CN114442610A - Control method, auxiliary system of wheeled robot and wheeled robot - Google Patents
Control method, auxiliary system of wheeled robot and wheeled robot Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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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
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application discloses a control method, an auxiliary system of a wheeled robot, the wheeled robot, an intelligent elevator and a computer readable storage medium, wherein the method comprises the following steps: sending a boarding instruction to the intelligent elevator, and moving to a designated boarding point of the intelligent elevator on a starting floor; whether the car that detects intelligent elevator is in predetermined current state, wherein, current state is: the lift car is positioned at a designated floor, a car door of the lift car is opened, and a butt strap is built from the car door to the floor ground of the floor; when the wheeled robot is at a designated boarding point and the car is determined to be in a passing state, the wheeled robot enters the car through the boarding plate; when the wheeled robot is in the car and the car is determined to be in a traffic state, the wheeled robot leaves the car through the access panel. According to the method, before the wheeled robot enters and exits the car, the state of the car is detected, and the car is entered and exited after the car is confirmed to be in a passing state, so that the vibration of the wheeled robot in the passing process can be reduced, and the reliability of cargo transportation of the wheeled robot is improved.
Description
Technical Field
The application belongs to the technical field of equipment control, and particularly relates to a control method, an auxiliary system of a wheeled robot, the wheeled robot, an intelligent elevator and a computer readable storage medium.
Background
With the development of science and technology, wheeled robots have been widely used in the industries of equipment manufacturing, new materials, biomedicine, and the like. Among them, it is also common to carry goods by wheeled robots.
When wheeled robot carries out freight indoors, because the space generally can be left between the car of intelligent elevator and the floor ground, wheeled robot business turn over intelligent elevator's in-process can inevitably appear shaking, is unfavorable for wheeled robot to carry out freight steadily. Particularly, when the transported goods are fragile goods, there is a high possibility that the goods are damaged, which results in a decrease in reliability of the wheeled robot for transporting goods.
Disclosure of Invention
The application provides a control method, an auxiliary system of a wheeled robot, the wheeled robot, an intelligent elevator and a computer readable storage medium, which can reduce the oscillation condition generated when the wheeled robot enters and exits the intelligent elevator and improve the reliability of the wheeled robot for goods transportation.
In a first aspect, the present application provides a control method applied to a wheeled robot, the control method including:
sending a boarding command to an intelligent elevator and moving to a specified boarding point of the intelligent elevator on a departure floor, wherein the boarding command comprises information used for indicating the departure floor and a target floor;
whether the car of detecting above-mentioned intelligent elevator is in predetermined current state, wherein, above-mentioned current state is: the car is positioned at a specified floor, a car door of the car is opened, a butt strap is erected from the car door to the floor ground of the floor, and the specified floor comprises the departure floor and the target floor;
when the wheeled robot is at the designated landing point and the car is determined to be in the passing state, the wheeled robot enters the car through the landing plate;
when the wheeled robot is in the car and the car is determined to be in the passing state, the wheeled robot leaves the car through the access board.
In a second aspect, the present application provides another control method applied to an intelligent elevator, the control method including:
receiving a boarding instruction of a wheeled robot, wherein the boarding instruction comprises information used for indicating a departure floor and a target floor;
controlling a lift car to move to a specified floor based on the boarding command, opening a lift car door, and extending a butt strap arranged at the bottom of the lift car so that the butt strap is built between a lift car door and a floor ground, wherein the specified floor comprises the departure floor and the target floor;
detecting the moving state of the wheeled robot;
closing the car door and retracting the access panel when the car is at the departure floor and the wheeled robot is determined to enter the car;
and closing the car door and retracting the access board when the car is at the target floor and the wheeled robot is determined to leave the car.
In a third aspect, the present application provides an assistance system for a wheeled robot, the assistance system including a wheeled robot control device and an intelligent elevator control device, wherein the wheeled robot control device includes: the intelligent elevator control system comprises a first motion module, a second motion module and a control module, wherein the first motion module is used for sending a boarding instruction to an intelligent elevator and moving the intelligent elevator to a specified boarding point of a departure floor of the intelligent elevator, and the boarding instruction comprises information used for indicating the departure floor and a target floor;
intelligent elevator detection module for whether the car that detects above-mentioned intelligent elevator is in predetermined current state, wherein, above-mentioned current state is: the car is positioned at a specified floor, a car door of the car is opened, a butt strap is erected from the car door to the floor ground of the floor, and the specified floor comprises the departure floor and the target floor;
a second motion module, configured to enter the car through the access panel when the wheeled robot is at the designated access point and the car is determined to be in the passing state;
a third motion module, configured to leave the car through the access panel when the wheeled robot is in the car and the car is determined to be in the traffic state;
above-mentioned intelligent elevator controlling means includes:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving a riding instruction of the wheeled robot, and the riding instruction comprises information used for indicating a departure floor and a target floor;
the first control module is used for controlling the lift car to move to a specified floor based on the riding instruction, opening a lift car door, and extending out of a butt strap arranged at the bottom of the lift car so as to enable the butt strap to be built between a lift car door and a floor ground, wherein the specified floor comprises the departure floor and the target floor;
the wheel type robot detection module is used for detecting the moving state of the wheel type robot;
a second control module, configured to close the car door and retract the access panel when the car is at the departure floor and the wheeled robot is determined to enter the car;
and the third control module is used for closing the car door and retracting the access panel when the car is positioned at the target floor and the wheeled robot is determined to leave the car.
