CN113414765A - Elevator entering method, device, terminal and storage medium in multi-robot elevator taking system - Google Patents
Elevator entering method, device, terminal and storage medium in multi-robot elevator taking system Download PDFInfo
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- CN113414765A CN113414765A CN202110728804.3A CN202110728804A CN113414765A CN 113414765 A CN113414765 A CN 113414765A CN 202110728804 A CN202110728804 A CN 202110728804A CN 113414765 A CN113414765 A CN 113414765A
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- 238000002360 preparation method Methods 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 15
- 230000000977 initiatory effect Effects 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
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- 238000005859 coupling reaction Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention discloses an elevator entering method in a multi-robot elevator taking system, which comprises the following steps: the method comprises the steps of acquiring the current floor of an elevator in real time, and judging whether the elevator reaches the floor where a robot is located and whether the elevator is a target elevator; detecting and judging whether the elevator is opened in place or not, and switching the elevator taking state of the robot to 'enter the elevator'; the robot starts elevator entering detection at the elevator entering preparation point; the robot starts to enter the elevator; and detecting and judging whether the robot enters the elevator in real time, if so, switching the elevator taking state of the robot to 'in the elevator taking', and sending a door closing signal to the elevator. The invention strengthens the two-way connection between the robot and the elevator, not only can provide enough time for the robot to enter the elevator, but also can avoid the problem that the elevator in the prior art still keeps the door opening state because the elevator cannot identify the elevator entering state of the robot, thereby promoting the elevator entering efficiency of the robot and avoiding influencing the task execution of the robot.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to an elevator entering method, an elevator entering device, an elevator entering terminal and a storage medium in a multi-robot elevator taking system.
[ background of the invention ]
With the development of robotics, robots with autonomous movement capabilities have become more and more unmanned, automated, remote, and the like. When the robot takes the elevator in the building, the robot needs to be aligned with the elevator door and then enters the elevator car. However, in the prior art, information communication between the robot and the elevator is not smooth enough, so that the elevator cannot quickly judge whether the robot enters the elevator. That is, whether the robot has completed elevator entering is usually identified by a sensor of the robot, and the elevator cannot identify the state of the robot in time, so that the robot has entered the elevator and the elevator door is always in an open state, and the efficiency of the robot in elevator taking is reduced.
In view of the above, it is desirable to provide an elevator entering method, an apparatus, a terminal and a storage medium in a multi-robot elevator riding system to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide an elevator entering method, an elevator entering device, an elevator entering terminal and a storage medium in a multi-robot elevator taking system, and aims to solve the problem that an elevator cannot quickly judge whether a robot enters the elevator and improve the elevator taking efficiency of the robot.
In order to achieve the above object, a first aspect of the present invention provides an elevator entering method in a multi-robot elevator riding system, which is applied to a robot, and comprises the following steps:
the method comprises the steps of obtaining the current floor of an elevator in real time, and judging whether the elevator reaches the floor where a robot is located and whether the elevator is a target elevator;
when the elevator is judged to be the target elevator and reaches the floor where the robot is located, detecting and judging whether the elevator is opened in place or not, and switching the elevator taking state of the robot to 'enter the elevator';
when the fact that the elevator is opened in place is detected, the robot starts elevator entering detection at a standby elevator entering point;
when the preparatory elevator entering point is detected to meet the elevator entering condition, the robot starts elevator entering movement;
and detecting and judging whether the robot enters the elevator in real time, if so, switching the elevator taking state of the robot to the elevator taking state, and sending a door closing signal to the elevator.
In a preferred embodiment, the method further comprises the following steps:
and detecting and judging whether other robots need to go out of the elevator, and if so, circularly checking whether the other robots finish going out of the elevator.
In a preferred embodiment, in the step of starting the stair entering movement of the robot, the method comprises the following steps:
recording the elevator entering time length of the elevator entering state of the robot as the elevator entering state;
and judging whether the elevator entering time exceeds a preset time threshold, if so, withdrawing the robot to a waiting point at a preset position.
