CN112537704B

CN112537704B - Robot elevator taking scheduling method, terminal and computer readable storage medium

Info

Publication number: CN112537704B
Application number: CN202010246886.3A
Authority: CN
Inventors: 顾震江; 孙其民; 刘大志; 罗沛
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2022-10-25
Anticipated expiration: 2040-03-31
Also published as: CN112537704A

Abstract

The application is applicable to the technical field of robots and provides a robot elevator taking scheduling method, a terminal and a computer readable storage medium, wherein the robot elevator taking scheduling method comprises the following steps: determining the elevator taking direction of the elevator taking robot according to the current floor information and the first target floor information of the elevator taking robot, and adding the elevator taking robot to an elevator taking waiting queue corresponding to the current floor information and the elevator taking direction; when the elevator arrives, allocating elevator taking tokens to a first target elevator-waiting robot in an elevator taking waiting queue; after the first target robot to take the elevator successfully takes the elevator, deleting the first target robot to take the elevator from the elevator taking waiting queue to obtain a new elevator taking waiting queue, and distributing elevator taking tokens to a second target robot to take the elevator, wherein the floor needing to be reached in the new elevator taking waiting queue is the farthest floor; the problem of when a plurality of robots waiting to take the elevator need to take the elevator simultaneously, each robot waiting to take the elevator blocks each other is solved.

Description

Robot elevator taking scheduling method, terminal and computer readable storage medium

Technical Field

The application belongs to the technical field of robots, and particularly relates to a robot elevator taking scheduling method, a terminal and a computer readable storage medium.

Background

When a robot provides service across floors in a building, the robot often needs to take an elevator. The existing robot elevator taking technology is that a robot calls an elevator, judges whether the elevator arrives, and automatically enters the elevator when the elevator arrives, so that the robot elevator taking is realized.

However, the method can only solve the requirement that a single robot takes the elevator, when a plurality of robots need to take the elevator at the same time, each robot enters the elevator independently when the elevator arrives, the problem that the robots block each other is easy to occur, and finally the robots fail to take the elevator.

Disclosure of Invention

The embodiment of the application provides a robot elevator taking scheduling method, device, terminal and computer readable storage medium, which can solve the problem that when a plurality of elevator-taking robots need to take an elevator at the same time, all the elevator-taking robots are blocked mutually.

A first aspect of the embodiments of the present application provides a robot elevator-taking scheduling method, which is applied to an elevator-taking scheduling terminal, and the robot elevator-taking scheduling method includes:

acquiring first elevator taking information reported by the robot to be taken; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

determining the elevator taking direction of the elevator taking robot according to the current floor information and the first target floor information of the elevator taking robot, and adding the elevator taking robot to an elevator taking waiting queue corresponding to the current floor information and the elevator taking direction;

allocating elevator taking tokens to a first target elevator-waiting robot in the elevator taking waiting queue, calling an elevator by the first target elevator-waiting robot with the elevator taking tokens, and determining whether a floor needing to be reached by the first target elevator-waiting robot is the farthest floor or not according to first target floor information of each elevator-waiting robot in the elevator taking waiting queue when the first target elevator-waiting robot monitors that the elevator is reached;

receiving an elevator taking success message sent by the first target elevator taking robot after determining that the floor needing to arrive is the farthest floor, recovering an elevator taking token of the first target elevator taking robot according to the elevator taking success message, and deleting the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue;

distributing the elevator taking token to a second target elevator taking robot in the new elevator taking waiting queue, and carrying out elevator taking operation by the second target elevator taking robot in the new elevator taking waiting queue according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty; the second target robot to be taken by the elevator in the new elevator taking waiting queue is the robot to be taken by the elevator with the farthest floor as the floor needing to be reached in the new elevator taking waiting queue.

In a second aspect of the embodiments of the present application, there is provided a robot elevator taking method, applied to a robot to take an elevator, the robot elevator taking method including:

reporting first elevator taking information to the elevator taking scheduling terminal; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

receiving an elevator taking token distributed by the elevator taking dispatching terminal, and calling an elevator according to the elevator taking token;

monitoring whether the elevator arrives, acquiring first target floor information of each robot to be ridden in an elevator waiting queue when the elevator arrives, and determining whether the floor to be ridden by the robot to be ridden is the farthest floor according to the first target floor information of each robot to be ridden in the elevator waiting queue;

and if the floor to be reached by the robot to take the elevator is the farthest floor, starting to execute the operation of entering the elevator, sending an elevator taking success message to the elevator taking dispatching terminal after the operation of entering the elevator is finished, and simultaneously, paying the elevator taking token.

A third aspect of the embodiments of the present invention provides a robot elevator-taking scheduling device, configured at an elevator-taking scheduling terminal, including:

the elevator taking system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring first elevator taking information reported by the robot to take the elevator; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

the adding unit is used for determining the elevator taking direction of the elevator taking robot according to the current floor information and the first target floor information of the elevator taking robot and adding the elevator taking robot to an elevator taking waiting queue corresponding to the current floor information and the elevator taking direction;

the allocation unit is used for allocating elevator taking tokens to the first target elevator-waiting robots in the elevator taking waiting queue, calling an elevator by the first target elevator-waiting robots with the elevator taking tokens, and determining whether the floor needing to be reached by the first target elevator-waiting robots is the farthest floor or not according to the first target floor information of each elevator-waiting robot in the elevator taking waiting queue when the first target elevator-waiting robots monitor the elevator to be reached;

the recovery unit is used for receiving an elevator taking success message sent by the first target elevator taking robot after the floor needing to be reached is determined to be the farthest floor, recovering an elevator taking token of the first target elevator taking robot according to the elevator taking success message, and deleting the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue;

the dispatching unit is used for distributing the elevator taking token to a second target elevator taking robot in the new elevator taking waiting queue, and the second target elevator taking robot in the new elevator taking waiting queue carries out elevator taking operation according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty; the second target robot to be taken by the elevator in the new elevator taking waiting queue is the robot to be taken by the elevator with the farthest floor as the floor needing to be reached in the new elevator taking waiting queue.

A fourth aspect of the embodiments of the present application provides a robot elevator-taking device configured to a robot to take an elevator, the robot elevator-taking device including:

the reporting unit is used for reporting first elevator taking information to the elevator taking scheduling terminal; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

the receiving unit is used for receiving the elevator taking token distributed by the elevator taking dispatching terminal and calling an elevator according to the elevator taking token;

the elevator waiting queue comprises a judging unit and a control unit, wherein the judging unit is used for monitoring whether the elevator arrives, acquiring first target floor information of each robot to be ridden in the elevator waiting queue when the elevator arrives, and determining whether a floor which the robot to be ridden needs to arrive at is the farthest floor according to the first target floor information of each robot to be ridden in the elevator waiting queue;

and the elevator taking unit is used for starting to execute the operation of entering the elevator if the floor to be reached by the robot to take the elevator is the farthest floor, sending an elevator taking success message to the elevator taking dispatching terminal after the operation of entering the elevator is finished, and simultaneously, paying the elevator taking token.

A fifth aspect of the embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above method when executing the computer program.

A sixth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the above method.

A seventh aspect of embodiments of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the steps of the method.

