CN112960493A - Method and equipment for controlling robot and elevator door - Google Patents
Method and equipment for controlling robot and elevator door Download PDFInfo
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- CN112960493A CN112960493A CN202110121685.5A CN202110121685A CN112960493A CN 112960493 A CN112960493 A CN 112960493A CN 202110121685 A CN202110121685 A CN 202110121685A CN 112960493 A CN112960493 A CN 112960493A
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- 238000000034 method Methods 0.000 title claims description 67
- 230000009471 action Effects 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims description 37
- 230000015654 memory Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 14
- 230000005291 magnetic effect Effects 0.000 description 5
- 230000006399 behavior Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0012—Devices monitoring the users of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0037—Performance analysers
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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
- B66B2201/30—Details of the elevator system configuration
- B66B2201/304—Transit control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/403—Details of the change of control mode by real-time traffic data
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The purpose of this application is to provide a scheme of control robot and lift-cabin door. According to the scheme, the position relation between the robot and the elevator door is judged according to the real-time positioning information of the robot, then whether the robot smoothly passes through the elevator door area or not is judged based on the position relation between the robot and the elevator door, and if the robot smoothly passes through the elevator door area, the elevator door is closed. Compared with the prior art, the elevator door release device has the advantages that the problem that the elevator door cannot be released timely is solved, the whole action flow of the robot is optimized, efficient operation of the elevator is facilitated, and other people can take the elevator conveniently.
Description
Technical Field
The application relates to the technical field of information, in particular to a technology for controlling a robot and an elevator door.
Background
Aiming at the application scene that a robot enters and exits an elevator, the following technical scheme is generally adopted at present: (1) when the robot needs to enter the elevator, the robot starts to enter after the elevator is opened, and the door of the elevator is controlled to be closed after the elevator entering action is finished; if the action of entering the elevator fails or is overtime, the robot releases the door after exiting the elevator, and waits for the elevator to execute the action of entering again. (2) When the robot needs to get out of the elevator, the robot starts to get out of the elevator after the elevator is opened, and the elevator door is closed after the action of getting out of the elevator is finished; and if the elevator exit action fails or is overtime, the robot returns to the elevator again, and the robot controls the elevator to close the door and then executes the elevator exit action after waiting for the elevator to reach the floor next time.
In the above prior art scheme, because the opening and closing of the elevator door is controlled by the robot, the elevator often waits for a long time, which causes great inconvenience to people taking the elevator. For example, the following may occur: (1) after the robot passes through the elevator door, the action fails (the robot does not reach a designated point due to the fact that the robot encounters a person, an obstacle or a blocked path), the robot exits from the elevator and waits again; (2) the robot is about to reach the designated point after passing through the elevator door, but the action is overtime at the moment, and the robot waits again after exiting the elevator. The robot exit situation is similar to the entry situation. Therefore, the elevator door can not be released in time because the releasing of the elevator door needs to be determined by whether the behavior of the robot is successful or not and overtime. And there are cases where the robot exits the elevator after entering the elevator due to a failure or timeout of action.
Disclosure of Invention
An object of the present application is to provide a method and apparatus for controlling a robot and an elevator door.
According to an aspect of the present application, there is provided a method of controlling a robot and an elevator door, wherein the method includes:
judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot;
judging whether the robot smoothly passes through the elevator door area or not based on the position relation between the robot and the elevator door;
and if the robot smoothly passes through the elevator door area, closing the elevator door.
According to another aspect of the present application, there is also provided an apparatus for controlling a robot and an elevator door, wherein the apparatus includes:
the positioning module is used for judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot;
the first process module is used for judging whether the robot smoothly passes through the elevator door area or not based on the position relation between the robot and the elevator door;
and the second process module is used for closing the elevator door if the robot smoothly passes through the elevator door area.
According to yet another aspect of the application, a computing device is also provided, wherein the device comprises a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein the computer program instructions, when executed by the processor, trigger the device to perform the method of controlling a robot and an elevator door.
According to yet another aspect of the present application, there is also provided a computer readable medium having stored thereon computer program instructions executable by a processor to implement the method of controlling a robot and an elevator door.
