CN112320525B - Method and device for clearing elevator obstacle, computer equipment and storage medium - Google Patents
Method and device for clearing elevator obstacle, computer equipment and storage medium Download PDFInfo
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- CN112320525B CN112320525B CN202011296875.2A CN202011296875A CN112320525B CN 112320525 B CN112320525 B CN 112320525B CN 202011296875 A CN202011296875 A CN 202011296875A CN 112320525 B CN112320525 B CN 112320525B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
Abstract
The application relates to a method and a device for clearing obstacles of an elevator, computer equipment and a storage medium. The method comprises the following steps: acquiring data collected by an elevator light curtain of the current elevator; if the situation that an obstacle blocks the closing of the elevator door of the current elevator is identified according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car; determining information of the obstacle according to the first image and the second image; and generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle. By adopting the method, the barrier is automatically cleared through the robot, which is beneficial to improving the clearing efficiency of the barrier of the elevator.
Description
Technical Field
The application relates to the technical field of elevators, in particular to a method and a device for clearing obstacles of an elevator, computer equipment and a storage medium.
Background
In real life, with the development of urbanization, elevators have become essential vertical transportation means in people's lives.
However, when the elevator door of the elevator has a barrier to prevent the elevator door from being closed, the elevator cannot normally operate, and after an owner generally complains about property personnel, the property personnel can arrange professional personnel to treat the barrier, so that the time is long, and the clearing efficiency of the elevator barrier is low.
Disclosure of Invention
In view of the above, it is desirable to provide a method, an apparatus, a computer device, and a storage medium for removing an elevator obstacle, which can improve the efficiency of removing the elevator obstacle.
A method of clearing an elevator obstruction, the method comprising:
acquiring data collected by an elevator light curtain of the current elevator;
if it is recognized that an obstacle blocks the closing of the elevator door of the current elevator according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car;
determining information of the obstacle according to the first image and the second image;
and generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle.
In one embodiment, the determining information of the obstacle according to the first image and the second image includes:
extracting a first image feature of the first image and a second image feature of the second image;
and determining position information and model information of the obstacle according to the first image characteristic and the second image characteristic to serve as information of the obstacle.
In one embodiment, the generating an obstacle clearing instruction according to the information of the obstacle includes:
acquiring historical obstacle clearing records;
determining a clearing route and a clearing mode of the obstacle according to the historical obstacle clearing record and the obstacle information;
generating the obstacle clearing instruction according to the clearing route and the clearing mode;
the will the obstacle clearance instruction sends to the target robot, triggers the target robot to clear away the obstacle includes:
and sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle according to the clearing route and the clearing mode.
In one embodiment, before sending the obstacle clearing instruction to the target robot, the method further comprises:
determining a robot associated with the current elevator;
screening out the robot with the shortest distance to the current elevator from the related robots as the target robot;
or the like, or, alternatively,
and screening out idle robots from the related robots as the target robots.
In one embodiment, the method further comprises:
acquiring obstacle clearing data uploaded by the target robot, and re-acquiring the first image and the second image;
if the obstacle is recognized not to be cleared completely according to the first image, the second image and the obstacle clearing data, generating a secondary clearing instruction;
and sending the secondary clearing instruction to the target robot, and triggering the target robot to carry out secondary clearing on the obstacle until the obstacle is cleared completely.
In one embodiment, the method further comprises:
if the obstacle is recognized to be cleared completely according to the first image, the second image and the obstacle clearing data, but the obstacle is not placed at a preset position, generating an obstacle removing instruction;
and sending the obstacle removing instruction to the target robot, and triggering the target robot to move the obstacle to the preset position.
In one embodiment, the method further comprises:
if the obstacle is recognized to be cleared completely according to the first image, the second image and the obstacle clearing data, and the obstacle is placed at a preset position, obstacle clearing success information is generated;
respectively sending the obstacle clearing success information to the target robot and an elevator control system of the current elevator; the obstacle clearing success information is used for triggering the target robot to leave the current elevator and executing the next work; the barrier clearing success information is also used for triggering the elevator control system to control the closing of the elevator door of the current elevator and controlling the current elevator to enter a normal running state.
An elevator obstruction clearing device, the device comprising:
the data acquisition module is used for acquiring data acquired by the elevator light curtain of the current elevator;
the image acquisition module is used for acquiring a first image and a second image if a barrier is identified to block the closing of the elevator door of the current elevator according to the data acquired by the elevator light curtain; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car;
an information determination module for determining information of the obstacle according to the first image and the second image;
and the instruction sending module is used for generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to the target robot and triggering the target robot to clear the obstacle.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring data collected by an elevator light curtain of the current elevator;
if it is recognized that an obstacle blocks the closing of the elevator door of the current elevator according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car;
determining information of the obstacle according to the first image and the second image;
and generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring data collected by an elevator light curtain of the current elevator;
if it is recognized that an obstacle blocks the closing of the elevator door of the current elevator according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car;
determining information of the obstacle according to the first image and the second image;
and generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle.