In the embodiment of the application, the elevator taking direction of the elevator-waiting robot is determined according to the current floor information and the first target floor information of the elevator-waiting robot, and the elevator-waiting robot is added to an elevator-taking waiting queue corresponding to the current floor information and the elevator-taking direction; when the first target elevator waiting robot in the elevator waiting queue monitors that the elevator arrives, allocating an elevator taking token to the first target elevator waiting robot in the elevator waiting queue; after receiving an elevator taking success message sent by the first target elevator taking robot after determining that the floor needing to arrive is the farthest floor, deleting the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue, distributing elevator taking tokens to a second target elevator taking robot of which the floor needing to arrive is the farthest floor in the new elevator taking waiting queue, and carrying out elevator taking operation by the second target elevator taking robot in the new elevator taking waiting queue according to the held elevator taking tokens until the elevator taking robot in the new elevator taking waiting queue is empty; the elevator waiting robots in the elevator taking waiting queue can enter the elevator from far to near according to the floors required to arrive, and the problem that the elevator waiting robots are blocked by each other when a plurality of elevator waiting robots need to take the elevator at the same time is solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic flow chart of a first implementation of a robot elevator-taking scheduling method according to an embodiment of the present application;

fig. 2 is a schematic view of the taken-elevator robots blocking each other according to the embodiment of the present application;

fig. 3 is a schematic flow chart of a second implementation of a robot elevator taking scheduling method according to the embodiment of the present application;

fig. 4 is a schematic flow chart illustrating an implementation of establishing a cooperative group for each elevator-taking robot in an elevator-taking scheduling queue according to the embodiment of the present application;

fig. 5 is a schematic flow chart illustrating an implementation of a robot elevator taking method according to an embodiment of the present disclosure;

fig. 6 is a schematic flow chart illustrating an implementation of cooperation of each elevator waiting robot in an elevator taking scheduling queue according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of a robot elevator-taking dispatching device provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a robot elevator taking device according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

Based on this, embodiments of the present application provide a robot elevator taking scheduling method, apparatus, terminal and computer readable storage medium, which can solve the problem that when multiple elevator to be taken robots need to take an elevator at the same time, the elevator to be taken robots are blocked by each other.

In order to explain the technical means of the present application, the following description will be given by way of specific examples.

Fig. 1 shows a schematic flow chart for implementing the robot elevator taking dispatching method provided in the embodiment of the present application, and the method can be applied to an elevator taking dispatching terminal, can be executed by a robot elevator taking dispatching device configured on the elevator taking dispatching terminal, and is suitable for implementing elevator taking dispatching of multiple elevator waiting robots. The elevator taking scheduling terminal can be an intelligent terminal such as a smart phone and a computer.

The robot elevator-taking dispatching method can comprise steps 101 to 105.

Step 101, obtaining first elevator taking information reported by the robot to take the elevator.

The first boarding information may include current floor information and first target floor information of the robot to be landed on the elevator.

In some embodiments of the present application, the robot to take an elevator may report the first elevator taking information to the elevator taking scheduling terminal when a distance between the robot and an elevator taking stop point is less than a preset distance threshold, or when a time required for reaching the elevator taking stop point is less than a preset time threshold; after receiving the first elevator taking information reported by the elevator taking robot, the elevator taking scheduling terminal may perform elevator taking scheduling on the elevator taking robot corresponding to the first elevator taking information according to the first elevator taking information.

And 102, determining the elevator taking direction of the elevator-waiting robot according to the current floor information and the first target floor information of the elevator-waiting robot, and adding the elevator-waiting robot to an elevator-taking waiting queue corresponding to the current floor information and the elevator taking direction.

In the embodiment of the application, each floor is provided with an elevator taking waiting queue corresponding to the floor, wherein the elevator taking waiting queue corresponding to each floor can be divided into an ascending elevator taking waiting queue and a descending elevator taking waiting queue. After the elevator taking scheduling terminal acquires the first elevator taking information reported by the elevator taking robot, the elevator taking direction of the elevator taking robot can be determined according to the current floor information and the first target floor information of the elevator taking robot, and the elevator taking robot is added to an ascending elevator taking waiting queue or a descending elevator taking waiting queue corresponding to the current floor information according to the elevator taking direction of the elevator taking robot.

For example, if the target floor corresponding to the first target floor information reported by the elevator-waiting robot located at the 8 th floor is the 10 th floor, it may be determined that the elevator-waiting robot needs to go upward, and therefore, the elevator-waiting robot may be added to the upward elevator-waiting queue of the 8 th floor.

In some embodiments of the present application, before adding the to-be-taken-elevator robot to the taking-elevator waiting queue corresponding to the current floor information and the taking-elevator direction, the taking-elevator dispatching terminal may determine whether the taking-elevator waiting queue corresponding to the taking-elevator direction exists on the current floor according to the current floor information; and if the elevator taking waiting queue corresponding to the elevator taking direction does not exist in the current floor, establishing the elevator taking waiting queue corresponding to the elevator taking direction in the current floor, and adding the robot to take the elevator to the elevator taking waiting queue.

And 103, distributing elevator taking tokens to the first target elevator-waiting robots in the elevator-taking waiting queue, calling the elevator by the first target elevator-waiting robots with the elevator taking tokens, and determining whether the floors needing to be reached by the first target elevator-waiting robots are the farthest floors or not by the first target elevator-waiting robots according to the first target floor information of each elevator-waiting robot in the elevator-taking waiting queue when the first target elevator-waiting robots monitor the elevator to be reached.

The first target robot to be taken on the elevator can be any robot to be taken on the elevator in the elevator taking waiting queue.

In some embodiments of the present application, if there is only one robot to be taken elevator in the elevator taking waiting queue, the robot to be taken elevator may be directly confirmed as a first target robot to be taken elevator, an elevator taking token may be assigned to the first target robot to be taken elevator, and the first target robot to be taken elevator having the elevator taking token calls an elevator; for example, when the elevator taking robot is the first robot to take the elevator, the elevator taking dispatching terminal may create an elevator taking waiting queue corresponding to the current floor information and the elevator taking direction, add the elevator taking robot to the elevator taking waiting queue, then assign an elevator taking token to the first target elevator taking robot, and call the elevator by the first target elevator taking robot holding the elevator taking token.

If there are a plurality of elevator waiting robots in the elevator waiting queue, the elevator waiting robot having the floor that needs to be reached as the farthest floor in the elevator waiting queue may be confirmed as the first target elevator waiting robot, an elevator token may be assigned to the first target elevator waiting robot, and the first target elevator waiting robot having the elevator token may call the elevator.

Generally, a first target robot to be ridden may call an elevator by sending request information carrying current floor information to the elevator, after receiving the request information, the elevator may stop at a current floor corresponding to the current floor information according to the current floor information, and send an elevator arrival signal to the first target robot to be ridden, and when receiving the elevator arrival signal, the first target robot to be ridden indicates that the elevator has arrived.

In an embodiment of the application, when the first target to-be-taken-elevator robot monitors that the elevator arrives, whether a floor that the first target to-be-taken-elevator robot needs to arrive at is the farthest floor may be determined according to the first target floor information of each to-be-taken-elevator robot in the elevator waiting queue, and if the first target to-be-taken-elevator robot is the to-be-taken-elevator robot that the floor that the first target to-be-taken-elevator robot needs to arrive at in the elevator waiting queue is the farthest floor, an elevator taking operation may be performed.