In a fourth aspect, the present application provides a wheeled robot integrated with a wheeled robot control device, the wheeled robot control device including:
the intelligent elevator control system comprises a first motion module, a second motion module and a control module, wherein the first motion module is used for sending a boarding instruction to an intelligent elevator and moving the intelligent elevator to a specified boarding point of a departure floor of the intelligent elevator, and the boarding instruction comprises information used for indicating the departure floor and a target floor;
intelligent elevator detection module for whether the car that detects above-mentioned intelligent elevator is in predetermined current state, wherein, above-mentioned current state is: the car is positioned at a specified floor, a car door of the car is opened, a butt strap is erected from the car door to the floor ground of the floor, and the specified floor comprises the departure floor and the target floor;
a second motion module, configured to enter the car through the access panel when the wheeled robot is at the designated access point and the car is determined to be in the passing state;
and the third motion module is used for leaving the car through the access board when the wheeled robot is in the car and the car is determined to be in the passing state.
In a fifth aspect, the present application provides an intelligent elevator, which is integrated with an intelligent elevator control device, the intelligent elevator control device comprising:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving a riding instruction of the wheeled robot, and the riding instruction comprises information used for indicating a departure floor and a target floor;
the first control module is used for controlling the lift car to move to a specified floor based on the riding instruction, opening a lift car door, and extending out of a butt strap arranged at the bottom of the lift car so as to enable the butt strap to be built between a lift car door and a floor ground, wherein the specified floor comprises the departure floor and the target floor;
the wheel type robot detection module is used for detecting the moving state of the wheel type robot;
a second control module, configured to close the car door and retract the access panel when the car is at the departure floor and the wheeled robot is determined to enter the car;
and the third control module is used for closing the car door and retracting the access panel when the car is positioned at the target floor and the wheeled robot is determined to leave the car.
In a sixth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
In a seventh aspect, the present application provides a computer program product comprising a computer program that, when executed by one or more processors, performs the steps of the method of the first aspect as described above.
Compared with the prior art, the application has the beneficial effects that: this application is before wheeled robot transportation goods business turn over intelligent elevator's car, earlier through detecting whether the car is in predetermined current state, whether confirm earlier that whether the car is in appointed floor, the sedan-chair door of car has opened and whether the car has built the strap from car gate to floor ground department promptly. After confirming that the three conditions are all met, the wheeled robot enters and exits the car through a butt strap pre-built by the intelligent elevator. In the process of moving through the access board, the access board is used as a bridge to connect the car and the ground, and a gap between the car and the ground is filled, so that the shock generated when the wheeled robot enters and exits the car is reduced, the wheeled robot can stably transport goods, and the reliability of the wheeled robot in transporting goods is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a control method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of another control method provided in the embodiments of the present application;
fig. 3 is a schematic structural diagram of a car provided in an embodiment of the present application;
fig. 4 is a schematic view of an interaction flow of a wheeled robot and an intelligent elevator provided by an embodiment of the application;
fig. 5 is a schematic view illustrating an interaction flow of another wheeled robot with an intelligent elevator according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a wheeled robot provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of an intelligent elevator provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a wheeled robot assistance system according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In some embodiments, the control method provided in the embodiments of the present application is mainly applied to a wheeled robot to explain the technical solution proposed in the present application, and the following description is given by using specific embodiments.
Fig. 1 shows a schematic flow chart of a control method provided by the present application, which includes, by way of example and not limitation:
After the wheel-type robot receives the goods transportation task, the wheel-type robot can get the goods from the appointed goods placement point and transport the goods to the destination according to the requirements in the goods transportation task. In the process of transporting, if transportation between different floors of the same building is involved, the cargo transportation task generally comprises a floor where a cargo placement point is located and a floor where a destination/transfer place is located, wherein the floor where the cargo placement point is located is a starting floor, and the floor where the destination/transfer place is located is a target floor. For ease of understanding, the following are illustrated: assuming that the wheeled robot receives a transportation task of transporting a cargo a from the 3 rd building to the 9 th building of the first building, the departure floor is the 3 rd building, and the destination floor is the 9 th building. If the transportation task is to transport from the 20 th building of the first building to the 5 th building of the third building, the starting floor is 20 floors and the target floor is the 1 st building or minus 1 st building of the transfer place for the first building; and for the third building, the departure floor is 1 building or minus 1 building, and the target floor is 5 buildings. In order to successfully arrive at the destination to complete the goods transportation, the wheeled robot can send a riding command to the intelligent elevator so as to successfully ride the intelligent elevator to complete the goods transportation, wherein the riding command comprises information used for indicating a departure floor and a target floor.
It should be understood that the timing of the transfer instruction may be before the designated transfer point to the departure floor, after the designated transfer point to the departure floor, or after the pickup is completed, i.e., when the designated transfer point to the departure floor is to be reached. That is, in the embodiment of the present application, the sending time of the ride taking instruction is not limited, and in the actual application process, the sending time of the ride taking instruction may be set according to the actual situation. Optionally, the sending time of the boarding instruction can be determined according to the floor where the intelligent elevator is located and the departure floor when the intelligent elevator takes the goods, so that the efficiency of goods transportation is improved.