In a preferred embodiment, after the robot starts the step-entering movement, the method further comprises the following steps:
detecting and judging whether the current floor of the elevator is the current floor where the robot is located, and if not, detecting whether the robot enters the elevator;
and when the robot does not enter the elevator, the elevator entering movement of the robot is cancelled, the robot is retracted to a waiting point at a preset position, and the elevator taking state is switched to be in an 'waiting elevator'.
In a preferred embodiment, after the robot enters the elevator, the method further comprises the steps of:
and detecting and judging whether the elevator exit door and the elevator entrance door of the elevator are consistent, and if so, controlling the robot to perform 180-degree turning motion.
The second aspect of the invention provides an elevator entering method in a multi-robot elevator taking system, which is applied to an elevator and comprises the following steps:
when the elevator arrives at a floor, detecting whether the elevator taking state pointing to the robot is 'in the process of entering the elevator' in real time, and if so, keeping the door opening state of the elevator;
when the elevator detects that the elevator-taking state of the entering robot is switched to 'in-elevator', the target floor of the robot is registered in a robot registration list of the elevator.
In a preferred embodiment, the method further comprises the steps of:
the elevator records the elevator entering duration of the elevator entering state of the robot maintained in the elevator entering process;
and judging whether the elevator entering time exceeds a preset threshold value, and if so, cancelling the maintenance of the door opening state of the elevator.
The third aspect of the present invention provides an elevator entering device in a multi-robot elevator taking system, which is applied to a robot and comprises:
the target elevator judging module is used for acquiring the current floor of the elevator in real time and judging whether the elevator reaches the floor where the robot is located and whether the elevator is the target elevator;
the elevator door opening detection module is used for detecting and judging whether the elevator is opened in place or not and switching the elevator taking state of the robot to 'enter the elevator' when the elevator is judged to be the target elevator and reaches the floor where the robot is located;
the elevator entering detection initiating module is used for initiating elevator entering detection at a prepared elevator entering point by the robot when the elevator is detected to be opened in place;
the step entering motion initiating module is used for starting the step entering motion of the robot when the step entering preparation point is detected to meet the step entering condition;
and the elevator entering result judging module is used for detecting and judging whether the robot enters the elevator in real time, and if so, switching the elevator taking state of the robot to the elevator taking state and sending a door closing signal to the elevator.
A fourth aspect of the present invention provides a terminal, where the terminal includes a memory, a processor, and an elevator entering program stored in the memory and operable on the processor in a multi-robot elevator taking system, and the elevator entering program in the multi-robot elevator taking system is executed by the processor to implement the steps of the elevator entering method in the multi-robot elevator taking system according to any one of the above embodiments.
A fifth aspect of the present invention provides a computer-readable storage medium storing an elevator entrance program in a multi-robot elevator taking system, which when executed by a processor, implements the steps of the elevator entrance method in the multi-robot elevator taking system according to any one of the above embodiments.
According to the elevator entering method in the multi-robot elevator taking system, when the robot detects that the target elevator reaches the floor where the robot is located, the elevator taking state of the robot is switched to the elevator entering state, so that the elevator is identified and kept in the door opening state, and the robot can conveniently enter the elevator; when the robot finishes the elevator entering movement, the elevator entering state is switched to 'the elevator entering state', so that the elevator is closed, the two-way contact between the robot and the elevator is enhanced, the robot can enter the elevator for a long time, the problem that the elevator still keeps the door opening state due to the fact that the elevator cannot identify the elevator entering state of the robot in the prior art is solved, the elevator entering efficiency of the robot is improved, and the task execution of the robot is prevented from being influenced.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of an elevator entering method applied to a multi-robot elevator taking system at a robot end according to the present invention;
fig. 2 is a flowchart of an elevator entering method applied to a multi-robot elevator taking system at an elevator end according to the present invention;
fig. 3 is a frame diagram of an elevator entering device in the multi-robot elevator taking system provided by the invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In an embodiment of the present invention, a first aspect provides an elevator entering method in a multi-robot elevator taking system, which is applied to a robot ready to take an elevator, is used for monitoring the operation state of an elevator, and timely and quickly enters the elevator, and provides processing logic when the robot encounters various conditions during elevator entering.