And 104, receiving an elevator taking success message sent by the first target elevator taking robot after determining that the floor needing to arrive is the farthest floor, recovering an elevator taking token of the first target elevator taking robot according to the elevator taking success message, and deleting the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue.

In an embodiment of the application, after the first target elevator waiting robot finishes the elevator taking operation, an elevator taking success message can be sent to the elevator taking scheduling terminal, at this time, the elevator taking scheduling terminal can recycle the elevator taking token of the first target elevator waiting robot according to the elevator taking success message, delete the first target elevator waiting robot from the elevator taking waiting queue, obtain a new elevator taking waiting queue, and distribute the elevator taking token to the elevator waiting robots in the new elevator taking waiting queue, so that the elevator waiting robots in the new elevator taking waiting queue can carry out elevator taking operation, and elevator taking scheduling of a plurality of elevator waiting robots is realized.

It should be noted that, if the first target elevator waiting robot is not the elevator waiting robot whose floor required to arrive in the elevator waiting queue is the farthest floor, the first target elevator waiting robot will report the first elevator arrival message and upload the elevator taking token; after receiving the first elevator arrival message and the elevator taking token, the elevator taking dispatching terminal can distribute the elevator taking token to a third target elevator taking robot and send an elevator taking notification message to the third target elevator taking robot.

The third target robot to be taken by the elevator is the robot to be taken by the elevator with the floor needing to be reached in the elevator taking waiting queue as the farthest floor; the elevator taking notification message is used for indicating the third target elevator-waiting robot to start taking the elevator. Therefore, the elevator taking dispatching terminal can ensure that the elevator taking robot taking the elevator each time is the elevator taking robot with the farthest floor as the floor needing to arrive in the elevator taking waiting queue.

Similarly, after the third target to-be-taken-elevator robot finishes the taking-elevator operation, the taking-elevator success message may be sent to the taking-elevator scheduling terminal, at this time, the taking-elevator scheduling terminal may collect the taking-elevator token of the third target to-be-taken-elevator robot according to the taking-elevator success message, and delete the third target to-be-taken-elevator robot from the taking-elevator waiting queue to obtain a new taking-elevator waiting queue, so that the taking-elevator token is distributed to the to-be-taken-elevator robot in the new taking-elevator waiting queue, so that the to-be-taken-elevator robot in the new taking-elevator waiting queue may perform the taking-elevator operation.

In practical applications, there may be a plurality of the elevator waiting robots that have the farthest floors as floors to be reached in the elevator waiting queue, and therefore, in some embodiments of the present invention, if there are a plurality of floors to be reached by the elevator waiting robots in the elevator waiting queue, the elevator waiting robot that has first reached in the plurality of elevator waiting robots may be used as the third target elevator waiting robot.

And 105, distributing the elevator taking token to a second target elevator taking robot in the new elevator taking waiting queue, and carrying out elevator taking operation by the second target elevator taking robot in the new elevator taking waiting queue according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty.

The second target elevator-waiting robot in the new elevator-taking waiting queue is the elevator-waiting robot with the floor which needs to arrive in the new elevator-taking waiting queue being the farthest floor.

In the embodiment of the application, the elevator taking direction of the elevator-waiting robot is determined according to the current floor information and the first target floor information of the elevator-waiting robot, and the elevator-waiting robot is added to an elevator-taking waiting queue corresponding to the current floor information and the elevator-taking direction; when the first target elevator waiting robot in the elevator waiting queue monitors that the elevator arrives, allocating elevator taking tokens to the first target elevator waiting robot in the elevator waiting queue; after receiving an elevator taking success message sent by the first target elevator taking robot after determining that the floor needing to be reached is the farthest floor, deleting the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue, distributing an elevator taking token to a second target elevator taking robot of which the floor needing to be reached is the farthest floor in the new elevator taking waiting queue, and carrying out elevator taking operation by the second target elevator taking robot in the new elevator taking waiting queue according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty; the robot to be taken the elevator in the waiting queue can enter the elevator from far to near according to the floors required to arrive, and the problem that the robots to be taken the elevator block each other when a plurality of robots to be taken the elevator need to take the elevator at the same time is solved.

Generally, when the robot to take an elevator enters the elevator from far to near according to the floors required to be reached, the robot to take an elevator, which enters the elevator first, can preferentially move to the position farthest from the outlet of the elevator, so that the robot to take the elevator next can conveniently enter the elevator.

In practical applications, before entering an elevator, an elevator-already-riding robot may exist in the elevator, the elevator-already-riding robot is generally located at a position farthest from an elevator exit, and when a floor to which the elevator-already-riding robot needs to arrive is closer than a floor to which the elevator-already-riding robot that is about to enter the elevator needs to arrive, if the elevator-already-riding robot takes an elevator, the elevator-already-riding robot that takes an elevator behind may block the elevator-already-riding robot that takes an elevator ahead when the elevator exits, so that the elevator-already-riding robot that takes an elevator ahead fails to exit.

For example, as shown in fig. 2, before the robot to take the elevator enters the elevator 20 in the ascending, the robot 21 to take the elevator, the robot 22 to take the elevator, and the robot 23 to take the elevator exist in the elevator 20, wherein the floor to which the robot 21 to take the elevator needs to reach is 8 th, the floor to which the robot 24 to take the elevator to enter the elevator needs to reach is 10 th, and if the robot 24 to take the elevator takes the elevator, the robot 24 to take the elevator may block the robot 21 to move to the elevator doorway 25 during the exit, resulting in the failure of the exit.

In order to avoid the elevator-taking robots failing to exit due to the mutual blocking of the elevator-taking robots, as shown in fig. 3, the robot elevator-taking scheduling method may further include: step 301 to step 305.

And step 301, receiving a second elevator arrival message and an elevator taking token submitted when the elevator robot exists in the elevator after the first target elevator waiting robot determines that the floor needing to arrive is the farthest floor.

In an embodiment of the present application, after determining that the first target boarding robot is the farthest floor, the first target boarding robot may detect whether or not there is an existing boarding robot in the elevator. For example, whether the robot is present in the elevator can be determined by receiving a signal sent by the elevator and carrying a result of whether the robot is present in the elevator or not, and determining whether the robot is present in the elevator or not based on the signal, or by acquiring an image in the elevator through a camera mounted on the first target robot to be ridden and performing image recognition on the acquired image.

If the elevator-taking robot exists in the elevator, the first target elevator-taking robot can report a second elevator arrival signal to the elevator-taking dispatching terminal and pay an elevator-taking token, and the elevator-taking dispatching terminal distributes the elevator-taking token to the elevator-taking robot which cannot block the elevator-taking robot in the elevator when taking the elevator after receiving the second elevator arrival message reported by the first target elevator-taking robot and the paid elevator-taking token.

And 302, acquiring second elevator taking information of each elevator-taken robot in the elevator according to a second elevator arrival message reported when the first target elevator-taking robot detects that the elevator-taken robot exists in the elevator and an elevator-taking token paid on the elevator.

Wherein the second boarding information includes information on a second target floor of the boarding robot.