According to the scheme, the position relation between the robot and the elevator door is judged according to the real-time positioning information of the robot, then whether the robot smoothly passes through the elevator door area is judged based on the position relation between the robot and the elevator door, and if the robot smoothly passes through the elevator door area, the elevator door is closed. Compared with the prior art, the elevator door release device has the advantages that the problem that the elevator door cannot be released timely is solved, the whole action flow of the robot is optimized, efficient operation of the elevator is facilitated, and other people can take the elevator conveniently.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a flowchart of a method of controlling a robot and an elevator door according to an embodiment of the present application;
fig. 2 is a flow chart for controlling a robot into an elevator according to an embodiment of the application;
fig. 3 is a flow chart for controlling a robot to exit an elevator according to an embodiment of the application;
fig. 4 is a schematic view of an apparatus for controlling a robot and an elevator door according to an embodiment of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, which include both non-transitory and non-transitory, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, program means, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The embodiment of the application provides a method for controlling a robot and an elevator door, which judges whether the robot is outside the elevator, inside the elevator or in the elevator door area by utilizing the elevator door area and the real-time positioning information of the robot. The elevator door release device has the advantages that the problem that the elevator door cannot be released timely is solved, the whole action flow of the robot is optimized, efficient operation of the elevator is facilitated, and other people can take the elevator conveniently.
In a practical scenario, the device performing the method may be a user equipment, a network device, or a device formed by integrating the user equipment and the network device through a network. The user equipment includes, but is not limited to, a terminal device such as a smartphone, a tablet computer, a Personal Computer (PC), and the like, and the network device includes, but is not limited to, a network host, a single network server, multiple network server sets, or a cloud computing-based computer set. Here, the Cloud is made up of a large number of hosts or web servers based on Cloud Computing (Cloud Computing), which is a type of distributed Computing, one virtual computer consisting of a collection of loosely coupled computers.
Fig. 1 is a flowchart of a method for controlling a robot and an elevator door according to an embodiment of the present application, the method including step S101, step S102, and step S103.
And S101, judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot.
In some embodiments, the positional relationship of the robot to the elevator door includes: the robot is outside the elevator; the robot is within an elevator; the robot is in the elevator door area.
In some embodiments, the step S101 includes: and marking the elevator door area on a map, and judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot.
For example, the real-time positioning information of the elevator door area and the robot can be utilized to judge whether the robot is currently outside the elevator, inside the elevator or in the elevator door area, so that the behavior state of the robot can be switched and the opening and closing of the elevator door can be controlled conveniently and subsequently.
And step S102, judging whether the robot smoothly passes through the elevator door area or not based on the position relation between the robot and the elevator door.
For example, since the real-time positioning information and the map information of the robot are known, if the robot is outside, in and inside the elevator door area in sequence according to the time sequence, it is indicated that the robot smoothly enters the elevator through the elevator door area; if the robot is sequentially arranged in the elevator, in the elevator door area and outside the elevator according to the time sequence, the robot smoothly exits the elevator through the elevator door area.
In some embodiments, as shown in fig. 2, the step S102 includes: when the robot needs to enter an elevator, waiting for the elevator to reach the current floor of the robot and opening the elevator door, and controlling the robot to enter the elevator; judging whether the robot smoothly passes through the elevator door area to reach the elevator or not based on the position relation between the robot and the elevator door; if the robot does not pass through the elevator door area, judging whether the operation time length exceeds a preset elevator entering time threshold value; if the operation time length exceeds a preset elevator entering time threshold value, closing the elevator door, and controlling the robot to return to the front of the elevator door for waiting; and if the operation is not overtime, the robot is continuously controlled to enter the elevator.
Here, as shown in fig. 2, the flow of the robot entering the elevator may be divided into two processes according to whether the robot reaches the elevator through the elevator door area, wherein the step S102 corresponds to a first process of the two processes, and the step S103 corresponds to a second process of the two processes.
For example, in step S102, if an obstacle is encountered or the robot fails to enter the elevator due to other circumstances before the robot passes through the elevator door zone, the robot will continuously retry entering the elevator until the time is out. Here, the process after the timeout is to release the elevator door, and control the robot to wait for the next elevator again before returning to the elevator. Therefore, the elevator door can be timely released, the state of the robot is more clear, and the situation that the robot exits after entering the elevator is avoided.
