CN113104684A - Robot traveling method and related equipment - Google Patents
Robot traveling method and related equipment Download PDFInfo
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- CN113104684A CN113104684A CN202110400107.5A CN202110400107A CN113104684A CN 113104684 A CN113104684 A CN 113104684A CN 202110400107 A CN202110400107 A CN 202110400107A CN 113104684 A CN113104684 A CN 113104684A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004590 computer program Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 10
- 238000012216 screening Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000003672 processing method Methods 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
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/46—Adaptations of switches or switchgear
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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
- B66B2201/102—Up or down call input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/405—Details of the change of control mode by input of special passenger or passenger group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4623—Wherein the destination is registered after boarding
-
- 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
- B66B2201/463—Wherein the call is registered through physical contact with the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a robot advancing method and related equipment, wherein the method comprises the following steps: acquiring robot traveling information, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information; and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator. The embodiment of the invention relates to the technical field of robots, and solves the problems that because an IC card system and a robot elevator taking system are separated, the IC card system and the robot elevator taking system respectively realize independent functions, and a service robot can only carry out protocol butt joint with the IC card system if the service robot wants to realize the elevator taking function.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot advancing method and related equipment.
Background
According to the prior technical scheme, when a robot needs to take an elevator with an IC card system, the IC card system and the elevator taking system of the robot are separated, the IC card system and the elevator taking system of the robot respectively realize independent functions, if the service robot wants to realize the elevator taking function, the service robot needs to be in protocol butt joint with the IC card system, so that the service robot is not influenced by the IC card device when the service robot lights floors, and because the number of IC card manufacturers is large, huge manpower cost is required to be consumed to communicate and cooperate with different IC card manufacturers, the propelling speed of projects is severely restricted, and the development of the industry is not facilitated.
Disclosure of Invention
The embodiment of the invention provides a robot traveling method and related equipment, which solve the problem that a robot is inconvenient to take an elevator with an IC card system.
In a first aspect, an embodiment of the present invention provides a robot traveling method, including:
acquiring robot traveling information, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information;
and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator.
Optionally, before the step of acquiring the robot traveling information, the method further includes:
obtaining operation information of the elevator, wherein the operation information comprises an operation state of the elevator, current floor data of the elevator and position data of the elevator, and the position data of the elevator is plane position data of the elevator;
screening fault elevators incapable of running based on the running state to obtain initial target elevators;
determining a target elevator based on current floor data of the initial target elevator and location data of the initial target elevator.
Optionally, the step of determining a target elevator based on the current floor data of the initial target elevator and the location data of the initial target elevator comprises:
acquiring current position information of the robot, wherein the current position information of the robot comprises a current floor of the robot and plane position data of the robot;
acquiring a first distance between the current floor data of the initial target elevator and the current floor of the robot based on the current position information of the robot and the current floor data of the initial target elevator;
acquiring a second distance when the robot and the initial target elevator are on the same plane based on the plane position data of the robot and the position data of the initial target elevator;
respectively setting a first weight corresponding to the first distance and a second weight corresponding to the second distance;
calculating the grade information of the initial target elevator according to the first weight and the second weight, and storing the grade information of the initial target elevator;
selecting the initial target elevator with the highest scoring information as the target elevator.
Optionally, before the step of acquiring the robot traveling information, the method further includes:
acquiring task information of the robot;
planning a task route of the robot based on the task information, wherein the task route comprises the target elevator and a task path corresponding to the target elevator;
acquiring the path condition of a task path;
judging whether the task route is feasible or not based on the path condition of the task path;
if the task route is not feasible, marking the current target elevator as a wrong elevator;
reselecting the target elevator.
Optionally, the step of reselecting the target elevator comprises:
obtaining the stored grading information of the initial target elevator;
and taking the initial target elevator with the highest scoring information except the error elevator as the target elevator.