Generally, there are a plurality of intelligent elevators in the same building, wherein the intelligent elevator receiving the boarding instruction (i.e., the target intelligent elevator) can be determined according to the actual usage rule. The intelligent elevator has more actual use rules, and can only reach odd floors compared with partial intelligent elevators, or the intelligent elevator at a certain position can only reach low floors. In order to improve the efficiency of goods transportation, a target intelligent elevator can be determined according to the operation rule and the distance of the intelligent elevator. For example, assuming that a first building has four intelligent elevators in total, and all the four intelligent elevators can reach all the floors of the building, when selecting an intelligent elevator, the intelligent elevator closest to the pickup point can be used as the target intelligent elevator. If the floor is too high, the number of the floors is 46, the first two intelligent elevators can reach the floors 1-28, the third four intelligent elevators can reach the floors 1, 29-46, in this case, the first condition of the target intelligent elevator is whether the intelligent elevator can stop at the departure floor and the target floor, then the intelligent elevator meeting the condition is considered to be closest to the goods taking point, and finally the target intelligent elevator is determined by combining the two conditions. The method is used for determining the target intelligent elevator, and is beneficial to improving the cargo transportation efficiency of the wheeled robot.
And 102, detecting whether the car of the intelligent elevator is in a preset passing state.
In consideration of safe operation of the intelligent elevator, a small gap is reserved between the car of the general intelligent elevator and the floor ground to serve as a safety distance, so that the intelligent elevator cannot be rubbed and bumped in the process of up-and-down operation. However, in the case of the wheeled robot, the gap between the car and the floor may cause the car to oscillate and rock, thereby reducing the reliability of cargo transportation. In order to solve the technical problem, before entering and exiting the car, the wheeled robot may detect whether the car of the current intelligent elevator is in a preset passing state. The passing state refers to that the intelligent elevator is at a target floor, namely a departure floor or a target floor, a car door of the car is opened, and a butt strap is built from the car door to the floor ground. The arrangement of the butt strap can connect the lift car and the floor ground, so that a gap between the lift car and the floor ground is filled, and the wheeled robot can be assisted to stably enter and exit the lift car.
And 103, when the wheeled robot is at the designated boarding point and the car is determined to be in a passing state, entering the car through the boarding.
When the wheeled robot leaves a floor, the wheeled robot enters the car and needs to meet two conditions, the first condition is that the wheeled robot stays at a designated boarding point, the second condition is that the current car is in a passing state, and after the two conditions are met, the wheeled robot can enter the car through the access plate.
And 104, when the wheeled robot is in the car and the car is determined to be in a passing state, the wheeled robot leaves the car through the access panel.
The method is characterized in that the method is the same as that when the robot enters the car, when the wheeled robot takes the intelligent elevator to reach a target floor, the wheeled robot can leave the car through the access board and go to a destination after determining that the wheeled robot meets two conditions of being in the car and determining that the car is in a passing state.
In this application embodiment, before wheeled robot transportation goods passed in and out the car of intelligent elevator, whether detect the car earlier and be in predetermined current state, confirm whether the car is in appointed floor earlier promptly, and whether the sedan-chair door of car has been opened, and whether the car has built the attachment strap from the car gate to floor ground department. The wheeled robot passes in and out the car through the access board that intelligent elevator built in advance after confirming that three condition has satisfied, and at the in-process that moves through the access board, the access board has connected car and ground as the bridge, has filled the space between car and the ground to reduce the produced shock of wheeled robot when passing in and out the car, make wheeled robot can steadily transport the goods, in order to improve the reliability that wheeled robot transported goods.
In some embodiments, in order to improve the accuracy of the traffic state determination, the step 102 specifically includes:
a1, judging whether a pass instruction sent by the intelligent elevator based on the boarding instruction is received, wherein the pass instruction is used for indicating the wheeled robot to get in and out of the car through the access board;
and A2, if the passing command is received, determining that the car is in a passing state.
Whether the intelligent elevator is in a preset passing state or not can be detected through the intelligent elevator. Firstly, the intelligent elevator detects whether the current car stays at a specified floor, and after the car stays at the specified floor, whether a door of the car is opened and whether a butt strap is built from a car door to a floor ground is detected, the intelligent elevator determines that the car is at the specified floor, the car door of the car is opened, and after the butt strap is built from the car door to the floor ground, the intelligent elevator can send a passing instruction to the wheeled robot to indicate the wheeled robot to enter or leave the car through the butt strap. When the passing state is determined by the method, the wheeled robot can determine whether the current car is in the passing state only by judging whether the current car receives the passing command. That is, after receiving the passing instruction, the wheeled robot can determine that the current car is in a passing state.
In some embodiments, in order to improve the accuracy of the traffic state determination, the step 102 specifically includes:
b1, acquiring the display content of the display panel of the intelligent elevator through the carried visual sensor;
b2, if the display content indicates that the lift car is at the appointed floor, detecting whether the lift car door is opened through a visual sensor, and detecting whether a butt strap is built from the lift car door to the floor ground;
and B3, if the car door is detected to be opened and a butt strap is set up from the car door to the floor, determining that the car is in a passing state.
