CN113307113A - Method for robot to take elevator automatically and storage medium - Google Patents
Method for robot to take elevator automatically and storage medium Download PDFInfo
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- CN113307113A CN113307113A CN202110579925.6A CN202110579925A CN113307113A CN 113307113 A CN113307113 A CN 113307113A CN 202110579925 A CN202110579925 A CN 202110579925A CN 113307113 A CN113307113 A CN 113307113A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 16
- 238000005457 optimization Methods 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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Classifications
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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
- 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
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
Abstract
The invention relates to a method for a robot to take an elevator automatically and a storage medium, wherein the method comprises the following steps: the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened; controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator; after the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not; if the elevator arrives at the elevator entering target point, releasing the elevator and waiting for arriving at the target floor; if the robot does not reach the elevator entering target point, judging the current position of the robot; if the elevator is out of the elevator, giving up entering the elevator and releasing the elevator; if the elevator is in the elevator, the elevator is released and waits for reaching the target floor. The problem that the robot does not smoothly enter the elevator to occupy the elevator for a long time is avoided, and the use efficiency of the elevator is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for a robot to take an elevator automatically and a storage medium.
Background
A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. With the development of social economy, the types of robots are more and more diversified, such as robots for performing cleaning functions, and the tasks performed by the robots are more and more complex, such as performing tasks across areas, and for example, when an existing cleaning robot performs a cleaning task on a current floor, it is necessary to perform the cleaning task on another floor. Although there are many schemes for automatically taking an elevator by the existing robot, for example, a robot moving control method for getting in and out of an elevator, a laser robot and a chip disclosed in application No. 202010484909.4, and for example, a robot control method, a robot and a readable storage medium disclosed in application No. 201911253650.6, when the robot takes an elevator, if the robot is blocked by other passengers or obstacles, the robot cannot smoothly enter the elevator or leave the elevator for a long time, the robot still occupies the elevator, and the elevator use efficiency is low.
Disclosure of Invention
Therefore, it is necessary to provide a method and a storage medium for a robot to take an elevator automatically, so as to solve the problem that the robot cannot enter the elevator smoothly and continuously occupies the elevator to cause low use efficiency of the elevator when the robot performs an elevator taking task.
To achieve the above object, the inventor provides a method for a robot to automatically take an elevator, comprising the steps of:
the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened;
controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator;
after the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not;
if the elevator arrives at the elevator entering target point, releasing the elevator and waiting for arriving at the target floor;
if the robot does not reach the elevator entering target point, judging the current position of the robot;
if the elevator is out of the elevator, giving up entering the elevator and releasing the elevator;
if the elevator is in the elevator, the elevator is released and waits for reaching the target floor.
Further optimization, the step of waiting for reaching the target floor further comprises the following steps:
when the target floor is reached, controlling the elevator door to open;
the robot drives out of the elevator and navigates to an exit target point outside the elevator;
after the elevator exit time is preset, judging whether the robot reaches an elevator exit target point;
if the elevator reaches the exit target point, releasing the elevator;
if the robot does not reach the exit target point, judging the current position of the robot;
if the elevator is outside the elevator, releasing the elevator and navigating to the task point of the current floor;
if the elevator is in the elevator, the elevator is released and waits for the next arrival at the target floor.
Further optimizing, the step of judging the current position of the robot if the current position of the robot does not reach the elevator entering target point further comprises the following steps:
if the robot is located at the position of the elevator door, judging whether the robot exits the elevator or enters the elevator currently;
if the current robot goes out of the elevator, controlling the robot to enter the elevator and waiting for the next arrival at the target floor;
and if the current robot enters the elevator, controlling the robot to leave the elevator and wait for entering the elevator next time.
Further optimization, the step of 'the robot automatically navigating to a waiting point before the elevator' specifically comprises the following steps:
before arriving at the elevator, acquiring reference points on the outer walls on the two sides of the elevator door;
determining the center line of the elevator according to the reference points on the outer walls on the two sides of the elevator door;
determining a position on the elevator center line, which is a preset distance away from the elevator door, as an elevator waiting point;
and according to the determined elevator waiting point, the robot navigates to the elevator waiting point in front of the elevator.