As shown in fig. 1, the elevator entering method in the multi-robot elevator riding system at the robot end includes the following steps S11-S15.
And step S11, acquiring the current floor of the elevator in real time, and judging whether the elevator reaches the floor where the robot is located and whether the elevator is a target elevator.
Specifically, when the processing system of the robot is prepared for the elevator entering action, it is necessary to constantly observe the floor change of the target elevator. In this case, the robot can acquire the operation state of the elevator through a wireless connection with all elevators in advance, and can also acquire which floor the elevator arrives at by recognizing the change of the floor number on the display interface of the elevator. When the robot is ready to enter a target elevator, the robot needs to circularly detect whether the current elevator is the target elevator.
And step S12, when the elevator is judged to be the target elevator and reaches the floor where the robot is positioned, detecting and judging whether the elevator is opened in place, and switching the elevator taking state of the robot to the elevator entering state.
Specifically, when the robot detects that the target elevator stays on the current floor where the robot is located, whether the elevator door of the elevator is completely opened is detected through the sensor of the robot, and when the elevator door is detected to be opened, the robot switches the elevator taking state of the robot into the elevator entering state, so that the elevator entering is prepared. It should be noted that, as for the detection method of the robot for the ladder door, reference may be made to the prior art, and this embodiment is not limited herein. In addition, the elevator riding state of the robot refers to an indication of the current motion state of the robot, can be represented in the form of elevator riding state codes and is transmitted to the surroundings through wireless broadcasting, and comprises states of going into the elevator, riding in the elevator, waiting in the elevator and the like, and the states of the robot can be detected by elevators within a preset range of the surroundings, so that the elevators can effectively monitor the current logic processing state in the robot system, and the bidirectional information communication degree is improved.
And step S13, when the elevator door is detected to be opened in place, the robot starts elevator entering detection at the elevator entering preparation point.
Specifically, when the elevator has arrived at the station and the door is opened, the robot performs condition detection on the space around the elevator door, such as whether there is an obstacle (e.g., a pedestrian, other robot, etc.). The preliminary elevator entering point refers to a sector area which takes the elevator midline as the reference in the elevator door area, the circle center of the sector area is close to one side of the elevator car, and the robot enters the elevator car along the sector area.
In step S14, when it is detected that the preliminary entry point satisfies the entry condition, the robot starts an entry movement.
Further, after the elevator entering movement is initiated, the elevator entering duration that the elevator taking state of the robot is in the elevator entering state is recorded; and then judging whether the elevator entering time exceeds a preset time threshold (for example, 15s), if so, indicating that the robot cannot enter the elevator, withdrawing the robot to a waiting point at a preset position, and considering that the elevator entering fails.
Further, after the elevator entering movement is initiated, whether the current floor of the elevator is the current floor where the robot is located is detected and judged, if not, the elevator starts to operate, and at the moment, whether the robot enters the elevator is detected. Specifically, when the robot moves in an elevator entering mode, whether the elevator is closed or not is detected continuously, or whether the current floor of the target elevator is the current floor where the robot is located or not is detected continuously. When the robot detects that the current floor of the target elevator is not inconsistent with the current floor where the robot is located or the door is closed, if the robot does not enter the elevator at the moment, the robot does not enter the elevator successfully, and the robot is outside the target elevator and can be considered to miss the getting-on car, the elevator entering motion of the robot is cancelled, the elevator riding state is switched to be in the equal elevator, and the elevator entering steps are repeated.
And step S15, detecting and judging whether the robot enters the elevator in real time, if so, switching the elevator taking state of the robot to the elevator taking state, and sending a door closing signal to the elevator.