Whether the intelligent elevator is in a preset passing state or not can be detected through a visual sensor carried by the wheeled robot. Specifically, the wheeled robot can acquire the display content of the display panel of the intelligent elevator through the visual sensor, judges based on the display content, determines whether the car is at the appointed floor, and if the car is determined to be at the appointed floor, can further judge whether the current car door is opened and whether a butt strap is set up between the car door and the floor ground through the visual sensor, and then determines whether the car is in a passing state according to the determination result.
It can be understood that, when the wheeled robot detects through the visual sensor, the image can be acquired first, then the target area is determined according to the image, the target area is compared with the target area in the preset reference picture, and when the comparison result meets the preset condition, the determined answer can be obtained. For example, whether the access panel is built or not can be detected, an image of the direction in which the car door is located can be obtained through the visual sensor, then a target area, namely the area in which the access panel is located, is determined in the image, then the image built based on the pre-stored access panel is compared with the target area, and after comparison, the similarity meets a preset threshold value, and then the current access panel can be determined to be built. Whether the current car is at the preset floor or not is detected, an image of the direction of the display panel can be obtained through the visual sensor, then a target area, namely the area where the display panel is located, is determined in the image, then the number in the target area is identified and extracted to obtain a corresponding number, the number is matched with the number of floors in the riding instruction, and if the matching is successful, the current car can be determined to be at the appointed floor.
The wheel type robot can send an instruction to the intelligent elevator after entering the car so as to inform the intelligent elevator of the running condition that the wheel type robot enters the car, so that the intelligent elevator can close the car door and withdraw the butt strap to prepare for controlling the car to move to a target floor; similarly, after the wheeled robot leaves the car, an instruction can be sent to the intelligent elevator to inform the intelligent elevator that the wheeled robot leaves the car, so that the intelligent elevator can conveniently close the car door to take back the access board and enter a standby state to receive other instructions to execute other tasks.
Of course, in addition to the method of informing the intelligent elevator of the running state of the intelligent elevator by sending a command by the wheeled robot, the intelligent elevator can detect the running state of the wheeled robot through a camera installed in the car, determine whether to close the car door according to the detection result, and withdraw the access board. Specifically, when the intelligent elevator stays at a starting floor, the camera can acquire images in the car, then whether the wheeled robot enters the car or not is judged through the images, and after the wheeled robot is determined to enter the car, the car door is closed, a butt strap is withdrawn, and the car is ready to be controlled to move to a target floor; correspondingly, when the intelligent elevator stays at the target floor, the images in the car can be acquired through the camera, then whether the wheeled robot leaves the car or not is judged through the images, and after the wheeled robot leaves the car is determined, the car door is closed, the access panel is withdrawn, and the intelligent elevator enters a standby state to receive other instructions.
Optionally, in order to ensure the accuracy of instruction execution, the intelligent elevator may receive the instruction and perform detection through the camera, and when the two methods obtain a conclusion that is consistent, the conclusion is taken as the running state of the wheeled robot to perform subsequent operations.
In some embodiments, the control method provided by the embodiment of the application is mainly applied to an intelligent elevator, and a retractable access board is arranged at the bottom of a car of the intelligent elevator. In order to explain the technical solution proposed in the present application, the following description is given by way of specific examples.
Fig. 2 shows a schematic flow diagram of another control method provided by the present application, which includes, by way of example and not limitation:
In order to take the intelligent elevator and smoothly realize goods transportation, the wheeled robot can send a taking instruction to the intelligent elevator. The intelligent elevator can monitor and receive riding instructions from the wheeled robot in real time so as to assist the wheeled robot in carrying out goods transportation. The boarding instruction includes information indicating a departure floor and a destination floor.
And step 202, controlling the lift car to move to a specified floor based on the boarding command, opening the lift car door, and extending a butt strap arranged at the bottom of the lift car so as to enable the butt strap to be built between the lift car door and the floor.
After the intelligent elevator receives the riding command, the riding command can be analyzed so as to control the car to move to the appointed floor. After the car reaches a specified floor, namely a departure floor or a target floor, in order to enable the wheeled robot to smoothly and shake and enter and exit the car, the car can open the car door and keep a normally open state, and meanwhile, the access plate extends out and serves as a bridge for communicating the car with the floor ground so as to assist the wheeled robot to enter and exit the car. For the convenience of the following description, the above state of the car may be referred to as a traffic state.
Specifically, the intelligent elevator controls the car to move to a departure floor based on the riding instruction, and controls the car to move to a target floor based on the riding instruction after the wheeled robot enters the car, so that the wheeled robot can ride the intelligent elevator to realize movement between different floors. It can be understood that the car, whether moving to the departure floor or the destination floor, immediately performs the operations of opening the car door and extending the access panel provided at the bottom of the car to facilitate the entry and exit of the wheeled robot to the car.
After the intelligent elevator controls the car to be in a passing state, the state of the wheeled robot can be detected. Specifically, in the detection process, the wheeled robot can be detected according to the floor where the car is located. For example, when the car is at a departure floor, whether the current wheeled robot enters the car through the access panel can be detected; and if the car is at the target floor, whether the current wheeled robot leaves the car through the access panel can be detected.
