CN112777438A - Robot equal-stair method, device, terminal and storage medium - Google Patents
Robot equal-stair method, device, terminal and storage medium Download PDFInfo
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- CN112777438A CN112777438A CN202110117645.3A CN202110117645A CN112777438A CN 112777438 A CN112777438 A CN 112777438A CN 202110117645 A CN202110117645 A CN 202110117645A CN 112777438 A CN112777438 A CN 112777438A
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- 238000003860 storage Methods 0.000 title claims description 9
- 238000012545 processing Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 abstract description 9
- 238000004891 communication Methods 0.000 description 6
- 230000006399 behavior Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/103—Destination call input before entering the elevator car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/211—Waiting time, i.e. response time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/403—Details of the change of control mode by real-time traffic data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a robot ladder waiting method, which comprises the following steps: the control robot sends a call request to the designated elevator and waits for the designated elevator or any one of the cloud servers to register the call request; acquiring feedback information sent after any one of the appointed elevator or the cloud server is registered, and waiting for the elevator at the current floor; and recording the equal elevator time when the designated elevator reaches the current floor, judging whether the equal elevator time exceeds a preset waiting time threshold, and if so, reselecting the elevator and sending a call request. According to the robot elevator waiting method provided by the invention, the processing logic is provided in advance by presetting the conditions possibly encountered by the robot in the elevator waiting process, so that the robot is prevented from going down due to logic disorder.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a robot ladder waiting method, a robot ladder waiting device, a robot ladder waiting terminal and a storage medium.
[ background of the invention ]
With the continuous development of the robot technology, tasks such as automatic distribution and the like performed by the existing robot are applied to many buildings. Which often requires the robot to take an elevator to reach different floors. At present, no special scheme for controlling how a robot handles various emergency situations in the elevator waiting process exists, elevator waiting is usually performed directly before an elevator is selected, and when an elevator fault occurs, the elevator waiting time of the robot is too long, so that task execution is delayed, or the processing logic of the robot is disordered, so that the robot is down.
In view of the above, it is desirable to provide a robot elevator method, apparatus, terminal and storage medium to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a robot elevator waiting method, a device, a terminal and a storage medium, and aims to solve the problem that the logic of an elevator waiting for a robot is disordered due to various faults of the elevator when the robot waits for the elevator waiting for the robot.
In order to achieve the above object, a first aspect of the present invention provides a robot ladder-waiting method, comprising the steps of:
the control robot sends a call request to the designated elevator and waits for the designated elevator or any one of the cloud servers to register the call request;
acquiring feedback information sent after any one of the designated elevator or the cloud server is registered, and waiting for the elevator at the current floor;
and recording the equal-elevator time of the appointed elevator reaching the current floor, judging whether the equal-elevator time exceeds a preset waiting time threshold, and if so, reselecting the elevator and sending a call request.
In a preferred embodiment, the control robot sends a call request and waits for either one of an elevator or a cloud server to register the call request, and the method further comprises the following steps:
counting the registration waiting time of the robot waiting for registering the call request;
and judging whether the registration waiting time exceeds a preset registration time threshold, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
In a preferred embodiment, the method further comprises the steps of:
obtaining floor operation information of an elevator; the floor operation information comprises elevator stopping floors and stopping time length of each stopping time;
and judging whether the stay time of the elevator on the non-target floor exceeds a preset stay time threshold, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
In a preferred embodiment, the method further comprises the steps of:
and when the robot receives the registration abandoning information sent by any one of the appointed elevator or the cloud server, controlling the robot to abandon the call request of the appointed elevator and reselect the elevator.
A second aspect of the present invention provides a robot elevator apparatus, including:
the registration waiting module is used for controlling the robot to send a call request to the designated elevator and waiting for any one of the designated elevator or the cloud server to register the call request;
the feedback acquisition module is used for acquiring feedback information sent after any one of the designated elevator or the cloud server registers, and the feedback information is transmitted to elevators on the current floor;
and the equal elevator recording module is used for recording the equal elevator time when the designated elevator reaches the current floor, judging whether the equal elevator time exceeds a preset waiting time threshold value, and if so, reselecting the elevator and sending a call request.
