CN114355935A - Robot elevator calling and elevator taking overtime execution method, system, equipment and medium - Google Patents
Robot elevator calling and elevator taking overtime execution method, system, equipment and medium Download PDFInfo
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- CN114355935A CN114355935A CN202111665706.6A CN202111665706A CN114355935A CN 114355935 A CN114355935 A CN 114355935A CN 202111665706 A CN202111665706 A CN 202111665706A CN 114355935 A CN114355935 A CN 114355935A
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Abstract
The invention discloses a method, a system, equipment and a medium for executing elevator calling and elevator taking overtime of a robot, wherein the method is executed by the robot and comprises the following steps: the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes the operation of going to the elevator central point and sends an elevator door opening request to the elevator; the robot detects whether the robot stops at the center point of the elevator, if the robot does not stop at the center point of the elevator, the robot arrives at the center point of the elevator, carries out elevator exit and arrives at an elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is yes, the robot returns to the elevator taking point, then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the elevator central point, and if the judgment result is no, the robot reaches the elevator taking point. The invention realizes the functions of identifying the obstacle on the path in the elevator entering process, returning to the initial elevator taking point, detecting the overweight/weightlessness state of the elevator and the like when the obstacle is blocked and cannot enter the elevator.
Description
Technical Field
The invention relates to a robot elevator calling and elevator taking overtime execution method, system, equipment and medium, and belongs to the technical field of robot operation design.
Background
In the automatic inspection process of the robot, the robot needs to inspect among different floors, so that the automatic elevator taking is a technical focus and difficulty to be solved.
Disclosure of Invention
The invention aims to overcome the technical defects in the prior art, solve the technical problems and provide a method, a system, equipment and a medium for executing elevator calling and elevator taking overtime of a robot.
The invention specifically adopts the following technical scheme: the robot elevator calling and elevator taking overtime executing method is executed by a robot and comprises the following steps:
the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes to go to the elevator central point, detects whether the process of going to the elevator central point is blocked or not, if the process is judged to be not blocked, the robot reaches the elevator central point, the robot sends a request of whether the elevator is opened or not to the elevator, responds to the feedback that the elevator reaches the corresponding floor and the elevator is opened, executes elevator exit and reaches the elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is that the elevator is blocked, the robot returns to the elevator taking point, then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the central point of the elevator, the robot sends a request for opening the door of the elevator to the elevator, responds to the feedback sent by the elevator that the elevator reaches the corresponding floor and the door of the elevator is opened, the robot goes out of the elevator and reaches the elevator taking point, and sends an elevator taking completion ending request to the elevator, otherwise, the judgment result is no, and the robot goes to the elevator taking point.
As a preferred embodiment, the robot detects that the travel to the center point of the elevator is judged to be blocked and waits for 10 s.
The invention also provides a robot elevator calling and elevator taking overtime executing method, which is executed by an elevator and comprises the following steps: receiving a request for calling a lift sent by the robot, and executing a feedback instruction for sending the arrival of the lift to the robot after the lift arrives; responding to a request sent by the robot whether the elevator is opened, sending feedback that the elevator reaches a corresponding floor and the elevator is opened to the robot, and executing opening of the elevator; and in response to a finish request of finishing the elevator exit sent by the robot, closing the door of the elevator and finishing the elevator exit.
The invention also provides a robot elevator calling and elevator taking overtime executing method, which comprises the following steps:
step SS 1: the robot reaches a preset riding point and sends a calling request to the elevator, the elevator receives the calling request sent by the robot, and the elevator executes a feedback instruction for sending the elevator arrival to the robot after the elevator runs and arrives;
step SS 2: after waiting for the elevator to arrive, the robot executes the step SS 3;
step SS 3: the robot goes to the center point of the elevator, the robot judges whether the barrier exists or not, if the barrier does not exist, the step SS4 is executed, if the barrier exists, the waiting time N is carried out, and then if the overweight/weightlessness is not detected, the step SS5 is executed, the overweight/weightlessness exists, the elevator is indicated to be running, and the robot enters the elevator successfully;
step SS 4: the robot smoothly arrives at the elevator central point, the robot detects whether the elevator is opened, if so, the step SS6 is executed, otherwise, the robot goes to the elevator central point to judge whether the elevator is blocked again;
step SS 5: the robot returns to taking advantage of the ladder point, include: returning to the initial elevator taking point when the elevator cannot reach the central point due to the blockage, and continuously detecting whether the elevator is overweight/weightlessness in the process of returning to the elevator taking point, wherein if the overweight/weightlessness is detected, the elevator entering is successful, otherwise, returning to the step SS 1;
step SS 6: the robot goes out of the ladder includes: the robot successfully takes the elevator, and the robot goes out of the elevator after the robot reaches the appointed floor;
step SS 7: the robot reaches a preset exit point.