And step 204, when the car is at the departure floor and the wheeled robot is determined to enter the car, closing the car door and withdrawing the access panel.
If the intelligent elevator determines that the car is at the departure floor and determines that the wheeled robot has entered the car through detection, the control car door can be controlled to be closed at the moment, and the extended access board is retracted, so that the car can run, and the wheeled robot is conveyed to the target floor.
And step 205, when the car is at the target floor and the wheeled robot is determined to leave the car, closing the car door and recovering the access board.
If the intelligent elevator determines that the car is at the target floor and determines that the wheeled robot leaves the car through detection, the car door can be controlled to be closed at the moment, the extended access board is retracted, the car at the moment completes the task specified by the boarding command, and the intelligent elevator can be in a standby state and continues to monitor other commands.
In some embodiments, in order to smoothly extend the access board, the control of the car to move to the appointed floor based on the access command can be realized by the following steps:
and C1, obtaining the car stop position corresponding to the appointed floor.
And C2, determining the boarding stop position corresponding to the appointed floor based on the car stop position and the preset reserved distance, wherein the reserved distance provides a space for building the access board.
And C3, controlling the car to move to the appointed floor based on the boarding stop position.
To control the car to reach the appointed floor, the car stop position corresponding to the appointed floor can be obtained firstly, then the riding stop position is determined based on the car stop position and the reserved distance, and finally the car is controlled to move to the appointed floor based on the riding stop position. Taking a starting floor as an example for explanation, when the intelligent elevator receives a boarding command, the intelligent elevator can be located at any floor, and when the intelligent elevator is located at a non-starting floor, in order to reach the starting floor, firstly, the intelligent elevator determines a car stop position corresponding to the starting floor; secondly, in order to have enough space to stretch out the access board on the starting floor, the stop position of the lift car and the reserved distance can be combined, and the stop position with the reserved building space of the access board, namely the boarding stop position, is determined. After the taking stop position is determined, the lift car can be controlled to move to the starting floor according to the taking stop position, so that the lift car can finally stop at the taking stop position. If the position where the lift car stays at the current moment is the position where the starting floor stays along with the corresponding lift car, the lift car can be directly controlled to ascend for a reserved distance.
In some embodiments, fig. 3 shows a schematic view of the structure of the car 30. The bottom of the car 30 is provided with a retractable strap 31, and the strap 31 comprises a straight line segment and an arc line segment. In order to make the strap 31 expandable, a driving wheel 32 is provided at the bottom of the strap 31, a rack 33 engaged with the driving wheel 32 is provided at the bottom of the strap 31, and the expansion and contraction of the strap 31 can be controlled by controlling the rotation direction of the driving wheel 32. Meanwhile, in order to make the rack 33 arranged at the bottom of the access board 31 fully meshed with the driving wheel 32 and avoid that the access board 31 can not be retracted due to insufficient meshing between the access board 31 and the driving wheel after the access board 31 extends out, a limiting component 34 is further arranged on the access board 31. Alternatively, the limiting member 34 may be a rotating wheel, and when the smart elevator control strap 31 is extended, the rotating wheel 34 rotates clockwise, and when the smart elevator control strap 31 is retracted, the rotating wheel 34 rotates counterclockwise, so as to achieve the limiting and guiding functions. Specifically, the control of the access panel can be achieved by the following steps:
the driving wheel 32 is controlled to rotate clockwise to extend the access board 31, and after the access board 31 extends, due to the gravity of the access board 31 and the arc segment of the access board 31, the extended end of the access board 31 rotates downwards to be accessed to the floor. Because the reserved distance is set, the protruding end of the access board 31 rotates downwards to form a slope with the ground of the appointed floor.
It should be understood that the access panel, the drive wheel 31, the rack 32 and the stop member 33 are integrally provided at the bottom of the car 30.
In some embodiments, after step 202, further comprising: and sending a passing command to the wheeled robot, wherein the passing command is used for indicating the wheeled robot to enter and exit the car through the access panel.
The intelligent elevator is controlling the car to move to the appointed floor, controlling the car door to be normally open and extending out of the butt strap arranged at the bottom of the car, namely controlling the car to be in a passing state, and sending a passing instruction to the wheeled robot to indicate the wheeled robot to pass in and out of the car through the built butt strap, so that goods transportation is realized.
In the above process, no matter after the wheeled robot enters the car or leaves the car, the operation state of the wheeled robot can be detected by any one of the operation state detection methods mentioned in the embodiments corresponding to the above steps B1 to B3, and details thereof are not repeated here.
To more intuitively demonstrate the interaction between the wheeled robot and the intelligent elevator, referring to fig. 4, fig. 4 shows a schematic flow chart of the interaction between the wheeled robot and the intelligent elevator. The interaction steps of the two are as follows:
step 401, the wheeled robot sends a boarding command to the intelligent elevator and goes to a designated boarding point of the intelligent elevator on a departure floor, wherein the boarding command comprises information used for indicating the departure floor and a target floor.
Step 402, the intelligent elevator receives the riding instruction, controls the car to move to the departure floor based on the riding instruction, opens the car door, and extends out of the access board arranged at the bottom of the car, so that the access board is built between the car door and the floor ground, namely the intelligent elevator controls the car to be in a passing state based on the riding instruction.