In the embodiment of the present application, the second target floor information of the elevator-riding robot and the first target floor information of the elevator-riding robot are compared to confirm the elevator-riding robot which does not block the elevator-riding robot in the elevator when riding the elevator in the elevator waiting queue, and the elevator-riding token is assigned to the elevator-riding robot which does not block the elevator-riding robot in the elevator when riding the elevator, so that the elevator-riding operation is performed by the elevator-riding robot which does not block the elevator-riding robot in the elevator.

Step 303, calculating a minimum first difference value of the first difference values between the current floor and the second target floor corresponding to the second target floor information, and calculating a second difference value between the current floor and the first target floor corresponding to the first target floor information of each robot to be ridden in the boarding waiting queue.

In an embodiment of the present application, first differences between the second destination floor corresponding to the second destination floor information and the current floor may be calculated based on the second destination floor information of the boarding robot and the current floor information of the waiting robot, and the minimum first difference among the first differences of the respective boarding robots may be confirmed. Wherein the minimum first difference value represents a floor difference between a target floor of an elevator-taken robot that is the first elevator among the elevator-taken robots and a current floor.

Correspondingly, according to the current floor information and the first target floor information of the robot to take the elevator, a second difference value between the first target floor corresponding to the first target floor information of each robot to take the elevator in the elevator waiting queue and the current floor can be calculated; and each second difference value respectively represents the floor difference between the target floor and the current floor of each elevator-waiting robot.

By comparing the minimum first difference value with the second difference value, if the second difference value of the to-be-taken-elevator robot is smaller than the minimum first difference value, the to-be-taken-elevator robot goes out of the elevator before the elevator-taken robot which is the first elevator in the to-be-taken-elevator robots after taking the elevator, so that the elevator-taking scheduling terminal can schedule the to-be-taken-elevator robot to take the elevator, and the problem of mutual blocking of all the to-be-taken-elevator robots when going out of the elevator can be avoided after the to-be-taken-elevator robot finishes the operation of taking the elevator.

And 304, forming the to-be-taken elevator robots with the second difference value smaller than the minimum first difference value into an elevator taking waiting sub-queue, and deleting the to-be-taken elevator robots which are classified into the elevator taking waiting sub-queue from the elevator taking waiting queue.

In the embodiment of the application, after the to-be-taken-elevator robots with the second difference value smaller than the minimum first difference value in the to-be-taken-elevator waiting queue are confirmed, the to-be-taken-elevator robots with the second difference value smaller than the minimum first difference value can form an to-be-taken-elevator waiting sub-queue, and the to-be-taken-elevator robots which are divided into the to-be-taken-elevator waiting sub-queue can be deleted from the to-be-taken-elevator waiting sub-queue, so that the to-be-taken-elevator dispatching terminal can directly dispatch the to-be-taken-elevator robots in the to-be-taken-elevator waiting sub-queue to take the elevator.

And 305, distributing elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue according to the sequence of the second difference values from large to small, so that the to-be-taken robots in the elevator taking waiting sub-queue enter the elevator according to the sequence of the second difference values from large to small until the size of the remaining space of the elevator is smaller than the size of the space required by the to-be-taken robots, or the elevator taking waiting sub-queue is empty, stopping distributing the elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue, distributing the elevator taking tokens to the fourth target to-be-taken robots with the floors needing to arrive in the elevator taking waiting sub-queue and the elevator taking waiting queue as the farthest floors, and carrying out elevator taking operation by the fourth target to-be-taken robots according to the held elevator taking tokens until the to-be-taken robots in the elevator taking waiting sub-queue and the elevator taking waiting queue are empty.

That is, the boarding scheduling terminal may assign the boarding tokens to the to-be-landed robots in the boarding waiting sub-queue in the order from large to small according to the second difference value until the boarding waiting sub-queue is empty, assign the boarding tokens to the fourth target to-be-landed robot whose floor that needs to arrive in the boarding waiting sub-queue is the farthest floor, and perform the boarding operation by the fourth target to-be-landed robot according to the held boarding tokens until the boarding waiting sub-queue and the to-be-landed robot in the boarding waiting sub-queue are empty.

If the remaining space of the elevator is smaller than the space required by the elevator waiting robot when the elevator taking token is allocated to the elevator waiting sub-queue by the elevator taking dispatching terminal according to the sequence from large to small of the second difference value, but the situation that the elevator waiting robot still exists in the elevator taking waiting sub-queue, at this time, the allocation of the elevator taking token to the elevator waiting robot in the elevator taking waiting sub-queue can be stopped, so that the elevator leaves the current floor, then the elevator taking token is allocated to the elevator taking waiting sub-queue and a fourth target elevator waiting robot which takes the floor needing to be reached in the elevator taking waiting sub-queue as the farthest floor, and the elevator taking operation is carried out by the fourth target elevator waiting robot according to the held elevator taking token until the elevator waiting sub-queue and the elevator waiting robot in the elevator taking queue are empty.

The taking the elevator by the fourth target elevator-to-be-taken robot according to the held elevator-taking token may include: and calling the elevator after the fourth target elevator waiting robot waits for a first preset time period, so that the elevator taking dispatching terminal can dispatch the elevator taking waiting sub-queue and the elevator taking robots in the waiting queue to carry out elevator taking operation again according to the robot elevator taking dispatching method when the fourth target elevator waiting robot detects that the elevator arrives, until the elevator taking waiting robots in the elevator taking waiting queue are empty.

In some embodiments of the present application, the determining whether the size of the remaining space of the elevator is smaller than the size of the space required by the robot to take the elevator may be implemented by generating radar point cloud data inside the elevator by using a laser radar configured on the robot to take the elevator, and obtaining whether a space capable of accommodating the robot to take the elevator exists in a continuous area inside the elevator according to the radar point cloud data.

In the embodiment of the application, the minimum first difference value of the first difference values between the second target floor corresponding to the second target floor information and the current floor is calculated, and the second difference value between the first target floor corresponding to the first target floor information of each robot to take the elevator in the elevator taking waiting queue and the current floor is calculated; then, the to-be-ridden robots with the second difference smaller than the minimum first difference form an elevator taking waiting sub-queue, elevator taking tokens are distributed to the to-be-ridden robots in the elevator taking waiting sub-queue according to the sequence of the second differences from large to small, so that the to-be-ridden robots in the elevator taking waiting sub-queue enter the elevator according to the sequence of the second differences from large to small, the to-be-ridden robots entering the elevator can take the elevator first than the already-ridden robots in the elevator, and the to-be-ridden robots entering the elevator enter the elevator according to the principle that the to-be-ridden robots going out from the elevator first, so that all the to-be-ridden robots in the elevator are always close to the elevator door when going out from the elevator, the already-ridden robots are not blocked when going out from the elevator, and the elevator taking efficiency of the already-ridden robots is improved.

To solve the problem that the elevator waiting robots may move to the vicinity of the elevator in disorder before the elevator arrives, causing congestion at the exit of the elevator, and the elevator waiting robots may thus send collisions with each other, in some embodiments of the present application, as shown in fig. 4, after adding the elevator waiting robots to the elevator waiting queue corresponding to the current floor information and the elevator taking direction, a cooperation group may be established for each elevator waiting robot in the elevator taking dispatching queue.

Specifically, the establishing a cooperation group for each elevator-taking robot in the elevator-taking scheduling queue may include: step 401 to step 402.

Step 401, receiving the cooperation information sent by the robot waiting for taking the elevator.