The method, the device, the computer equipment and the storage medium for clearing the elevator barrier acquire data acquired by the elevator light curtain of the current elevator; if the situation that an obstacle blocks the closing of the elevator door of the current elevator is identified according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by the camera arranged in the elevator car; determining information of the obstacle according to the first image and the second image; generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle; when the situation that the elevator door of the current elevator is closed due to the fact that the obstacle is detected to block is detected, the robot is automatically controlled to clean the obstacle, personnel do not need to participate in the whole process, accordingly, the clearing process of the elevator obstacle is simplified, and clearing efficiency of the elevator obstacle is further improved.
Drawings
Fig. 1 is a diagram of an application environment of a method for clearing an elevator obstacle according to an embodiment;
fig. 2 is a schematic flow chart of a method for clearing an elevator obstruction according to an embodiment;
FIG. 3 is a flow diagram illustrating the steps of generating an obstacle clearing instruction in one embodiment;
fig. 4 is a schematic flow chart of a method for clearing an elevator obstacle according to another embodiment;
fig. 5 is a block diagram showing the construction of an elevator obstacle removing apparatus according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The clearing method of the elevator barrier can be applied to the application environment shown in figure 1. Wherein, the server 120 is connected with the elevator light curtain, the first camera, the second camera and the target robot 130 in the elevator 110 through the network respectively; the elevator light curtain is a light ray type elevator door safety protection device, consists of three major parts, namely an infrared emitter and a receiver which are arranged on two sides of an elevator car door and a special flexible cable, and is particularly used for detecting whether an obstacle blocks the closing of the elevator door; in addition, the elevator light curtain is also provided with a first camera which is generally positioned at the top end of the elevator car close to the car door side or the top end between the car door and the landing door and used for shooting images or videos between the elevator car door and the landing door; the second camera is arranged in the elevator car and used for collecting images in the elevator car; in a real scene, the elevator light curtain provided with the first camera is also referred to as video light curtain. The server 120 may be implemented by a stand-alone server or a server cluster composed of a plurality of servers, and in a practical scenario, the server 120 refers to a server of a big data center. The target robot 130 refers to an intelligent robot capable of clearing an elevator obstacle.
Specifically, referring to fig. 1, the elevator light curtain in the current elevator 110 uploads the data it collects to the server 120; the server 120 analyzes the data acquired by the elevator light curtain, acquires a first image around the elevator door acquired by a first camera configured to the elevator light curtain and a second image in the elevator car acquired by a second camera installed in the elevator car if it is identified that an obstacle blocks the closing of the elevator door of the current elevator according to the data acquired by the elevator light curtain, and determines the information of the obstacle according to the first image and the second image; according to the information of the obstacles, an obstacle clearing instruction is generated and sent to the target robot 130, and the target robot 130 clears the obstacles of the current elevator according to the obstacle clearing instruction, so that the effect of automatically clearing the obstacles of the elevator is achieved.
In one embodiment, as shown in fig. 2, there is provided a method for clearing an elevator obstacle, which is described by way of example as applied to the server in fig. 1, and includes the following steps:
and step S201, acquiring data acquired by the elevator light curtain of the current elevator.
The elevator light curtain is an elevator door safety protection device manufactured by utilizing a photoelectric sensing principle; the data collected by the elevator light curtain is signals output by the elevator light curtain, such as interrupt signals, and the interrupt signals indicate that an obstacle blocks the closing of the elevator door of the current elevator. It should be noted that the interrupt signal may refer to a high-low level signal.
The elevator light curtain comprises an elevator light curtain, a plurality of infrared transmitting tubes, a plurality of infrared receiving tubes and a plurality of infrared receiving tubes, wherein the infrared transmitting tubes are arranged on one side of the elevator light curtain at equal intervals, the infrared receiving tubes are correspondingly arranged on the other side of the elevator light curtain in the same number, and each infrared transmitting tube corresponds to one corresponding infrared receiving tube and is arranged on the same straight line; when no barrier exists between the infrared transmitting tube and the infrared receiving tube on the same straight line, the modulation signal (optical signal) sent by the infrared transmitting tube can smoothly reach the infrared receiving tube; after the infrared receiving tube receives the modulation signal, the corresponding internal circuit outputs a low level, and under the condition of an obstacle, the modulation signal (optical signal) sent by the infrared transmitting tube cannot smoothly reach the infrared receiving tube, so that the infrared receiving tube cannot receive the modulation signal, and the corresponding internal circuit outputs a high level; therefore, when no object passes through the light curtain, the modulation signals (light signals) sent by all the infrared transmitting tubes can smoothly reach the corresponding infrared receiving tubes on the other side, so that all the internal circuits output low levels; when an object passes through the light curtain, the modulation signal (light signal) emitted by at least one infrared transmitting tube cannot smoothly reach the corresponding infrared receiving tube on the other side, so that the signal output by the internal circuit is a signal containing high level and low level, namely a signal of high level and low level.
