CN114180426B - Robot riding elevator control method and related equipment - Google Patents
Robot riding elevator control method and related equipment Download PDFInfo
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- CN114180426B CN114180426B CN202111506754.0A CN202111506754A CN114180426B CN 114180426 B CN114180426 B CN 114180426B CN 202111506754 A CN202111506754 A CN 202111506754A CN 114180426 B CN114180426 B CN 114180426B
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- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000012546 transfer Methods 0.000 claims abstract description 27
- 238000003860 storage Methods 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 19
- 238000009826 distribution Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000001174 ascending effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 235000012054 meals Nutrition 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
- 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
Abstract
The invention discloses a robot riding elevator control method and related equipment. The method comprises the following steps: and acquiring the carrying information of at least one elevator, acquiring the residual space of the elevator based on the carrying information, and controlling the elevator to stop at a first target floor and controlling the first robot to transfer first cargoes to a second robot for delivery under the condition that the residual space cannot accommodate the first robot. According to the method and the system, when the space left in the elevator is insufficient to accommodate the robot ready to take the elevator, the robot ready to take the elevator delivers goods to be delivered to the robot in the elevator, so that the problem that a plurality of robots take the elevator simultaneously due to insufficient space in the elevator is solved, and the delivery tasks are reasonably readjusted according to the carrying condition of the elevator, so that the schemes of taking the elevator and delivering the goods by the plurality of robots are more reasonable and flexible, the delivery time of the goods is shortened, and the running resources of the robot are saved.
Description
Technical Field
The present disclosure relates to the field of robot control, and more particularly, to a robot boarding elevator control method and related apparatus.
Background
Robots enter into daily life of people, for example, intelligent robots in hotels and office buildings, can be used for docking automatic containers, and realize unmanned distribution service of the whole process; and the service of sending take-out, leading guests to rooms and the like can also be realized. The guests are greatly facilitated, and the experience of the living shops is improved.
However, in practical application, particularly in the peak period of lunch time, the robot calls the elevator, but the elevator cannot enter the elevator due to insufficient residual space and/or residual load in the elevator car, so that time is wasted, and poor elevator taking experience is brought to passengers in the elevator.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and 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 a robot calls a residual space in an elevator car and/or a residual load is insufficient and cannot enter the car, in a first aspect, the invention provides a control method for a robot to take an elevator, which comprises the following steps:
acquiring the carrying information of at least one elevator, wherein the carrying information comprises space occupation information;
acquiring the residual space of the elevator based on the riding information;
controlling the elevator to stop at a first destination floor when the remaining space cannot accommodate a first robot, wherein the first robot is a robot ready to take the elevator, and the first destination floor is a floor on which the first robot calls the elevator;
and controlling the first robot to transfer the first goods to a second robot for delivery, wherein the second robot is a robot in the elevator car.
Optionally, the method further comprises:
acquiring an available storage space of the second robot;
controlling the elevator to stop at a first destination floor and controlling the first robot to transfer a first load to a second robot for delivery under the condition that the first robot cannot be accommodated in the residual space, wherein the method comprises the following steps:
under the condition that the remaining space can not accommodate the first robot and the available storage space can accommodate the first goods, controlling the elevator to stop at the first target floor and controlling the first robot to transfer the first goods to the second robot for delivery, wherein the first goods are delivered by the first robot.
Optionally, the method further comprises:
acquiring the position of the second robot in the elevator;
controlling the elevator to stop at a first destination floor and controlling the first robot to transfer a first load to a second robot for delivery under the condition that the first robot cannot be accommodated in the residual space, wherein the method comprises the following steps:
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 smaller than a preset distance, controlling the elevator to stop at a first target floor, and controlling the first robot to transfer first cargoes to the second robot for distribution.
Optionally, the method further comprises:
and controlling the second robot to deliver the second cargo to the first robot when the delivery floor of the second cargo is the first destination floor, wherein the second cargo is the cargo delivered by the second robot.
Optionally, the space occupation information is obtained by a camera of the elevator.
Optionally, the method further comprises:
acquiring distribution priorities of the first robot and the second robot;
and controlling the second robot to get off the ladder and controlling the first robot to get on the ladder 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 level.
In a second aspect, the present invention also provides a robot-boarding elevator control apparatus, including:
a first obtaining unit, configured to obtain load information of at least one elevator, where the load information includes space occupation information;
a second acquisition unit configured to acquire a remaining space of the elevator based on the load information;
a first control unit for controlling the elevator to stop at a first destination floor in the case that the remaining space cannot accommodate the first robot;
and a second control unit configured to control the first robot to transfer the first cargo to a second robot for delivery, wherein the first robot is a robot that is ready to take the elevator, the second robot is a robot in the elevator car, and the first destination floor is a floor on which the first robot calls the elevator.
