CN112357701B - Robot calling landing method and device - Google Patents
Robot calling landing method and device Download PDFInfo
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- CN112357701B CN112357701B CN202011395261.XA CN202011395261A CN112357701B CN 112357701 B CN112357701 B CN 112357701B CN 202011395261 A CN202011395261 A CN 202011395261A CN 112357701 B CN112357701 B CN 112357701B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3453—Procedure or protocol for the data transmission or communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/46—Adaptations of switches or switchgear
- B66B1/468—Call registering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/405—Details of the change of control mode by input of special passenger or passenger group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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Abstract
The embodiment of the application provides a method and a device for calling a call by a robot, belonging to the technical field of goods transportation. The method comprises the following steps: receiving an appointed calling call command sent by a robot, and calling first floor information of the robot and second floor information of a floor where a target elevator is located; obtaining a first ideal time length required for the target elevator to reach a first floor where the robot is located from a second floor according to the first floor information and the second floor information; calling a planned route of the robot, and obtaining a second ideal time length required by the robot from the current position to an elevator entrance of the target elevator according to the planned route; and determining whether to send a call instruction to the target elevator or not according to the relation between the first ideal time length and the second ideal time length. By using the robot call calling method and device provided by the application, the call calling efficiency of the robot can be improved, and the feeling that passengers take an elevator can be met.
Description
Technical Field
The embodiment of the application relates to the technical field of cargo transportation, in particular to a method and a device for calling a call by a robot.
Background
With the rapid growth of the goods industry in China, the logistics technology for express delivery transportation is also developed vigorously.
In the prior art, in order to relieve the pressure of manual transportation logistics, a distribution robot is designed to distribute goods.
However, when the distribution robot takes an elevator, calls are generally required, and in such a case, the calls are all carried out after the robot arrives at the elevator entrance, which may cause a problem that the robot waits for the elevator for too long time and distribution efficiency is low.
Disclosure of Invention
The embodiment of the application provides a method and a device for calling a call by a robot, and aims to solve the problem of low distribution efficiency caused by long waiting time after calling the call by the robot.
The first aspect of the embodiment of the present application provides a robot call calling method, where the method includes:
receiving an appointment calling command sent by a robot, and calling first floor information of the robot and second floor information of a floor where a target elevator is located;
obtaining a first ideal time length required for the target elevator to reach a first floor where the robot is located from a second floor according to the first floor information and the second floor information;
calling a planned route of the robot, and obtaining a second ideal time length required by the robot from the current position to an elevator entrance of the target elevator according to the planned route;
and determining whether to send a call instruction to the target elevator or not according to the relation between the first ideal time length and the second ideal time length.
Optionally, the method further comprises:
obtaining a plurality of first historical spent time periods taken for the target elevator to reach the first floor from the second floor;
obtaining a plurality of second historical elapsed time periods for the robot to travel from the current location to an elevator landing of the destination elevator;
determining the first ideal time length according to the plurality of first historical spent time lengths;
and determining the second ideal time length according to the plurality of second historical spent time lengths.
Optionally, determining whether to send a call instruction to the target elevator according to the relationship between the first ideal time length and the second ideal time length comprises:
when the difference value between the second ideal time length and the first ideal time length is less than or equal to a first preset time length, sending a call command to the target elevator;
and after sending a call instruction to the target elevator, comprising:
and controlling the target elevator to wait for a first preset time period and then close the car door after moving to the first floor where the robot is located.
Optionally, when the difference obtained by subtracting the first ideal time length from the second ideal time length is greater than the first preset time length, returning to the step of calling the second floor information of the floor where the target elevator is located until a condition that the difference obtained by subtracting the first ideal time length from the second ideal time length is less than or equal to the first preset time length is met.
Optionally, after sending a call instruction to the target elevator, the method further includes:
judging whether first arrival information of the target elevator arriving at a first floor where the robot is located is received first or second arrival information of the robot arriving at an elevator entrance of the target elevator is received first;
if the first arrival information is received first, determining the current position of the robot, and controlling the target elevator car door to be continuously opened for a second preset time length or not controlling the target elevator car door any more according to the current position of the robot so as to close the target elevator car door;
and if the second arrival information is received first, controlling the robot to wait for the arrival of the target elevator.