And 403, the intelligent elevator sends a first passing instruction to the wheeled robot, and the first passing instruction is used for indicating the wheeled robot to enter the car through the access panel.
And step 404, the wheeled robot receives the first passing command and enters the car through the access panel based on the first passing command.
And 405, after the wheeled robot enters the car, sending a first arrival instruction to the intelligent elevator to indicate that the intelligent elevator wheeled robot is in the car. And step 406, the intelligent elevator receives the first arrival instruction, closes the car door, retracts the butt strap, controls the car to move to a target floor based on the boarding instruction, controls the car to be in a passing state, namely opens the car door, and extends out of the butt strap arranged at the bottom of the car so that the butt strap is built between the car door and the floor.
And step 407, the intelligent elevator sends a second traffic instruction to the wheeled robot, and the second traffic instruction is used for indicating the wheeled robot to leave the car.
And 408, the wheeled robot receives the second communication command and leaves the car through the access board.
And step 409, after the wheeled robot leaves the car, sending a second arrival instruction to the intelligent elevator to indicate that the intelligent elevator wheeled robot leaves the car.
And step 410, the intelligent elevator receives the second arrival instruction, closes the car door and retracts the access board.
Referring to fig. 5, fig. 5 shows another schematic interaction diagram between the wheeled robot and the intelligent elevator, and the interaction steps of the two are as follows:
step 501, the wheeled robot sends a boarding command to the intelligent elevator and goes to a designated boarding point of the intelligent elevator on a departure floor, wherein the boarding command comprises information used for indicating the departure floor and a target floor.
Step 502, the intelligent elevator receives the riding command, the car is controlled to move to the departure floor based on the riding command, the car door is opened, and the access plate arranged at the bottom of the car is extended out, so that the access plate is built between the car door and the floor ground, namely the intelligent elevator controls the car to be in a passing state based on the riding command.
And 503, detecting that the car is at a departure floor through the carried visual sensor by the wheeled robot, opening a car door, and building a butt strap, wherein the wheeled robot enters the car through the butt strap.
And step 504, the intelligent elevator detects that the wheeled robot is in the intelligent elevator car through a camera arranged in the car, closes a car door and withdraws a butt strap.
And 505, controlling the car to move to a target floor by the intelligent elevator based on the riding instruction, and extending out of a strap arranged at the bottom of the car so that the strap is built between the car door and the floor ground, namely controlling the car to be in a passing state by the intelligent elevator based on the riding instruction.
And step 506, the wheeled robot detects that the car is at the target floor through the carried visual sensor, the car door is opened, the access board is well built, and the wheeled robot leaves the car through the access board.
And 507, detecting that the wheeled robot leaves the car through a camera arranged in the car by the intelligent elevator, closing the car door, and withdrawing the access panel.
It should be understood that the above-described method of interaction between a wheeled robot and an intelligent elevator is by way of example only and is not limiting to the present application. In the practical application process, no matter the running state detection of the wheel type robot or the passing state detection of the car is carried out, a visual detection method can be adopted, a mode that the execution end sends a notification to the opposite end after finishing execution can be adopted, or the two modes are combined, and the method and the device are understood to fall into the protection scope of the application.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 shows a block diagram of a wheeled robot according to an embodiment of the present application, which corresponds to the control method described in the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.
Referring to fig. 6, the wheeled robot is integrated with a wheeled robot control device 6, and the wheeled robot control device 6 includes:
the first motion module 61 is used for sending a boarding instruction to the intelligent elevator and moving the intelligent elevator to a designated boarding point on a departure floor, wherein the boarding instruction comprises information used for indicating the departure floor and a target floor;
intelligent elevator detection module 62 for whether the car that detects intelligent elevator is in predetermined current state, wherein, current state is: the lift car is positioned at a specified floor, a car door of the lift car is opened, a butt strap is built from the car door to the floor ground of the lift car, and the specified floor comprises a departure floor and a target floor;
the second motion module 63 is used for entering the car through the access plate when the wheeled robot is at the designated access point and the car is determined to be in a passing state;
and a third motion module 64 for leaving the car through the access panel when the wheeled robot is in the car and the car is determined to be in a traffic state.
Alternatively, the smart elevator detection module 62 may include:
the command judgment unit is used for judging whether a pass command sent by the intelligent elevator based on the boarding command is received or not, and the pass command is used for indicating the wheeled robot to get in and out of the car through the access board;
and the first determining unit is used for determining that the car is in a passing state if the passing command is received.
Alternatively, the smart elevator detection module 62 may include:
the intelligent elevator display device comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for acquiring the display content of a display panel of the intelligent elevator through a carried visual sensor;
the intelligent elevator detection unit is used for detecting whether a car door is opened or not through a visual sensor and detecting whether a butt strap is built from a car door to a floor ground or not if the display content indicates that the car is located at a specified floor;
and the second determining unit is used for determining that the lift car is in a passing state if the lift car door is detected to be opened and a butt strap is set up from the lift car door to the floor ground.
Fig. 7 shows a block diagram of the structure of the intelligent elevator 7 provided in the embodiment of the present application, corresponding to the control method described in the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of explanation.
