, and if so, the robot does not enter the passenger elevator; the robot stores its own weight therein.

In one embodiment, the robot in the passenger elevator does not exist, the first weight recognition module of the robot at the passenger elevator entrance can estimate the weight of the person in the passenger elevator according to the shot image in the passenger elevator, so that whether the phenomenon that the weight of the person exceeds the limit weight of the passenger elevator exists or not can be judged by combining the weight of the robot, if the phenomenon exists, the robot does not enter the passenger elevator, the phenomenon that the weight of the person exceeds the limit weight of the passenger elevator is avoided, the operation of the passenger elevator is not influenced, and the safety in the passenger elevator is guaranteed. The robot can know the limited weight of the passenger elevator through a camera arranged by the robot after analyzing the weight of the passenger elevator through the image inside the passenger elevator.

In one embodiment, when the robot inside the passenger elevator exists, the robot inside the passenger elevator can transmit weight information to the first weight identification module of the robot at the passenger elevator entrance, so that the robot can judge whether the weight of the robot exceeds the limit weight of the passenger elevator or not according to the weight information and the weight of the robot.

In another embodiment, the robot still exists inside the passenger elevator, and at this time, the first weight recognition module of the robot at the passenger elevator entrance can judge whether the phenomenon that the weight of the robot exceeds the limit weight of the passenger elevator exists after entering the passenger elevator according to the weight information transmitted by the robot inside the passenger elevator and the shot image inside the passenger elevator.

After the robot enters the passenger elevator, when the weight of the person in the passenger elevator and/or the weight information combined with the self weight of the robot do not exceed the limit weight of the passenger elevator, the problem that whether the remaining space of the passenger elevator is enough for the robot to accommodate can be known through the first space identification module.

The first space identification module is used for identifying the remaining space of the passenger elevator according to the internal image of the passenger elevator so as to judge whether the remaining space of the passenger elevator is enough to be accommodated by the robot, if so, the first route scheduling module is operated, and if not, the robot does not enter the passenger elevator; in a first space identification module of the robot, the positions of a person in the passenger elevator and the robot in the passenger elevator can be identified according to the image in the passenger elevator, and further the residual space of the passenger elevator can be identified; the unoccupied area in the passenger elevator can be identified according to the image in the passenger elevator, and then the remaining space of the passenger elevator can be identified. The first space identification module can judge whether the remaining space of the passenger elevator can be sufficiently accommodated by the first space identification module according to the size of the remaining space of the passenger elevator and the size of the robot.

In one embodiment, the number of people in the passenger elevator can be equal to the number of people in the passenger elevator, and the number of people limited by the passenger elevator can be transmitted to the first person number identification module of the robot at the passenger elevator entrance, so that the robot at the passenger elevator entrance can judge whether the number of people exceeds the number of people limited by the passenger elevator or not by combining the number of people equal to the number of people.

In another embodiment, the number of people equivalent to the number of the robots in the passenger elevator and the number of people limited by the passenger elevator can be transmitted to the first number identification module of the robot at the passenger elevator entrance, so that the number of people in the passenger elevator entrance can be analyzed by combining the images in the passenger elevator and the number of people equivalent to the number of people in the passenger elevator to judge whether the number of people exceeding the number of people limited by the passenger elevator exists after the robot enters the passenger elevator.

The weight information may also include passenger elevator limit weight.

In one embodiment, the robot inside the passenger elevator can transmit the weight of the person inside the passenger elevator, the weight of the robot inside the passenger elevator, the limit weight of the passenger elevator and the like to the first weight identification module of the robot at the passenger elevator door, so that the robot at the passenger elevator door can judge whether the limit weight of the passenger elevator is exceeded or not after the robot enters the passenger elevator by combining the weight of the robot.

In another embodiment, the robot inside the passenger elevator can transmit the weight of the robot inside the passenger elevator, the limit weight of the passenger elevator, and the like to the first weight recognition module of the robot at the passenger elevator entrance, and the robot at the passenger elevator entrance can determine whether the weight of the person inside the passenger elevator is beyond the limit weight of the passenger elevator by combining the weight of the person inside the passenger elevator and the self weight analyzed by the image inside the passenger elevator.

The first weight identification module is used for identifying the posture and the height of a person according to the image in the passenger elevator, and then estimating the weight of the person in the passenger elevator. Because the person who takes the passenger elevator may carry objects, the first weight identification module of the robot can also identify the objects in the passenger elevator according to the images in the passenger elevator, and then estimate the weight of the objects in the passenger elevator. At this time, the weight of the person inside the passenger elevator may include the weight of the passenger elevator interior.

The first weight identification module is used for judging the weight of the person in the passenger elevator and/or the weight information and combining whether the self weight of the robot exceeds the limit weight of the passenger elevator.

The space identification module is used for judging the remaining space of the passenger elevator through scene identification. The space identification module can restore the scene according to the images in the passenger elevator, can identify the space occupied by people in the passenger elevator and the robot in the passenger elevator by using a scene identification technology, and can also identify the unoccupied space in the passenger elevator, namely the residual space of the passenger elevator.