Specifically, the elevator light curtain of the current elevator uploads the data acquired by the elevator light curtain to the server in real time, and the server analyzes the data acquired by the elevator light curtain to determine whether an obstacle blocks the closing of the elevator door of the current elevator. It should be noted that, when the elevator light curtain detects that an obstacle blocks the closing of the elevator door of the current elevator, the elevator light curtain outputs a door opening signal to the door control module of the current elevator, and the door control module controls the car door to stop closing and reverse opening according to the door opening signal until the car door can be normally closed after the obstacle leaves the warning area, so that the safety protection purpose is achieved, and the occurrence of accidents caused by people being caught in the elevator can be avoided.
Step S202, if it is recognized that an obstacle blocks the closing of the elevator door of the current elevator according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around an elevator door acquired by a first camera configured on an elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car.
The first camera is used for shooting images or videos around the elevator door, and the images around the elevator door refer to images between the elevator car door and the hall door; the second camera is used for shooting images or videos in the whole elevator car. It should be noted that, the number of the first camera and the second camera may be one or more, and the specific number may be adjusted according to the actual situation.
The server is used for acquiring images of the periphery of the elevator door acquired by the first camera and images in the elevator car acquired by the second camera, and uploading the images to the server in real time.
The elevator light curtain provided with the first camera can also be called a video light curtain, the video light curtain detects whether a barrier blocks the closing of the elevator door of the current elevator in a mode of combining an infrared light curtain and a safety touch panel, and can also judge whether the barrier blocks the closing of the elevator door of the current elevator by using an image or a video between the car door and the hoistway door acquired by the first camera, so that a light curtain system is more perfect and safer.
The obstacle is an object for blocking the door of the elevator, such as glass, ropes, bags, battens and the like.
Specifically, the server analyzes data collected by the elevator light curtain, and if the data collected by the elevator light curtain, namely the signal output by the elevator light curtain, is not an interrupt signal, it indicates that no barrier blocks the closing of the elevator door of the current elevator; if the signal output by the elevator light curtain is an interrupt signal, it indicates that an obstacle blocks the closing of the elevator door of the current elevator; then, the server calls the image (namely the first image) around the elevator door acquired by the first camera of the current elevator and the image (namely the second image) in the elevator car acquired by the second camera of the current elevator, so that the information of the obstacle blocking the closing of the elevator door of the current elevator can be confirmed subsequently according to the first image and the second image. Therefore, through analyzing the data collected by the elevator light curtain, whether the barrier blocks the closing of the elevator door of the current elevator can be determined, the situation that the owner complains about property personnel or feeds back to a special property platform is not needed, the effect that whether the barrier blocks the closing of the elevator door of the current elevator is monitored in real time is achieved, and therefore the monitoring efficiency of the elevator barrier is improved.
It should be noted that the data collected by the elevator light curtain carries the elevator identifier of the elevator where the elevator light curtain is located and the floor identifier of the current floor.
Step S203 determines information of the obstacle from the first image and the second image.
The information of the obstacle refers to information such as a specific position, material, shape, size, weight, and the like of the detected obstacle.
Specifically, the server inputs a first image and a second image into a pre-trained image recognition model, and the first image and the second image are subjected to image analysis processing through the pre-trained image recognition model, so that information of the obstacle can be obtained; therefore, the information of the barrier does not need to be determined manually, and the subsequent barrier clearing efficiency is improved.
And step S204, generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to the target robot, and triggering the target robot to clear the obstacle.
The obstacle clearing instruction comprises a clearing route, a clearing mode and a floor where the obstacle is located.
Specifically, the server determines a clearing route and a clearing mode according to the information of the obstacles; determining the floor where the barrier is located according to the floor identification of the current floor carried by the data collected by the elevator light curtain; generating an obstacle clearing instruction according to the clearing route, the clearing mode and the floor where the obstacle is located, and sending the obstacle clearing instruction to a target robot associated with the current elevator; the target robot clears away the instruction according to the barrier, goes to the floor that the barrier of current elevator is located to clear away the barrier, reached the effect of automatic clear barrier, need not property personnel and arrange the professional and handle the barrier, thereby saved a large amount of time, further improved the efficiency of clearing away of elevator barrier.
When the server detects that the elevator door of the current elevator is closed due to the obstruction, the server analyzes the first image and the second image to determine the information of the obstruction in real time; if the obstacle is still not cleared beyond the preset time (such as 5 minutes), and no person enters or exits the elevator at present, the elevator at present is considered to be unreasonably occupied, and the target robot is scheduled to clear the obstacle at this time.
When the server sends the obstacle clearing instruction to the target robot, the server also sends the door opening instruction to the elevator control system of the current elevator to trigger the elevator control system to control the elevator door to keep the open state.
In the method for clearing the elevator barrier, data collected by the elevator light curtain of the current elevator are acquired; if the situation that an obstacle blocks the closing of the elevator door of the current elevator is identified according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by the camera arranged in the elevator car; determining information of the obstacle according to the first image and the second image; generating an obstacle clearing instruction according to the information of the obstacle, sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle; when the situation that the elevator door of the current elevator is closed due to the fact that the obstacle is detected to block is detected, the robot is automatically controlled to clean the obstacle, personnel do not need to participate in the whole process, accordingly, the clearing process of the elevator obstacle is simplified, and clearing efficiency of the elevator obstacle is further improved.