Optionally, if the second arrival information is received first, controlling the robot to wait for the arrival of the target elevator includes:
scanning the internal space of the target elevator, and judging whether the robot climbing condition is met;
if yes, sending a boarding instruction to the robot;
and if the instruction does not meet the requirement, sending a command of giving up the boarding to the robot, and waiting for the next boarding.
Optionally, controlling the target elevator car door to be continuously opened for a second preset time period according to the current position of the robot, or not controlling the target elevator car door any more, so that the target elevator car door is closed, includes:
obtaining a second actual time length required by the robot to reach the stair opening of the target elevator from the current position according to the current position of the robot;
judging whether the second actual time length is less than or equal to a second preset time length or not;
if so, controlling the duration time of the target elevator car door to be kept in the open state to be a second preset duration;
and if not, the target elevator car door is not controlled any more, so that the target elevator car door is automatically closed.
Optionally, when the duration of controlling the target elevator car door to remain in the open state is a second preset duration, the method includes:
judging whether the elevator has other floor buttons to be lightened or not;
if so, controlling the duration time of the target elevator car door to keep an open state to be less than the second preset time length;
if not, controlling the duration time of the target elevator car door to keep the opening state to be longer than the second preset time length.
Optionally, in a case that the duration of the target elevator car door being kept in the open state is controlled to be a second preset duration, the method includes:
if second arrival information sent by the robot is received within the second preset time, scanning the internal space of the target elevator, and judging whether the boarding conditions of the robot are met; if yes, sending a boarding instruction to the robot; if the current time does not meet the preset time, sending a command of giving up the boarding to the robot, and waiting for the next boarding;
and if the second arrival information sent by the robot is not received within the second preset time, sending a command of giving up the boarding to the robot, and waiting for the next boarding.
In a second aspect of the embodiments of the present application, the device includes a cloud server, and the cloud server is configured to execute the method for calling the call by the robot according to the first aspect of the embodiments of the present application.
By adopting the robot call calling method and device, after an appointment call calling instruction sent by the robot is received, whether the target elevator arrives first or the robot arrives first can be determined according to the relation between the first ideal time length and the second ideal time length, and then whether the call calling instruction is sent to the target elevator or not is determined. According to the relation between the first ideal time length and the second ideal time length, when the robot arrives at the elevator, a calling instruction is immediately sent to the target elevator, so that the robot can timely board the target elevator when arriving at the elevator entrance, the time length for the robot to wait for the target elevator is shortened, and the distribution efficiency is improved; according to the relation between the first ideal time length and the second ideal time length, when the target elevator arrives firstly, the calling instruction sent to the target elevator can be determined, so that the target elevator can arrive before the robot, the time length for the robot to wait for the target elevator can be shortened, and the distribution efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart of steps of a method for calling a robot, as set forth in an embodiment of the present application;
FIG. 2 is a control logic diagram of a robot call method as set forth in an embodiment of the present application;
fig. 3 is a control logic diagram for changing a second preset duration in different scenarios according to an embodiment of the present application;
fig. 4 is a diagrammatic illustration of a route taken by a robot to reach an elevator landing of a destination elevator from a current position as proposed in an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
Example one
Referring to fig. 1, a flow chart of steps of a method of robot calling is shown, the method comprising:
step S1: receiving an appointment calling call command sent by a robot, and calling first floor information of the robot and second floor information of a floor where a target elevator is located.
In the step, the robot sends an appointed calling call instruction to the cloud server, and the cloud server acquires first floor information of the robot and second floor information of a floor where the target elevator is located.
For example, if the floor where the robot is located is floor 1 and the floor where the target elevator is located is floor 2, the cloud server acquires information that the robot is located on floor 1 and acquires information that the robot is located on floor 2.