Wherein, in the process of entering the elevator, when the whole body of the robot enters the elevator, the robot can be counted as entering the elevator. The sensor above the elevator seam exposed when the elevator door is opened can detect the elevator door, so that whether part of the vertical projection of the robot falls on the elevator seam or not can be observed, and when the robot enters the elevator and the vertical upper part of the elevator seam is not shielded, the robot can be considered to completely enter the elevator. After the robot completely enters the elevator, the elevator is closed in time according to the elevator riding state of the robot, bidirectional signal communication between the elevator and the robot is enhanced, waiting time waste is avoided, and elevator entering efficiency of the robot is improved
And after the robot finishes entering the elevator, detecting and judging whether the elevator door of the elevator is consistent with the entering door or not, and if so, controlling the robot to rotate by 180 degrees. Therefore, i. after the ladder entering is completed, the robot needs to continuously check whether to turn around, so that the robot can timely go out of the ladder when reaching the target floor, and the efficiency of the robot going out of the ladder is improved. Wherein if the space in the elevator is not enough to complete the turn-around action, the robot needs to try in the turn-around mode continuously until the turn-around is successful by 180 degrees. It can be understood that when there are two doors in the elevator, and the exit door of the robot does not coincide with the entry door, the robot does not need to turn around at this time.
Further, in one embodiment, the method further comprises the steps of: and detecting and judging whether other robots need to go out of the elevator or not, and if so, circularly checking whether other robots finish going out of the elevator or not. Specifically, when the robot prepares for a ladder entering action, if the target elevator has the robot needing to go out of the elevator, the robot at the upper station needs to wait for the robot at the lower station to go out of the elevator successfully, then the robot starts to enter the elevator again, and the robot goes down first and then goes up, so that congestion is avoided. In the process of other robots going out of the elevator, whether the robot going out of the elevator finishes going out of the elevator needs to be checked circularly. Namely, the robot at the lower station circularly observes whether the elevator taking state code is 'taken-out' or not or whether the elevator taking list is empty or not.
The invention provides a ladder entering method in a multi-robot ladder taking system, which is applied to an elevator and used for monitoring the ladder entering state of a robot in real time and improving the operation efficiency of the elevator.
As shown in fig. 2, the approach method in the multi-robot elevator taking system at the elevator end includes the following steps S21-S22.
Step S21, when the elevator arrives at the floor, it is detected in real time whether the elevator riding state of the robot directed to the elevator is "in the process of entering the elevator", and if so, the door opening state of the elevator is maintained. That is, the elevator needs to continuously observe whether the robot pointed to the elevator is in the elevator entering state or not in the arrival process, and if the robot in the elevator entering state exists, the door opening state of the elevator needs to be kept, so that the normal elevator entering process of the robot is prevented from being hindered.
When the elevator detects that the boarding state of the entering robot is switched to "boarding", it indicates that the robot has successfully entered the elevator at this time, and the target floor of the robot is registered in the robot registration list of the elevator in step S22.
Further, in one embodiment, the method further comprises the steps of: the elevator records the elevator entering duration of the elevator taking state of the robot maintained in the elevator entering process; and then judging whether the elevator entering time exceeds a preset threshold (for example, 15s), if so, indicating that the elevator entering process of the robot is not smooth, and then canceling the door opening state of the elevator. If the elevator is closed due to overtime and the robot does not enter finally, the target floor of the robot is not registered. If the elevator-taking state of the robot has been switched to "in elevator-taking", the elevator can continue to operate to the target floor without waiting for the completion of the turn of the robot, that is, without waiting for the completion of all the elevator-entering tasks of the robot.
