CN114296462A - Early warning control method, system, equipment and medium for robot out of elevator timeout - Google Patents
Early warning control method, system, equipment and medium for robot out of elevator timeout Download PDFInfo
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Abstract
本发明公开了机器人出电梯超时的预警控制方法、系统、设备及介质，通过机器人乘坐电梯，从电梯中心点出电梯，电梯判断是否出梯成功，判断标准：15s内退出电梯，否则为失败，失败后退回电梯中心点，重新出梯，重试3次，若出梯成功：结束出梯过程，到达目的楼层；若出梯失败：结束出梯过程，重新乘梯，实现了保障机器人运行过程的安全，尤其是在电梯乘客较多，难以出梯的情况；同时保障了机器人出梯过程的稳定性，避免了强制出梯，出梯失败后重新乘坐电梯。
The invention discloses an early warning control method, system, equipment and medium for a robot to exit the elevator overtime. The robot rides the elevator and exits the elevator from the center of the elevator, and the elevator judges whether the exit is successful. After failure, return to the center of the elevator, exit the elevator again, and try again 3 times. If the exit is successful: end the exit process and reach the destination floor; if the exit fails: end the exit process and re-ride the elevator, which ensures the running process of the robot. It ensures the safety of the robot, especially when there are many passengers in the elevator and it is difficult to get out of the elevator; at the same time, it ensures the stability of the robot's escalating process, avoiding forced escaping, and taking the elevator again after the escalator fails.
Description
技术领域technical field
本发明涉及一种机器人出电梯超时的预警控制方法、系统、设备及介质，属于机器人预警控制技术领域。The invention relates to an early warning control method, system, equipment and medium for a robot to exit an elevator overtime, and belongs to the technical field of robot early warning control.
背景技术Background technique
在机器人与电梯交互的过程中，有许多机器人进出电梯的场景，如果机器人因障碍或者自身问题未完成出梯动作，而电梯又没有联动感应到机器人的出梯障碍，会造成电梯以及机器人长时间故障机制运行发生短路风险，为保障机器人安全稳定运行，有必要设计一种机器人出电梯超时的预警控制机制。During the interaction between the robot and the elevator, there are many scenarios in which the robot enters and exits the elevator. If the robot fails to complete the exit action due to obstacles or its own problems, and the elevator does not sense the robot's exit obstacle, it will cause the elevator and the robot to take a long time. There is a risk of short circuit in the operation of the fault mechanism. In order to ensure the safe and stable operation of the robot, it is necessary to design an early warning control mechanism for the robot to exit the elevator overtime.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于，克服现有技术存在的技术缺陷，解决上述技术问题，提出一种机器人出电梯超时的预警控制方法、系统、设备及介质。The purpose of the present invention is to overcome the technical defects existing in the prior art, solve the above-mentioned technical problems, and propose a method, system, equipment and medium for early warning control of a robot exiting an elevator overtime.
本发明具体采用如下技术方案：机器人出电梯超时的预警控制方法，由机器人执行，包括如下步骤：The present invention specifically adopts the following technical solutions: the early warning control method for the robot to exit the elevator overtime, which is executed by the robot, includes the following steps:
机器人执行乘坐电梯指令，机器人到达电梯中心点，机器人向电梯发送到达电梯中心点的出梯请求；接收所述电梯反馈的出梯动作指令，机器人执行从电梯中心点出梯；The robot executes the command of taking the elevator, the robot reaches the center point of the elevator, and the robot sends a request to the elevator to exit the elevator to the center point of the elevator; after receiving the elevator operation instruction fed back by the elevator, the robot executes the exit from the center point of the elevator;
接收电梯执行的机器人出梯失败的判定后，重新接收电梯发送的出梯动作指令，机器人退回电梯中心点，机器人重新执行电梯从电梯中心点出梯；响应于所述电梯发送的乘坐电梯的指令，机器人执行乘坐电梯指令；After receiving the judgment that the robot fails to get out of the elevator executed by the elevator, re-receive the elevator operation instruction sent by the elevator, the robot returns to the center point of the elevator, and the robot re-executes the elevator to get out of the elevator from the center point of the elevator; in response to the instruction sent by the elevator to take the elevator , the robot executes the elevator command;
接收电梯发送出梯成功指令，结束机器人执行出梯过程。Receive the elevator successful command sent by the elevator, and end the robot's execution of the elevator process.