Step S2: and obtaining a first ideal time length required by the target elevator to reach the first floor where the robot is located from the second floor according to the first floor information and the second floor information.
In this step, the cloud server calculates a first ideal time length required by the target elevator from the first floor where the second floor is located, where the first ideal time length may be a time length for the target elevator to reach the first floor where the robot is located without external interference, for example, when a button of the target elevator is not lighted.
For example, the cloud server calculates that the first ideal time period spent by the target elevator from the floor 2 to the floor 1 where the robot is located is 2S, 3S, 4S, and the like.
Step S3: and calling a planned route of the robot, and obtaining a second ideal time length required by the robot from the current position to the elevator entrance of the target elevator according to the planned route.
In the step, the cloud server calculates a second ideal time required by the robot from the current position to the elevator entrance of the target elevator according to the planned route of the robot.
For example, referring to fig. 4, if the current planned route of the robot is route 1, the cloud server calculates a second ideal time length of the robot from point a to point B as 4S, 5S, or 6S, and the like, according to the distance from point a to point B provided by route 1 and the current driving speed of the robot. Wherein, point A is the current position of the robot, and point B is the elevator entrance of the target elevator.
Step S4: and determining whether to send a call instruction to the target elevator or not according to the relation between the first ideal time length and the second ideal time length.
In this step, referring to fig. 2, according to the relationship between the first ideal time length and the second ideal time length, it is determined whether to send a call instruction to the target elevator, which may be specifically divided into the following cases:
in the first case: and sending a call command to the target elevator when the difference value between the second ideal time length and the first ideal time length is less than or equal to a first preset time length. And after a call instruction is sent to the target elevator, the target elevator is controlled to move to a first floor where the robot is located, and the car door is closed after waiting for a first preset time.
The first preset time period may be 3S, 4S, 5S, or the like.
For example, when the first preset time is 3S, the cloud server calculates that a first ideal time used by the target elevator from the 2 nd floor to the 1 st floor where the robot is located is 2S, and calculates that a second ideal time used by the robot from the point a to the point B using the route 1 is 4S, the difference obtained by subtracting the first ideal time from the second ideal time is 2S and is less than the first preset time 3S, which indicates that the target elevator reaches 2S before the robot at this time, the cloud server sends a call instruction to the target elevator, the target elevator reaches the 1 st floor from the 2 nd floor after receiving the call instruction, and waits for the first preset time 3S of the robot, so that the robot can enter the target elevator within the first preset time.
By setting the first preset time, the target elevator can be controlled to wait for the first preset time of the robot under the condition that the target elevator arrives first. The first preset time is the waiting time acceptable for the passengers, so that the passenger experience can be met under the condition that the robot boards the target elevator through the setting of the first preset time.
In the second case: and when the difference value obtained by subtracting the first ideal time length from the second ideal time length is greater than the first preset time length, returning to the step of calling the second floor information of the floor where the target elevator is located until the condition that the difference value obtained by subtracting the first ideal time length from the second ideal time length is less than or equal to the first preset time length is met.
For example, when the first preset time is 3S, the cloud server calculates that a first ideal time used by the target elevator from the floor 2 to the floor 1 where the robot is located is 2S, and calculates that a second ideal time used by the robot from the point a to the point B by using the route 1 is 7S, the difference between the second ideal time and the first ideal time is 5S and is greater than the first preset time by 3S, which indicates that the target elevator reaches 5S earlier than the robot at the moment, and then the method returns to the step of calling the second floor information of the floor where the target elevator is located, and recalculates the first ideal time and the second ideal time.
When the difference value obtained by subtracting the first ideal time length from the second ideal time length is 5S and is greater than the first preset time length 3S, if the target elevator waits for 5S, the passenger can wait for too long time for the robot, so that the passenger experience is reduced.