As a preferred embodiment, the waiting time N is 10 s.
The invention also provides a robot elevator calling and elevator taking overtime execution system, which comprises:
the robot specifically executes: the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes to go to the elevator central point, detects whether the process of going to the elevator central point is blocked or not, if the process is judged to be not blocked, the robot reaches the elevator central point, the robot sends a request of whether the elevator is opened or not to the elevator, responds to the feedback that the elevator reaches the corresponding floor and the elevator is opened, executes elevator exit and reaches the elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is that the elevator is blocked, the robot returns to an elevator taking point, and then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the central point of the elevator, sends a request of whether the elevator is opened to the elevator, responds to the feedback that the elevator arrives at the corresponding floor and the elevator is opened, sends the elevator out and arrives at the elevator taking point, and sends an elevator finishing request of elevator taking completion to the elevator, otherwise, the judgment result is no, and the robot reaches the elevator taking point;
the elevator specifically executes: receiving a request for calling a lift sent by the robot, and executing a feedback instruction for sending the arrival of the lift to the robot after the lift arrives; responding to a request sent by the robot whether the elevator is opened, sending feedback that the elevator reaches a corresponding floor and the elevator is opened to the robot, and executing opening of the elevator; and in response to a finish request of finishing the elevator exit sent by the robot, closing the door of the elevator and finishing the elevator exit.
As a preferred embodiment, the robot detects that the travel to the center point of the elevator is judged to be blocked and waits for 10 s.
The invention also proposes a device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
The invention also proposes a medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method.
The invention achieves the following beneficial effects: firstly, the invention provides a robot elevator calling and elevator taking overtime executing method and system aiming at solving the automatic elevator taking requirement among different floors in the automatic inspection process of a robot, and the method comprises the following steps of: the mechanism of 10s elevator entering overtime plus 3 times of elevator entering failure retry solves the key step of taking the elevator automatically as the robot automatic inspection, and lays a solid foundation for realizing the unattended full-automatic inspection. Secondly, the invention avoids the influence of the robot on the normal elevator taking of the elevator, and improves the safety and stability of the robot for automatically taking the elevator; thirdly, the invention does not need the intervention of the implementing personnel on site, thereby reducing the labor cost.
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Fig. 1 is a flowchart of a robot elevator getting-up and elevator taking timeout execution method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1: the invention provides a robot elevator calling and elevator taking overtime execution method, which is executed by a robot and comprises the following steps:
the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes to go to the elevator central point, detects whether the process of going to the elevator central point is blocked or not, if the process is judged to be not blocked, the robot reaches the elevator central point, the robot sends a request of whether the elevator is opened or not to the elevator, responds to the feedback that the elevator reaches the corresponding floor and the elevator is opened, executes elevator exit and reaches the elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is that the elevator is blocked, the robot returns to the elevator taking point, then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the central point of the elevator, the robot sends a request for opening the door of the elevator to the elevator, responds to the feedback sent by the elevator that the elevator reaches the corresponding floor and the door of the elevator is opened, the robot goes out of the elevator and reaches the elevator taking point, and sends an elevator taking completion ending request to the elevator, otherwise, the judgment result is no, and the robot goes to the elevator taking point.
As a preferred embodiment, the robot detects that the travel to the center point of the elevator is judged to be blocked and waits for 10 s.
The invention also provides a robot elevator calling and elevator taking overtime executing method, which is executed by an elevator and comprises the following steps: receiving a request for calling a lift sent by the robot, and executing a feedback instruction for sending the arrival of the lift to the robot after the lift arrives; responding to a request sent by the robot whether the elevator is opened, sending feedback that the elevator reaches a corresponding floor and the elevator is opened to the robot, and executing opening of the elevator; and in response to a finish request of finishing the elevator exit sent by the robot, closing the door of the elevator and finishing the elevator exit.