In one embodiment, in step S203, determining information of the obstacle according to the first image and the second image includes: extracting a first image feature of the first image and a second image feature of the second image; and determining position information and model information of the obstacle as the information of the obstacle according to the first image characteristic and the second image characteristic.
The position information of the barrier refers to the specific position of the barrier between the car door and the hall door; the model information refers to the size, material, shape and weight of the obstacle.
The first image characteristic is used for representing characteristic information of the first image, and the second image characteristic is used for representing characteristic information of the second image.
Specifically, the server performs image feature extraction processing on a first image and a second image to obtain a first image feature of the first image and a second image feature of the second image; and inputting the first image characteristics of the first image and the second image characteristics of the second image into a pre-trained image recognition model to obtain the position information and the model information of the obstacle.
For example, image analysis processing is performed on the first image and the second image through a pre-trained image recognition model, so as to obtain obstacle information related to the specific position, size, material, shape and the like of the obstacle; and evaluating the weight of the obstacle through a pre-trained obstacle weight evaluation model based on the collision condition of the elevator door to the obstacle or the size, the material and the shape of the obstacle. According to the technical scheme provided by the embodiment, the basis is provided for subsequently determining the clearing route and the clearing mode of the obstacle by determining the information of the obstacle.
In one embodiment, as shown in fig. 3, in step S204, the generating an obstacle clearing instruction according to the information of the obstacle specifically includes the following steps:
in step S301, a historical obstacle clearance record is acquired.
The historical obstacle clearing record refers to past obstacle clearing archived data, and specifically includes: time of clearance, accuracy and validity of the clearance route, whether the clearance mode is reasonable, accuracy of estimation of obstacle weight and other information, problems occurring during clearance, and the like.
It should be noted that, the robot collects relevant data in each obstacle clearing process, such as clearing time, accuracy and effectiveness of clearing routes, whether clearing methods are reasonable, accuracy of estimation of obstacle weight and other information, problems occurring in the clearing process, and the like, and the data are uploaded to the server through the robot to be stored for later use after the obstacle clearing process is completed. Specifically, the server retrieves historical obstacle clearance records from a local database storing historical obstacle clearance records as an auxiliary condition for subsequently determining a clearance route and a clearance mode of the obstacle.
Step S302, according to historical obstacle clearing records and obstacle information, a clearing route and a clearing mode of the obstacles are determined.
The obstacle clearing route is a clearing path of the target robot to the obstacle, such as repeatedly moving around the elevator door; the clearing mode comprises a general clearing mode and a powerful clearing mode, in an actual scene, the target robot firstly opens the general clearing mode, repeatedly moves around the elevator door according to a set clearing route, and automatically pushes the obstacle away from the elevator door, into the elevator car or to the side of the elevator door opening if the obstacle is touched in the moving process; if the weight of the obstacle exceeds the weight of the normal clearing mode, a powerful clearing mode is started, and the obstacle at the elevator door is removed.
Specifically, the server determines a clearing route and a clearing way of the obstacle based on historical obstacle clearing records and obstacle information through a model for determining the clearing route and the clearing way; for example, if the weight and the size of the obstacle are small, the obstacle clearing route and the obstacle clearing mode are determined to be a repeated moving mode and a common clearing mode around the elevator door respectively.
Step S303, generating an obstacle clearing instruction according to the clearing route and the clearing mode.
Specifically, the server determines the floor where the obstacle is located on the current elevator, and generates an obstacle clearing instruction according to the floor where the obstacle is located on the current elevator, a clearing route and a clearing mode.
Then, in step S204, an obstacle clearing instruction is sent to the target robot to trigger the target robot to clear the obstacle, which specifically includes the following steps: and sending the obstacle clearing instruction to the target robot, and triggering the target robot to clear the obstacle according to the clearing route and the clearing mode.
For example, the server sends an obstacle clearing instruction to the target robot; the target robot analyzes the obstacle clearing instruction to obtain the floor where the obstacle is located in the current elevator, the clearing route and the clearing mode of the obstacle, the target robot goes to the floor where the obstacle is located in the current elevator, and the obstacle is automatically cleared according to the clearing route and the clearing mode of the obstacle.
The technical scheme that this embodiment provided clears away the barrier through the target robot, has reached the effect of automatic clear barrier, need not property personnel and arranges the professional to handle the barrier to save a large amount of time, further improved the efficiency of clearing away of elevator barrier.
In one embodiment, before sending the obstacle clearing instruction to the target robot in step S204, the method includes: determining a robot associated with a current elevator; and screening out the robot with the shortest distance to the current elevator from the associated robots as a target robot, or screening out the idle robot from the associated robots as the target robot.