Further optimization, the step of determining the position of the preset distance from the elevator door on the elevator center line as an elevator waiting point specifically comprises the following steps:
obtaining the thickness of the outer wall of the elevator door and the thickness of the elevator door;
determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door;
and determining the position of the preset distance from the central point of the elevator door on the elevator central line as an elevator waiting point.
Still provide another technical scheme: a storage medium storing a computer program which, when executed by a processor, performs the steps of:
the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened;
controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator;
after the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not;
if the elevator arrives at the elevator entering target point, releasing the elevator and waiting for arriving at the target floor;
if the robot does not reach the elevator entering target point, judging the current position of the robot;
if the elevator is out of the elevator, giving up entering the elevator and releasing the elevator;
if the elevator is in the elevator, the elevator is released and waits for reaching the target floor.
Further optimized, the computer program is further adapted to perform the following steps after the step "waiting for the arrival of the target floor" is performed by the processor:
when the target floor is reached, controlling the elevator door to open;
the robot drives out of the elevator and navigates to an exit target point outside the elevator;
after the elevator exit time is preset, judging whether the robot reaches an elevator exit target point;
if the elevator reaches the exit target point, releasing the elevator;
if the robot does not reach the exit target point, judging the current position of the robot;
if the elevator is outside the elevator, releasing the elevator and navigating to the task point of the current floor;
if the elevator is in the elevator, the elevator is released and waits for the next arrival at the target floor.
And further optimizing, wherein the computer program is executed by the processor after the step of judging the current position of the robot if the computer program does not reach the elevator entering target point:
if the robot is located at the position of the elevator door, judging whether the robot exits the elevator or enters the elevator currently;
if the current robot goes out of the elevator, controlling the robot to enter the elevator and waiting for the next arrival at the target floor;
and if the current robot enters the elevator, controlling the robot to leave the elevator and wait for entering the elevator next time.
Further optimization, when the computer program is executed by the processor to perform the step of 'the robot automatically navigates to a waiting point in front of the elevator', the following steps are specifically executed:
before arriving at the elevator, acquiring reference points on the outer walls on the two sides of the elevator door;
determining the center line of the elevator according to the reference points on the outer walls on the two sides of the elevator door;
determining a position on the elevator center line, which is a preset distance away from the elevator door, as an elevator waiting point;
and according to the determined elevator waiting point, the robot navigates to the elevator waiting point in front of the elevator.
Further optimization, when the computer program is executed by the processor to determine that the position on the elevator center line, which is a preset distance away from the elevator door, is a waiting point, the following steps are specifically executed:
obtaining the thickness of the outer wall of the elevator door and the thickness of the elevator door;
determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door;
and determining the position of the preset distance from the central point of the elevator door on the elevator central line as an elevator waiting point.
Different from the prior art, according to the technical scheme, when the robot needs to execute the elevator taking task and arrives at another floor, the robot is controlled to navigate to the elevator waiting point of the elevator on the current floor, so that the robot waits for the elevator at the elevator waiting point and sends an elevator taking instruction to an elevator system, the elevator arrives at the current stair, and the elevator door is opened; after the elevator door is opened, the robot executes elevator entering action and navigates to an elevator entering target point in the elevator; after the preset time, judging whether the robot reaches a target entering point in the elevator, if not, judging the position of the current robot compared with the elevator door, and if the current robot is in the elevator, releasing the elevator and waiting for reaching the target floor; and if the current robot is outside the elevator, the robot is indicated to fail to enter the elevator, the robot is abandoned to continue to enter the elevator, the elevator is released, the robot waits for entering the elevator next time, the robot is prevented from not entering the elevator smoothly and occupying the elevator for a long time, and the use efficiency of the elevator is improved.
Drawings
Fig. 1 is a schematic flow chart of a method for automatically taking an elevator by a robot according to an embodiment;
FIG. 2 is a schematic flow chart of a method for automatically riding an elevator by a robot according to an embodiment;
fig. 3 presents a diagrammatic illustration of the structure of the elevator according to the embodiment;
fig. 4 is a schematic structural diagram of a storage medium according to an embodiment.
Description of reference numerals:
310. storage medium, 320, processor.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, the present embodiment provides a method for a robot to automatically ride an elevator, including the following steps:
step S110: the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened; when the robot needs to execute the elevator taking task and arrives at another floor, the robot is controlled to navigate to an elevator waiting point of the elevator of the current floor, so that the robot waits for the elevator at the elevator waiting point and sends an elevator taking instruction to an elevator system, so that the elevator arrives at the current stair, and an elevator door is opened; the robot can directly send elevator taking instructions to the elevator system through the information module to open the elevator door, or the robot identifies elevator taking keys on the elevator through images and controls the elevator to open and close by pressing the corresponding elevator taking keys; and the robot can navigate to the front of the elevator at the current floor according to its positioning system.
