CN114180426A - Control method for robot to board elevator and related equipment - Google Patents
Control method for robot to board elevator and related equipment Download PDFInfo
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- CN114180426A CN114180426A CN202111506754.0A CN202111506754A CN114180426A CN 114180426 A CN114180426 A CN 114180426A CN 202111506754 A CN202111506754 A CN 202111506754A CN 114180426 A CN114180426 A CN 114180426A
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- 238000009826 distribution Methods 0.000 claims abstract description 22
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- 238000003860 storage Methods 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 21
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- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
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- 238000004364 calculation method Methods 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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Abstract
The invention discloses a control method for a robot to board an elevator and related equipment. The method comprises the following steps: the method comprises the steps of obtaining carrying information of at least one elevator, obtaining the residual space of the elevator based on the carrying information, controlling the elevator to stop at a first target floor under the condition that the residual space cannot accommodate a first robot, and controlling the first robot to transfer first goods to a second robot for distribution. When this application surplus space is not enough to hold the robot of preparing to take the elevator and gets into in the elevator, the robot of preparing to take the elevator hands over its goods that need the delivery by the robot in the elevator and dispatches, thereby the problem of the elevator is taken simultaneously to many robots of the insufficient space in the elevator has been solved, and the delivery task has been adjusted again rationally according to the condition of taking advantage of elevator, it is more reasonable to make the scheme that many robots take the elevator and deliver the goods, it is more nimble, the delivery time of goods has been shortened, the operating resource of robot has been saved.
Description
Technical Field
The present disclosure relates to the field of robot control, and more particularly, to a method and apparatus for controlling a robot to board an elevator.
Background
The robot enters the daily life of people, for example, intelligent robots in hotels and office buildings can be butted with automatic containers, and the full-flow unmanned distribution service is realized; and services such as taking out and leading guests to rooms can be realized. Great convenience is brought to guests, and the experience of the stores is improved.
However, in practical applications, particularly during the peak of using the elevator at lunch hours, the robot calls the elevator, but the robot often cannot enter the elevator car due to insufficient residual space and/or residual load in the elevator car, which causes waste of time and brings bad elevator riding experience to passengers in the elevator.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to solve the problem that the robot calls the elevator car to have insufficient residual space and/or residual load and cannot enter the elevator car, the invention provides a control method for the robot to board the elevator, which comprises the following steps:
acquiring carrying information of at least one elevator, wherein the carrying information comprises space occupation information;
acquiring the remaining space of the elevator based on the loading information;
controlling the elevator to stop at a first target floor when the first robot cannot be accommodated in the remaining space, wherein the first robot is a robot for preparing to board the elevator, and the first target floor is a floor for calling the elevator by the first robot;
and controlling the first robot to transfer the first goods to a second robot for distribution, wherein the second robot is a robot in the elevator car.
Optionally, the method further includes:
acquiring an available storage space of the second robot;
the above-mentioned condition that can't hold the first robot in above-mentioned surplus space, control above-mentioned elevator to stop at first target floor, and control first robot and shift the first goods to the second robot and distribute, include:
and under the condition that the remaining space cannot accommodate the first robot and the available storage space can accommodate the first goods, controlling the elevator to stop at a first target floor and controlling the first robot to transfer the first goods to the second robot for distribution, wherein the first goods are the goods distributed by the first robot.
Optionally, the method further includes:
acquiring the position of the second robot in the elevator;
the above-mentioned condition that can't hold the first robot in above-mentioned surplus space, control above-mentioned elevator to stop at first target floor, and control first robot and shift the first goods to the second robot and distribute, include:
and under the condition that the residual space can not accommodate the first robot and the distance between the second robot and the elevator door is less than the preset distance, controlling the elevator to stop at a first target floor and controlling the first robot to transfer the first goods to the second robot for distribution.
Optionally, the method further includes:
and controlling the second robot to deliver the second cargo to the first robot for delivery when the delivery floor of the second cargo is a first target floor.
Optionally, the space occupation information is obtained by a camera of the elevator.
Optionally, the method further includes:
acquiring the distribution priority of the first robot and the second robot;
and controlling the second robot to descend and the first robot to ascend when the distribution priority of the first robot is higher than that of the second robot.
Optionally, the delivery priority is determined based on delivery time and/or customer rating.
In a second aspect, the present invention also provides a robot boarding elevator control apparatus including:
a first obtaining unit, configured to obtain loading information of at least one elevator, where the loading information includes space occupation information;
a second acquiring unit for acquiring the remaining space of the elevator based on the riding information;
a first control unit for controlling the elevator to stop at a first target floor when the first robot cannot be accommodated in the remaining space;
and a second control unit for controlling the first robot to transfer the first goods to a second robot for delivery, wherein the first robot is a robot to prepare for boarding the elevator, the second robot is a robot in the elevator car, and the first target floor is a floor where the first robot calls the elevator.