In order to improve the passenger experience, when the difference value obtained by subtracting the first ideal time length from the second ideal time length is 5S and is greater than the first preset time length by 3S, returning to the step of calling the second floor information of the floor where the target elevator is located, and calculating the first ideal time length and the second ideal time length again. The cloud server can occupy a period of time when calculating the first ideal time length and the second ideal time length, so that the cloud server can temporarily intercept the calling instruction and does not send the calling instruction to the target elevator until the difference value between the second ideal time length and the first ideal time length is less than or equal to the first preset time length, and then the calling instruction is sent to the target elevator. The passenger can only wait for the robot within the first preset time, and does not send a calling call instruction to the target elevator when the first preset time is exceeded, so that the situation that the passenger waits for the robot within too long time is avoided, and the passenger experience is preferentially improved.
When the second ideal time minus the first ideal time is longer than the first preset time, the cloud server can also wait for a period of time and return to the step of calling the second floor information of the floor where the target elevator is located, so that the time for intercepting the call instruction is longer.
In the third case: and when the difference value obtained by subtracting the first ideal time length from the second ideal time length is less than 0, immediately sending a call instruction to the target elevator.
For example, when the cloud server calculates that the first ideal time period from the 2 nd floor to the 1 st floor where the robot is located is 4S, and calculates that the second ideal time period from the point a to the point B using the route 1 is 3S, it indicates that the robot reaches 1S before the target elevator, and at this time, the situation that the target elevator waits for the robot does not occur, and a call instruction can be sent to the target elevator immediately.
By receiving the reservation call instruction sent by the robot, after the reservation call instruction is received, whether the target elevator arrives first or the robot arrives first can be determined through the relation between the first ideal time length and the second ideal time length, and then whether the call instruction is sent to the target elevator or not is determined. According to the relation between the first ideal time length and the second ideal time length, when the robot arrives at first, a calling command is immediately sent to the target elevator, so that the robot can be ensured to get on the target elevator in time when arriving at an elevator entrance, the condition that the robot waits for the target elevator is avoided, and the distribution efficiency is improved; according to the relation between the first ideal time length and the second ideal time length, when the target elevator arrives firstly, the calling instruction sent to the target elevator can be determined, so that the target elevator can arrive before the robot, and the condition that the robot waits for the target elevator can be avoided.
Steps S1 to S4 are steps performed ideally, that is, when the robot is not disturbed by an obstacle and the button of the target elevator is not turned on; in a practical situation in particular, the coordination process between the target elevator and the robot can be implemented by the following steps.
Step S5: after a call instruction is sent to the target elevator, whether first arrival information that the target elevator arrives at a first floor where the robot is located is received or second arrival information that the robot arrives at an elevator entrance of the target elevator is received is judged.
In this step, since the robot is interfered by the external environment from the current position to the elevator entrance of the target elevator, and the target elevator arrives at the first floor where the robot is located, the robot or the target elevator arrives first, the first arrival information sent by the robot and the second arrival information of the target elevator can be received to determine the arrival of the target elevator.
For example, referring to fig. 4, the robot may take a route 1 and a route 2 from a point a to a point B, when a road on which the route 1 is located is congested, the robot may wait for the road to be uncongested at the route 1 and then travel to the point B by using the route 1, and the robot may select the uncongested route 2 to travel to the point B, and regardless of which travel route is taken, the time from the point a to the point B of the robot is increased, so that the time for the robot to reach the elevator hall of the destination elevator is longer than a second ideal time period.
Based on the method, under the actual driving condition facing the target elevator and the robot, the person who arrives first can be judged according to the arrival information of the target elevator and the robot, so that the subsequent step flow judgment based on the first arrival information and the second arrival information can be more accurate.
And S6, if the first arrival information is received, determining the current position of the robot, and controlling the target elevator car door to be continuously opened for a second preset time period or not controlling the target elevator car door any more according to the current position of the robot so as to close the target elevator car door.
In this step, if the first arrival information is received first, it is determined that the target elevator arrives first in an actual situation, and the robot arrives later in the actual situation. At the moment, the actual time length for the robot to reach the target elevator can be determined according to the actual position of the robot, if the actual time length is short, the time for the target elevator to wait for the robot is short, and the car door of the target elevator can be controlled to be continuously opened for a second preset time length to wait for the robot to reach; if the actual duration is longer, the target elevator waiting time of the robot is longer, and the target elevator car door can not be controlled any more, so that the target elevator car door is closed.