Optionally, before the step of controlling the client to select the elevator destination corresponding to the destination floor information through a preset route based on the destination location information, the method includes:
obtaining the information of the lighted keys of the elevator;
matching the target floor information with the key information of the elevator lightening;
and if the target floor information is matched with the highlighted key information of the elevator, the client is not controlled to select the elevator destination position corresponding to the target floor information through a preset line.
Optionally, the method further includes:
obtaining the elevator running information;
matching the elevator operation information with the target floor information;
if the elevator running information is matched with the target floor information, sending a traveling command to the robot so that the robot leaves the elevator;
and if the elevator running information does not match the target floor information, sending a stopping instruction to the robot so as to enable the robot to stop at the elevator.
In a second aspect, an embodiment of the present application provides a robot traveling device, including:
the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring robot traveling information, the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information;
and the control module is used for controlling the client to select the elevator destination position corresponding to the destination floor information through a preset route based on the destination position information, wherein the preset route is a route connected in parallel with the IC card reading circuit in the elevator, and the preset route is connected with the key circuit of the elevator.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor being adapted to implement the robot travel method as described above when executing the computer program stored in the memory.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the robot traveling method as described above.
The embodiment of the invention has the following advantages or beneficial effects:
by acquiring robot travel information, wherein the robot travel information includes target location information of the robot, the target location information including target floor information; and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator. Through the preset circuit connected in parallel with the IC card reading circuit in the elevator, the operation of lightening the elevator key can be realized without the authentication of an IC card system, and the robot can also move without obstacles when facing the elevator with the IC card system. The operation information of the elevators is acquired, and the elevators are screened, so that the robot can travel more smoothly, the time consumption is shorter, and the efficiency of the robot in completing tasks is improved. By acquiring the task information of the robot and screening the task routes based on the task information, the problem that the efficiency of the robot for processing tasks is influenced due to accidents caused by the route problems when the robot processes the tasks is avoided.
Drawings
Fig. 1 is a flowchart of a robot traveling method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a robot traveling device according to an embodiment of the present disclosure;
FIG. 3 is a schematic position diagram of a robot traveling device according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a robot traveling device and an elevator provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a storage medium according to an embodiment of the present disclosure;
fig. 7 is a specific structural diagram of a robot traveling device according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a robot traveling method according to an embodiment of the present disclosure, and the robot traveling method according to the embodiment may be applied to a scenario of an elevator having an IC card system. The method may be performed by a robotic locomotion device, which may be implemented by means of software and/or hardware.
As shown in fig. 1, an embodiment of the present invention provides a robot traveling method, including:
s101, acquiring robot traveling information, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information;
illustratively, the robot is positioned, three-dimensional coordinates of the robot are obtained, and travel information of the robot is obtained by combining a task target position of the robot, wherein the travel information includes target floor information.
And S102, controlling a client to select a key corresponding to the target floor information through a preset route based on the target position information, wherein the preset route is a route connected with an IC card reading circuit in the elevator in parallel, and the preset route is connected with a key circuit of the elevator.
By acquiring robot travel information, wherein the robot travel information includes target location information of the robot, the target location information including target floor information; and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator. Through the preset circuit connected in parallel with the IC card reading circuit in the elevator, the operation of lightening the elevator key can be realized without the authentication of an IC card system, and the robot can also move without obstacles when facing the elevator with the IC card system. The operation information of the elevators is acquired, and the elevators are screened, so that the robot can travel more smoothly, the time consumption is shorter, and the efficiency of the robot in completing tasks is improved. By acquiring the task information of the robot and screening the task routes based on the task information, the problem that the efficiency of the robot for processing tasks is influenced due to accidents caused by the route problems when the robot processes the tasks is avoided.
In a possible embodiment, before the step of acquiring the robot traveling information, the method further includes:
obtaining operation information of the elevator, wherein the operation information comprises an operation state of the elevator, current floor data of the elevator and position data of the elevator, and the position data of the elevator is plane position data of the elevator;
screening fault elevators incapable of running based on the running state to obtain initial target elevators;
determining a target elevator based on current floor data of the initial target elevator and location data of the initial target elevator.