Specifically, the server inquires the association relationship between the elevator identification and the robot according to the elevator identification of the current elevator, and determines the robot associated with the current elevator; each robot is in communication connection with the server, so the server can acquire the position information of the robot associated with the current elevator, and determine the distance between the robot associated with the current elevator and the current elevator according to the position information of the robot associated with the current elevator and the position information of the current elevator; and screening out the robot with the shortest distance to the current elevator from the related robots according to the distance to serve as the target robot.
In addition, the server can also screen out idle robots from the robots associated with the current elevator as target robots; or screening out the robot with the optimal obstacle clearing experience value from the robot associated with the current elevator as a target robot; or screening out the robot with the optimal obstacle clearing effect from the robot associated with the current elevator as a target robot; or screening out the robot with the optimal maintenance condition from the robots related to the current elevator as the target robot.
The technical scheme that this embodiment provided, through determining suitable robot, as the target robot, be favorable to the follow-up obstacle clearance instruction to send to the target robot, trigger the target robot and carry out automatic clear to the obstacle.
In one embodiment, the method for clearing the elevator barrier provided by the application further comprises the following steps: acquiring obstacle clearing data uploaded by a target robot, and re-acquiring a first image and a second image; if the obstacle is recognized not to be cleared completely according to the first image, the second image and the obstacle clearing data, generating a secondary clearing instruction; and sending the secondary clearing instruction to the target robot, and triggering the target robot to carry out secondary clearing on the obstacle until the obstacle is cleared completely.
For example, after the obstacle clearance is completed, the target robot uploads the clearance result and the data collected in the clearance process together as obstacle clearance data to the server; after the server receives the obstacle clearing data uploaded by the target robot, the server recalls the image (namely a first image) around the elevator door acquired by the first camera of the current elevator and the image (namely a second image) in the elevator car acquired by the second camera of the current elevator; analyzing the first image, the second image and the obstacle clearing data to determine whether the obstacle is really cleared, if the obstacle is identified not to be cleared, re-formulating an optimal clearing route and an optimal clearing mode according to the obstacle clearing data (namely the situation of first clearing) uploaded by the target robot and combining the first image and the second image, generating a secondary clearing instruction according to the optimal clearing route and the optimal clearing mode, and then sending the secondary clearing instruction to the target robot; and the target robot carries out secondary clearing on the barrier according to the secondary clearing instruction and the optimal clearing route and the optimal clearing mode until the barrier is cleared completely.
The technical scheme that this embodiment provided, under the condition that discerns the barrier and not clear away finishing, then generate the secondary and clear away the instruction to trigger target robot and clear away the instruction according to the secondary and carry out the secondary to the barrier, clear away finishing up to the barrier, guaranteed that the barrier can be cleared away completely.
In one embodiment, the method for clearing the elevator barrier provided by the application further comprises the following steps: if the obstacle is recognized to be cleared completely according to the first image, the second image and the obstacle clearing data, but the obstacle is not placed at the preset position, generating an obstacle removing instruction; and sending the obstacle removing instruction to the target robot, and triggering the target robot to move the obstacle to the preset position.
The preset position is the position close to the elevator door, and the pedestrian is not influenced or hindered to come in and go out as far as possible. It should be noted that, in the process of clearing the obstacle by the target robot, if the obstacle is not placed at a proper position, and further the pedestrian is influenced to come in and go out, trip the pedestrian, or cause personal injury to the person, the target robot needs to be mobilized to reprocess the obstacle, so as to place the obstacle at a proper position.
For example, the server analyzes the re-collected first image, the re-collected second image and obstacle clearing data uploaded by the target robot to determine whether the obstacle is really cleared, if the obstacle clearing is identified to be cleared, but the obstacle is not placed at a preset position, the use of an elevator by a user may be influenced, or personal injury may be caused to personnel is caused, in this time, the server reformulates an optimal clearing route and an optimal clearing mode according to the obstacle clearing data (namely the situation of first clearing) uploaded by the target robot, combines the first image and the second image, generates an obstacle removing instruction according to the optimal clearing route and the optimal clearing mode, and then sends the obstacle removing instruction to the target robot; the target robot processes the barrier according to the barrier removing instruction and the optimal clearing route and clearing mode, and pushes the barrier to the elevator door, so that the influence on the normal use of the elevator and unnecessary elevator accidents are avoided.
According to the technical scheme provided by the embodiment, when the obstacle is recognized to be cleared, but the obstacle is not placed at the preset position, the obstacle removing instruction is generated, the target robot is triggered to place the obstacle at the proper position according to the obstacle removing instruction, and the influence on normal use of the elevator and unnecessary elevator accidents are avoided.
In one embodiment, the method for clearing the elevator barrier provided by the application further comprises the following steps: if the obstacle is recognized to be cleared completely according to the first image, the second image and the obstacle clearing data, and the obstacle is placed at a preset position, obstacle clearing success information is generated; respectively sending the obstacle clearing success information to the target robot and the elevator control system of the current elevator; the obstacle clearing success information is used for triggering the target robot to leave the current elevator and executing the next work; the obstacle clearing success information is also used for triggering the elevator control system to control the closing of the elevator door of the current elevator and controlling the current elevator to enter a normal running state.