In implementing the above function, step S6 may include the following sub-steps:
and a substep S6-1, obtaining a second actual time length required by the robot to reach the entrance of the target elevator from the current position according to the current position of the robot.
For example, after the robot changes the driving route from the route 1 to the route 2, the cloud server calculates a second actual time length used by the robot to use the route 2 from the point a to the point B according to the current position of the robot.
And substep S6-2 of determining whether the second actual time period is less than or equal to a second preset time period.
In this step, the second preset time period is a waiting time period that can be received by the passenger, and may be 3S, 4S, 5S, or the like.
And a substep S6-3, controlling the duration of the target elevator car door kept in the open state to be a second preset duration if the second actual duration is less than or equal to the second preset duration.
In this step, if the second actual time length is less than or equal to the second preset time length, it indicates that the cloud server calculates the second actual time length used by the robot after the robot is changed from the route 1 of ideal walking to the route 2 of actual walking, and the second actual time length can be less than the waiting time length that can be received by the passenger.
Because the second actual time is the required time calculated by the cloud server according to the actual route 2 after the robot encounters the roadblock in the route 1, and the target elevator waits for the arrival of the robot using the route 2 within the second preset time, the robot may also encounter various emergency situations on the route 2, so that the robot cannot arrive at the elevator entrance of the target elevator within the second preset time when using the route 2, based on the above situation of the robot, the method further includes the following logic:
logic A, if second arrival information sent by the robot is received within the second preset time, scanning the internal space of the target elevator, and judging whether the boarding conditions of the robot are met; if yes, sending a boarding instruction to the robot; and if the instruction does not meet the requirement, sending a command of giving up the boarding to the robot, and waiting for the next boarding.
In this case, if the second arrival information sent by the robot is received within the second preset time period, it indicates that the robot can reach the elevator hall of the destination elevator within the second preset time period in the actual situation that the robot reaches the elevator hall of the destination elevator using the route 2. After the robot reaches the elevator entrance of the target elevator, the robot can scan the inner space of the target elevator to see whether the robot meets the boarding conditions or not, and the robot can board the target elevator under the meeting conditions. The boarding conditions can be whether the volume in the robot target elevator can meet the boarding conditions that the robot enters or the robot enters the target elevator and whether the robot is overweight and the like.
And logic B, if second arrival information sent by the robot is not received within the second preset time, sending a command for giving up the boarding to the robot, and waiting for the next boarding.
In this case, if the robot cannot reach the elevator entrance of the destination elevator in the actual situation where the robot uses the route 2, the cloud server sends an instruction to give up the elevator to the robot, and waits for the next elevator.
In the above steps, the second preset duration may be changed according to whether there is a passenger in the target elevator, and specifically, it may be determined whether there is a passenger in the target elevator by lighting other floor buttons of the target elevator, and if there is a passenger in the target elevator, it indicates that there is a passenger in the target elevator, and if there is no passenger in the target elevator, it indicates that there is no passenger in the target elevator. After judging whether other floors of the elevator are lighted, the method further comprises the following judgment logics, and referring to fig. 3, fig. 3 shows a control logic diagram for changing the second preset time length under different scenes:
logic C: and if the target elevator is lighted by other floor buttons, controlling the duration time of the car door of the target elevator to be kept in the opening state to be less than the second preset time.
Under the condition, the target elevator is lighted by other floor buttons, so that the condition that passengers are in the target elevator is indicated, at the moment, the duration time of the car door of the target elevator in the opening state can be controlled to be less than the second preset time, the time for the passengers to wait for the robot is shorter, and the efficiency of the passengers to take the target elevator is improved.
Logic D: and if the target elevator is not lightened by other floor buttons, controlling the duration time of the opening state of the car door of the target elevator to be longer than the second preset time.