The cooperation information may include identification information, position information, and movement speed information of the robot to be ridden.

And 402, sending a cooperation information updating instruction carrying the cooperation group information of each elevator waiting robot in the elevator waiting queue to each elevator waiting robot in the elevator waiting queue.

The cooperation group information updating instruction is used for indicating each robot to be taken on the elevator in the elevator taking waiting queue to update cooperation group information according to cooperation information of each robot to be taken on the elevator in the elevator taking waiting queue carried by the cooperation group information updating instruction, establishing cooperation communication with other robots to be taken on the elevator according to the updated cooperation group information, and adjusting the self movement speed of the robot to be taken on the elevator and the distance between the robot to be taken on the elevator and other robots to be taken on the elevator.

In some embodiments of the present application, each of the boarding robots may establish cooperative communication through near-field wireless technology.

In some embodiments of the present application, after the elevator-waiting robot establishes cooperative communication with other elevator-waiting robots, the elevator-waiting robot may follow another elevator-waiting robot in the elevator-waiting queue according to the cooperative group information update instruction, and reduce the moving speed when the distance from the another elevator-waiting robot is smaller than the preset distance threshold, increase the moving speed when the distance from the another elevator-waiting robot is greater than the preset distance threshold, and stop at a position away from the another elevator-waiting robot when the another elevator-waiting robot stops, so as to enable the elevator-waiting robots in the elevator-waiting queue to follow each other.

In the embodiment of the application, a cooperation information updating instruction carrying cooperation group information of each robot to be ridden in the elevator waiting queue is sent to each robot to be ridden in the elevator waiting queue, the robot to be ridden in the elevator waiting queue is instructed to update the cooperation group information, cooperation communication is established with other robots to be ridden according to the updated cooperation group information, and meanwhile, the movement speed of the robot to be ridden and the distance between the robot and the other robots to be ridden are adjusted, so that each robot to be ridden in the elevator waiting queue can form an ordered robot team to be ridden at an elevator outlet.

Correspondingly, fig. 5 shows a schematic implementation flow diagram of an elevator taking method for a robot according to an embodiment of the present application, where the method can be applied to an elevator to be taken, can be executed by an elevator taking device configured on the elevator to be taken, and is suitable for a situation where elevator taking scheduling of multiple elevator to be taken robots needs to be implemented.

The robot elevator taking method may include steps 501 to 504.

Step 501, reporting first elevator taking information to an elevator taking scheduling terminal.

The first elevator taking information comprises current floor information and first target floor information of the robot to be taken.

And 502, receiving the elevator taking token distributed by the elevator taking dispatching terminal, and calling an elevator according to the elevator taking token.

In the embodiment of the application, when the robot to take the elevator is confirmed to be the first target robot to take the elevator by the elevator taking dispatching terminal, the robot to take the elevator can receive the elevator taking token distributed by the elevator taking dispatching terminal, and at the moment, the robot to take the elevator can call the elevator according to the elevator taking token.

Specifically, the robot to be ridden can call the elevator by sending request information carrying the current floor information to the elevator.

And 503, monitoring whether the elevator arrives, acquiring the first target floor information of each robot to be taken with the elevator in the elevator taking waiting queue when the elevator arrives, and determining whether the floor to be taken with the elevator is the farthest floor according to the first target floor information of each robot to be taken with the elevator in the elevator taking waiting queue.

Generally, an elevator arrival signal can be sent to the target elevator waiting robot when the elevator stops at the current floor corresponding to the current floor information, and therefore, in some embodiments of the present application, when the elevator waiting robot receives the elevator arrival signal, it is described that the elevator arrives. At this time, the elevator waiting robot may determine whether a floor to which the elevator waiting robot itself needs to arrive is a farthest floor according to the first target floor information of each elevator waiting robot in the elevator waiting queue.

And step 504, if the floor to be reached by the robot to take the elevator is the farthest floor, starting to execute the operation of entering the elevator, and after the operation of entering the elevator is finished, sending an elevator taking success message to the elevator taking dispatching terminal, and simultaneously, paying an elevator taking token.

In the embodiment of the application, if the floor to be reached by the robot to take the elevator is the farthest floor, the robot to take the elevator is the robot to take the elevator which takes the elevator firstly in the queue to take the elevator, so that the operation of entering the elevator can be directly started, after the operation of entering the elevator is finished, the successful message of taking the elevator is sent to the elevator taking dispatching terminal, and meanwhile, the elevator taking token is paid upwards, so that the elevator taking dispatching terminal can distribute the elevator taking token to the next robot to take the elevator in the queue to take the elevator, and the elevator taking dispatching of a plurality of robots to take the elevator is realized.

If the floor needing to be reached by the robot to take the elevator is not the farthest floor, the robot to take the elevator is not the robot to take the elevator which takes the elevator firstly in the queue to take the elevator, at the moment, the robot to take the elevator needs to report a first elevator arrival message and pay an elevator taking token, so that the elevator taking dispatching terminal can distribute the elevator taking token to the robot to take the elevator which needs to be reached in the queue to take the elevator and takes the elevator with priority, and the floor needing to be reached in the queue to take the elevator is the farthest floor.

In order to avoid the mutual blocking of the taken-elevator robots when the taken-elevator robots exit, in some embodiments of the present application, the robot-taken-elevator method further includes: detecting whether an elevator taking robot exists in the elevator, reporting second elevator arrival information to an elevator taking dispatching terminal when the elevator taking robot exists in the elevator, and paying the elevator taking token; and re-receiving the elevator taking token distributed by the elevator taking dispatching terminal, and executing the operation of entering the elevator or carrying out the elevator taking operation according to the elevator taking token.

That is, when there is an already-taken elevator robot in the elevator, the to-be-taken elevator robot may report second elevator arrival information to the elevator-taking dispatching terminal and pay the elevator-taking token, the elevator-taking dispatching system may receive the second elevator arrival information and the paid elevator-taking token, and calculate the to-be-taken elevator robot that will exit the elevator before the elevator-taking robot that is the first-most elevator among the already-taken elevator robots after taking the elevator, and when the to-be-taken elevator robot is determined as the to-be-taken elevator robot that will exit the elevator before the elevator-taking robot that is the first-most elevator among the already-taken elevator robots, the to-be-taken elevator token allocated by the elevator-taking dispatching terminal may be received again, and at this time, the to-be-taken elevator robot may perform an operation of entering the elevator or an operation of taking the elevator according to the elevator-taking token.

The elevator taking operation is calling an elevator after waiting for a first preset time; the method for detecting whether the robot riding the elevator exists in the elevator can refer to the step 301, and details of the method are not repeated in this application.

In the embodiment of the application, when the elevator-taking robot exists in the elevator, the arrival information of the second elevator is reported to the elevator-taking dispatching terminal, and an elevator-taking token is paid; then, the elevator taking token distributed by the elevator taking dispatching terminal is received again, and the operation of entering the elevator or the elevator taking operation is carried out according to the elevator taking token, so that the robot to take the elevator enters the elevator after confirming that the robot can enter the elevator first than the robot to take the elevator in the elevator, and the robot to take the elevator does not block each other.

In order to avoid that each robot to take the elevator moves to the vicinity of the elevator in disorder, causing the exit of the elevator to be jammed, or sending a collision, in some embodiments of the present application, as shown in fig. 6, the robot elevator taking method further includes: step 601 to step 603.