本发明还提出机器人出电梯超时的预警控制方法，由电梯执行，包括如下步骤：The present invention also proposes an early warning control method for the robot to exit the elevator overtime, which is executed by the elevator and includes the following steps:
响应于机器人发送的到达电梯中心的出梯请求，向机器人发送出梯动作指令，并判断机器人是否出梯成功；In response to the request for getting out of the elevator to the elevator center sent by the robot, send out the elevator action instruction to the robot, and determine whether the robot is successful in getting out of the elevator;
若机器人在设定时间N内退出电梯则判定出梯成功，向机器人发送出梯成功指令，结束机器人出梯过程；否则判定为出梯失败，向机器人发送出梯失败的判定，重新发送出梯动作指令给机器人，若出梯动作指令的重试次数超过M次，则向机器人发送乘坐电梯的指令。If the robot exits the elevator within the set time N, it is determined that the elevator is successful, and the robot sends a successful elevator exit command to end the robot exit process; otherwise, it is judged that the elevator fails, and the robot sends a judgment of the elevator failure, and resends the elevator exit. The action command is given to the robot. If the number of retries of the elevator action command exceeds M times, the command to take the elevator is sent to the robot.
作为一种较佳的实施例，所述设定时间N为15s。As a preferred embodiment, the set time N is 15s.
作为一种较佳的实施例，所述重试次数M为3。As a preferred embodiment, the number of retries M is 3.
本发明还提出机器人出电梯超时的预警控制方法，包括如下步骤：The present invention also proposes an early warning control method for the robot to exit the elevator overtime, including the following steps:
步骤SS1：机器人执行乘坐电梯指令，机器人到达电梯中心点，机器人向电梯发送到达电梯中心点的出梯请求；电梯响应于机器人发送的到达电梯中心的出梯请求，向机器人发送出梯动作指令，并判断机器人是否出梯成功；机器人接收所述电梯反馈的出梯动作指令，机器人执行从电梯中心点出梯；Step SS1: The robot executes the elevator ride instruction, the robot reaches the center of the elevator, and the robot sends a request to the elevator to reach the center of the elevator; the elevator responds to the request to reach the center of the elevator sent by the robot, and sends the robot. And judge whether the robot exits the elevator successfully; the robot receives the elevator exit action instruction fed back by the elevator, and the robot executes the elevator exit from the center of the elevator;
步骤SS2：若机器人在设定时间N内退出电梯则判定出梯成功，电梯向机器人发送出梯成功指令，结束机器人出梯过程；机器人接收电梯发送的出梯成功指令，结束机器人执行出梯过程；Step SS2: If the robot exits the elevator within the set time N, it is determined that the elevator is successful, the elevator sends the robot a successful elevator exit instruction, and the robot exits the elevator process; the robot receives the elevator exit successful instruction sent by the elevator, and ends the robot executing the elevator exit process. ;
步骤SS3：若机器人在设定时间N内未退出电梯则判定为出梯失败，电梯向机器人发送出梯失败的判定，电梯重新发送出梯动作指令给机器人，若电梯发送的出梯动作指令的重试次数超过M次，电梯则向机器人发送乘坐电梯的指令；机器人接收电梯执行的机器人出梯失败的判定后，机器人重新接收电梯发送的出梯动作指令，机器人退回电梯中心点，机器人重新执行电梯从电梯中心点出梯；机器人响应于所述电梯发送的乘坐电梯的指令，机器人执行乘坐电梯指令。Step SS3: If the robot does not exit the elevator within the set time N, it is determined as a failure to get out of the elevator, the elevator sends a judgment of the failure to get out of the elevator to the robot, and the elevator re-sends the elevator operation instruction to the robot. When the number of retries exceeds M times, the elevator sends the robot a command to take the elevator; after the robot receives the judgment that the robot fails to get out of the elevator, the robot re-receives the elevator's out-of-the-elevator action command, the robot returns to the center of the elevator, and the robot executes again. The elevator exits the elevator from the center point of the elevator; the robot executes the elevator riding instruction in response to the elevator riding instruction sent by the elevator.