In this case, if the destination elevator is not lighted by other floor buttons, it indicates that there is no passenger in the destination elevator, and at this time, the duration of the open state of the destination elevator car door can be controlled to be longer than the second preset time. Because the target elevator has no passenger, the situation that the passenger waits does not exist, and at the moment, the target elevator can be controlled to wait for the robot for a longer time, so that the probability of the robot getting on the target elevator is improved.
And a substep S6-4 of not controlling the target elevator car door if the second actual time duration is greater than the second preset time duration so that the target elevator car door is automatically closed.
In this step, if the second actual duration is greater than the second preset duration, it indicates that the cloud server has calculated that the duration of the robot reaching the elevator entrance of the target elevator is too long after the robot is changed from the route 1 to the route 2, and the robot cannot reach the elevator entrance of the target elevator within the waiting duration that can be received by the passenger.
And S7, if the second arrival information is received, controlling the robot to wait for the arrival of the target elevator.
In the step, if the cloud server receives second arrival information of the robot firstly, the robot can be controlled to wait for the arrival of the target elevator, the target elevator can open a car door immediately after the arrival of the target elevator, and the robot scans the internal space of the target elevator and judges whether the boarding condition of the robot is met; if yes, sending a boarding instruction to the robot; and if the instruction does not meet the requirement, sending a command of giving up the boarding to the robot, and waiting for the next boarding.
In the above steps S1 to S5, the cloud server first calculates a first ideal time period required for the target elevator to reach the first floor where the robot is located in an ideal situation and a second ideal time period required for the robot to reach the elevator landing of the target elevator from the current position. Then, a first actual time period taken for the target elevator to reach the first floor where the robot is located and a second actual time period required for the robot to reach the elevator landing of the target elevator from the current position in an actual situation can be calculated again.
Since the robot can continuously reach the position of the elevator entrance of the target elevator from the current position in the process of distributing goods, the target elevator can also continuously reach the first floor where the robot is located from the second floor where the target elevator is located. In the processes, a plurality of first actual time lengths and a plurality of second actual time lengths are generated, the plurality of first actual time lengths are used as a plurality of first historical time lengths, the plurality of second actual time lengths are used as a plurality of second historical time lengths, and then big data analysis is continuously performed on the plurality of first historical time lengths, so that a first ideal time length is obtained based on the plurality of first historical time lengths, and a second ideal time length is obtained based on the plurality of second ideal time lengths.
Under the condition that the first ideal time length and the second ideal time length after big data analysis can be closer to reality, the time required by the robot to reach the elevator mouth of the target elevator from the current position and the time required by the target elevator to reach the first floor where the robot is located are prolonged, so that the accuracy of the first ideal time length and the second ideal time length is improved.
Example two
Based on the same inventive concept, another embodiment of the application provides a robot call calling device, which comprises a cloud server, wherein the cloud server is used for executing the robot call calling method provided by the embodiment of the application.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is given to the method and device for calling a call by a robot, and specific examples are applied in the detailed description to explain the principle and the implementation of the method, and the description of the above embodiments is only used to help understand the method and the core idea of the method; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (9)
1. A robot call method, the method comprising:
receiving an appointment calling command sent by a robot, and calling first floor information of the robot and second floor information of a floor where a target elevator is located;
obtaining a first ideal time length required for the target elevator to reach a first floor where the robot is located from a second floor according to the first floor information and the second floor information;
calling a planned route of the robot, and obtaining a second ideal time length required by the robot from the current position to an elevator entrance of the target elevator according to the planned route;
determining whether to send a call instruction to the target elevator according to the relation between the first ideal time length and the second ideal time length, wherein the step of determining whether to send the call instruction to the target elevator comprises the following steps: when the difference value between the second ideal time length and the first ideal time length is less than or equal to a first preset time length, sending a call command to the target elevator; and when the difference value obtained by subtracting the first ideal time length from the second ideal time length is greater than the first preset time length, returning to the step of calling the second floor information of the floor where the target elevator is located until the condition that the difference value obtained by subtracting the first ideal time length from the second ideal time length is less than or equal to the first preset time length is met.