Step 601, sending cooperation information to the elevator-taking scheduling terminal.

And step 602, receiving a cooperation group information updating instruction sent by the elevator taking scheduling terminal.

The cooperation group information updating instruction carries cooperation information of each elevator-taking robot in the elevator-taking waiting queue.

Step 603, updating the cooperation group information according to the cooperation information of each elevator-taking robot in the elevator-taking waiting queue carried by the cooperation group information updating instruction, establishing cooperation communication with other elevator-taking robots according to the updated cooperation group information, and adjusting the self movement speed of the elevator-taking robot and the distance between the elevator-taking robot and the other elevator-taking robots.

In the embodiment of the application, the robot to take the elevator receives the cooperation group information updating instruction carrying the cooperation information of each robot to take the elevator in the elevator waiting queue, updates the cooperation group information according to the cooperation group information updating instruction, establishes cooperative communication with other robots to take the elevator according to the updated cooperation group information, and simultaneously adjusts the self motion speed of the robot to take the elevator and the distance between the robot and other robots to take the elevator, so that each robot to take the elevator in the elevator waiting queue can form an ordered robot team at the elevator exit.

In addition, after the robot to take the elevator enters the elevator, the robot to take the elevator becomes the robot to take the elevator in the elevator, and at the moment, the robot to take the elevator can acquire a floor arrival signal sent by the elevator, judge whether the robot to take the elevator arrives at the floor needing to arrive according to the floor arrival signal, and leave the elevator when the robot to take the elevator arrives at the floor needing to arrive.

In practical applications, the robot that has taken the elevator may be blocked by an obstacle when going out of the elevator, and therefore, in some embodiments of the present application, before leaving the elevator, the method may include: judging whether an obstacle exists between the robot taking the elevator and an exit of the elevator; if the obstacle exists between the elevator-taking robot and the exit of the elevator, after waiting for a second preset time, judging whether the obstacle exists between the elevator-taking robot and the exit of the elevator again until the elevator leaves when the obstacle does not exist between the elevator-taking robot and the exit of the elevator, or abandoning the elevator leaving until the frequency of judging whether the obstacle exists between the elevator-taking robot and the exit of the elevator reaches a preset frequency threshold value.

It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.

As shown in fig. 7, a schematic structural diagram of a robot elevator-taking scheduling device 700 according to an embodiment of the present invention is configured at an elevator-taking scheduling terminal, wherein the robot elevator-taking scheduling device 700 may include: an acquisition unit 701, an addition unit 702, an allocation unit 703, a recovery unit 704, and a scheduling unit 705.

The obtaining unit 701 is configured to obtain first elevator taking information reported by the robot to be taken an elevator; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

an adding unit 702, configured to determine an elevator taking direction of the elevator robot to be taken according to current floor information and first target floor information of the elevator robot to be taken, and add the elevator robot to be taken to an elevator taking waiting queue corresponding to the current floor information and the elevator taking direction;

the allocating unit 703 is configured to allocate an elevator taking token to the first target elevator-waiting robot in the elevator-taking waiting queue, call an elevator by the first target elevator-waiting robot that holds the elevator taking token, and determine, by the first target elevator-waiting robot, whether a floor that needs to be reached by the first target elevator-waiting robot is the farthest floor according to the first target floor information of each elevator-waiting robot in the elevator-taking waiting queue when the first target elevator-waiting robot monitors that the elevator arrives;

a recycling unit 704, configured to receive an elevator taking success message sent by the first target elevator taking robot after determining that the floor that the first target elevator taking robot needs to reach is the farthest floor, recycle an elevator taking token of the first target elevator taking robot according to the elevator taking success message, and delete the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue;

the dispatching unit 705 is used for distributing the elevator taking token to a second target elevator taking robot in the new elevator taking waiting queue, and the second target elevator taking robot in the new elevator taking waiting queue carries out elevator taking operation according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty; the second target robot to be taken by the elevator in the new elevator taking waiting queue is the robot to be taken by the elevator with the farthest floor as the floor needing to be reached in the new elevator taking waiting queue.

In some embodiments of the present application, the allocating unit 703 is further specifically configured to: receiving a first elevator arrival message and an elevator taking token submitted by the first target elevator-waiting robot when the floor needing to be arrived is determined to be a non-farthest floor, distributing the elevator taking token to a third target elevator-waiting robot, and sending an elevator taking notification message to the third target elevator-waiting robot; the elevator taking notification message is used for indicating the third target elevator-waiting robot to start taking the elevator; the third target robot to be taken by the elevator is the robot to be taken by the elevator with the floor needing to be reached in the elevator taking waiting queue as the farthest floor.

In some embodiments of the present application, the allocating unit 703 is further specifically configured to: and if the floor to be reached by the plurality of the to-be-taken elevator robots in the elevator taking waiting queue is the farthest floor, taking the to-be-taken elevator robot which arrives at the earliest in the plurality of the to-be-taken elevator robots as the third target to-be-taken elevator robot.

In some embodiments of the present application, the scheduling unit 705 is further specifically configured to: receiving a second elevator arrival message and an upper-paying elevator taking token reported by the first target elevator taking robot when the elevator is detected to exist in the elevator after the first target elevator taking robot determines that the floor needing to arrive is the farthest floor; according to the second elevator arrival information reported when the first target elevator-waiting robot detects that the elevator has the elevator-taking robot and the elevator-taking token paid on the second elevator arrival information reported when the first target elevator-waiting robot detects that the elevator has the elevator-taking robot, second elevator-taking information of each elevator-taking robot in the elevator is obtained; the second boarding information includes second target floor information of the boarding robot; calculating a minimum first difference value of first difference values between a second target floor corresponding to the second target floor information and the current floor, and calculating a second difference value between a first target floor corresponding to the first target floor information of each robot to be ridden in the boarding waiting queue and the current floor; forming an elevator waiting sub-queue by the to-be-taken robots with the second difference value smaller than the minimum first difference value, and deleting the to-be-taken robots which are cut into the elevator waiting sub-queue from the elevator waiting sub-queue; allocating elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue according to the sequence of the second difference values from large to small, so that the to-be-taken robots in the elevator taking waiting sub-queue enter the elevator according to the sequence of the second difference values from large to small until the size of the remaining space of the elevator is smaller than the size of the space required by the to-be-taken robots, or the elevator taking waiting sub-queue is empty, stopping allocating the elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue, allocating the elevator taking tokens to the elevator taking waiting sub-queue and a fourth target to-be-taken robot with the floor required to reach in the elevator taking waiting sub-queue as the farthest floor, and carrying out elevator taking operation by the fourth target to-be-taken robot according to the held elevator taking tokens until the elevator taking waiting sub-queue and the to-be-taken robots in the elevator taking waiting sub-queue are empty.

In some embodiments of the present application, the scheduling unit 705 is further specifically configured to: and calling the elevator after the fourth target elevator waiting robot waits for a first preset time.