In a preferred embodiment, the method further comprises:
the registration duration counting module is used for counting the registration waiting duration of the calling request waiting for registration of the robot;
and the registration duration judging module is used for judging whether the registration waiting duration exceeds a preset registration duration threshold value, and if so, controlling the robot to give up the call request of the specified elevator and reselect the elevator.
In a preferred embodiment, the method further comprises:
the elevator operation acquisition module is used for acquiring floor operation information of the elevator; the floor operation information comprises elevator stopping floors and stopping time length of each stopping time;
and the elevator stopping judgment module is used for judging whether the stopping time of the elevator on the non-target floor exceeds a preset stopping time threshold value, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
In a preferred embodiment, the method further comprises:
and the registration abandoning processing module is used for controlling the robot to abandon the call request of the specified elevator and reselect the elevator when the robot receives the abandoning registration information sent by any one of the specified elevator or the cloud server.
A third aspect of the present invention provides a terminal, which includes a memory, a processor, and a robot elevator program stored in the memory and operable on the processor, and when executed by the processor, the robot elevator program implements the steps of the robot elevator method according to any one of the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium storing a robot elevator program, which when executed by a processor implements the steps of the robot elevator method according to any one of the above embodiments.
According to the robot elevator waiting method provided by the invention, after a call calling request is sent, registration management is carried out by the designated elevator or the cloud, and after the robot receives feedback information for confirming registration, elevator waiting is carried out on the designated elevator, so that ordered management of a plurality of robots in a building when waiting for the elevator can be realized; when the waiting time of the robot is too long, the elevator is reselected to call, so that the elevator taking behavior of the robot is prevented from being delayed, therefore, processing logic is provided in advance by presetting conditions possibly met by the robot in the waiting process, and the robot is prevented from being down due to logic disorder.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a robot elevator waiting method provided by the present invention;
fig. 2 is a frame diagram of a robot elevator apparatus according to the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In an embodiment of the present invention, a first aspect is to provide a robot ladder waiting method, which is used to provide a set of processing logic for a robot when encountering different conditions during ladder waiting, so as to improve the capability of the robot to autonomously solve problems during task execution.
As shown in fig. 1, the robot equal ladder method includes the following steps S11-S13.
And step S11, controlling the robot to send a call request to the designated elevator and waiting for the call request to be registered by either the designated elevator or the cloud server.
In the step, the cloud server allocates the designated elevator to the robot according to a preset elevator selection rule, or the robot automatically selects a nearest available elevator as the designated elevator. The robot is made to send a call request to a designated elevator to prepare for taking the elevator. The cloud server is connected with all elevators in the building through a network, so that the robot can be in remote communication with any elevator through the cloud server, and can also be in wireless communication with any elevator directly and independently. The robot can carry out remote network communication through the 4G module and can also broadcast a call communication protocol message through the 2.4G module.
Further, after the robot sends the call request, the method also comprises the following steps: and (4) counting the registration waiting time of the robot waiting for registering the call request, namely recording and counting the waiting time of the robot immediately after sending the call request. And then, judging whether the registration waiting time exceeds a preset registration time threshold (for example, 8s), if so, indicating that the calling time is overtime, indicating that the specified elevator cannot meet the elevator taking requirement of the robot, and controlling the robot to give up the calling request of the specified elevator and reselect the elevator until a new elevator finishes the elevator taking registration of the robot. Therefore, the robot is prevented from being in the call request process for a long time by carrying out statistical judgment on the registration time length.
And step S12, acquiring feedback information sent after the registration of any one of the designated elevator or the cloud server, and the elevator at the current floor and the like.
Specifically, after the robot issues a call request, the robot waits for either a designated elevator or a cloud server to register the call request. And if the designated elevator can also bear a new robot, adding the current robot into a service list of the elevator, and going to the floor where the robot is located to receive the station. After the designated elevator or cloud server registers the robot and joins the service list, a feedback of registration completion is sent to the robot, so that the robot can confirm information of successful calling, and then waiting is carried out in elevator areas such as the elevator of the current floor.
Further, if the robot receives the registration abandoning information sent by any one of the designated elevator or the cloud server in the elevator waiting process, the designated elevator or the cloud server is indicated to be controlled by an external instruction or the elevator fails, and at the moment, the robot considers that the calling call fails, controls the robot to abandon the calling request of the designated elevator, reselects the elevator, and avoids the robot waiting for a long time.