本发明还提出机器人出电梯超时的预警控制系统，包括：The present invention also proposes an early warning control system for the robot to exit the elevator overtime, including:
预出梯执行模块，具体包括：机器人执行乘坐电梯指令，机器人到达电梯中心点，机器人向电梯发送到达电梯中心点的出梯请求；电梯响应于机器人发送的到达电梯中心的出梯请求，向机器人发送出梯动作指令，并判断机器人是否出梯成功；机器人接收所述电梯反馈的出梯动作指令，机器人执行从电梯中心点出梯；The pre-elevator execution module specifically includes: the robot executes the elevator ride instruction, the robot reaches the elevator center point, and the robot sends the elevator a request to reach the elevator center point; Sending out the elevator action instruction, and judging whether the robot is successfully out of the elevator; the robot receives the elevator outgoing action instruction fed back by the elevator, and the robot executes the elevator from the center of the elevator;
出梯成功执行模块，具体包括：若机器人在设定时间N内退出电梯则判定出梯成功，电梯向机器人发送出梯成功指令，结束机器人出梯过程；机器人接收电梯发送的出梯成功指令，结束机器人执行出梯过程；The execution module for successful exit from the elevator specifically includes: if the robot exits the elevator within the set time N, it is determined that the exit from the elevator is successful, and the elevator sends a successful exit instruction to the robot to end the process of the robot exiting the elevator; End the robot's execution of the elevator process;
出梯失败执行模块，具体包括：若机器人在设定时间N内未退出电梯则判定为出梯失败，电梯向机器人发送出梯失败的判定，电梯重新发送出梯动作指令给机器人，若电梯发送的出梯动作指令的重试次数超过M次，电梯则向机器人发送乘坐电梯的指令；机器人接收电梯执行的机器人出梯失败的判定后，机器人重新接收电梯发送的出梯动作指令，机器人退回电梯中心点，机器人重新执行电梯从电梯中心点出梯；机器人响应于所述电梯发送的乘坐电梯的指令，机器人执行乘坐电梯指令。The execution module for failure to get out of the elevator specifically includes: if the robot does not exit the elevator within the set time N, it is determined as a failure to get out of the elevator, the elevator sends the robot a judgment of the failure to get out of the elevator, and the elevator re-sends the elevator action instruction to the robot. If the number of retries of the exiting action command exceeds M times, the elevator will send the robot a command to take the elevator; after the robot receives the judgment that the robot has failed to exit the elevator executed by the elevator, the robot will re-receive the exiting action command sent by the elevator, and the robot will return to the elevator At the center point, the robot re-executes the elevator to get out of the elevator from the center point of the elevator; the robot responds to the instruction for taking the elevator sent by the elevator, and the robot executes the instruction for taking the elevator.
作为一种较佳的实施例，所述设定时间N为15s。As a preferred embodiment, the set time N is 15s.
作为一种较佳的实施例，所述重试次数M为3。As a preferred embodiment, the number of retries M is 3.
本发明还提出设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现所述方法的步骤。The present invention also proposes a device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method when executing the program.
本发明还提出介质，其上存储有计算机程序，该计算机程序被处理器执行时实现所述方法的步骤。The invention also proposes a medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method.
本发明所达到的有益效果：本发明针对如何解决在机器人与电梯交互的过程中，有许多机器人进出电梯的场景，如果机器人因障碍或者自身问题未完成出梯动作，而电梯又没有联动感应到机器人的出梯障碍，会造成电梯以及机器人长时间故障机制运行发生短路风险安全性的技术需求，提出机器人出电梯超时的预警控制系统及方法，通过机器人乘坐电梯，从电梯中心点出电梯，电梯判断是否出梯成功，判断标准：15s内退出电梯，否则为失败，失败后退回电梯中心点，重新出梯，重试3次，若出梯成功：结束出梯过程，到达目的楼层；若出梯失败：结束出梯过程，重新乘梯，实现了保障机器人运行过程的安全，尤其是在电梯乘客较多，难以出梯的情况；同时保障了机器人出梯过程的稳定性，避免了强制出梯，出梯失败后重新乘坐电梯，从整体上解决了在机器人与电梯交互的过程中，有许多机器人进出电梯的场景，如果机器人因障碍或者自身问题未完成出梯动作，而电梯又没有联动感应到机器人的出梯障碍，会造成电梯以及机器人长时间故障机制运行发生短路风险安全性的技术需求。Beneficial effects achieved by the present invention: The present invention is aimed at how to solve the scenarios in which many robots enter and exit the elevator during the interaction between the robot and the elevator. The obstacle of the robot getting out of the elevator will cause the elevator and the long-term failure mechanism of the robot to cause a short-circuit risk and safety technical requirements. The early warning control system and method for the robot to exit the elevator overtime are proposed. Judging whether the elevator is successful, the judgment standard: exit the elevator within 15s, otherwise it is a failure, after the failure, return to the center of the elevator, exit the elevator again, and retry 3 times, if the exit is successful: end the exit process and reach the destination floor; Elevator failure: End the process of getting out of the elevator and take the elevator again, which ensures the safety of the robot's operation process, especially when there are many elevator passengers and it is difficult to get out of the elevator. Elevator, take the elevator again after failing to get out of the elevator, which solves the problem of many robots entering and exiting the elevator in the process of interaction between the robot and the elevator. Sensing the robot's exit obstacle will cause the elevator and the robot's long-term failure mechanism to cause short-circuit risk safety technical requirements.