In a third aspect, an electronic device, comprising: 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 robot boarding elevator control method of any one of the first aspects described above when executing the computer program stored in the memory.
In a fourth aspect, the invention also proposes a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the method for controlling a robot-boarding elevator of any one of the first aspects.
In summary, the robot boarding elevator control method of the embodiment of the application includes: and acquiring the carrying information of at least one elevator, acquiring the residual space of the elevator based on the carrying information, and controlling the elevator to stop at a first target floor and controlling the first robot to transfer first cargoes to a second robot for delivery under the condition that the residual space cannot accommodate the first robot. According to the scheme provided by the embodiment of the application, through obtaining the residual space in the elevator, when the residual space in the elevator is insufficient to accommodate the entrance of the robot ready to take the elevator, the elevator is controlled to stop at the floor where the robot ready to take the elevator is located. The robot for taking the elevator is used for delivering the goods to be delivered to the robot in the elevator, so that the problem that a plurality of robots take the elevator simultaneously due to insufficient space in the elevator is solved, and the delivery tasks are reasonably readjusted according to the carrying condition of the elevator, so that the schemes of taking the elevator and delivering the goods by the plurality of robots are more reasonable and flexible, the delivery time of the goods is shortened, and the running resources of the robot are saved.
Additional 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 designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a control method of a robot riding elevator according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a control device for a robot riding elevator according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control electronic device for a robot riding elevator according to an embodiment of the present application.
Detailed Description
According to the scheme provided by the embodiment of the application, through obtaining the residual space in the elevator, when the residual space in the elevator is insufficient to accommodate the entrance of the robot ready to take the elevator, the elevator is controlled to stop at the floor where the robot ready to take the elevator is located. The robot for taking the elevator is used for delivering the goods to be delivered to the robot in the elevator, so that the problem that a plurality of robots take the elevator simultaneously due to insufficient space in the elevator is solved, and the delivery tasks are reasonably readjusted according to the carrying condition of the elevator, so that the schemes of taking the elevator and delivering the goods by the plurality of robots are more reasonable and flexible, the delivery time of the goods is shortened, and the running resources of the robot are saved.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise 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 following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application.
Referring to fig. 1, a schematic flow chart of a control method of a robot riding elevator provided in an embodiment of the present application may specifically include:
s110, acquiring load information of at least one elevator, wherein the load information comprises space occupation information;
specifically, the carrying information of a plurality of elevators is obtained, the carrying information comprises space occupation information, and the space occupation information refers to the size of the space occupied by passengers and robots in the current elevators. It will be appreciated that the manner in which the spatial information is acquired may be via a camera or infrared device.
S120, acquiring the residual space of the elevator based on the riding 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 itself, the data is uploaded to the server, and the data is issued to the robot by the server; the calculation process can also be that the elevator sends the current occupied space information to a server, the server calculates, and the server transmits the calculation result to the robot.
S130, controlling the elevator to stop at a first target floor when the residual space cannot accommodate a first robot, wherein the first robot is a robot ready to take the elevator, and the first target floor is a floor where the first robot calls the elevator;
specifically, when the remaining space in the elevator cannot accommodate the robot to be taken in the elevator, and when other robots are in the elevator at this time, the elevator is controlled to stop at the floor where the robot to be taken in the elevator is located. For example: the robot A is a first robot, namely a robot for getting on an elevator, the floor where the robot A is located is 9 floors (namely a first target floor), the residual space in the elevator cannot contain the robot A to enter, and the elevator is controlled to stop at the 9 floors.
And S140, controlling the first robot to transfer the first goods to a second robot for delivery, wherein the second robot is a robot in the elevator car.
Specifically, when the elevator stops at the first destination floor, the robot to be stepped on is controlled to deliver the goods to be delivered to the robot in the elevator, and the robot in the elevator completes the delivery task of the robot to be stepped on. For example: the elevator stops at the 9 th floor, the robot A delivers the first goods to the robot B (the second robot), and the robot B completes the task of delivering the first goods in the warehouse of the robot A originally.
It can be understood that in the process that the first robot delivers the first cargo to the second robot, not only the transfer work of the first cargo is completed, but also the transfer work of the delivery information associated with the first cargo is completed, so that the second robot can determine the delivery information of the first cargo, and ensure that the first cargo is delivered smoothly.
Furthermore, before the first robot calls the elevator, the first robot and the second robot have information interaction processes, the association degree of the delivery address of the first goods and the delivery route of the second robot is clear, and only under the condition that the association degree is higher, the elevator can stop at the first target floor.