Step S13, recording the waiting time of the appointed elevator reaching the current floor, judging whether the waiting time exceeds the preset waiting time threshold value, if so, reselecting the elevator and sending a call request; and if the result is negative, controlling the robot to enter the elevator.
Specifically, the robot waits for the designated elevator to arrive at the current floor after confirming that any one of the elevators is registered. Counting the waiting time of the robot from the moment when the feedback information is registered, judging whether the waiting time exceeds a preset waiting time threshold (for example, 3 minutes) or not, indicating that the specified elevator may have an operation fault, and delaying the execution of the robot task if the waiting time is long. That is, if the robot calls the elevator car for a time-out, one elevator car is reselected and called until a new elevator car arrives at the current floor of the robot.
Further, in one embodiment, the method further comprises the steps of: obtaining floor operation information of an elevator, wherein the floor operation information comprises elevator stopping floors and stopping time of each stopping; and judging whether the stay time of the elevator on the non-target floor exceeds a preset stay time threshold, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator. Specifically, if the robot stops on a certain floor during elevator waiting, the staying time of the elevator during operation exceeds a preset staying time threshold (for example, 90s), and the current floor where the robot is located is not reached, which indicates that the elevator is in fault or does not reach the current floor, at this time, the call is considered to be failed, and elevator re-selection is performed until a new elevator arrives at the current floor of the robot.
In summary, in the robot elevator waiting method provided by the invention, after the call request is sent, registration management is performed by the designated elevator or the cloud, and after the robot receives the feedback information for confirming registration, elevator waiting is performed on the designated elevator, so that ordered management of multiple robots waiting for the elevator in a building can be realized; when the waiting time of the robot is too long, the elevator is reselected to call, so that the elevator taking behavior of the robot is prevented from being delayed, therefore, processing logic is provided in advance by presetting conditions possibly met by the robot in the waiting process, and the robot is prevented from being down due to logic disorder.
The second aspect of the present invention provides a robot ladder waiting device 100, which is used for providing a set of processing logic for the robot when encountering different conditions in the ladder waiting process in advance, and controlling the ladder waiting behavior of the robot. The implementation principle and the embodiment of the robot elevator system 100 are the same as those of the robot elevator method described above, and therefore, the description thereof is omitted below.
As shown in fig. 2, the robot elevator apparatus 100 includes:
the registration waiting module 10 is used for controlling the robot to send a call request to the designated elevator and waiting for any one of the designated elevator or the cloud server to register the call request;
the feedback acquisition module 20 is used for acquiring feedback information sent after any one of the designated elevator or the cloud server registers, and the elevator is located on the current floor;
and the equal elevator recording module 30 is used for recording the equal elevator time when the designated elevator reaches the current floor, judging whether the equal elevator time exceeds a preset waiting time threshold, and if so, reselecting the elevator and sending a call request.
Further, the robot elevator apparatus 100 further includes:
the registration duration counting module is used for counting the registration waiting duration of the calling request waiting for registration of the robot; and the registration duration judging module is used for judging whether the registration waiting duration exceeds a preset registration duration threshold value, and if so, controlling the robot to give up the call request of the specified elevator and reselect the elevator.
Further, the robot elevator apparatus 100 further includes:
the elevator operation acquisition module is used for acquiring floor operation information of the elevator; the floor operation information comprises elevator stopping floors and stopping time of each stopping; and the elevator stopping judgment module is used for judging whether the stopping time of the elevator on the non-target floor exceeds a preset stopping time threshold value, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
Further, the robot elevator apparatus 100 further includes:
and the registration abandoning processing module is used for controlling the robot to abandon the call request of the specified elevator and reselect the elevator when the robot receives the abandoning registration information sent by any one of the specified elevator or the cloud server.
In a further aspect, the present invention provides a terminal (not shown in the drawings), where the terminal includes a memory, a processor, and a robot ladder program stored in the memory and operable on the processor, and the robot ladder program, when executed by the processor, implements the steps of the robot ladder method according to any one of the above embodiments.