附图说明Description of drawings
图1是本发明的机器人出电梯超时的预警控制方法的优选实施例的流程图。FIG. 1 is a flow chart of a preferred embodiment of a method for early warning control of a robot exiting an elevator overtime according to the present invention.
具体实施方式Detailed ways
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.
实施例1：本发明提出机器人出电梯超时的预警控制方法，由机器人执行，包括如下步骤：Embodiment 1: The present invention proposes an early warning control method for the robot to exit the elevator overtime, which is executed by the robot and includes the following steps:
机器人执行乘坐电梯指令，机器人到达电梯中心点，机器人向电梯发送到达电梯中心点的出梯请求；接收所述电梯反馈的出梯动作指令，机器人执行从电梯中心点出梯；The robot executes the command of taking the elevator, the robot reaches the center point of the elevator, and the robot sends a request to the elevator to exit the elevator to the center point of the elevator; after receiving the elevator operation instruction fed back by the elevator, the robot executes the exit from the center point of the elevator;
接收电梯执行的机器人出梯失败的判定后，重新接收电梯发送的出梯动作指令，机器人退回电梯中心点，机器人重新执行电梯从电梯中心点出梯；响应于所述电梯发送的乘坐电梯的指令，机器人执行乘坐电梯指令；After receiving the judgment that the robot fails to get out of the elevator executed by the elevator, re-receive the elevator operation instruction sent by the elevator, the robot returns to the center point of the elevator, and the robot re-executes the elevator to get out of the elevator from the center point of the elevator; in response to the instruction sent by the elevator to take the elevator , the robot executes the elevator command;
接收电梯发送出梯成功指令，结束机器人执行出梯过程。Receive the elevator successful command sent by the elevator, and end the robot's execution of the elevator process.
实施例2：本发明还提出机器人出电梯超时的预警控制方法，由电梯执行，包括如下步骤：Embodiment 2: The present invention also proposes an early warning control method for the robot to exit the elevator overtime, which is executed by the elevator and includes the following steps:
响应于机器人发送的到达电梯中心的出梯请求，向机器人发送出梯动作指令，并判断机器人是否出梯成功；In response to the request for getting out of the elevator to the elevator center sent by the robot, send out the elevator action instruction to the robot, and determine whether the robot is successful in getting out of the elevator;
若机器人在设定时间N内退出电梯则判定出梯成功，向机器人发送出梯成功指令，结束机器人出梯过程；否则判定为出梯失败，向机器人发送出梯失败的判定，重新发送出梯动作指令给机器人，若出梯动作指令的重试次数超过M次，则向机器人发送乘坐电梯的指令。If the robot exits the elevator within the set time N, it is determined that the elevator is successful, and the robot sends a successful elevator exit command to end the robot exit process; otherwise, it is judged that the elevator fails, and the robot sends a judgment of the elevator failure, and resends the elevator exit. The action command is given to the robot. If the number of retries of the elevator action command exceeds M times, the command to take the elevator is sent to the robot.
作为一种较佳的实施例，所述设定时间N为15s。As a preferred embodiment, the set time N is 15s.
作为一种较佳的实施例，所述重试次数M为3。As a preferred embodiment, the number of retries M is 3.