Referring to fig. 7, the intelligent elevator is integrated with an intelligent elevator control device 7, and the intelligent elevator control device 7 includes:
a receiving module 71, configured to receive a boarding instruction of the wheeled robot, where the boarding instruction includes information indicating a departure floor and a target floor;
the first control module 72 is used for controlling the lift car to move to a specified floor based on a boarding instruction, opening the lift car door, and extending out of a butt strap arranged at the bottom of the lift car so that the butt strap is built between the lift car door and the floor ground, wherein the specified floor comprises a departure floor and a target floor;
a wheeled robot detecting module 73 for detecting a moving state of the wheeled robot;
a second control module 74 for closing the car door and retracting the access panel when the car is at the departure floor and it is determined that the wheeled robot enters the car;
and a third control module 75 for closing the car door and recovering the access panel when the car is at the target floor and it is determined that the wheeled robot leaves the car.
Optionally, the first control module 72 may include:
the second acquisition unit is used for acquiring the stopping position of the car corresponding to the appointed floor;
the third determining unit is used for determining a boarding stopping position corresponding to the appointed floor based on the stopping position of the lift car and a preset reserved distance, and the reserved distance provides a space for building a boarding;
and the first control unit is used for controlling the car to move to a specified floor based on the boarding stop position.
Optionally, the intelligent elevator 7 may further include:
and the instruction sending module is used for sending a passing instruction to the wheeled robot after controlling the lift car to move to a specified floor based on the boarding instruction, opening the lift car door and extending out of a boarding arranged at the bottom of the lift car, wherein the passing instruction is used for indicating the wheeled robot to get in and out of the lift car through the boarding.
In some embodiments, as shown in fig. 8, the present application further provides an auxiliary system of a wheeled robot, the auxiliary system including a wheeled robot control device 81 and an intelligent elevator control device 82, wherein the wheeled robot control device 81 includes:
the first motion module is used for sending a boarding instruction to the intelligent elevator and moving the intelligent elevator to a designated boarding point on a starting floor, wherein the boarding instruction comprises information used for indicating the starting floor and a target floor;
intelligent elevator detection module for whether the car that detects intelligent elevator is in predetermined current state, wherein, current state is: the lift car is positioned at a specified floor, a car door of the lift car is opened, a butt strap is built from the car door to the floor ground of the lift car, and the specified floor comprises a departure floor and a target floor;
the second motion module is used for entering the car through the access plate when the wheeled robot is at the appointed access point and the car is determined to be in a passing state;
the third motion module is used for leaving the car through the access panel when the wheeled robot is in the car and the car is determined to be in a passing state;
the intelligent elevator control device 82 includes:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving a riding instruction of the wheeled robot, and the riding instruction comprises information used for indicating a departure floor and a target floor;
the first control module is used for controlling the lift car to move to a specified floor based on a boarding instruction, opening the lift car door and extending out of a butt strap arranged at the bottom of the lift car so that the butt strap is built between the lift car door and the floor ground, and the specified floor comprises a departure floor and a target floor;
the wheel type robot detection module is used for detecting the moving state of the wheel type robot;
the second control module is used for closing the car door and withdrawing the butt strap when the car is positioned at the departure floor and the wheeled robot is determined to enter the car;
and the third control module is used for closing the car door and recovering the access panel when the car is at the target floor and the wheeled robot is determined to leave the car.
It should be noted that, for the information interaction and execution process between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the method embodiment of the present application, and thus reference may be made to the method embodiment section for details, which are not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/electronic device, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A control method is applied to a wheeled robot, and is characterized by comprising the following steps:
sending a boarding command to an intelligent elevator and going to a specified boarding point of the intelligent elevator on a departure floor, wherein the boarding command comprises information used for indicating the departure floor and a target floor;
detecting whether a car of the intelligent elevator is in a preset passing state, wherein the passing state is as follows: the lift car is positioned at a specified floor, a car door of the lift car is opened, a butt strap is erected from the car door to the floor ground of the lift car, and the specified floor comprises the departure floor and the target floor;
when the wheeled robot is at the designated boarding point and the car is determined to be in the passing state, entering the car through the boarding;
when the wheeled robot is in the car and it is determined that the car is in the traffic state, the car is left through the access panel.
2. The control method of claim 1, wherein the detecting whether the car of the smart elevator is in a preset traffic state comprises:
judging whether a passing instruction sent by the intelligent elevator based on the boarding instruction is received or not, wherein the passing instruction is used for indicating the wheeled robot to get in and out of the car through the access board;
and if the passing instruction is received, determining that the car is in the passing state.
3. The control method of claim 1, wherein the detecting whether the car of the smart elevator is in a preset traffic state comprises:
acquiring the display content of a display panel of the intelligent elevator through a carried visual sensor;
if the display content indicates that the lift car is located at the appointed floor, detecting whether the lift car door is opened or not through the visual sensor, and detecting whether a butt strap is built from the lift car door to the floor ground or not;
and if the car door is detected to be opened and a butt strap is set up from the car door to the floor ground, determining that the car is in the passing state.