The present invention further provides a computer-readable storage medium (not shown in the figures), in which a robot elevator program is stored, and when the robot elevator program is executed by a processor, the steps of the robot elevator method according to any one of the above embodiments are implemented.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned 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 for convenience of distinguishing from each other, 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 descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method 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 invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple 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 invention 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 invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A robot ladder-waiting method is characterized by comprising the following steps:
the control robot sends a call request to the designated elevator and waits for the designated elevator or any one of the cloud servers to register the call request;
acquiring feedback information sent after any one of the designated elevator or the cloud server is registered, and waiting for the elevator at the current floor;
and recording the equal-elevator time of the appointed elevator reaching the current floor, judging whether the equal-elevator time exceeds a preset waiting time threshold, and if so, reselecting the elevator and sending a call request.
2. The robot landing method according to claim 1, wherein the step of controlling the robot to issue a call request and waiting for either the elevator or the cloud server to register the call request further comprises the steps of:
counting the registration waiting time of the robot waiting for registering the call request;
and judging whether the registration waiting time exceeds a preset registration time threshold, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
3. The robotic ladder waiting method of claim 1 further comprising the steps of:
obtaining floor operation information of an elevator; the floor operation information comprises elevator stopping floors and stopping time length of each stopping time;
and judging whether the stay time of the elevator on the non-target floor exceeds a preset stay time threshold, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
4. The robotic ladder waiting method of claim 1 further comprising the steps of:
and when the robot receives the registration abandoning information sent by any one of the appointed elevator or the cloud server, controlling the robot to abandon the call request of the appointed elevator and reselect the elevator.
5. A robot equal ladder device is characterized by comprising:
the registration waiting module is used for controlling the robot to send a call request to the designated elevator and waiting for any one of the designated elevator or the cloud server to register the call request;
the feedback acquisition module is used for acquiring feedback information sent after any one of the designated elevator or the cloud server registers, and the feedback information is transmitted to elevators on the current floor;
and the equal elevator recording module is used for recording the equal elevator time when the designated elevator reaches the current floor, judging whether the equal elevator time exceeds a preset waiting time threshold value, and if so, reselecting the elevator and sending a call request.
6. The robotic ladder device of claim 5, further comprising:
the registration duration counting module is used for counting the registration waiting duration of the calling request waiting for registration of the robot;
and the registration duration judging module is used for judging whether the registration waiting duration exceeds a preset registration duration threshold value, and if so, controlling the robot to give up the call request of the specified elevator and reselect the elevator.
7. The robotic ladder device of claim 5, further comprising:
the elevator operation acquisition module is used for acquiring floor operation information of the elevator; the floor operation information comprises elevator stopping floors and stopping time length of each stopping time;
and the elevator stopping judgment module is used for judging whether the stopping time of the elevator on the non-target floor exceeds a preset stopping time threshold value, if so, controlling the robot to give up the call request of the specified elevator, and reselecting the elevator.
8. The robotic ladder device of claim 5, further comprising:
and the registration abandoning processing module is used for controlling the robot to abandon the call request of the specified elevator and reselect the elevator when the robot receives the abandoning registration information sent by any one of the specified elevator or the cloud server.
9. A terminal, characterized in that the terminal comprises a memory, a processor and a robot elevator program stored in the memory and executable on the processor, the robot elevator program, when executed by the processor, implementing the steps of the robot elevator method according to any of claims 1-4.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a robot landing program, which when executed by a processor implements the steps of the robot landing method according to any of claims 1-4.
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| CN202110117645.3A CN112777438A (en) | 2021-01-28 | 2021-01-28 | Robot equal-stair method, device, terminal and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113977587A (en) * | 2021-11-30 | 2022-01-28 | 上海有个机器人有限公司 | Method and system for dynamically adjusting waiting time of robot and related product |
| CN114524336A (en) * | 2022-01-13 | 2022-05-24 | 北京三快在线科技有限公司 | Floor recognition method and floor recognition elevator terminal |
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| CN111532910A (en) * | 2020-05-14 | 2020-08-14 | 拉扎斯网络科技（上海）有限公司 | Ladder taking method for unmanned equipment, unmanned equipment and system |
| CN111977475A (en) * | 2020-07-08 | 2020-11-24 | 三洋电梯(珠海)有限公司 | Intelligent calling landing method, system and medium |
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| CN113977587A (en) * | 2021-11-30 | 2022-01-28 | 上海有个机器人有限公司 | Method and system for dynamically adjusting waiting time of robot and related product |
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