The invention also provides a robot elevator calling and elevator taking overtime executing method, which comprises the following steps:
step SS 1: the robot reaches a preset riding point and sends a calling request to the elevator, the elevator receives the calling request sent by the robot, and the elevator executes a feedback instruction for sending the elevator arrival to the robot after the elevator runs and arrives;
step SS 2: after waiting for the elevator to arrive, the robot executes the step SS 3;
step SS 3: the robot goes to the center point of the elevator, the robot judges whether the barrier exists or not, if the barrier does not exist, the step SS4 is executed, if the barrier exists, the waiting time N is carried out, and then if the overweight/weightlessness is not detected, the step SS5 is executed, the overweight/weightlessness exists, the elevator is indicated to be running, and the robot enters the elevator successfully;
step SS 4: the robot smoothly arrives at the elevator central point, the robot detects whether the elevator is opened, if so, the step SS6 is executed, otherwise, the robot goes to the elevator central point to judge whether the elevator is blocked again;
step SS 5: the robot returns to taking advantage of the ladder point, include: returning to the initial elevator taking point when the elevator cannot reach the central point due to the blockage, and continuously detecting whether the elevator is overweight/weightlessness in the process of returning to the elevator taking point, wherein if the overweight/weightlessness is detected, the elevator entering is successful, otherwise, returning to the step SS 1;
step SS 6: the robot goes out of the ladder includes: the robot successfully takes the elevator, and the robot goes out of the elevator after the robot reaches the appointed floor;
step SS 7: the robot reaches a preset exit point.
As a preferred embodiment, the waiting time N is 10 s.
The invention also provides a robot elevator calling and elevator taking overtime execution system, which comprises:
the robot specifically executes: the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes to go to the elevator central point, detects whether the process of going to the elevator central point is blocked or not, if the process is judged to be not blocked, the robot reaches the elevator central point, the robot sends a request of whether the elevator is opened or not to the elevator, responds to the feedback that the elevator reaches the corresponding floor and the elevator is opened, executes elevator exit and reaches the elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is that the elevator is blocked, the robot returns to an elevator taking point, and then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the central point of the elevator, sends a request of whether the elevator is opened to the elevator, responds to the feedback that the elevator arrives at the corresponding floor and the elevator is opened, sends the elevator out and arrives at the elevator taking point, and sends an elevator finishing request of elevator taking completion to the elevator, otherwise, the judgment result is no, and the robot reaches the elevator taking point;
the elevator specifically executes: receiving a request for calling a lift sent by the robot, and executing a feedback instruction for sending the arrival of the lift to the robot after the lift arrives; responding to a request sent by the robot whether the elevator is opened, sending feedback that the elevator reaches a corresponding floor and the elevator is opened to the robot, and executing opening of the elevator; and in response to a finish request of finishing the elevator exit sent by the robot, closing the door of the elevator and finishing the elevator exit.
As a preferred embodiment, the robot detects that the travel to the center point of the elevator is judged to be blocked and waits for 10 s.
Example 5: the invention also proposes a device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
Example 6: the invention also proposes a medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method.
The invention achieves the following beneficial effects: firstly, the invention provides a robot elevator calling and elevator taking overtime executing method and system aiming at solving the automatic elevator taking requirement among different floors in the automatic inspection process of a robot, and the method comprises the following steps of: the mechanism of 10s elevator entering overtime plus 3 times of elevator entering failure retry solves the key step of taking the elevator automatically as the robot automatic inspection, and lays a solid foundation for realizing the unattended full-automatic inspection. Secondly, the invention avoids the influence of the robot on the normal elevator taking of the elevator, and improves the safety and stability of the robot for automatically taking the elevator; thirdly, the invention does not need the intervention of the implementing personnel on site, thereby reducing the labor cost.
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 processor, 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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (9)
1. The robot elevator calling and elevator taking overtime executing method is executed by a robot and is characterized by comprising the following steps:
the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes to go to the elevator central point, detects whether the process of going to the elevator central point is blocked or not, if the process is judged to be not blocked, the robot reaches the elevator central point, the robot sends a request of whether the elevator is opened or not to the elevator, responds to the feedback that the elevator reaches the corresponding floor and the elevator is opened, executes elevator exit and reaches the elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is that the elevator is blocked, the robot returns to the elevator taking point, then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the central point of the elevator, the robot sends a request for opening the door of the elevator to the elevator, responds to the feedback sent by the elevator that the elevator reaches the corresponding floor and the door of the elevator is opened, the robot goes out of the elevator and reaches the elevator taking point, and sends an elevator taking completion ending request to the elevator, otherwise, the judgment result is no, and the robot goes to the elevator taking point.
2. The robot elevator getting-up and taking-up timeout performing method according to claim 1, wherein the robot waits for 10s if it detects that the center point of the elevator is blocked.