4. A control method is applied to an intelligent elevator, and is characterized by comprising the following steps:
receiving a boarding instruction of a wheeled robot, the boarding instruction including information indicating a departure floor and a target floor;
controlling a lift car to move to a specified floor based on the boarding command, opening a lift car door, and extending a butt strap arranged at the bottom of the lift car to enable the butt strap to be built between a lift car door and a floor ground, wherein the specified floor comprises the departure floor and the target floor;
detecting a moving state of the wheeled robot;
when the lift car is positioned at the departure floor and the wheeled robot is determined to enter the lift car, closing the lift car door and withdrawing the butt strap;
when the car is located at the target floor and the wheeled robot is determined to leave the car, the car door is closed and the access panel is retracted.
5. The control method of claim 4, wherein said controlling the car to travel to a designated floor based on the ride command comprises:
obtaining a car stop position corresponding to the appointed floor;
determining a boarding stop position corresponding to the appointed floor based on the car stop position and a preset reserved distance, wherein the reserved distance provides a space for building the access board;
and controlling the car to move to the appointed floor based on the boarding stop position.
6. The control method according to claim 4 or 5, wherein after the control of the car to travel to a designated floor based on the boarding command, the opening of a door, and the protrusion of a strap provided at a bottom of the car, the control method further comprises:
and sending a passing instruction to the wheeled robot, wherein the passing instruction is used for indicating the wheeled robot to pass in and out of the car through the access board.
7. An assistance system of a wheeled robot, characterized in that the assistance system includes a wheeled robot control device and an intelligent elevator control device, wherein the wheeled robot control device includes:
the intelligent elevator control system comprises a first motion module, a second motion module and a control module, wherein the first motion module is used for sending a boarding instruction to an intelligent elevator and moving the intelligent elevator to a specified boarding point of a departure floor of the intelligent elevator, and the boarding instruction comprises information used for indicating the departure floor and a target floor;
the intelligent elevator detection module is used for detecting whether the car of the intelligent elevator is in a preset passing state, wherein the passing state is as follows: the lift car is positioned at a specified floor, a car door of the lift car is opened, a butt strap is erected from the car door to the floor ground of the lift car, and the specified floor comprises the departure floor and the target floor;
the second motion module is used for entering the car through the access board when the wheeled robot is at the appointed access point and the car is determined to be in the passing state;
a third motion module for exiting the car through the access panel when the wheeled robot is within the car and the car is determined to be in the traffic state;
the intelligent elevator control device comprises:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving a riding instruction of the wheeled robot, and the riding instruction comprises information used for indicating a departure floor and a target floor;
the first control module is used for controlling the lift car to move to a specified floor based on the riding instruction, opening a lift car door and extending out of a butt strap arranged at the bottom of the lift car so that the butt strap is built between a lift car door and a floor ground, and the specified floor comprises the departure floor and the target floor;
the wheel type robot detection module is used for detecting the moving state of the wheel type robot;
the second control module is used for closing the car door and retracting the access board when the car is positioned at the departure floor and the wheeled robot is determined to enter the car;
and the third control module is used for closing the car door and withdrawing the butt strap when the car is positioned at the target floor and the wheeled robot is determined to leave the car.
8. A wheeled robot having a wheeled robot control device integrated therewith, the wheeled robot control device comprising:
the system comprises a first motion module, a second motion module and a third motion module, wherein the first motion module is used for sending a boarding instruction to an intelligent elevator and enabling the intelligent elevator to go to a specified boarding point of a starting floor of the intelligent elevator, and the boarding instruction comprises information used for indicating the starting floor and a target floor;
the intelligent elevator detection module is used for detecting whether the car of the intelligent elevator is in a preset passing state, wherein the passing state is as follows: the lift car is positioned at a specified floor, a car door of the lift car is opened, a butt strap is erected from the car door to the floor ground of the lift car, and the specified floor comprises the departure floor and the target floor;
the second motion module is used for entering the car through the access board when the wheeled robot is at the appointed access point and the car is determined to be in the passing state;
and the third motion module is used for leaving the car through the access board when the wheeled robot is in the car and determines that the car is in the passing state.
9. An intelligent elevator, characterized in that the intelligent elevator is integrated with an intelligent elevator control device, the intelligent elevator control device comprising:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving a riding instruction of the wheeled robot, and the riding instruction comprises information used for indicating a departure floor and a target floor;
the first control module is used for controlling the lift car to move to a specified floor based on the riding instruction, opening a lift car door and extending out of a butt strap arranged at the bottom of the lift car so that the butt strap is built between a lift car door and a floor ground, and the specified floor comprises the departure floor and the target floor;
the wheel type robot detection module is used for detecting the moving state of the wheel type robot;
the second control module is used for closing the car door and retracting the access board when the car is positioned at the departure floor and the wheeled robot is determined to enter the car;
and the third control module is used for closing the car door and withdrawing the butt strap when the car is positioned at the target floor and the wheeled robot is determined to leave the car.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the control method according to any one of claims 1 to 6.
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|---|---|---|---|
| CN202111580749.4A CN114442610A (en) | 2021-12-22 | 2021-12-22 | Control method, auxiliary system of wheeled robot and wheeled robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111580749.4A CN114442610A (en) | 2021-12-22 | 2021-12-22 | Control method, auxiliary system of wheeled robot and wheeled robot |
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