实施例3：如图1所示，本发明还提出机器人出电梯超时的预警控制方法，包括如下步骤：Embodiment 3: As shown in Figure 1, the present invention also proposes an early warning control method for the robot to exit the elevator overtime, including the following steps:
步骤SS1：机器人执行乘坐电梯指令，机器人到达电梯中心点，机器人向电梯发送到达电梯中心点的出梯请求；电梯响应于机器人发送的到达电梯中心的出梯请求，向机器人发送出梯动作指令，并判断机器人是否出梯成功；机器人接收所述电梯反馈的出梯动作指令，机器人执行从电梯中心点出梯；Step SS1: The robot executes the command to take the elevator, the robot reaches the center of the elevator, and the robot sends an exit request to the elevator to reach the center of the elevator. And determine whether the robot has successfully exited the elevator; the robot receives the elevator operation instruction fed back by the elevator, and the robot executes the elevator exit from the center of the elevator;
步骤SS2：若机器人在设定时间N内退出电梯则判定出梯成功，电梯向机器人发送出梯成功指令，结束机器人出梯过程；机器人接收电梯发送的出梯成功指令，结束机器人执行出梯过程；Step SS2: If the robot exits the elevator within the set time N, it is determined that the elevator is successful, the elevator sends the robot a successful elevator exit instruction, and the robot exits the elevator process; the robot receives the elevator exit successful instruction sent by the elevator, and ends the robot executing the elevator exit process. ;
步骤SS3：若机器人在设定时间N内未退出电梯则判定为出梯失败，电梯向机器人发送出梯失败的判定，电梯重新发送出梯动作指令给机器人，若电梯发送的出梯动作指令的重试次数超过M次，电梯则向机器人发送乘坐电梯的指令；机器人接收电梯执行的机器人出梯失败的判定后，机器人重新接收电梯发送的出梯动作指令，机器人退回电梯中心点，机器人重新执行电梯从电梯中心点出梯；机器人响应于所述电梯发送的乘坐电梯的指令，机器人执行乘坐电梯指令。Step SS3: If the robot does not exit the elevator within the set time N, it is determined as a failure to get out of the elevator, the elevator sends a judgment of the failure to get out of the elevator to the robot, and the elevator re-sends the elevator operation instruction to the robot. When the number of retries exceeds M times, the elevator sends the robot a command to take the elevator; after the robot receives the judgment that the robot fails to get out of the elevator, the robot re-receives the elevator's out-of-the-elevator action command, the robot returns to the center of the elevator, and the robot executes again. The elevator exits the elevator from the center point of the elevator; the robot executes the elevator riding instruction in response to the elevator riding instruction sent by the elevator.
实施例4：本发明还提出机器人出电梯超时的预警控制系统，包括：Embodiment 4: The present invention also proposes an early warning control system for the robot to exit the elevator overtime, including:
预出梯执行模块，具体包括：机器人执行乘坐电梯指令，机器人到达电梯中心点，机器人向电梯发送到达电梯中心点的出梯请求；电梯响应于机器人发送的到达电梯中心的出梯请求，向机器人发送出梯动作指令，并判断机器人是否出梯成功；机器人接收所述电梯反馈的出梯动作指令，机器人执行从电梯中心点出梯；The pre-elevator execution module specifically includes: the robot executes the elevator ride instruction, the robot reaches the elevator center point, and the robot sends the elevator a request to reach the elevator center point; Sending out the elevator action instruction, and judging whether the robot is successfully out of the elevator; the robot receives the elevator outgoing action instruction fed back by the elevator, and the robot executes the elevator from the center of the elevator;
出梯成功执行模块，具体包括：若机器人在设定时间N内退出电梯则判定出梯成功，电梯向机器人发送出梯成功指令，结束机器人出梯过程；机器人接收电梯发送的出梯成功指令，结束机器人执行出梯过程，机器人到达目的楼层；The execution module for successful exit from the elevator specifically includes: if the robot exits the elevator within the set time N, it is determined that the exit from the elevator is successful, and the elevator sends a successful exit instruction to the robot to end the process of the robot exiting the elevator; After the robot executes the process of exiting the ladder, the robot reaches the destination floor;
出梯失败执行模块，具体包括：若机器人在设定时间N内未退出电梯则判定为出梯失败，电梯向机器人发送出梯失败的判定，电梯重新发送出梯动作指令给机器人，若电梯发送的出梯动作指令的重试次数超过M次，电梯则向机器人发送乘坐电梯的指令；机器人接收电梯执行的机器人出梯失败的判定后，机器人重新接收电梯发送的出梯动作指令，机器人退回电梯中心点，机器人重新执行电梯从电梯中心点出梯；机器人响应于所述电梯发送的乘坐电梯的指令，机器人执行乘坐电梯指令。The execution module for failure to get out of the elevator specifically includes: if the robot does not exit the elevator within the set time N, it is determined as a failure to get out of the elevator, the elevator sends the robot a judgment of the failure to get out of the elevator, and the elevator re-sends the elevator action instruction to the robot. If the number of retries of the exiting action command exceeds M times, the elevator will send the robot a command to take the elevator; after the robot receives the judgment that the robot has failed to exit the elevator executed by the elevator, the robot will re-receive the exiting action command sent by the elevator, and the robot will return to the elevator At the center point, the robot re-executes the elevator to get out of the elevator from the center point of the elevator; the robot responds to the instruction for taking the elevator sent by the elevator, and the robot executes the instruction for taking the elevator.