3. The robot elevator calling and overtime taking execution method is executed by an elevator and is characterized by comprising the following steps: receiving a request for calling a lift sent by the robot, and executing a feedback instruction for sending the arrival of the lift to the robot after the lift arrives; responding to a request sent by the robot whether the elevator is opened, sending feedback that the elevator reaches a corresponding floor and the elevator is opened to the robot, and executing opening of the elevator; and in response to a finish request of finishing the elevator exit sent by the robot, closing the door of the elevator and finishing the elevator exit.
4. The robot elevator calling and elevator taking overtime execution method is characterized by comprising the following steps:
step SS 1: the robot reaches a preset riding point and sends a calling request to the elevator, the elevator receives the calling request sent by the robot, and the elevator executes a feedback instruction for sending the elevator arrival to the robot after the elevator runs and arrives;
step SS 2: after waiting for the elevator to arrive, the robot executes the step SS 3;
step SS 3: the robot goes to the center point of the elevator, the robot judges whether the barrier exists or not, if the barrier does not exist, the step SS4 is executed, if the barrier exists, the waiting time N is carried out, and then if the overweight/weightlessness is not detected, the step SS5 is executed, the overweight/weightlessness exists, the elevator is indicated to be running, and the robot enters the elevator successfully;
step SS 4: the robot smoothly arrives at the elevator central point, the robot detects whether the elevator is opened, if so, the step SS6 is executed, otherwise, the robot goes to the elevator central point to judge whether the elevator is blocked again;
step SS 5: the robot returns to taking advantage of the ladder point, include: returning to the initial elevator taking point when the elevator cannot reach the central point due to the blockage, and continuously detecting whether the elevator is overweight/weightlessness in the process of returning to the elevator taking point, wherein if the overweight/weightlessness is detected, the elevator entering is successful, otherwise, returning to the step SS 1;
step SS 6: the robot goes out of the ladder includes: the robot successfully takes the elevator, and the robot goes out of the elevator after the robot reaches the appointed floor;
step SS 7: the robot reaches a preset exit point.
5. The robot elevator getting-up and taking-up timeout performing method according to claim 4, wherein the waiting time N is 10 s.
6. Robot is beckoned with the ladder, is taken advantage of ladder timeout actuating system, its characterized in that includes:
the robot specifically executes: the robot arrives at an elevator taking point to wait for an elevator, sends an elevator calling request to the elevator and responds to the elevator to send a feedback instruction of elevator arrival; the robot executes to go to the elevator central point, detects whether the process of going to the elevator central point is blocked or not, if the process is judged to be not blocked, the robot reaches the elevator central point, the robot sends a request of whether the elevator is opened or not to the elevator, responds to the feedback that the elevator reaches the corresponding floor and the elevator is opened, executes elevator exit and reaches the elevator exit point, and sends an elevator exit completion ending request to the elevator; if the judgment result is that the elevator is blocked, the robot returns to an elevator taking point, and then the robot detects whether the elevator is overweight/weightless, if the judgment result is yes, the robot goes to the central point of the elevator, sends a request of whether the elevator is opened to the elevator, responds to the feedback that the elevator arrives at the corresponding floor and the elevator is opened, sends the elevator out and arrives at the elevator taking point, and sends an elevator finishing request of elevator taking completion to the elevator, otherwise, the judgment result is no, and the robot reaches the elevator taking point;
the elevator specifically executes: receiving a request for calling a lift sent by the robot, and executing a feedback instruction for sending the arrival of the lift to the robot after the lift arrives; responding to a request sent by the robot whether the elevator is opened, sending feedback that the elevator reaches a corresponding floor and the elevator is opened to the robot, and executing opening of the elevator; and in response to a finish request of finishing the elevator exit sent by the robot, closing the door of the elevator and finishing the elevator exit.
7. The robot elevator getting and taking timeout system of claim 6, wherein the robot waits for 10s if it detects that there is a block in the elevator center point.
8. Apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the program.
9. Medium, on which a computer program is stored, characterized in that the computer program realizes the steps of the method of any of claims 1 to 5 when executed by a processor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111665706.6A CN114355935A (en) | 2021-12-30 | 2021-12-30 | Robot elevator calling and elevator taking overtime execution method, system, equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111665706.6A CN114355935A (en) | 2021-12-30 | 2021-12-30 | Robot elevator calling and elevator taking overtime execution method, system, equipment and medium |
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