In some embodiments, as shown in fig. 3, the step S102 includes: when the robot needs to exit the elevator, waiting for the elevator to reach a target floor of the robot and opening the elevator door, and controlling the robot to exit the elevator; judging whether the robot smoothly passes through the elevator door area to reach the outside of the elevator or not based on the position relation between the robot and the elevator door; if the robot does not pass through the elevator door area, judging whether the operation time length exceeds a preset elevator leaving time threshold value; if the operation time length exceeds a preset elevator leaving time threshold value, closing the elevator door; and if the operation is not overtime, the robot is continuously controlled to exit the elevator.
Here, as shown in fig. 3, the flow of the robot exiting the elevator may be divided into two processes according to whether the robot passes through the elevator door area to reach the outside of the elevator, wherein the step S102 corresponds to a first process thereof, and the step S103 corresponds to a second process thereof.
For example, in step S102, before the robot passes through the elevator door zone, if an obstacle is encountered or the robot otherwise fails to exit the elevator, the robot continuously retries to exit the elevator until the time is out. The overtime processing is to release the elevator door, wait for the elevator to arrive at the floor next time and control the robot to exit the elevator.
And S103, if the robot smoothly passes through the elevator door area, closing the elevator door.
In some embodiments, as shown in fig. 2, the step S103 includes: if the robot smoothly passes through the elevator door area to reach the elevator, closing the elevator door, and controlling the elevator to move to a target floor of the robot; controlling the robot to go to a target position (target point) in the elevator, and judging whether the robot successfully reaches the target position in the elevator; if the robot does not reach the target position in the elevator, judging whether the operation is overtime, and if the operation is overtime, controlling the robot to stop acting; if the operation is not overtime, the robot is continuously controlled to move to the target position in the elevator; and if the robot successfully reaches the target position in the elevator, the robot enters the elevator to successfully act.
For example, in the step S103, after the robot reaches the elevator through the elevator door area, the robot releases the elevator door and controls the elevator to move to a target floor, the robot continues to perform an operation of reaching a target position (target point) in the elevator, and if the operation fails, the robot stops in place; in this case, the robot does not reach the final target position but enters the elevator, which does not affect the procedure of the robot taking the elevator.
In some embodiments, as shown in fig. 3, the step S103 includes: if the robot smoothly passes through the elevator door area and reaches the outside of the elevator, closing the elevator door; controlling the robot to go to a target position (target point) outside the elevator, and judging whether the robot successfully reaches the target position outside the elevator; if the robot does not reach the target position outside the elevator, judging whether the operation is overtime, and if the operation is overtime, controlling the robot to stop acting; if the operation is not overtime, the robot is continuously controlled to move to a target position outside the elevator; and if the robot successfully reaches the target position outside the elevator, the robot is indicated to successfully move out of the elevator.
Fig. 4 is a schematic diagram of an apparatus for controlling a robot and an elevator door according to an embodiment of the present application, the apparatus including a positioning module 401, a first process module 402, and a second process module 403.
And the positioning module 401 is used for judging the position relationship between the robot and the elevator door according to the real-time positioning information of the robot.
In some embodiments, the positional relationship of the robot to the elevator door includes: the robot is outside the elevator; the robot is within an elevator; the robot is in the elevator door area.
In some embodiments, the location module 401 is configured to: and marking the elevator door area on a map, and judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot.
For example, the real-time positioning information of the elevator door area and the robot can be utilized to judge whether the robot is currently outside the elevator, inside the elevator or in the elevator door area, so that the behavior state of the robot can be switched and the opening and closing of the elevator door can be controlled conveniently and subsequently.
A first process module 402 determines whether the robot smoothly passes through an elevator door area based on a positional relationship between the robot and the elevator door.
For example, since the real-time positioning information and the map information of the robot are known, if the robot is outside, in and inside the elevator door area in sequence according to the time sequence, it is indicated that the robot smoothly enters the elevator through the elevator door area; if the robot is sequentially arranged in the elevator, in the elevator door area and outside the elevator according to the time sequence, the robot smoothly exits the elevator through the elevator door area.
In some embodiments, as shown in FIG. 2, the first process module 402 is configured to: when the robot needs to enter an elevator, waiting for the elevator to reach the current floor of the robot and opening the elevator door, and controlling the robot to enter the elevator; judging whether the robot smoothly passes through the elevator door area to reach the elevator or not based on the position relation between the robot and the elevator door; if the robot does not pass through the elevator door area, judging whether the operation time length exceeds a preset elevator entering time threshold value; if the operation time length exceeds a preset elevator entering time threshold value, closing the elevator door, and controlling the robot to return to the front of the elevator door for waiting; and if the operation is not overtime, the robot is continuously controlled to enter the elevator.