For example, the server analyzes the re-collected first image, the second image and the obstacle clearing data uploaded by the target robot to determine whether the obstacle is really cleared, if the obstacle clearing is identified to be finished and the obstacle is placed at a preset position, the use of an elevator by a user is not influenced or personal injury to personnel is not caused, the obstacle clearing is finished and the obstacle is properly placed, and the obstacle clearing is successful; at this time, the server generates obstacle removal success information and transmits the obstacle removal success information to the target robot and the elevator control system of the current elevator. After the target robot receives the obstacle clearing success information, the elevator obstacle is confirmed to be thoroughly cleared, the target robot leaves the current elevator and is put into the next work, such as obstacle clearing work, and meanwhile clearing data of the obstacle are uploaded to a server to be filed, so that data basis is provided for clearing other obstacles later. And after the elevator control system of the current elevator receives the obstacle clearing success information, the elevator control system confirms that the elevator obstacle is thoroughly cleared, controls the elevator door of the current elevator to be closed, and controls the current elevator to enter a normal operation state so as to enable the current elevator to recover the normal operation.
According to the technical scheme, the obstacle clearing success information is generated under the condition that the obstacle is identified to be cleared completely and is placed at the preset position, so that the target robot is favorably triggered to leave the current elevator, next work is executed, the elevator control system is triggered to control the elevator door of the current elevator to be closed, the current elevator is controlled to enter a normal running state, and the normal running of the current elevator is ensured.
In order to clarify the clearing method of the elevator obstacle provided by the embodiment of the application more clearly, the clearing method of the elevator obstacle is explained by a specific example; in one embodiment, as shown in fig. 4, another method for clearing an obstacle of an elevator is provided, which specifically includes the following steps:
1. when the elevator light curtain technology detects that a barrier blocks the closing of the elevator door, the video of the barrier around the elevator door is recorded in real time, the video and the video of the camera in the elevator car are synchronously analyzed by the elevator big data center, if the time exceeds 5 minutes, the barrier is still not cleared, and no person enters or exits the elevator, the elevator is considered to be unreasonably occupied.
2. The elevator big data center utilizes data collected by a light curtain technology, combines analysis of light curtain videos and car interior videos, detects specific positions, materials, shapes, sizes and the like of obstacles, estimates approximate weights of the obstacles according to the detection results, and provides a sufficient and effective data basis for formulation and mode selection of a clearing route.
3. After the elevator big data center analyzes the collected data and videos, on the basis of the existing condition, the advantages of the big data and the strong support of mass data are fully exerted, the archived data are cleared by combining the previous obstacles, the optimal route and the optimal clearing mode for clearing the obstacles by the robot are formulated, and the relevant data and the clearing data of the elevator are issued to the robot.
4. And after receiving the data transmitted from the elevator big data center, the robot quickly positions the corresponding elevator and enters the corresponding floor, clears the elevator barrier according to the received established clearing route and clearing mode, and collects the data of the clearing condition in real time in the clearing process.
5. The robot opens the general cleaning mode at first, moves around the elevator door repeatedly according to the established cleaning route, and pushes the obstacle away from the elevator door to the elevator car or the side of the elevator door when the robot touches the obstacle in the moving process. If the weight of the obstacle exceeds the weight of the normal clearing mode, a powerful clearing mode is started, and the obstacle at the elevator door is removed.
6. And after the robot finishes clearing, uploading the result and the data collected in the clearing process to the elevator big data center. And the elevator big data center dynamically analyzes the clearing condition according to the result fed back by the robot and by combining the data and the video collected by the light curtain and the video in the car, and feeds back the clearing result to the robot.
7. If the first clearing is not completely finished, the big data center formulates the optimal clearing route and the clearing mode again according to the condition of the first clearing of the robot, and sends data to the robot again to tell the robot that the robot needs to carry out secondary clearing. And after receiving the data of the big data center, the robot carries out secondary clearing on the elevator barrier until the barrier is completely cleared.
8. If the elevator big data center analyzes that the removed obstacles can influence the use of the elevator by a user or can cause personal injury to personnel, the big data center automatically processes the optimal route and the optimal processing mode by the obstacles and sends the optimal route and the optimal processing mode to the robot. The robot processes the barrier according to the received route and mode, pushes the barrier to the side, and avoids influencing normal use of the elevator and unnecessary accidents.
9. After the large data center analyzes and detects that the obstacles are completely removed and the treatment is proper, a success signal is sent to the robot to tell the robot that the obstacles of the elevator are completely removed, and the elevator can recover to normally run.
10. After the elevator returns to normal operation, the robot can be put into the next work.
11. The elevator big data center archives the data of the obstacle clearing at this time and provides data basis for clearing other obstacles later.