In a third aspect, an electronic device includes: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the method for controlling a robot to board an elevator as described in any one of the first aspect when the computer program stored in the memory is executed.
In a fourth aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the method for controlling a robot boarding elevator according to any one of the first aspect.
To sum up, the control method for the robot to board the elevator comprises the following steps: the method comprises the steps of obtaining carrying information of at least one elevator, obtaining the residual space of the elevator based on the carrying information, controlling the elevator to stop at a first target floor under the condition that the residual space cannot accommodate a first robot, and controlling the first robot to transfer first goods to a second robot for distribution. According to the scheme provided by the embodiment of the application, the residual space in the elevator is obtained, and when the residual space in the elevator is not enough to accommodate the robot to be ready to take the elevator, the elevator is controlled to stop at the floor where the robot to be ready to take the elevator is located. The robot which is prepared to take the elevator delivers the goods which are required to be delivered to the elevator for delivery by the robot in the elevator, thereby solving the problem that the space in the elevator is insufficient, and the plurality of robots take the elevator at the same time.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart of a control method for a robot to board an elevator according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a control device of a robot boarding elevator provided by an embodiment of the application;
fig. 3 is a schematic structural diagram of control electronics for a robot boarding elevator according to an embodiment of the present application.
Detailed Description
According to the scheme provided by the embodiment of the application, the residual space in the elevator is obtained, and when the residual space in the elevator is not enough to accommodate the robot to be ready to take the elevator, the elevator is controlled to stop at the floor where the robot to be ready to take the elevator is located. The robot which is prepared to take the elevator delivers the goods which are required to be delivered to the elevator for delivery by the robot in the elevator, thereby solving the problem that the space in the elevator is insufficient, and the plurality of robots take the elevator at the same time.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
Referring to fig. 1, a schematic flow chart of a control method for a robot to board an elevator provided in an embodiment of the present application may specifically include:
s110, acquiring carrying information of at least one elevator, wherein the carrying information comprises space occupation information;
specifically, the bearing information of the plurality of elevators is obtained, the bearing information comprises space occupation information, and the space occupation information refers to the size of the space occupied by the passengers and the robot in the current elevator. It is understood that the manner in which the spatial information is obtained may be obtained by a camera or an infrared device.
S120, acquiring the residual space of the elevator based on the carrying information;
specifically, the remaining space of the elevator can be calculated based on the space occupation information and the intrinsic space of the elevator. It can be understood that the process of calculating the remaining space can be completed by the elevator, the data is uploaded to the server, and the data is sent to the robot by the server; in the calculation process, the elevator can also send the current occupied space information to the server, the server performs calculation, and the server transmits the calculation result to the robot.
S130, under the condition that the first robot cannot be accommodated in the residual space, controlling the elevator to stop at a first target floor, wherein the first robot is a robot for preparing to board the elevator, and the first target floor is a floor for calling the elevator by the first robot;
specifically, when the remaining space in the elevator cannot accommodate the robot to be used for taking the elevator into the elevator, and other robots in the elevator are in the elevator at the moment, the elevator is controlled to stop at the floor where the robot to be used for taking the elevator is located. For example: the robot A is a first robot, namely a robot ready to get on the elevator, the floor where the robot A is located is a 9-th floor (namely a first target floor), the residual space in the elevator cannot accommodate the robot A to enter, and the elevator is controlled to stop at the 9-th floor.
And S140, controlling the first robot to transfer the first goods to a second robot for distribution, wherein the second robot is a robot in the elevator car.
Specifically, when the elevator stops at the first target floor, the robot for getting on the elevator is controlled to deliver the goods to be delivered to the robot in the elevator, and the robot in the elevator completes the task of delivering the goods to the robot for getting on the elevator. For example: the elevator stops at the 9 th floor, the robot A hands over the first goods to the robot B (the second robot), and the robot B finishes the distribution task of the first goods originally in the warehouse of the robot A.
It can be understood that, in the process of handing the first goods by the first robot to the second robot, not only the transfer work of the first goods is completed, but also the transfer work of the delivery information associated with the first goods is completed, so that the second robot can clarify the delivery information of the first goods and ensure that the first goods are delivered smoothly.
Further, before the first robot calls the elevator, the first robot and the second robot have an information interaction process, the association degree of the delivery address of the first goods and the delivery route of the second robot is determined, and the elevator stops at the first target floor only under the condition of high association degree.
In summary, according to the scheme provided by the embodiment of the application, when the remaining space in the elevator is not enough to accommodate the robot to get on the elevator, the elevator is controlled to stop at the floor where the robot to get on the elevator is located. The robot which is prepared to take the elevator delivers the goods which are required to be delivered to the elevator for delivery by the robot in the elevator, thereby solving the problem that the space in the elevator is insufficient, and the plurality of robots take the elevator at the same time.