Here, as shown in fig. 2, the flow of the robot entering the elevator may be divided into two processes according to whether the robot reaches the elevator through the elevator door area, wherein the first process module 402 corresponds to a first process of the two processes, and the second process module 403 corresponds to a second process of the two processes.
For example, in the first process, if an obstacle or other condition is encountered before the robot passes through the elevator door zone, causing a failure to enter the elevator, the robot will continuously reattempt to enter the elevator until a time-out occurs. Here, the process after the timeout is to release the elevator door, and control the robot to wait for the next elevator again before returning to the elevator. Therefore, the elevator door can be timely released, the state of the robot is more clear, and the situation that the robot exits after entering the elevator is avoided.
In some embodiments, as shown in FIG. 3, the first process module 402 is configured to: when the robot needs to exit the elevator, waiting for the elevator to reach a target floor of the robot and opening the elevator door, and controlling the robot to exit the elevator; judging whether the robot smoothly passes through the elevator door area to reach the outside of the elevator or not based on the position relation between the robot and the elevator door; if the robot does not pass through the elevator door area, judging whether the operation time length exceeds a preset elevator leaving time threshold value; if the operation time length exceeds a preset elevator leaving time threshold value, closing the elevator door; and if the operation is not overtime, the robot is continuously controlled to exit the elevator.
Here, as shown in fig. 3, the flow of the robot exiting the elevator may be divided into two processes according to whether the robot reaches the outside of the elevator through the elevator door area, wherein the first process module 402 corresponds to a first process thereof, and the second process module 403 corresponds to a second process thereof.
For example, in the first process, if an obstacle is encountered or the robot fails to exit the elevator due to other conditions before the robot passes through the elevator door zone, the robot will continuously retry to exit the elevator until the time is out. The overtime processing is to release the elevator door, wait for the elevator to arrive at the floor next time and control the robot to exit the elevator.
A second process module 403 closes the elevator door if the robot passes the elevator door zone smoothly.
In some embodiments, as shown in fig. 2, the second process module 403 is configured to: if the robot smoothly passes through the elevator door area to reach the elevator, closing the elevator door, and controlling the elevator to move to a target floor of the robot; controlling the robot to go to a target position (target point) in the elevator, and judging whether the robot successfully reaches the target position in the elevator; if the robot does not reach the target position in the elevator, judging whether the operation is overtime, and if the operation is overtime, controlling the robot to stop acting; if the operation is not overtime, the robot is continuously controlled to move to the target position in the elevator; and if the robot successfully reaches the target position in the elevator, the robot enters the elevator to successfully act.
For example, in the second process, after the robot reaches the elevator through the elevator door area, the robot releases the elevator door and controls the elevator to move to a target floor immediately, the robot continues to perform an operation of reaching a target position (target point) in the elevator, and if the operation fails, the robot stops in place; in this case, the robot does not reach the final target position but enters the elevator, which does not affect the procedure of the robot taking the elevator.
In some embodiments, as shown in fig. 3, the second process module 403 is configured to: if the robot smoothly passes through the elevator door area and reaches the outside of the elevator, closing the elevator door; controlling the robot to go to a target position (target point) outside the elevator, and judging whether the robot successfully reaches the target position outside the elevator; if the robot does not reach the target position outside the elevator, judging whether the operation is overtime, and if the operation is overtime, controlling the robot to stop acting; if the operation is not overtime, the robot is continuously controlled to move to a target position outside the elevator; and if the robot successfully reaches the target position outside the elevator, the robot is indicated to successfully move out of the elevator.
In summary, the embodiment of the application can mark the elevator door area on the map, and then judge whether the robot enters the elevator, leaves the elevator or is in the elevator door area according to the real-time positioning information of the robot and the elevator door area. Immediately after the robot enters or exits the elevator, the elevator doors are closed and the mode of the robot is switched to a new state, which does not prevent the robot from having successfully entered or exited the elevator even if the robot fails in subsequent actions. The elevator door release device has the advantages that the problem that the elevator door cannot be released timely is solved, the whole action flow of the robot is optimized, efficient operation of the elevator is facilitated, and other people can take the elevator conveniently.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. Herein, some embodiments of the present application provide a computing device comprising a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein the computer program instructions, when executed by the processor, trigger the device to perform the methods and/or aspects of the embodiments of the present application as described above.