In summary, according to the elevator entering method in the multi-robot elevator taking system provided by the invention, when the robot detects that the target elevator reaches the floor where the robot is located, the elevator taking state of the robot is switched to the elevator entering state, so that the elevator is identified and kept in the door opening state, and the robot can conveniently enter the elevator; when the robot finishes the elevator entering movement, the elevator entering state is switched to 'the elevator entering state', so that the elevator is closed, the two-way contact between the robot and the elevator is enhanced, the robot can enter the elevator for a long time, the problem that the elevator still keeps the door opening state due to the fact that the elevator cannot identify the elevator entering state of the robot in the prior art is solved, the elevator entering efficiency of the robot is improved, and the task execution of the robot is prevented from being influenced.
The third aspect of the present invention provides an elevator entering device 100 in a multi-robot elevator taking system, which is applied to a robot, and is used for monitoring the operation state of an elevator, and entering the elevator timely and quickly, and providing processing logic when the robot encounters various conditions when entering the elevator. It should be noted that the implementation principle and the implementation mode of the elevator entering device 100 applied to the robot end in the multi-robot elevator taking system are consistent with the above elevator entering method applied to the robot end in the multi-robot elevator taking system, and therefore, the following description is omitted.
As shown in fig. 3, the elevator entering apparatus 100 in the multi-robot elevator riding system includes:
the target elevator judging module 10 is used for acquiring the current floor of the elevator in real time, and judging whether the elevator reaches the floor where the robot is located and whether the elevator is the target elevator;
the elevator door opening detection module 20 is used for detecting and judging whether the elevator door is opened in place or not and switching the elevator taking state of the robot to 'enter the elevator' when the elevator is judged to be the target elevator and reaches the floor where the robot is located;
the elevator entering detection initiating module 30 is used for initiating elevator entering detection at a prepared elevator entering point when detecting that the elevator door is opened in place;
the step entering motion initiating module 40 is used for starting the step entering motion of the robot when detecting that the preparatory step entering point meets the step entering condition;
and the elevator entering result judging module 50 is used for detecting and judging whether the robot enters the elevator in real time, and if so, switching the elevator taking state of the robot to the elevator taking state and sending a door closing signal to the elevator.
The fourth aspect of the present invention further provides an elevator entering device 100 in the multi-robot elevator taking system, which is applied to an elevator and further comprises a part applied to the elevator, wherein the part is used for monitoring the elevator entering state of the robot in real time, and the operation efficiency of the elevator is improved. It should be noted that the implementation principle and the implementation mode of the elevator entering device 100 applied to the elevator end in the multi-robot elevator taking system are consistent with the above-mentioned elevator entering method applied to the multi-robot elevator taking system, and therefore, the following description is omitted.
As shown in fig. 3, the elevator entering apparatus 100 in the multi-robot elevator taking system further includes:
the elevator taking state detection module 60 is used for detecting whether the elevator taking state pointing to the robot is 'in the process of entering the elevator' in real time when the elevator arrives at a floor, and if the elevator taking state is 'in the process of entering the elevator', the door opening state of the elevator is kept;
and a target floor registration module 70 for registering a target floor of the robot in a robot registration list of the elevator when the elevator detects that the boarding state of the entering robot is switched to "boarding".
A fifth aspect of the present invention provides a terminal (not shown in the drawings), wherein the terminal includes a memory, a processor, and an elevator entering program stored in the memory and running on the processor, and the elevator entering program in the multi-robot elevator taking system is executed by the processor to implement the steps of the elevator entering method in the multi-robot elevator taking system according to any one of the above embodiments.
A sixth aspect of the present invention provides a computer-readable storage medium (not shown in the drawings), wherein the computer-readable storage medium stores an elevator entrance program in the multi-robot elevator taking system, and the elevator entrance program in the multi-robot elevator taking system is executed by a processor to implement the steps of the elevator entrance method in the multi-robot elevator taking system according to any one of the above-mentioned embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A ladder entering method in a multi-robot ladder taking system is applied to a robot and is characterized by comprising the following steps:
the method comprises the steps of obtaining the current floor of an elevator in real time, and judging whether the elevator reaches the floor where a robot is located and whether the elevator is a target elevator;
when the elevator is judged to be the target elevator and reaches the floor where the robot is located, detecting and judging whether the elevator is opened in place or not, and switching the elevator taking state of the robot to 'enter the elevator';
when the fact that the elevator is opened in place is detected, the robot starts elevator entering detection at a standby elevator entering point;
when the preparatory elevator entering point is detected to meet the elevator entering condition, the robot starts elevator entering movement;
and detecting and judging whether the robot enters the elevator in real time, if so, switching the elevator taking state of the robot to the elevator taking state, and sending a door closing signal to the elevator.