Step S120: controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator; and when the elevator door of the current floor is opened, controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator.
Step S130: after the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not; when the robot performs the elevator entering action, after the elevator entering time is preset, whether the robot has entered an elevator entering target point in the elevator is judged, if the robot has reached the elevator entering target point, it indicates that the robot has entered the elevator successfully, and step S140 is executed: releasing the elevator and waiting for reaching the target floor;
and when it is determined that the robot has not reached the entry target point, performing step S150: judging the current position of the robot; judging whether the elevator fails to enter the elevator or not by judging the current position of the robot; if the robot is judged to be outside the elevator, the robot fails to enter the elevator, and then the step S160 is executed: giving up entering the elevator and releasing the elevator; if the robot is judged to be in the elevator, the step S140 is executed: the elevator is released and waits for the arrival at the target floor.
The robot is judged whether to execute the elevator action or not, after the action is overtime, whether the robot enters the elevator or not is judged, if the robot enters the elevator, the elevator is released to wait for reaching a target floor, and if the action is overtime, the robot does not enter the elevator, the robot gives up entering the elevator, and releases the current elevator, so that the robot is prevented from occupying the elevator for a long time, and the use efficiency of the elevator is improved. When the robot enters the elevator overtime, the robot gives up entering the elevator, can wait for the next arrival of the elevator and perform the elevator moving action again, and can also send an elevator entering failure instruction to the management end, and wait for the management end to send a next operation instruction, such as waiting for the next arrival of the elevator to take the elevator again to reach the target floor, or giving up arriving at the target floor.
Referring to fig. 2, in this embodiment, after the robot arrives at the target floor by taking the elevator, the step "waiting for arrival at the target floor" further includes the following steps:
step S210: when the target floor is reached, controlling the elevator door to open; when the robot reaches a target floor, controlling an elevator door to be opened, wherein after the elevator system detects that the elevator taken by the current robot reaches the target floor, the elevator system sends information of the target floor to the robot to inform the robot of missing taking the elevator when reaching the target floor, and controls the elevator door to be opened, or the robot judges whether the current elevator reaches the target floor through a positioning system, and if the current elevator reaches the target floor, sending an instruction to the elevator system to control the elevator door to be opened;
step S220: the robot drives out of the elevator and navigates to an exit target point outside the elevator; when the elevator door is opened, the robot drives out of the elevator and navigates to an exit target point outside the elevator.
Step S230: after the elevator exit time is preset, judging whether the robot reaches an elevator exit target point; when the robot performs the action of going out of the elevator, after the time of going out of the elevator is preset, whether the robot has entered an exit target point outside the elevator is judged, if the robot has reached the exit target point, it indicates that the robot has successfully gone out of the elevator, and then step S240 is performed: releasing the elevator and navigating to the task point of the current floor;
and if it is determined that the robot has not reached the exit target point, performing step 250: judging the current position of the robot; judging whether the elevator fails to go out of the elevator by judging the current position of the robot; if the robot is judged to be outside the elevator, the robot goes out of the elevator successfully, and then the step S240 is executed: releasing the elevator and navigating to the task point of the current floor; if the robot is judged to be in the elevator, the step S260 is executed: abandoning the elevator and releasing the elevator to wait for reaching the target floor next time.
The robot is judged whether to overtime the elevator exiting action, whether the robot exits the elevator is judged after the overtime, if the robot exits the elevator, the elevator is released and navigated to the task point of the current floor, and if the robot is still in the elevator after the overtime, the robot gives up exiting the elevator, releases the current elevator, waits until the next arrival target is missed, the robot is prevented from occupying the elevator for a long time, and the use efficiency of the elevator is improved.
In this embodiment, when the robot enters or exits the elevator, the robot may be stuck at the elevator door for a long time and fail to enter or exit the elevator, and the following steps are further included after steps S150 and 250:
if the position of the robot at the elevator door is judged, judging whether the robot exits the elevator or enters the elevator currently;
if the current robot goes out of the elevator, controlling the robot to enter the elevator and waiting for the next arrival at the target floor;
and if the current robot enters the elevator, controlling the robot to leave the elevator and wait for entering the elevator next time.