In summary, according to the scheme provided by the embodiment of the application, by acquiring the residual space in the elevator, when the residual space in the elevator is insufficient to accommodate the entrance of the robot ready to take the elevator, the elevator is controlled to stop at the floor where the robot ready to take the elevator is located. The robot for taking the elevator is used for delivering the goods to be delivered to the robot in the elevator, so that the problem that a plurality of robots take the elevator simultaneously due to insufficient space in the elevator is solved, and the delivery tasks are reasonably readjusted according to the carrying condition of the elevator, so that the schemes of taking the elevator and delivering the goods by the plurality of robots are more reasonable and flexible, the delivery time of the goods is shortened, and the running resources of the robot are saved.
In some examples, the above method further comprises:
acquiring an available storage space of the second robot;
controlling the elevator to stop at a first destination floor and controlling the first robot to transfer a first load to a second robot for delivery under the condition that the first robot cannot be accommodated in the residual space, wherein the method comprises the following steps:
under the condition that the remaining space can not accommodate the first robot and the available storage space can accommodate the first goods, controlling the elevator to stop at the first target floor and controlling the first robot to transfer the first goods to the second robot for delivery, wherein the first goods are delivered by the first robot.
Specifically, after the first robot calls the elevator, information interaction is performed with the second robot. And acquiring an available storage space in the second robot, and judging whether the first goods of the first robot can be placed in a storage warehouse of the second robot. The problem that the elevator stops at the first target floor due to insufficient storage space of the second robot, but the work of transferring goods cannot be completed is avoided, 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, or may be completed by the second robot, or may be completed by a server corresponding to the first robot and the second robot.
In summary, 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 defect that the available storage space of the second robot is insufficient and the work of goods transferring cannot be completed is avoided. And further, the cargo delivery time is ensured, and the driving feeling of passengers in the elevator is improved.
In some examples, the above method further comprises:
acquiring the position of the second robot in the elevator;
controlling the elevator to stop at a first destination floor and controlling the first robot to transfer a first load to a second robot for delivery under the condition that the first robot cannot be accommodated in the residual space, wherein the method comprises the following steps:
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 smaller than a preset distance, controlling the elevator to stop at a first target floor, and controlling the first robot to transfer first cargoes to the second robot for distribution.
In particular, the position of the second robot in the elevator is obtained, since the space in the elevator is limited at this time, and the second robot cannot move at will in the elevator. By judging the distance between the second robot and the elevator door, the second robot is judged to be positioned close to the elevator door when the distance is smaller than the preset distance, so that the goods can be delivered to the first robot.
The position of the second robot in the elevator may be acquired based on a sensor of the second robot itself or based on a measuring device in the elevator.
In summary, by acquiring the distance between the second robot and the elevator door, it is determined whether the second robot is located at the position of the elevator door opening, and only when the second robot is located at the position of the elevator door opening, the elevator is controlled to stop at the first target floor, so that the first cargo transferring work with the first robot is completed. Through the method, the phenomenon that the second robot is far away from the elevator door and can not finish cargo transferring work is avoided.
In some examples, the above method further comprises:
and controlling the second robot to deliver the second cargo to the first robot when the delivery floor of the second cargo is the first destination floor, wherein the second cargo is the cargo delivered by the second robot.
Specifically, under the condition that the delivery floor of the second cargo is just the first target floor, the first robot and the second robot can complete the transfer work of the first cargo and the second cargo. The first robot is used for delivering the second goods, the second robot is used for delivering the first goods, and further the two robots do not perform the actions of ascending and descending the elevator, 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 exactly the first destination floor, the first robot and the second robot are controlled to complete cargo transferring. By the method, the two robots do not go up and down, so that the time for transferring the elevator is shortened, and the distribution efficiency is improved.
In some examples, the space occupancy information is obtained by a camera of the elevator.
Specifically, the riding conditions of passengers and robots in the elevator can be obtained through images shot by the camera in the elevator, the images are uploaded to the server or the first/second robot, the calculation work of the residual space information is completed by the server or the first/second robot, and the calculation result is used for the movement control of the robot.
In some examples, the above method further comprises:
acquiring distribution priorities of the first robot and the second robot;
and controlling the second robot to get off the ladder and controlling the first robot to get on the ladder 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, under the condition that the delivery priority of the first robot is greater than that of the second robot, the geothermal robot is controlled to get off the ladder and the first robot is controlled to get on the ladder, so that the robots with higher priorities can be guaranteed to finish delivery tasks preferentially, and service quality is guaranteed.
In some examples, the delivery priority is determined based on delivery time and/or customer level.
Specifically, the priority determination method may further determine according to the delivery time, and the phenomenon of overtime may be prevented by determining the priority according to the delivery time. The method for determining the priority may also be determined according to the level of the object to be served by the robot, for example: the C robot is used for executing a VIP user meal delivery task in the hotel, so that service quality of the VIP user is guaranteed, the C robot is prevented from waiting for a long time, the C robot is a first robot, the client level of the second robot is lower than that of the first robot, the second robot is controlled to get off the elevator, and the first robot gets on the elevator.