2. The entry method in the multi-robot elevator-taking system according to claim 1, further comprising the steps of:
and detecting and judging whether other robots need to go out of the elevator, and if so, circularly checking whether the other robots finish going out of the elevator.
3. The entry method in the multi-robot elevator-taking system according to claim 1, wherein the step of starting the robot entry movement comprises the steps of:
recording the elevator entering time length of the elevator entering state of the robot as the elevator entering state;
and judging whether the elevator entering time exceeds a preset time threshold, if so, withdrawing the robot to a waiting point at a preset position.
4. The entry method in the multi-robot elevator-taking system according to claim 1, further comprising the steps of, after the robot starts the entry movement:
detecting and judging whether the current floor of the elevator is the current floor where the robot is located, and if not, detecting whether the robot enters the elevator;
and when the robot does not enter the elevator, the elevator entering movement of the robot is cancelled, the robot is retracted to a waiting point at a preset position, and the elevator taking state is switched to be in an 'waiting elevator'.
5. The entry method in the multi-robot elevator-taking system according to claim 1, further comprising the steps of, after said robot enters an elevator:
and detecting and judging whether the elevator exit door and the elevator entrance door of the elevator are consistent, and if so, controlling the robot to perform 180-degree turning motion.
6. An elevator entering method in a multi-robot elevator taking system is applied to an elevator and is characterized by comprising the following steps:
when the elevator arrives at a floor, detecting whether the elevator taking state pointing to the robot is 'in the process of entering the elevator' in real time, and if so, keeping the door opening state of the elevator;
when the elevator detects that the elevator-taking state of the entering robot is switched to 'in-elevator', the target floor of the robot is registered in a robot registration list of the elevator.
7. The ladder entry method in the multi-robot elevator-taking system according to claim 6, further comprising the steps of:
the elevator records the elevator entering duration of the elevator entering state of the robot maintained in the elevator entering process;
and judging whether the elevator entering time exceeds a preset threshold value, and if so, cancelling the maintenance of the door opening state of the elevator.
8. An elevator entering device in a multi-robot elevator taking system is applied to a robot and is characterized by comprising:
the target elevator judging module is used for acquiring the current floor of the elevator in real time and judging whether the elevator reaches the floor where the robot is located and whether the elevator is the target elevator;
the elevator door opening detection module is used for detecting and judging whether the elevator is opened in place or not and switching the elevator taking state of the robot to 'enter the elevator' when the elevator is judged to be the target elevator and reaches the floor where the robot is located;
the elevator entering detection initiating module is used for initiating elevator entering detection at a prepared elevator entering point by the robot when the elevator is detected to be opened in place;
the step entering motion initiating module is used for starting the step entering motion of the robot when the step entering preparation point is detected to meet the step entering condition;
and the elevator entering result judging module is used for detecting and judging whether the robot enters the elevator in real time, and if so, switching the elevator taking state of the robot to the elevator taking state and sending a door closing signal to the elevator.
9. A terminal, characterized in that the terminal comprises a memory, a processor and an elevator approach program in a multi-robot elevator taking system stored in the memory and operable on the processor, the elevator approach program in the multi-robot elevator taking system implementing the steps of the elevator approach method in the multi-robot elevator taking system as claimed in any one of claims 1-5 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores an elevator entrance program in a multi-robot elevator taking system, which when executed by a processor implements the steps of the elevator entrance method in the multi-robot elevator taking system according to any one of claims 1 to 5.
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