In some examples, the method further comprises:
acquiring an available storage space of the second robot;
the above-mentioned condition that can't hold the first robot in above-mentioned surplus space, control above-mentioned elevator to stop at first target floor, and control first robot and shift the first goods to the second robot and distribute, include:
and under the condition that the remaining space cannot accommodate the first robot and the available storage space can accommodate the first goods, controlling the elevator to stop at a first target floor and controlling the first robot to transfer the first goods to the second robot for distribution, wherein the first goods are the goods distributed by the first robot.
Specifically, after the first robot calls the elevator, the first robot can also perform information interaction with the second robot. And acquiring available storage space in the second robot, and judging whether the first goods of the first robot can be placed into the storage warehouse of the second robot. The elevator is prevented from stopping at the first target floor due to insufficient available storage space of the second robot, but the goods transfer work cannot be completed, so that the goods delivery time is influenced, and the driving feeling of passengers in the elevator is reduced.
It should be noted that, the work of judging whether the first goods of the first robot can be put into the storage warehouse of the second robot may be completed by the first robot, may also be completed by the second robot, and may also be completed by the servers corresponding to the first robot and the second robot.
In conclusion, after the first robot calls the elevator, the available storage space of the second robot is obtained, and the elevator is controlled to stop at the first target floor only under the condition that the available storage space can accommodate the first goods, so that the problems that the available storage space of the second robot is insufficient and the goods can not be transferred are avoided. Thereby guaranteeing the goods delivery time and improving the driving feeling of passengers in the elevator.
In some examples, the method further comprises:
acquiring the position of the second robot in the elevator;
the above-mentioned condition that can't hold the first robot in above-mentioned surplus space, control above-mentioned elevator to stop at first target floor, and control first robot and shift the first goods to the second robot and distribute, include:
and under the condition that the residual space can not accommodate the first robot and the distance between the second robot and the elevator door is less than the preset distance, controlling the elevator to stop at a first target floor and controlling the first robot to transfer the first goods to the second robot for distribution.
Specifically, the position of the second robot in the elevator is obtained, because the space in the elevator is limited at this time, the second robot cannot move freely in the elevator. By judging the distance between the second robot and the elevator door, under the condition that the distance is smaller than the preset distance, the second robot is judged to be positioned close to the elevator door, so that the work of goods handover can be completed with the first robot.
The position of the second robot in the elevator may be acquired by a sensor of the second robot itself or by a measuring device in the elevator.
In summary, the distance between the second robot and the elevator door is obtained, so that whether the second robot is located at the door of the elevator door or not is judged, and only when the second robot is located at the door, the elevator is controlled to stop at the first target floor, so that the first cargo transferring work with the first robot is completed. By the method, the phenomenon that the second robot cannot finish the goods transferring work when the second robot is far away from the elevator door is avoided.
In some examples, the method further comprises:
and controlling the second robot to deliver the second cargo to the first robot for delivery when the delivery floor of the second cargo is a first target floor.
Specifically, under the condition that the distribution floor of the second goods is just the first target floor, the first robot and the second robot can complete the transfer work of the first goods and the second goods. The first robot delivers the second goods, the second robot delivers the first goods, and the two robots do not move up and down, so that the time for transferring the elevator is shortened, and the delivery efficiency is improved.
In summary, when the delivery floor of the second cargo in the second robot is just the first target floor, the first robot and the second robot are controlled to complete the cargo transfer. By the method, the two robots do not carry out the actions of going up and down the elevator, so that the time for transferring the elevator is shortened, and the distribution efficiency is improved.
In some examples, the space usage information is obtained by a camera of the elevator.
Specifically, the riding conditions of passengers and the robot in the elevator can be obtained through images shot by a camera in the elevator, the images are uploaded to a server or a first/second robot, the server or the first/second robot completes calculation work of the residual space information, and the calculation results are used for robot movement control.
In some examples, the method further comprises:
acquiring the distribution priority of the first robot and the second robot;
and controlling the second robot to descend and the first robot to ascend when the distribution priority of the first robot is higher than that of the second robot.
Specifically, by comparing the delivery priorities of the first robot and the second robot, the geothermal robot is controlled to go down and the first robot is controlled to go up under the condition that the delivery priority of the first robot is greater than the delivery priority of the second robot, so that the robot with the higher priority can be guaranteed to complete the delivery task preferentially, and the service quality is guaranteed.
In some examples, the delivery priority is determined based on delivery time and/or customer rating.
Specifically, the priority may be determined according to the delivery time, and the occurrence of the timeout may be prevented by determining the priority according to the delivery time. The priority determination method may be determined according to the class of the robot object to be serviced, for example: the C robot executes a VIP user meal delivery task in a hotel, in order to guarantee the service quality of the VIP user and avoid long-time waiting of the C robot, the C robot is a first robot, the customer level of a second robot is lower than that of the first robot, the second robot is controlled to get off the stairs, and the first robot gets on the stairs.