In some embodiments of the present application, the robot elevator dispatching device further includes a first cooperation unit configured to: receiving the cooperation information sent by the robot to take the elevator; sending a cooperation group information updating instruction carrying cooperation information of each elevator-taking robot in the elevator-taking waiting queue to each elevator-taking robot in the elevator-taking waiting queue; the cooperation group information updating instruction is used for indicating each elevator taking robot in the elevator taking waiting queue to update cooperation group information according to cooperation information of each elevator taking robot in the elevator taking waiting queue carried by the cooperation group information updating instruction, establishing cooperation communication with other elevator taking robots according to the updated cooperation group information, and adjusting the self movement speed of the elevator taking robots and the distance between the elevator taking robots.

It should be noted that, for convenience and simplicity of description, the specific working process of the robot elevator dispatching device 700 may refer to the corresponding process of the method described in fig. 1 to fig. 4, and is not described herein again.

As shown in fig. 8, a schematic structural diagram of a robot elevator taking device 800 according to an embodiment of the present invention is configured to a robot to take an elevator, wherein the robot elevator taking device 800 may include: a reporting unit 801, a receiving unit 802, a judging unit 803 and an elevator taking unit 804.

A reporting unit 801, configured to report first elevator taking information to the elevator taking scheduling terminal; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

a receiving unit 802, configured to receive an elevator taking token allocated by the elevator taking dispatching terminal, and call an elevator according to the elevator taking token;

the determining unit 803 is configured to monitor whether the elevator arrives, acquire first target floor information of each robot to be ridden in an elevator waiting queue when the elevator arrives, and determine whether a floor to be reached by the robot to be ridden is the farthest floor according to the first target floor information of each robot to be ridden in the elevator waiting queue;

and the elevator taking unit 804 is used for starting to execute the operation of entering the elevator if the floor to be reached by the robot to be taken the elevator is the farthest floor, sending an elevator taking success message to the elevator taking dispatching terminal after the operation of entering the elevator is finished, and simultaneously paying the elevator taking token.

In some embodiments of the present application, the boarding unit 804 is further specifically configured to: detecting whether an elevator-taking robot exists in the elevator, reporting second elevator arrival information to the elevator-taking dispatching terminal when the elevator-taking robot exists in the elevator, and paying the elevator-taking token; and re-receiving the elevator taking token distributed by the elevator taking dispatching terminal, and executing the operation of entering the elevator or carrying out the elevator taking operation according to the elevator taking token.

In some embodiments of the present application, the above-mentioned robot elevator taking apparatus further comprises a second cooperation unit for: sending cooperation information to the elevator taking scheduling terminal; the cooperation information comprises identification information, position information and movement speed information of the robot to take the elevator; receiving a cooperative group information updating instruction sent by the elevator taking scheduling terminal; the cooperation group information updating instruction carries cooperation information of each robot to be taken on the elevator in the elevator taking waiting queue; and updating the cooperative group information according to the cooperative information of each robot to be ridden in the elevator taking waiting queue carried by the cooperative group information updating instruction, establishing cooperative communication with other robots to be ridden according to the updated cooperative group information, and adjusting the self movement speed of the robot to be ridden and the distance between the robot and other robots to be ridden.

It should be noted that, for convenience and simplicity of description, for a specific working process of the robot elevator taking device 800, reference may be made to a corresponding process of the method described in fig. 5 to fig. 6, and details are not repeated here.

Fig. 9 is a schematic diagram of a terminal according to an embodiment of the present application. The terminal 9 may include: a processor 90, a memory 91 and a computer program 92, such as a robot escalator dispatching program or a robot escalator program, stored in said memory 91 and operable on said processor 90. The processor 90, when executing the computer program 92, implements the steps in each of the above-described embodiments of the robot boarding scheduling methods, such as the steps 101 to 105 shown in fig. 1 or the steps 501 to 504 shown in fig. 5. Alternatively, the processor 90, when executing the computer program 92, implements the functions of each module/unit in each device embodiment described above, such as the functions of the units 701 to 705 shown in fig. 7, or the functions of the units 801 to 804 shown in fig. 8.

The computer program may be divided into one or more modules/units, which are stored in the memory 91 and executed by the processor 90 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the terminal.

For example, the computer program may be divided into an acquisition unit, an addition unit, an allocation unit, a recovery unit, and a scheduling unit, and each unit functions specifically as follows: the elevator taking robot comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring first elevator taking information reported by the elevator taking robot; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken; the adding unit is used for determining the elevator taking direction of the elevator taking robot according to the current floor information and the first target floor information of the elevator taking robot and adding the elevator taking robot to an elevator taking waiting queue corresponding to the current floor information and the elevator taking direction; the allocation unit is used for allocating elevator taking tokens to the first target elevator-waiting robots in the elevator taking waiting queue, calling an elevator by the first target elevator-waiting robots with the elevator taking tokens, and determining whether the floor needing to be reached by the first target elevator-waiting robots is the farthest floor or not according to the first target floor information of each elevator-waiting robot in the elevator taking waiting queue when the first target elevator-waiting robots monitor the elevator to be reached; the recovery unit is used for receiving an elevator taking success message sent by the first target elevator taking robot after the floor needing to be reached is determined to be the farthest floor, recovering an elevator taking token of the first target elevator taking robot according to the elevator taking success message, and deleting the first target elevator taking robot from the elevator taking waiting queue to obtain a new elevator taking waiting queue; the dispatching unit is used for distributing the elevator taking token to a second target elevator taking robot in the new elevator taking waiting queue, and the second target elevator taking robot in the new elevator taking waiting queue carries out elevator taking operation according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty; the second target elevator waiting robot in the new elevator taking waiting queue is the elevator waiting robot with the farthest floor as the floor needing to be reached in the new elevator taking waiting queue.

For another example, the computer program may be further divided into a reporting unit, a receiving unit, a determining unit and an elevator riding unit, where the specific functions of each unit are as follows: the reporting unit is used for reporting first elevator taking information to the elevator taking scheduling terminal; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken; the receiving unit is used for receiving the elevator taking token distributed by the elevator taking dispatching terminal and calling an elevator according to the elevator taking token; the elevator waiting queue comprises a judging unit and a control unit, wherein the judging unit is used for monitoring whether the elevator arrives, acquiring first target floor information of each robot to be ridden in the elevator waiting queue when the elevator arrives, and determining whether a floor which the robot to be ridden needs to arrive at is the farthest floor according to the first target floor information of each robot to be ridden in the elevator waiting queue; and the elevator taking unit is used for starting to execute the operation of entering the elevator if the floor to be reached by the robot to take the elevator is the farthest floor, sending an elevator taking success message to the elevator taking dispatching terminal after the operation of entering the elevator is finished, and simultaneously, paying the elevator taking token.

The terminal can be a mobile terminal such as a smart television, or a computing device such as a smart phone, a desktop computer, a notebook, a palm computer and a cloud server. The terminal may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is only an example of a terminal and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., the terminal may also include input-output devices, network access devices, buses, etc.

The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 91 may be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 91 may also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the terminal. Further, the memory 91 may also include both an internal storage unit and an external storage device of the terminal. The memory 91 is used for storing the computer program and other programs and data required by the terminal. The memory 91 may also be used to temporarily store data that has been output or is to be output.