According to the technical scheme provided by the embodiment, the video light curtain technology and the data collected by the camera in the car are used for analyzing and detecting the specific direction and size of the elevator barrier through the elevator big data, then an optimal clearing route and a clearing mode are formulated, the clearing route is sent to the elevator robot, and the elevator barrier is cleared by the robot according to the established route so as to recover the normal operation of the elevator; the robot is in the in-process of cleaing away the barrier, also can real-time recording to unreasonable route to feed back to elevator big data center, provide the data basis for route optimization and the later stage's of secondary clearance route, realized the effect of automatic clear elevator barrier, further improved the clearance efficiency of elevator barrier.
It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 5, there is provided an elevator obstacle removing apparatus including: a data acquisition module 510, an image acquisition module 520, an information determination module 530 and an instruction transmission module 540,
wherein:
and the data acquisition module 510 is used for acquiring data acquired by the elevator light curtain of the current elevator.
The image acquisition module 520 is configured to acquire a first image and a second image if it is identified that an obstacle blocks the closing of an elevator door of the current elevator according to data acquired by the elevator light curtain; the first image is an image around an elevator door acquired by a first camera configured on an elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car.
An information determining module 530, configured to determine information of the obstacle according to the first image and the second image.
And the instruction sending module 540 is configured to generate an obstacle clearing instruction according to the information of the obstacle, send the obstacle clearing instruction to the target robot, and trigger the target robot to clear the obstacle.
In one embodiment, the information determining module 530 is further configured to extract a first image feature of the first image and a second image feature of the second image; and determining position information and model information of the obstacle as the information of the obstacle according to the first image characteristic and the second image characteristic.
In one embodiment, the instruction sending module 540 is further configured to obtain a historical obstacle clearance record; determining a clearing route and a clearing mode of the barrier according to historical barrier clearing records and barrier information; generating an obstacle clearing instruction according to the clearing route and the clearing mode; and sending the obstacle clearing instruction to the target robot, and triggering the target robot to clear the obstacle according to the clearing route and the clearing mode.
In one embodiment, the clearing device of the elevator obstacle further comprises a robot determining module for determining a robot associated with the current elevator; screening out the robot with the shortest distance to the current elevator from the related robots as a target robot; or, screening out the idle robots from the related robots as target robots.
In one embodiment, the device for clearing the elevator obstacle further comprises a secondary clearing instruction sending module, a second clearing instruction sending module and a third image acquiring module, wherein the secondary clearing instruction sending module is used for acquiring obstacle clearing data uploaded by the target robot and reacquiring the first image and the second image; if the obstacle is recognized not to be cleared completely according to the first image, the second image and the obstacle clearing data, generating a secondary clearing instruction; and sending the secondary clearing instruction to the target robot, and triggering the target robot to carry out secondary clearing on the obstacle until the obstacle is cleared completely.
In one embodiment, the clearing device of the elevator barrier further comprises a barrier removing instruction sending module, which is used for generating a barrier removing instruction if the fact that the clearing of the barrier is finished is identified according to the first image, the second image and the barrier clearing data, but the barrier is not placed at a preset position; and sending the obstacle removing instruction to the target robot, and triggering the target robot to move the obstacle to the preset position.
In one embodiment, the device for clearing the elevator obstacle further comprises a success information sending module, which is used for generating obstacle clearing success information if the obstacle clearing is identified to be completed according to the first image, the second image and the obstacle clearing data and the obstacle is placed at a preset position; respectively sending the obstacle clearing success information to the target robot and the elevator control system of the current elevator; the obstacle clearing success information is used for triggering the target robot to leave the current elevator and executing the next work; the obstacle clearing success information is also used for triggering the elevator control system to control the closing of the elevator door of the current elevator and controlling the current elevator to enter a normal running state.
The specific definition of the clearing device for the elevator obstacle can be referred to the above definition of the clearing method for the elevator obstacle, and is not described in detail here. Each module in the above clearing device for elevator obstacles can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data such as data collected by the elevator light curtain, the first image data, the second image data, barrier information and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of clearing an elevator obstruction.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A method of clearing an elevator obstruction, the method comprising:
acquiring data collected by an elevator light curtain of the current elevator;
if it is recognized that an obstacle blocks the closing of the elevator door of the current elevator according to the data collected by the elevator light curtain, a first image and a second image are obtained; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car;
determining information of the obstacle according to the first image and the second image;
generating an obstacle clearing instruction according to the information of the obstacle;
determining a robot associated with the current elevator;
screening out the robot with the shortest distance to the current elevator from the related robots as a target robot; or screening out idle robots from the related robots as target robots; or screening out the robot with the optimal obstacle clearing experience value from the related robots as a target robot; or screening out a robot with the optimal obstacle clearing effect from the related robots as a target robot; or screening out the robot with the optimal maintenance condition from the related robots as a target robot;
and sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle.
2. The method of claim 1, wherein determining the information of the obstacle from the first image and the second image comprises:
extracting a first image feature of the first image and a second image feature of the second image;
and determining position information and model information of the obstacle according to the first image characteristic and the second image characteristic to serve as information of the obstacle.