作为一种较佳的实施例，所述设定时间N为15s。As a preferred embodiment, the set time N is 15s.
作为一种较佳的实施例，所述重试次数M为3。As a preferred embodiment, the number of retries M is 3.
实施例5：本发明还提出设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现所述方法的步骤。Embodiment 5: The present invention also proposes a device including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the program.
实施例6：本发明还提出介质，其上存储有计算机程序，该计算机程序被处理器执行时实现所述方法的步骤。Embodiment 6: The present invention also provides a medium on which a computer program is stored, the computer program implementing the steps of the method when executed by the processor.
本发明针对如何解决在机器人与电梯交互的过程中，有许多机器人进出电梯的场景，如果机器人因障碍或者自身问题未完成出梯动作，而电梯又没有联动感应到机器人的出梯障碍，会造成电梯以及机器人长时间故障机制运行发生短路风险安全性的技术需求，提出机器人出电梯超时的预警控制系统及方法，通过机器人乘坐电梯，从电梯中心点出电梯，电梯判断是否出梯成功，判断标准：15s内退出电梯，否则为失败，失败后退回电梯中心点，重新出梯，重试3次，若出梯成功：结束出梯过程，到达目的楼层；若出梯失败：结束出梯过程，重新乘梯，实现了保障机器人运行过程的安全，尤其是在电梯乘客较多，难以出梯的情况；同时保障了机器人出梯过程的稳定性，避免了强制出梯，出梯失败后重新乘坐电梯，从整体上解决了在机器人与电梯交互的过程中，有许多机器人进出电梯的场景，如果机器人因障碍或者自身问题未完成出梯动作，而电梯又没有联动感应到机器人的出梯障碍，会造成电梯以及机器人长时间故障机制运行发生短路风险安全性的技术需求。The present invention aims at how to solve the situation in which many robots enter and exit the elevator during the interaction between the robot and the elevator. If the robot fails to complete the exit action due to obstacles or its own problems, and the elevator does not sense the robot's exit obstacle, it will cause The technical requirements for the safety of short-circuit risk in the long-term failure mechanism of elevators and robots, and the early warning control system and method for the robot to exit the elevator overtime are proposed. : Exit the elevator within 15s, otherwise it is a failure, return to the center of the elevator after failure, exit the elevator again, and retry 3 times, if the exit is successful: end the exit process and reach the destination floor; if the exit fails: end the exit process, Re-ride the elevator to ensure the safety of the robot's operation process, especially in the case where there are many passengers in the elevator and it is difficult to get out of the elevator; at the same time, it ensures the stability of the robot's exit process, and avoids forced exit and re-ride after the exit fails. The elevator, as a whole, solves the situation where many robots enter and exit the elevator during the interaction between the robot and the elevator. If the robot fails to complete the exit action due to obstacles or its own problems, and the elevator does not sense the robot's exit obstacle, The technical requirements for the safety of short-circuit risk in the long-term operation of the elevator and robot failure mechanism.
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a 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, etc.) having computer-usable program code embodied therein.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。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 present application. It will be understood that each flow and/or block in 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 the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams. These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the present invention can still be Modifications or equivalent replacements are made to the specific embodiments of the present invention, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention shall be included within the protection scope of the claims of the present invention.
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