Illustratively, elevators are screened, so that the problem that the robot has low task processing efficiency and cannot complete tasks in time due to the fact that the robot selects a fault or a far elevator is avoided, and the user is influenced.
In one possible embodiment, the step of determining a target elevator based on current floor data of the initial target elevator and location data of the initial target elevator comprises:
acquiring current position information of the robot, wherein the current position information of the robot comprises a current floor of the robot and plane position data of the robot;
acquiring a first distance between the current floor data of the initial target elevator and the current floor of the robot based on the current position information of the robot and the current floor data of the initial target elevator;
acquiring a second distance when the robot and the initial target elevator are on the same plane based on the plane position data of the robot and the position data of the initial target elevator;
respectively setting a first weight corresponding to the first distance and a second weight corresponding to the second distance;
calculating the grade information of the initial target elevator according to the first weight and the second weight, and storing the grade information of the initial target elevator;
selecting the initial target elevator with the highest scoring information as the target elevator.
Illustratively, all elevators are scored by a method for setting weight, and the process of screening the elevators is realized by comparing the scores of the elevators, so that the time for pre-estimating each elevator is avoided, the calculation amount in the pre-estimating process is reduced, and the screening of the elevators is convenient and quick.
In a possible embodiment, before the step of acquiring the robot traveling information, the method further includes:
acquiring task information of the robot;
planning a task route of the robot based on the task information, wherein the task route comprises the target elevator and a task path corresponding to the target elevator;
acquiring the path condition of a task path;
judging whether the task route is feasible or not based on the path condition of the task path;
if the task route is not feasible, marking the current target elevator as a wrong elevator;
reselecting the target elevator.
Illustratively, whether the selected target elevator can complete the robot task is determined by verifying the feasibility of the task path corresponding to the target elevator, so that the problem that the robot cannot complete the task due to the fact that the task path corresponding to the target elevator is not feasible is solved.
In one possible embodiment, the step of reselecting the target elevator comprises:
obtaining the stored grading information of the initial target elevator;
and taking the initial target elevator with the highest scoring information except the error elevator as the target elevator.
Illustratively, the scoring information of the initial target elevator is saved, so that when the target elevator is reselected, the scoring information of all elevators does not need to be recalculated, repeated calculation processes are avoided, the calculation amount is reduced, and the calculation pressure of a server is reduced.
In a possible embodiment, before the step of controlling the client to select the elevator terminal position corresponding to the target floor information through a preset route based on the target position information, the method comprises:
obtaining the information of the lighted keys of the elevator;
matching the target floor information with the key information of the elevator lightening;
and if the target floor information is matched with the highlighted key information of the elevator, the client is not controlled to select the elevator destination position corresponding to the target floor information through a preset line.
Illustratively, if the target floor information is matched with the key information of the elevator, the client is not controlled to select the elevator terminal position corresponding to the target floor information through a preset line, so that the problem that the moving process of the robot is influenced due to key errors caused by repeatedly lighting the key corresponding to the target floor information when the key corresponding to the target floor information is selected is avoided.
In one possible embodiment, the method further comprises:
obtaining the elevator running information;
matching the elevator operation information with the target floor information;
if the elevator running information is matched with the target floor information, sending a traveling command to the robot so that the robot leaves the elevator;
and if the elevator running information does not match the target floor information, sending a stopping instruction to the robot so as to enable the robot to stop at the elevator.
For example, the robot is controlled to leave the elevator only when the elevator running information is matched with the target floor information, so that the robot is prevented from leaving the elevator at a wrong floor.
According to the technical scheme of the embodiment, the robot traveling information is acquired, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information; and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator. Through the preset circuit connected in parallel with the IC card reading circuit in the elevator, the operation of lightening the elevator key can be realized without the authentication of an IC card system, and the robot can also move without obstacles when facing the elevator with the IC card system. The operation information of the elevators is acquired, and the elevators are screened, so that the robot can travel more smoothly, the time consumption is shorter, and the efficiency of the robot in completing tasks is improved. By acquiring the task information of the robot and screening the task routes based on the task information, the problem that the efficiency of the robot for processing tasks is influenced due to accidents caused by the route problems when the robot processes the tasks is avoided.