When the robot enters or exits the elevator overtime, the current intention of the robot is changed when the robot is judged to be at the position of an elevator door, if the elevator performs elevator traveling action and is clamped on the elevator door overtime, the robot gives up entering the elevator and exits the elevator, then waits for entering the elevator next time, and if the robot performs elevator exiting action and is clamped on the elevator door overtime, the robot gives up exiting the elevator, enters the elevator at the moment, and then waits for reaching the target elevator next time; the robot is prevented from being clamped on the elevator door for a long time in the process of entering or exiting the elevator, and the use efficiency of the elevator is improved.
In this embodiment, since the size of the elevator is fixed, but the existing robot may have a large volume, in order to enable the robot to safely enter and exit the elevator, the step "the robot automatically navigates to a waiting point before the elevator" specifically includes the following steps:
before arriving at the elevator, acquiring reference points on the outer walls on the two sides of the elevator door;
determining the center line of the elevator according to the reference points on the outer walls on the two sides of the elevator door;
determining a position on the elevator center line, which is a preset distance away from the elevator door, as an elevator waiting point;
and according to the determined elevator waiting point, the robot navigates to the elevator waiting point in front of the elevator.
The robot acquires reference points on the outer walls on the two sides of the elevator door before navigating to the elevator, then the center line of the elevator can be determined according to the vertical center line of the connection line of the reference points on the outer walls on the two sides, the direction of the center line of the elevator is the direction of entering the elevator, then the specific preset position in front of the elevator door is determined according to the center line of the elevator, then the robot runs to the elevator waiting point to wait for the arrival of the elevator, after the elevator arrives, the robot enters the elevator in a straight line, after the robot enters the elevator in a straight line, the robot rotates 180 degrees and arrives at a target floor, the robot also exits the elevator in a straight line, and the robot is ensured to enter the elevator safely. In order to ensure that the robot can accurately acquire the central point of the elevator central line and the elevator door, the step of determining the position on the elevator central line away from the elevator door by a preset distance as an elevator waiting point specifically comprises the following steps of:
obtaining the thickness of the outer wall of the elevator door and the thickness of the elevator door;
determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door;
and determining the position of the preset distance from the central point of the elevator door on the elevator central line as an elevator waiting point.
Referring to fig. 3, the thickness of the outer wall of the elevator door and the thickness of the elevator door are manually measured and then stored in the database, and the robot can obtain the current thickness of the outer wall of the elevator and the current thickness of the elevator door from the database; then determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door; then, the position of the elevator centerline, which is a preset distance from the center point of the elevator door, is determined as an elevator waiting point, so that the accurate determination of the center point of the elevator door can be accurately judged, and the elevator waiting point is ensured to be on the elevator centerline. The elevator waiting point is 0.7 m away from the central point of the elevator in a preset distance, the elevator entering target point is 0.9 m in the elevator, and the elevator waiting point position, the elevator entering target point position and the elevator exiting target point position can be confirmed according to actual needs.
In this embodiment, the position of the robot in comparison with the elevator door can be compared with the coordinate of the central point of the elevator door through the coordinate of the robot, so that the robot can judge the position of the elevator door, wherein the coordinate of the robot can be accurately positioned through a positioning system of the robot, the coordinate of the central point of the elevator door can be known through laser mapping, and the robot can be judged to be outside the elevator, inside the elevator or on the elevator door through comparison of the coordinate of the robot and the coordinate of the central point of the elevator door.
Still provide another technical scheme: a storage medium 310, said storage medium 310 storing a computer program that, when executed by a processor 320, performs the steps of:
the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened; when the robot needs to execute the elevator taking task and arrives at another floor, the robot is controlled to navigate to an elevator waiting point of the elevator of the current floor, so that the robot waits for the elevator at the elevator waiting point and sends an elevator taking instruction to an elevator system, so that the elevator arrives at the current stair, and an elevator door is opened; the robot can directly send elevator taking instructions to the elevator system through the information module to open the elevator door, or the robot identifies elevator taking keys on the elevator through images and controls the elevator to open and close by pressing the corresponding elevator taking keys; and the robot can navigate to the front of the elevator at the current floor according to its positioning system.
Controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator; and when the elevator door of the current floor is opened, controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator.
After the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not; when the robot executes the action of entering the elevator, after the elevator entering time is preset, judging whether the robot enters an elevator entering target point in the elevator, if the robot reaches the elevator entering target point, indicating that the robot has successfully entered the elevator, executing the following steps: releasing the elevator and waiting for reaching the target floor;
and when the robot is judged not to reach the elevator entering target point, executing the following steps: judging the current position of the robot; judging whether the elevator fails to enter the elevator or not by judging the current position of the robot; if the robot is judged to be outside the elevator, the robot is indicated to fail to enter the elevator, and the following steps are executed: giving up entering the elevator and releasing the elevator; if the robot is judged to be in the elevator, executing the following steps: the elevator is released and waits for the arrival at the target floor.
The robot is judged whether to execute the elevator action or not, after the action is overtime, whether the robot enters the elevator or not is judged, if the robot enters the elevator, the elevator is released to wait for reaching a target floor, and if the action is overtime, the robot does not enter the elevator, the robot gives up entering the elevator, and releases the current elevator, so that the robot is prevented from occupying the elevator for a long time, and the use efficiency of the elevator is improved. When the robot enters the elevator overtime, the robot gives up entering the elevator, can wait for the next arrival of the elevator and perform the elevator moving action again, and can also send an elevator entering failure instruction to the management end, and wait for the management end to send a next operation instruction, such as waiting for the next arrival of the elevator to take the elevator again to reach the target floor, or giving up arriving at the target floor.
In this embodiment, after the robot arrives at the target floor by taking the elevator, the computer program is executed by the processor 320 to perform the step "wait for arrival at the target floor", and then further perform the following steps:
when the target floor is reached, controlling the elevator door to open; when the robot reaches a target floor, controlling an elevator door to be opened, wherein after the elevator system detects that the elevator taken by the current robot reaches the target floor, the elevator system sends information of the target floor to the robot to inform the robot of missing taking the elevator when reaching the target floor, and controls the elevator door to be opened, or the robot judges whether the current elevator reaches the target floor through a positioning system, and if the current elevator reaches the target floor, sending an instruction to the elevator system to control the elevator door to be opened;
the robot drives out of the elevator and navigates to an exit target point outside the elevator; when the elevator door is opened, the robot drives out of the elevator and navigates to an exit target point outside the elevator.
After the elevator exit time is preset, judging whether the robot reaches an elevator exit target point; when the robot executes the action of going out of the elevator, after the time of going out of the elevator is preset, whether the robot enters an elevator-going target point outside the elevator is judged, if the robot reaches the elevator-going target point is judged, the robot is indicated to have successfully gone out of the elevator, and then the following steps are executed: releasing the elevator and navigating to the task point of the current floor;
and when the robot is judged not to reach the exit target point, executing the following steps: judging the current position of the robot; judging whether the elevator fails to go out of the elevator by judging the current position of the robot; if the robot is judged to be outside the elevator, the robot is successfully out of the elevator, and then the following steps are executed: releasing the elevator and navigating to the task point of the current floor; if the robot is judged to be in the elevator, executing the following steps: abandoning the elevator and releasing the elevator to wait for reaching the target floor next time.
The robot is judged whether to overtime the elevator exiting action, whether the robot exits the elevator is judged after the overtime, if the robot exits the elevator, the elevator is released and navigated to the task point of the current floor, and if the robot is still in the elevator after the overtime, the robot gives up exiting the elevator, releases the current elevator, waits until the next arrival target is missed, the robot is prevented from occupying the elevator for a long time, and the use efficiency of the elevator is improved.
In this embodiment, when the robot enters or exits the elevator, the robot may be stuck at the elevator door for a long time and fail to enter or exit the elevator, and the computer program is executed by the processor 320 to perform the following steps after the step "if the robot does not reach the elevator entering target point, the current position of the robot is determined":
if the robot is located at the position of the elevator door, judging whether the robot exits the elevator or enters the elevator currently;
if the current robot goes out of the elevator, controlling the robot to enter the elevator and waiting for the next arrival at the target floor;
and if the current robot enters the elevator, controlling the robot to leave the elevator and wait for entering the elevator next time.