Referring to fig. 2, an embodiment of a control device for a robot boarding elevator according to an embodiment of the present application may include:
a first obtaining unit 21, configured to obtain loading information of at least one elevator, where the loading information includes space occupation information;
a second acquiring unit 22 for acquiring the remaining space of the elevator based on the riding information;
a first control unit 23 for controlling the elevator to stop at a first target floor when the first robot cannot be accommodated in the remaining space;
and a second control unit 24 for controlling the first robot to transfer the first goods to a second robot for delivery, wherein the first robot is a robot to prepare for boarding the elevator, the second robot is a robot in the elevator car, and the first target floor is a floor where the first robot calls the elevator.
As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, which includes a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and executable on the processor, and when the processor 320 executes the computer program 311, the steps of any one of the above-mentioned methods for controlling the robot to board the elevator are implemented.
Since the electronic device described in this embodiment is a device used for implementing a control apparatus for a robot boarding elevator in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device in this embodiment and various modifications thereof, so that how to implement the method in this embodiment by the electronic device is not described in detail herein, and as long as the person skilled in the art implements the device used for implementing the method in this embodiment, the scope of protection intended by this application is included.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Embodiments of the present application also provide a computer program product, which includes computer software instructions, when the computer software instructions are executed on a processing device, the processing device executes a flow of control of boarding an elevator by a robot as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). A computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of 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.
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 application 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 integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A control method for a robot to board an elevator is characterized by comprising the following steps:
acquiring carrying information of at least one elevator, wherein the carrying information comprises space occupation information;
acquiring the remaining space of the elevator based on the loading information;
controlling the elevator to stop at a first target floor in case the remaining space cannot accommodate a first robot, wherein the first robot is a robot prepared to board the elevator, the first target floor being a floor on which the first robot calls the elevator;
controlling the first robot to transfer the first cargo to a second robot for dispatch, wherein the second robot is a robot within the elevator car.
2. The method of claim 1, further comprising:
acquiring an available storage space of the second robot;
the controlling the elevator to stop at the first target floor and the first robot to transfer the first goods to the second robot for distribution in case the remaining space cannot accommodate the first robot includes:
and under the condition that the residual space cannot accommodate the first robot and the available storage space can accommodate the first goods, controlling the elevator to stop at a first target floor, and controlling the first robot to transfer the first goods to a second robot for distribution, wherein the first goods are the goods distributed by the first robot.
3. The method of claim 1, further comprising:
obtaining a position of the second robot within the elevator;
the controlling the elevator to stop at the first target floor and the first robot to transfer the first goods to the second robot for distribution in case the remaining space cannot accommodate the first robot includes:
and under the condition that the first robot cannot be accommodated in the residual space and the distance between the second robot and the elevator door is less than the preset distance, controlling the elevator to stop at a first target floor and controlling the first robot to transfer the first goods to the second robot for distribution.
4. The method of claim 1, further comprising:
and controlling the second robot to deliver the second goods to the first robot for delivery when the delivery floor of the second goods is a first target floor, wherein the second goods are the goods delivered by the second robot.
5. The method of claim 1,
the space usage information is obtained by means of a camera of the elevator.
6. The method of claim 1, further comprising:
acquiring the distribution priority of the first robot and the second robot;
and under the condition that the distribution priority of the first robot is greater than that of the second robot, controlling the second robot to get off the stairs and controlling the first robot to get on the stairs.
7. The method of claim 6, wherein the delivery priority is determined based on delivery time and/or customer rating.
8. A control device for a robot-carried elevator, comprising:
the elevator control system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the carrying information of at least one elevator, and the carrying information comprises space occupation information;
a second acquisition unit configured to acquire a remaining space of the elevator based on the riding information;
a first control unit for controlling the elevator to stop at a first target floor in case the remaining space cannot accommodate the first robot;
a second control unit for controlling the first robot to transfer the first goods to a second robot for delivery, wherein the first robot is a robot ready to board the elevator, the second robot is a robot within the elevator car, and the first target floor is a floor on which the first robot calls 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 steps of the method of controlling a robot ride-on elevator according to any of claims 1-7 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 method of robot ride elevator control of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111506754.0A CN114180426B (en) | 2021-12-10 | 2021-12-10 | Robot riding elevator control method and related equipment |
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| CN115108426A (en) * | 2022-05-25 | 2022-09-27 | 浙江大华技术股份有限公司 | Elevator control method, elevator control device, computer equipment and readable storage medium |
| CN115159289A (en) * | 2022-07-13 | 2022-10-11 | 北京云迹科技股份有限公司 | Elevator interaction method, device, electronic equipment and medium |
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