3. The method of claim 1, wherein generating an obstacle clearing instruction based on the information of the obstacle comprises:
acquiring historical obstacle clearing records;
determining a clearing route and a clearing mode of the obstacle according to the historical obstacle clearing record and the obstacle information;
generating the obstacle clearing instruction according to the clearing route and the clearing mode;
the will the obstacle clearance instruction sends to the target robot, triggers the target robot to clear away the obstacle includes:
and sending the obstacle clearing instruction to a target robot, and triggering the target robot to clear the obstacle according to the clearing route and the clearing mode.
4. The method according to any one of claims 1 to 3, further comprising:
acquiring obstacle clearing data uploaded by the target robot, and re-acquiring the first image and the second image;
if the obstacle is recognized not to be cleared completely according to the first image, the second image and the obstacle clearing data, generating a secondary clearing instruction;
and sending the secondary clearing instruction to the target robot, and triggering the target robot to carry out secondary clearing on the obstacle until the obstacle is cleared completely.
5. The method of claim 4, further comprising:
if the obstacle is recognized to be cleared completely according to the first image, the second image and the obstacle clearing data, but the obstacle is not placed at a preset position, generating an obstacle removing instruction;
and sending the obstacle removing instruction to the target robot, and triggering the target robot to move the obstacle to the preset position.
6. The method of claim 4, further comprising:
if the obstacle is recognized to be cleared completely according to the first image, the second image and the obstacle clearing data, and the obstacle is placed at a preset position, obstacle clearing success information is generated;
respectively sending the obstacle clearing success information to the target robot and an elevator control system of the current elevator; the obstacle clearing success information is used for triggering the target robot to leave the current elevator and executing the next work; the barrier clearing success information is also used for triggering the elevator control system to control the closing of the elevator door of the current elevator and controlling the current elevator to enter a normal running state.
7. An elevator obstruction clearing apparatus, comprising:
the data acquisition module is used for acquiring data acquired by the elevator light curtain of the current elevator;
the image acquisition module is used for acquiring a first image and a second image if a barrier is identified to block the closing of the elevator door of the current elevator according to the data acquired by the elevator light curtain; the first image is an image around the elevator door acquired by a first camera configured on the elevator light curtain, and the second image is an image in the elevator car acquired by a second camera installed in the elevator car;
an information determination module for determining information of the obstacle according to the first image and the second image;
the instruction sending module is used for generating an obstacle clearing instruction according to the information of the obstacle;
a robot determination module to determine a robot associated with the current elevator; screening out the robot with the shortest distance to the current elevator from the related robots as a target robot; or screening out idle robots from the related robots as target robots; or screening out the robot with the optimal obstacle clearing experience value from the related robots as a target robot; or screening out a robot with the optimal obstacle clearing effect from the related robots as a target robot; or screening out the robot with the optimal maintenance condition from the related robots as a target robot;
the instruction sending module is further used for sending the obstacle clearing instruction to a target robot and triggering the target robot to clear the obstacle.
8. The apparatus of claim 7, wherein the information determining module is further configured to:
extracting a first image feature of the first image and a second image feature of the second image;
and determining position information and model information of the obstacle according to the first image characteristic and the second image characteristic to serve as information of the obstacle.
9. The apparatus of claim 7, wherein the instruction sending module is further configured to:
acquiring historical obstacle clearing records;
determining a clearing route and a clearing mode of the obstacle according to the historical obstacle clearing record and the obstacle information;
generating the obstacle clearing instruction according to the clearing route and the clearing mode;
and sending the obstacle clearing instruction to the target robot, and triggering the target robot to clear the obstacle according to the clearing route and the clearing mode.
10. The apparatus of claim 7, wherein the elevator obstruction clearing apparatus further comprises:
the secondary clearing instruction sending module is used for acquiring obstacle clearing data uploaded by the target robot and re-acquiring the first image and the second image;
if the obstacle is recognized not to be cleared completely according to the first image, the second image and the obstacle clearing data, generating a secondary clearing instruction;
and sending the secondary clearing instruction to a target robot, and triggering the target robot to carry out secondary clearing on the obstacle until the obstacle is cleared completely.
11. The apparatus of claim 7, wherein the elevator obstruction clearing apparatus further comprises:
the obstacle removing instruction sending module is used for generating an obstacle removing instruction if the obstacle removing is identified to be finished according to the first image, the second image and the obstacle removing data, but the obstacle is not placed at a preset position;
and sending the obstacle removing instruction to a target robot, and triggering the target robot to move the obstacle to the preset position.
12. The apparatus of claim 7, wherein the elevator obstruction clearing apparatus further comprises:
a success information sending module, configured to generate obstacle clearing success information if it is recognized that the obstacle is cleared completely and the obstacle is placed at a preset position according to the first image, the second image, and the obstacle clearing data;
respectively sending the obstacle clearing success information to the target robot and an elevator control system of the current elevator; the obstacle clearing success information is used for triggering the target robot to leave the current elevator and executing the next work; the barrier clearing success information is also used for triggering the elevator control system to control the closing of the elevator door of the current elevator and controlling the current elevator to enter a normal running state.
13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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