Referring to fig. 2, an embodiment of a robot-boarding elevator control device in an embodiment of the present application may include:
a first acquiring unit 21 for acquiring load information of at least one elevator, wherein the load information includes space occupation information;
a second acquiring unit 22 for acquiring a remaining space of the elevator based on the load information;
a first control unit 23 for controlling the elevator to stop at a first destination floor when the remaining space cannot accommodate the first robot;
and a second control unit 24 for controlling the first robot to transfer the first cargo to a second robot for delivery, wherein the first robot is a robot ready to take the elevator, the second robot is a robot in the elevator car, and the first destination floor is a floor on which the first robot calls the elevator.
As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and capable of running on the processor, where the processor 320 executes the steps of any one of the methods for controlling the robot to ride on an elevator.
Since the electronic device described in this embodiment is a device for implementing a control device for a robot to take an elevator in this embodiment, based on the method described in this embodiment, those skilled in the art can understand the specific implementation of the electronic device in this embodiment and various modifications thereof, so how to implement the method in this embodiment in this electronic device will not be described in detail herein, and as long as those skilled in the art implement the device for implementing the method in this embodiment in this application are all within the scope of protection intended in this application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 comprising computer software instructions that, when run on a processing device, cause the processing device to perform a flow of robotic ride elevator control as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in 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 by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid State Disks (SSDs)), among others.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. A robot-boarding elevator control method, characterized by comprising:
acquiring the carrying information of at least one elevator, wherein the carrying information comprises space occupation information;
acquiring the residual space of the elevator based on the load information;
controlling the elevator to stop at a first target floor under the condition that the residual space cannot accommodate a first robot, wherein the first robot is a robot ready to take the elevator, and the first target floor is a floor where the first robot calls the elevator;
controlling the first robot to transfer the first goods to a second robot for delivery, wherein the second robot is a robot in the elevator car;
further comprises:
acquiring an available storage space of the second robot;
and under the condition that the residual space cannot accommodate the first robot, 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 delivery, wherein the method comprises the following steps of:
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 delivery under the condition that the residual space can not accommodate the first robot and the available storage space can accommodate the first goods, wherein the first goods are the goods delivered by the first robot;
further comprises:
acquiring the position of the second robot in the elevator;
and under the condition that the residual space cannot accommodate the first robot, 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 delivery, wherein the method comprises the following steps of:
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 smaller than the preset distance, controlling the elevator to stop at the first target floor, and controlling the first robot to transfer the first goods to the second robot for distribution.
2. The method as recited in claim 1, further comprising:
and under the condition that the delivery floor of the second goods is the first target floor, controlling the second robot to deliver the second goods to the first robot, wherein the second goods are delivered by the second robot.
3. The method of claim 1, wherein,
the space occupation information is obtained by means of a camera of the elevator.
4. The method as recited in claim 1, further comprising:
acquiring distribution priorities of the first robot and the second robot;
and under the condition that the distribution priority of the first robot is higher than that of the second robot, controlling the second robot to get off the ladder and controlling the first robot to get on the ladder.
5. The method of claim 4, wherein the delivery priority is determined based on delivery time and/or customer level.
6. A robot-boarding elevator control device, comprising:
a first obtaining unit, configured to obtain load information of at least one elevator, where the load information includes space occupation information;
a second acquisition unit for acquiring a remaining space of the elevator based on the load information;
a first control unit for controlling the elevator to stop at a first destination floor in case the remaining space cannot accommodate a first robot;
a second control unit for controlling the first robot to transfer a first cargo to a second robot for delivery, wherein the first robot is a robot ready to take 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;
further comprises:
acquiring an available storage space of the second robot;
and under the condition that the residual space cannot accommodate the first robot, 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 delivery, wherein the method comprises the following steps of:
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 delivery under the condition that the residual space can not accommodate the first robot and the available storage space can accommodate the first goods, wherein the first goods are the goods delivered by the first robot;
further comprises:
acquiring the position of the second robot in the elevator;
and under the condition that the residual space cannot accommodate the first robot, 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 delivery, wherein the method comprises the following steps of:
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 smaller than the preset distance, controlling the elevator to stop at the first target floor, and controlling the first robot to transfer the first goods to the second robot for distribution.
7. An electronic device, comprising: a 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 robot-boarding elevator control method of any one of claims 1-5 when executing the computer program stored in the memory.
8. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program, when executed by a processor, implements the robot-boarding elevator control method of any one of claims 1-5.
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| CN114852807B (en) * | 2022-04-25 | 2024-03-01 | 北京云迹科技股份有限公司 | Robot ladder calling method and related equipment |
| 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 |
| CN115159289B (en) * | 2022-07-13 | 2023-12-08 | 北京云迹科技股份有限公司 | Elevator interaction method, device, electronic equipment and medium |
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