Furthermore, some embodiments of the present application also provide a computer readable medium, on which computer program instructions are stored, the computer readable instructions being executable by a processor to implement the methods and/or aspects of the foregoing embodiments of the present application.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In some embodiments, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. A method of controlling a robot and an elevator door, wherein the method comprises:
judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot;
judging whether the robot smoothly passes through the elevator door area or not based on the position relation between the robot and the elevator door;
and if the robot smoothly passes through the elevator door area, closing the elevator door.
2. The method of claim 1, wherein determining the positional relationship of the robot to the elevator door based on the real-time positioning information of the robot comprises:
and marking the elevator door area on a map, and judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot.
3. The method of claim 1, wherein the positional relationship of the robot to the elevator door comprises:
the robot is outside the elevator;
the robot is within an elevator;
the robot is in the elevator door area.
4. The method of any one of claims 1 to 3, wherein determining whether the robot smoothly passes through an elevator door region based on a positional relationship of the robot and the elevator door comprises:
when the robot needs to enter an elevator, waiting for the elevator to reach the current floor of the robot and opening the elevator door, and controlling the robot to enter the elevator;
judging whether the robot smoothly passes through the elevator door area to reach the elevator or not based on the position relation between the robot and the elevator door;
if the robot does not pass through the elevator door area, judging whether the operation time length exceeds a preset elevator entering time threshold value;
if the operation time length exceeds the preset elevator entering time threshold value, the elevator door is closed, and the robot is controlled to return to the front of the elevator door to wait.
5. The method of claim 4, wherein closing the elevator doors if the robot passes the elevator door zone smoothly comprises:
if the robot smoothly passes through the elevator door area to reach the elevator, closing the elevator door, and controlling the elevator to move to a target floor of the robot;
controlling the robot to go to a target position in the elevator, and judging whether the robot successfully reaches the target position in the elevator;
and if the robot does not reach the target position in the elevator, judging whether the operation is overtime, and if so, controlling the robot to stop the action.
6. The method of any one of claims 1 to 3, wherein determining whether the robot smoothly passes through an elevator door region based on a positional relationship of the robot and the elevator door comprises:
when the robot needs to exit the elevator, waiting for the elevator to reach a target floor of the robot and opening the elevator door, and controlling the robot to exit the elevator;
judging whether the robot smoothly passes through the elevator door area to reach the outside of the elevator or not based on the position relation between the robot and the elevator door;
if the robot does not pass through the elevator door area, judging whether the operation time length exceeds a preset elevator leaving time threshold value;
and if the operation time length exceeds the preset elevator leaving time threshold value, closing the elevator door.
7. The method of claim 6, wherein closing the elevator doors if the robot passes the elevator door zone smoothly comprises:
if the robot smoothly passes through the elevator door area and reaches the outside of the elevator, closing the elevator door;
controlling the robot to go to a target position outside the elevator, and judging whether the robot successfully reaches the target position outside the elevator;
and if the robot does not reach the target position outside the elevator, judging whether the operation is overtime, and if so, controlling the robot to stop the action.
8. An apparatus for controlling a robot and an elevator door, wherein the apparatus comprises:
the positioning module is used for judging the position relation between the robot and the elevator door according to the real-time positioning information of the robot;
the first process module is used for judging whether the robot smoothly passes through the elevator door area or not based on the position relation between the robot and the elevator door;
and the second process module is used for closing the elevator door if the robot smoothly passes through the elevator door area.
9. A computing device, wherein the device comprises a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein the computer program instructions, when executed by the processor, trigger the device to perform the method of any of claims 1 to 7.
10. A computer readable medium having stored thereon computer program instructions executable by a processor to implement the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110121685.5A CN112960493A (en) | 2021-01-28 | 2021-01-28 | Method and equipment for controlling robot and elevator door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110121685.5A CN112960493A (en) | 2021-01-28 | 2021-01-28 | Method and equipment for controlling robot and elevator door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112960493A true CN112960493A (en) | 2021-06-15 |
Family
ID=76271749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110121685.5A Pending CN112960493A (en) | 2021-01-28 | 2021-01-28 | Method and equipment for controlling robot and elevator door |
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| CN114296462A (en) * | 2021-12-30 | 2022-04-08 | 北京图菱视频科技有限公司 | Early warning control method, system, equipment and medium for overtime of robot when getting out of elevator |
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