When the robot enters or exits the elevator overtime, the current intention of the robot is changed when the robot is judged to be at the position of an elevator door, if the elevator performs elevator traveling action and is clamped on the elevator door overtime, the robot gives up entering the elevator and exits the elevator, then waits for entering the elevator next time, and if the robot performs elevator exiting action and is clamped on the elevator door overtime, the robot gives up exiting the elevator, enters the elevator at the moment, and then waits for reaching the target elevator next time; the robot is prevented from being clamped on the elevator door for a long time in the process of entering or exiting the elevator, and the use efficiency of the elevator is improved.
In this embodiment, since the size of the elevator is fixed, but the existing robot may have a large volume, in order to enable the robot to safely enter and exit the elevator, when the processor 320 executes the step "the robot automatically navigates to the waiting point before the elevator", the following steps are specifically executed:
before arriving at the elevator, acquiring reference points on the outer walls on the two sides of the elevator door;
determining the center line of the elevator according to the reference points on the outer walls on the two sides of the elevator door;
determining a position on the elevator center line, which is a preset distance away from the elevator door, as an elevator waiting point;
and according to the determined elevator waiting point, the robot navigates to the elevator waiting point in front of the elevator.
The robot acquires reference points on the outer walls on the two sides of the elevator door before navigating to the elevator, then the center line of the elevator can be determined according to the vertical center line of the connection line of the reference points on the outer walls on the two sides, the direction of the center line of the elevator is the direction of entering the elevator, then the specific preset position in front of the elevator door is determined according to the center line of the elevator, then the robot runs to the elevator waiting point to wait for the arrival of the elevator, after the elevator arrives, the robot enters the elevator in a straight line, after the robot enters the elevator in a straight line, the robot rotates 180 degrees and arrives at a target floor, the robot also exits the elevator in a straight line, and the robot is ensured to enter the elevator safely. In order to ensure that the robot can accurately acquire the center point of the elevator centerline and the center point of the elevator door, the computer program is executed by the processor 320 to specifically execute the following steps when determining that the position on the elevator centerline, which is a preset distance away from the elevator door, is a waiting point:
obtaining the thickness of the outer wall of the elevator door and the thickness of the elevator door;
determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door;
and determining the position of the preset distance from the central point of the elevator door on the elevator central line as an elevator waiting point.
The thickness of the outer wall of the elevator door and the thickness of the elevator door are measured manually and then stored in the database, and the robot can acquire the current thickness of the outer wall of the elevator and the current thickness of the elevator door from the database; then determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door; then, the position of the elevator centerline, which is a preset distance from the center point of the elevator door, is determined as an elevator waiting point, so that the accurate determination of the center point of the elevator door can be accurately judged, and the elevator waiting point is ensured to be on the elevator centerline. The elevator waiting point is 0.7 m away from the central point of the elevator in a preset distance, the elevator entering target point is 0.9 m in the elevator, and the elevator waiting point position, the elevator entering target point position and the elevator exiting target point position can be confirmed according to actual needs.
In this embodiment, the position of the robot in comparison with the elevator door can be compared with the coordinate of the central point of the elevator door through the coordinate of the robot, so that the robot can judge the position of the elevator door, wherein the coordinate of the robot can be accurately positioned through a positioning system of the robot, the coordinate of the central point of the elevator door can be known through laser mapping, and the robot can be judged to be outside the elevator, inside the elevator or on the elevator door through comparison of the coordinate of the robot and the coordinate of the central point of the elevator door.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. A method for a robot to automatically ride an elevator, comprising the steps of:
the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened;
controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator;
after the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not;
if the elevator arrives at the elevator entering target point, releasing the elevator and waiting for arriving at the target floor;
if the robot does not reach the elevator entering target point, judging the current position of the robot;
if the elevator is out of the elevator, giving up entering the elevator and releasing the elevator;
if the elevator is in the elevator, the elevator is released and waits for reaching the target floor.
2. The method for automatically taking an elevator by a robot according to claim 1, wherein the step of waiting for reaching the target floor further comprises the steps of:
when the target floor is reached, controlling the elevator door to open;
the robot drives out of the elevator and navigates to an exit target point outside the elevator;
after the elevator exit time is preset, judging whether the robot reaches an elevator exit target point;
if the elevator reaches the exit target point, releasing the elevator;
if the robot does not reach the exit target point, judging the current position of the robot;
if the elevator is outside the elevator, releasing the elevator and navigating to the task point of the current floor;
if the elevator is in the elevator, the elevator is released and waits for the next arrival at the target floor.