2. Call method according to claim 1, characterized in that the method further comprises:
obtaining a plurality of first historical spent time periods taken for the target elevator to reach the first floor from the second floor;
obtaining a plurality of second historical elapsed time periods for the robot to travel from the current location to an elevator landing of the destination elevator;
determining the first ideal time length according to the plurality of first historical spent time lengths;
and determining the second ideal time length according to the plurality of second historical spent time lengths.
3. Call method according to claim 1, characterized in that after sending a call instruction to the target elevator, it comprises:
and controlling the target elevator to wait for a first preset time period and then close the car door after moving to the first floor where the robot is located.
4. Call method according to claim 3, characterized in that after sending a call instruction to the target elevator, it further comprises:
judging whether first arrival information of the target elevator arriving at a first floor where the robot is located is received first or second arrival information of the robot arriving at an elevator entrance of the target elevator is received first;
if the first arrival information is received first, determining the current position of the robot, and controlling the target elevator car door to be continuously opened for a second preset time length or not controlling the target elevator car door any more according to the current position of the robot so as to close the target elevator car door;
and if the second arrival information is received first, controlling the robot to wait for the arrival of the target elevator.
5. Call method according to claim 4, characterized in that controlling the robot to wait after the arrival of the target elevator if the second arrival information is received first comprises:
scanning the internal space of the target elevator, and judging whether the robot climbing condition is met;
if yes, sending a boarding instruction to the robot;
and if the instruction does not meet the requirement, sending a command of giving up the boarding to the robot, and waiting for the next boarding.
6. Call method according to claim 4, characterized in that controlling the target elevator door to be continuously open for a second preset time period, or no longer controlling the target elevator door, so that the target elevator door is closed, depending on the current location of the robot, comprises:
according to the current position of the robot, obtaining a second actual time length required by the robot to reach the stair entrance of the target elevator from the current position;
judging whether the second actual time length is less than or equal to a second preset time length or not;
if so, controlling the duration time of the target elevator car door to be kept in the open state to be a second preset duration;
and if not, the target elevator car door is not controlled any more, so that the target elevator car door is automatically closed.
7. Call method according to claim 6, characterized in that controlling the target elevator door to remain open for a second preset duration comprises:
judging whether other floor buttons of the elevator are lightened or not;
if so, controlling the duration time of the target elevator car door to keep an open state to be less than the second preset time length;
if not, controlling the duration time of the target elevator car door to keep the opening state to be longer than the second preset time length.
8. Call method according to claim 5 or 6, characterized in that in the case of controlling the duration of the target elevator door to remain open for a second preset length of time, it comprises:
if second arrival information sent by the robot is received within the second preset time, scanning the internal space of the target elevator, and judging whether the boarding conditions of the robot are met; if yes, sending a boarding instruction to the robot; if the instruction does not meet the requirement, sending a command of giving up the boarding to the robot, and waiting for the next boarding;
and if the second arrival information sent by the robot is not received within the second preset time, sending a command of giving up the boarding to the robot, and waiting for the next boarding.
9. A robotic call device, characterized in that the device comprises a cloud server for performing the robotic call method of any of claims 1-8.
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| CN113104683B (en) * | 2021-03-30 | 2022-06-21 | 长城汽车股份有限公司 | Elevator dispatching method and device based on multiple robots |
| CN113104684A (en) * | 2021-04-14 | 2021-07-13 | 北京云迹科技有限公司 | Robot traveling method and related equipment |
| CN114030958B (en) * | 2021-10-27 | 2023-07-25 | 北京云迹科技股份有限公司 | Elevator dispatching method, device, equipment and medium |
| CN114030957A (en) * | 2021-10-27 | 2022-02-11 | 北京云迹科技有限公司 | Elevator pushing method and device |
| CN113977587B (en) * | 2021-11-30 | 2024-07-05 | 上海有个机器人有限公司 | Method, system and equipment for dynamically adjusting waiting time of robot |
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