The following is an embodiment of a video playing apparatus provided in an embodiment of the present invention, the apparatus and the robot traveling method in the above embodiments belong to the same inventive concept, and details that are not described in detail in the embodiment of the robot traveling apparatus may refer to the above embodiment of the text processing method.
In a possible implementation manner, as shown in fig. 2, in a second aspect, an embodiment of the present application provides a robot traveling device, including:
a data obtaining module 201, configured to obtain robot traveling information, where the robot traveling information includes target position information of the robot, and the target position information includes target floor information;
and the control module 202 is used for controlling the client to select the elevator destination position corresponding to the destination floor information through a preset route based on the destination position information, wherein the preset route is a route connected in parallel with an IC card reading circuit in the elevator, and the preset route is connected with a key circuit of the elevator.
In one possible implementation, as shown in fig. 3, a schematic position diagram of a robot traveling device provided in an embodiment of the present application;
the car top device is usually installed on the car top, and the car top device corresponds to the robot traveling device, is connected to the elevator keys through a flat cable, and is connected to the IC card reader through a communication line.
In a possible implementation mode, as shown in fig. 4, a schematic connection diagram of a robot traveling device and an elevator is provided in the embodiment of the application;
the robot flat cable is provided with two normally open dry contact wire harnesses corresponding to keys of each floor for lighting the floors, the two wire harnesses are respectively connected to the positions of a switch and a common end of an elevator and then disconnected after being connected, which is equivalent to that a guest presses down and then releases the elevator keys, an elevator system lights an LED lamp corresponding to the keys after receiving a signal, and completes the action of lighting the keys, the IC card flat cable is equivalent to the communication wire, the keys corresponding to each floor are also provided with two normally closed dry contact wire harnesses for the series connection of switch signals, the switch signal wire is firstly cut off from the middle, the two wire harnesses for switching are respectively connected to the corresponding cut positions, because the two wire harnesses are in a normally open state by default, the common end of the keys and the switch signal can not be conducted, and the elevator can be temporarily opened only after the guest swipes the card, the two wire harnesses are temporarily changed into a normally closed state, waiting for several seconds, and an authorized guest returns to the normally open state again after triggering an elevator key. The robot flat cable installation position is closer to the key position, the IC card flat cable installation position is closer to the control system, the robot flat cable installation position and the IC card flat cable installation position are not affected by each other, and the fault probability is lower.
In one possible implementation, as shown in fig. 5, an embodiment of the present application provides an electronic device, which includes a memory 310, a processor 320, and a computer program 311 stored on the memory 310 and executable on the processor 320, where when the processor 320 executes the computer program 311, the electronic device implements: acquiring robot traveling information, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information; and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator.
In one possible implementation, as shown in fig. 6, the present application provides a computer-readable storage medium 400, on which a computer program 411 is stored, where the computer program 411 implements, when executed by a processor: acquiring robot traveling information, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information; and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator.
In a possible implementation manner, as shown in fig. 7, an embodiment of the present application provides a specific structure diagram of a robot traveling device, which specifically includes:
the main control unit 1 is responsible for the relevant data processing of the elevator taking unit 3 and the IC card swiping unit 2 of the robot, mainly takes timely and rapid response actions when relevant requests of the robot or guests are received, and is a main logic processing part.
The robot elevator taking unit 3 is responsible for integrating information related to the sensor unit 31, the radio frequency unit 32, the networking unit 33 and the robot extension unit 34 and sending the information to the main control unit 1.
The sensor unit 31 is mainly responsible for the acquisition of elevator-related conditions, such as floor information, operating conditions, etc.
The networking unit 33 is mainly responsible for connecting the robot traveling device with an external network, and is generally composed of a router or a DTU plus a network card.
The robot expansion unit 34 performs function expansion for different floors, and connects the robot traveling device in parallel with the elevator keys through a wire harness.