The space identification module can compare the length, the width and the height of the passenger elevator residual space, namely the length, the width and the height of a cuboid occupying the bottom of the passenger elevator with the length, the width and the height of the robot by identifying the length, the width and the height of the passenger elevator residual space, so that whether the passenger elevator residual space is enough for the robot to accommodate is judged.

The first route scheduling module is used for exiting the passenger elevator when the overweight of the passenger elevator is identified. When the robot just enters the passenger elevator, if the weight of the robot exceeds the limit weight of the passenger elevator due to self-entering is recognized, the robot can drive away from the interior of the passenger elevator to wait for next riding.

In other embodiments, the people recognition module comprises a second people recognition module; the weight recognition module comprises a second weight recognition module; the space identification module comprises a second space identification module;

In other embodiments, the weight identification module comprises a third weight identification module; the space recognition module comprises a third space recognition module;

According to the system for the robot to get on and off the elevator, when the robot analyzes and judges that the number of people exceeding the limit number of the passenger elevator does not exist when the robot enters the passenger elevator, the weight of the robot does not exceed the limit number of the passenger elevator, and the remaining space of the passenger elevator is enough for the robot to accommodate the robot, the robot enters the passenger elevator; when the elevator management control system judges that the number of people exceeding the passenger elevator limit does not exist when the robot enters the passenger elevator, the weight of the robot does not exceed the passenger elevator limit, and the remaining space of the passenger elevator is enough for the robot to accommodate, the robot enters the passenger elevator; when the number of people exceeding the passenger elevator limit number does not exist when the robot enters the passenger elevator, the elevator management control system judges that the number of people exceeding the passenger elevator limit weight does not exist when the robot enters the passenger elevator, and when the robot automatically detects that the remaining space of the passenger elevator is enough for the robot to accommodate the robot when the passenger elevator is opened, the robot enters the passenger elevator. The system for the robot to get on and off the elevator enables the robot to take a passenger elevator and realize man-machine sharing according to the accommodation capacity of the passenger elevator, and the robot has multiple machines, so that the problems of resource waste caused by the use of a special elevator or a goods elevator by the robot and inconvenience in use caused by the use of the goods elevator in the prior art are solved.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A method for a robot to get on and off an elevator, comprising the steps of:

2. The method of getting on or off an elevator by a robot according to claim 1, wherein the number-of-people recognizing step comprises the steps of 101; the weight identifying step includes step 102; the space identification step comprises step 103; the route scheduling step includes step 104;

in the step 102, the robot estimates the weight of the person inside the passenger elevator according to the image inside the passenger elevator and/or receives weight information transmitted by the robot inside the passenger elevator, so as to judge whether the weight of the person entering the passenger elevator exceeds the limit weight of the passenger elevator, if not, the step 103 is executed, and if yes, the robot does not enter the passenger elevator;

in the step 103, the robot identifies the remaining space of the passenger elevator according to the internal image of the passenger elevator, so as to determine whether the remaining space of the passenger elevator is enough for the robot to accommodate itself, if so, the step 104 is executed, and if not, the robot does not enter the passenger elevator.

3. The method for getting on and off an elevator by a robot as claimed in claim 2, wherein the information of the number of people comprises the number of people in the elevator and/or the number of machines in the elevator; the weight information comprises the weight of people in the passenger elevator and/or the weight of a robot in the passenger elevator; in the step 102, the robot identifies the posture and height of the person according to the image inside the passenger elevator, and then estimates the weight of the person inside the passenger elevator.

4. The method of getting on or off an elevator by a robot according to claim 1, wherein the number-of-people recognizing step comprises step 201; the weight identifying step includes step 202; the space identifying step comprises step 203;

5. The method of robot entering and exiting an elevator according to claim 1, wherein the weight identifying step comprises step 302; the spatial identification step comprises step 303;

6. A system for a robot to get on and off an elevator, comprising:

7. The system of claim 6, wherein the people recognition module comprises a first people recognition module; the weight identification module comprises a first weight identification module; the space identification module comprises a first space identification module; the route scheduling module comprises a first route scheduling module;

the system includes the robot, the robot including:

8. The system for getting on and off an elevator by a robot as claimed in claim 7, wherein the information of the number of people comprises the number of people in the elevator and/or the number of machines in the elevator; the weight information comprises the weight of people in the passenger elevator and/or the weight of a robot in the passenger elevator; the first weight identification module is used for identifying the posture and the height of a person according to the image in the passenger elevator so as to estimate the weight of the person in the passenger elevator.

9. The system of claim 6, wherein the people recognition module comprises a second people recognition module; the weight recognition module comprises a second weight recognition module; the space identification module comprises a second space identification module;

10. The system of claim 6, wherein the weight identification module comprises a third weight identification module; the space recognition module comprises a third space recognition module;