It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one type of logical function division, and other division manners may exist in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims

1. A robot elevator taking dispatching method is applied to an elevator taking dispatching terminal, and is characterized by comprising the following steps:

acquiring first elevator taking information reported by an elevator taking robot; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

allocating elevator taking tokens to first target elevator-waiting robots in the elevator-taking waiting queue, calling an elevator by the first target elevator-waiting robots with the elevator taking tokens, and determining whether floors needing to be reached by the first target elevator-waiting robots are farthest floors or not by the first target elevator-waiting robots according to first target floor information of each elevator-waiting robot in the elevator-taking waiting queue when the first target elevator-waiting robots monitor that the elevator is reached;

distributing the elevator taking token to a second target elevator taking robot in the new elevator taking waiting queue, and carrying out elevator taking operation by the second target elevator taking robot in the new elevator taking waiting queue according to the held elevator taking token until the elevator taking robot in the new elevator taking waiting queue is empty; the second target robot to be taken by the elevator in the new elevator taking waiting queue is the robot to be taken by the elevator with the floor needing to be reached in the new elevator taking waiting queue as the farthest floor;

the robot elevator taking scheduling method further comprises the following steps:

receiving a second elevator arrival message and an elevator taking token which is paid up when the first target elevator waiting robot determines that the floor needing to arrive is the farthest floor and the elevator exists in the elevator;

according to the second elevator arrival information reported when the first target elevator-waiting robot detects that the elevator has the elevator-taking robot and the elevator-taking token paid on the second elevator arrival information reported when the first target elevator-waiting robot detects that the elevator has the elevator-taking robot, second elevator-taking information of each elevator-taking robot in the elevator is obtained; the second boarding information includes second target floor information of the boarding robot;

calculating a minimum first difference value of first difference values between a second target floor corresponding to the second target floor information and the current floor, and calculating a second difference value between a first target floor corresponding to the first target floor information of each robot to be ridden in the boarding waiting queue and the current floor;

forming an elevator taking waiting sub-queue by the robots to be taken with the second difference value smaller than the minimum first difference value;

and allocating elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue according to the second difference value from large to small, so that the to-be-taken robots in the elevator taking waiting sub-queue enter the elevator according to the second difference value from large to small.

2. The robot elevator-taking scheduling method according to claim 1, wherein the robot elevator-taking scheduling method further comprises:

receiving a first elevator arrival message and an elevator taking token submitted by the first target elevator-waiting robot when the floor needing to be arrived is determined to be a non-farthest floor, distributing the elevator taking token to a third target elevator-waiting robot, and sending an elevator taking notification message to the third target elevator-waiting robot; the elevator taking notification message is used for indicating the third target elevator-waiting robot to start taking the elevator; the third target robot to be ridden is the robot to be ridden with the farthest floor as the floor needing to be reached in the elevator taking waiting queue.

3. The robot boarding scheduling method of claim 2, wherein the assigning the boarding token to a new target boarding robot comprises:

and if the floor to be reached by the plurality of the to-be-taken elevator robots in the elevator taking waiting queue is the farthest floor, taking the to-be-taken elevator robot which arrives at the earliest in the plurality of the to-be-taken elevator robots as the third target to-be-taken elevator robot.

4. The robot boarding scheduling method of claim 1, further comprising:

forming an elevator taking waiting sub-queue by the robots to be taken with the second difference value smaller than the minimum first difference value, and deleting the robots to be taken with which the robot to be taken with the elevator is classified into the elevator taking waiting sub-queue from the elevator taking waiting sub-queue;

allocating elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue according to the sequence of the second difference values from large to small, so that the to-be-taken robots in the elevator taking waiting sub-queue enter the elevator according to the sequence of the second difference values from large to small until the size of the remaining space of the elevator is smaller than the size of the space required by the to-be-taken robots, or the elevator taking waiting sub-queue is empty, stopping allocating the elevator taking tokens to the to-be-taken robots in the elevator taking waiting sub-queue, allocating the elevator taking tokens to the elevator taking waiting sub-queue and a fourth target to-be-taken robot with the floor required to reach in the elevator taking waiting sub-queue as the farthest floor, and carrying out elevator taking operation by the fourth target to-be-taken robot according to the held elevator taking tokens until the elevator taking waiting sub-queue and the to-be-taken robots in the elevator taking waiting sub-queue are empty.

5. The robot elevator taking scheduling method according to claim 4, wherein the taking operation by the fourth target elevator taking robot according to the held elevator taking token includes:

and calling the elevator after the fourth target elevator waiting robot waits for a first preset time.

6. The robot boarding scheduling method according to claim 1, further comprising, after adding the robot to be landed to a boarding waiting queue corresponding to the current floor information and the boarding direction:

receiving the cooperation information sent by the robot to take the elevator;

sending a cooperation group information updating instruction carrying cooperation information of each elevator-taking robot in the elevator-taking waiting queue to each elevator-taking robot in the elevator-taking waiting queue; the cooperation group information updating instruction is used for indicating each elevator taking robot in the elevator taking waiting queue to update cooperation group information according to cooperation information of each elevator taking robot in the elevator taking waiting queue carried by the cooperation group information updating instruction, establishing cooperation communication with other elevator taking robots according to the updated cooperation group information, and adjusting the self movement speed of the elevator taking robots and the distance between the elevator taking robots.

7. A robot elevator taking method is applied to a robot to be used for taking an elevator, and is characterized by comprising the following steps:

reporting first elevator taking information to an elevator taking scheduling terminal; the first elevator taking information comprises current floor information and first target floor information of the robot to be taken;

if the floor to be reached by the robot to take the elevator is the farthest floor, starting to execute the operation of entering the elevator, sending an elevator taking success message to the elevator taking dispatching terminal after the operation of entering the elevator is finished, and simultaneously, paying the elevator taking token;

the performing an operation into the elevator comprises:

detecting whether an elevator-taking robot exists in the elevator, reporting second elevator arrival information to the elevator-taking dispatching terminal when the elevator-taking robot exists in the elevator, and paying the elevator-taking token; the second elevator arrival information is used for indicating the elevator to obtain second elevator taking information of each elevator-taken robot in the elevator, calculating the minimum first difference value of the first difference values between the current floor and the second target floor corresponding to the second target floor information, and calculating the second difference value between the current floor and the first target floor corresponding to the first target floor information of each elevator-taking robot in the elevator taking waiting queue; the second boarding information includes the second target floor information of the boarding robot;

and re-receiving elevator taking tokens distributed by the elevator taking dispatching terminal to the elevator-taking waiting sub-queue according to the second difference value from large to small, and executing the operation of entering the elevator or performing elevator taking operation according to the elevator taking tokens, wherein the elevator-taking waiting sub-queue consists of the elevator-taking robots with the second difference value smaller than the minimum first difference value.

8. The robot escalator approach of claim 7, further comprising:

sending cooperation information to the elevator taking scheduling terminal; the cooperation information comprises identification information, position information and movement speed information of the robot to take the elevator;

receiving a cooperative group information updating instruction sent by the elevator taking scheduling terminal; the cooperation group information updating instruction carries cooperation information of each robot to be taken on the elevator in the elevator taking waiting queue;

and updating the information of the cooperation group according to the cooperation information of each robot to be carried in the elevator taking waiting queue carried by the cooperation group information updating instruction, establishing cooperation communication with other robots to be carried according to the updated cooperation group information, and adjusting the self movement speed of the robot to be carried and the distance between the robot and the other robots to be carried.

9. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-6 or the steps of the method according to any of claims 7-8 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6, or the steps of the method according to any one of claims 7 to 8.