The IC card swiping unit 2 is responsible for integrating information related to the reading head unit 21 and the card swiping extension unit 22, and performs information interaction with the main control unit 1 through an RS485 communication mode, which of course further includes interfaces such as TTL, RS232, CAN, RS422, and the like.
The reading head unit 21 is mainly responsible for collecting the information of the customer card and sending the collected information to the IC card swiping unit 2 in a wired communication mode.
The card swiping expansion unit 22 is used for expanding functions of different floors, and the robot traveling device is connected with the elevator keys in series through a wire harness.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A robot traveling method, characterized by comprising:
acquiring robot traveling information, wherein the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information;
and controlling a client to select a key corresponding to the target floor information through a preset line based on the target position information, wherein the preset line is a line connected with an IC card reading circuit in the elevator in parallel, and the preset line is connected with a key circuit of the elevator.
2. The robot traveling method according to claim 1, further comprising, before the step of acquiring the robot traveling information:
obtaining operation information of the elevator, wherein the operation information comprises an operation state of the elevator, current floor data of the elevator and position data of the elevator, and the position data of the elevator is plane position data of the elevator;
screening fault elevators incapable of running based on the running state to obtain initial target elevators;
determining a target elevator based on current floor data of the initial target elevator and location data of the initial target elevator.
3. The robotic travel method of claim 2, wherein the step of determining a target elevator based on current floor data of the initial target elevator and location data of the initial target elevator comprises:
acquiring current position information of the robot, wherein the current position information of the robot comprises a current floor of the robot and plane position data of the robot;
acquiring a first distance between the current floor data of the initial target elevator and the current floor of the robot based on the current position information of the robot and the current floor data of the initial target elevator;
acquiring a second distance when the robot and the initial target elevator are on the same plane based on the plane position data of the robot and the position data of the initial target elevator;
respectively setting a first weight corresponding to the first distance and a second weight corresponding to the second distance;
calculating the grade information of the initial target elevator according to the first weight and the second weight, and storing the grade information of the initial target elevator;
selecting the initial target elevator with the highest scoring information as the target elevator.
4. The robot traveling method according to claim 2, further comprising, before the step of acquiring the robot traveling information:
acquiring task information of the robot;
planning a task route of the robot based on the task information, wherein the task route comprises the target elevator and a task path corresponding to the target elevator;
acquiring the path condition of a task path;
judging whether the task route is feasible or not based on the path condition of the task path;
if the task route is not feasible, marking the current target elevator as a wrong elevator;
reselecting the target elevator.
5. The robot travel method of claim 2, wherein the step of reselecting the target elevator comprises:
obtaining the stored grading information of the initial target elevator;
and taking the initial target elevator with the highest scoring information except the error elevator as the target elevator.
6. The robot traveling method according to claim 1, characterized by comprising, before the step of controlling the client to select the elevator ending point corresponding to the target floor information through a preset route based on the target position information:
obtaining the information of the lighted keys of the elevator;
matching the target floor information with the key information of the elevator lightening;
and if the target floor information is matched with the highlighted key information of the elevator, the client is not controlled to select the elevator destination position corresponding to the target floor information through a preset line.
7. The robot travel method of claim 1, further comprising:
obtaining the elevator running information;
matching the elevator operation information with the target floor information;
if the elevator running information is matched with the target floor information, sending a traveling command to the robot so that the robot leaves the elevator;
and if the elevator running information does not match the target floor information, sending a stopping instruction to the robot so as to enable the robot to stop at the elevator.
8. A robot traveling device characterized by comprising:
the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring robot traveling information, the robot traveling information comprises target position information of the robot, and the target position information comprises target floor information;
and the control module is used for controlling the client to select the elevator destination position corresponding to the destination floor information through a preset route based on the destination position information, wherein the preset route is a route connected in parallel with the IC card reading circuit in the elevator, and the preset route is connected with the key circuit of the elevator.
9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to implement the robot travel method according to any of claims 1 to 7 when executing the computer program stored in the memory.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the robot travel method of any one of claims 1 to 7.
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