3. The method for automatically taking an elevator by the robot as claimed in claim 1, wherein the step of determining the current position of the robot if the target entering point is not reached further comprises the following steps:
if the robot is located at the position of the elevator door, judging whether the robot exits the elevator or enters the elevator currently;
if the current robot goes out of the elevator, controlling the robot to enter the elevator and waiting for the next arrival at the target floor;
and if the current robot enters the elevator, controlling the robot to leave the elevator and wait for entering the elevator next time.
4. The method for automatically taking an elevator by the robot as claimed in claim 1, wherein the step of automatically navigating to a waiting point before the elevator by the robot specifically comprises the following steps:
before arriving at the elevator, acquiring reference points on the outer walls on the two sides of the elevator door;
determining the center line of the elevator according to the reference points on the outer walls on the two sides of the elevator door;
determining a position on the elevator center line, which is a preset distance away from the elevator door, as an elevator waiting point;
and according to the determined elevator waiting point, the robot navigates to the elevator waiting point in front of the elevator.
5. The method for automatically taking an elevator by the robot as claimed in claim 4, wherein the step of determining the position of the elevator centerline at the preset distance from the elevator door as the elevator waiting point comprises the following steps:
obtaining the thickness of the outer wall of the elevator door and the thickness of the elevator door;
determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door;
and determining the position of the preset distance from the central point of the elevator door on the elevator central line as an elevator waiting point.
6. A storage medium storing a computer program, the computer program when executed by a processor performing the steps of:
the robot is controlled to automatically navigate to a waiting point in front of the elevator, and the elevator door is controlled to be opened;
controlling the robot to enter the elevator and navigating to an elevator entering target point in the elevator;
after the elevator entering time is preset, judging whether the robot reaches an elevator entering target point or not;
if the elevator arrives at the elevator entering target point, releasing the elevator and waiting for arriving at the target floor;
if the robot does not reach the elevator entering target point, judging the current position of the robot;
if the elevator is out of the elevator, giving up entering the elevator and releasing the elevator;
if the elevator is in the elevator, the elevator is released and waits for reaching the target floor.
7. The storage medium of claim 6, wherein the computer program, after being executed by the processor in the step of waiting for arrival at the target floor, further performs the steps of:
when the target floor is reached, controlling the elevator door to open;
the robot drives out of the elevator and navigates to an exit target point outside the elevator;
after the elevator exit time is preset, judging whether the robot reaches an elevator exit target point;
if the elevator reaches the exit target point, releasing the elevator;
if the robot does not reach the exit target point, judging the current position of the robot;
if the elevator is outside the elevator, releasing the elevator and navigating to the task point of the current floor;
if the elevator is in the elevator, the elevator is released and waits for the next arrival at the target floor.
8. The storage medium of claim 6, wherein the computer program is further configured to, after the step of determining the current position of the robot if the entry target point is not reached is executed by the processor, perform the following steps:
if the robot is located at the position of the elevator door, judging whether the robot exits the elevator or enters the elevator currently;
if the current robot goes out of the elevator, controlling the robot to enter the elevator and waiting for the next arrival at the target floor;
and if the current robot enters the elevator, controlling the robot to leave the elevator and wait for entering the elevator next time.
9. The storage medium of claim 6, wherein the computer program, when executed by the processor in the step "robot navigates automatically to a waiting spot in front of an elevator", specifically performs the steps of:
before arriving at the elevator, acquiring reference points on the outer walls on the two sides of the elevator door;
determining the center line of the elevator according to the reference points on the outer walls on the two sides of the elevator door;
determining a position on the elevator center line, which is a preset distance away from the elevator door, as an elevator waiting point;
and according to the determined elevator waiting point, the robot navigates to the elevator waiting point in front of the elevator.
10. The storage medium of claim 9, wherein the computer program, when executed by the processor, performs the step of determining that the position on the centerline of the elevator at the predetermined distance from the elevator door is the elevator waiting point, and specifically performs the following steps:
obtaining the thickness of the outer wall of the elevator door and the thickness of the elevator door;
determining the central point of the elevator door according to the thickness of the outer wall of the elevator door and half of the sum of the thickness of the elevator door;
and determining the position of the preset distance from the central point of the elevator door on the elevator central line as an elevator waiting point.
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