CN114634070A - Robot autonomous ladder taking method and device - Google Patents
Robot autonomous ladder taking method and device Download PDFInfo
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- CN114634070A CN114634070A CN202210264891.6A CN202210264891A CN114634070A CN 114634070 A CN114634070 A CN 114634070A CN 202210264891 A CN202210264891 A CN 202210264891A CN 114634070 A CN114634070 A CN 114634070A
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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
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/16—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of a single car or cage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/468—Call registering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4623—Wherein the destination is registered after boarding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4676—Call registering systems for checking authorization of the passengers
Abstract
The embodiment of the invention relates to an autonomous ladder taking method for a robot, which comprises the following steps: the service module acquires and analyzes the task information and determines a target floor; the service module indicates the rule control module to control the robot to travel to a first elevator waiting point of the current floor; the service module acquires the running state of a target elevator corresponding to the first elevator waiting point, judges whether the target elevator is available according to the running state and sends an elevator taking request when the target elevator is available; the service module judges whether the robot meets the elevator entering condition, and if so, the service module instructs the regulation and control module to control the robot to enter the target elevator; and when the service module determines that the target elevator reaches the target floor, the instruction regulation and control module controls the robot to exit the elevator and drive to a second elevator waiting point corresponding to the target floor.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a robot autonomous ladder taking method and device.
Background
At present, the realization method for the robot to reach the target floor by taking the elevator mainly comprises the following two methods: first, the robot uses a robot arm to press an elevator by imitating a human, and recognizes floors by a visual sensor, which has disadvantages of requiring the installation of the robot arm, high cost, complex algorithm, and great difficulty. The second is realized by the interaction between the robot and the elevator control system, but the requirement that the robot can take the elevator completely and autonomously is not met.
Disclosure of Invention
The invention aims to provide a robot automatic elevator taking method aiming at the defects in the prior art, which enables a robot to take an elevator to reach a target floor to execute a task by means of interaction of data in multiple parts of the robot, solves the problems of high cost, complex algorithm and high difficulty of the robot elevator taking scheme in the prior art, and also solves the problems of resource waste and high cost caused by one robot for operation in one floor in the real work.
In order to achieve the above object, a first aspect of the present invention provides a robot autonomous elevator riding method, including:
the service module acquires and analyzes the task information and determines a target floor;
the service module indicates the regulation and control module to control the robot to travel to a first elevator waiting point of the current floor;
the service module acquires the running state of a target elevator corresponding to the first elevator waiting point, judges whether the target elevator is available according to the running state and sends an elevator taking request when the target elevator is available;
the service module judges whether the robot meets the elevator entering condition, and if so, the service module instructs the regulation and control module to control the robot to enter the target elevator;
and when the service module determines that the target elevator reaches the target floor, the instruction regulation and control module controls the robot to exit the elevator and to drive to a second elevator waiting point corresponding to the target floor.
In a second aspect of the present invention, a service module is provided, which includes:
the acquisition unit is used for acquiring and analyzing the task information and determining a target floor;
the first indicating unit is used for indicating the regulation and control module to control the robot to travel to a first elevator waiting point of the current floor;
the first judgment unit is used for acquiring the running state of a target elevator corresponding to the first elevator waiting point, judging whether the target elevator is available according to the running state and sending an elevator taking request when the target elevator is available;
the second judgment unit is used for judging whether the robot meets the elevator entering condition or not, and if so, the second indication unit is triggered;
the second indicating unit is used for indicating the regulation and control module to control the robot to drive into the target elevator;
and the third indicating unit is used for indicating the regulation and control module to control the robot to exit the elevator and drive to a second elevator waiting point corresponding to the target floor when the target elevator is determined to reach the target floor.
In a third aspect of the present invention, a regulation module is provided, which includes:
the navigation unit is used for planning a navigation path from the current position to a first elevator waiting point of the target elevator when receiving a path planning request of the first elevator waiting point;
a path planning unit for planning a first planned path from a first elevator waiting point to an elevator location point of the target elevator upon receiving an elevator entry request; and planning a second planned path from the elevator location point of the target elevator to the second landing point of the target floor upon receiving the exit request including the second landing point of the target floor;
the control unit is used for controlling the robot to drive to a first elevator waiting point along the navigation path; and controlling the robot to drive into the target elevator from a first elevator waiting point along a first planned path; and controlling the robot to travel along a second planned path from the target elevator to the second landing.
In a fourth aspect of the present invention, there is provided a robot autonomous elevator riding apparatus, including the service module according to the second aspect and the regulation and control module according to the third aspect.
In a fifth aspect of the present invention, there is provided a computer server comprising: a memory, a processor, and a transceiver;
the processor is configured to be coupled with the memory, read and execute instructions in the memory, so as to implement the method of any one of the above first aspects;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
In a sixth aspect of the invention, there is provided a robot comprising the computer server according to the fifth aspect.
According to the method and the device for the robot to take the elevator autonomously, the robot can take the elevator autonomously to reach the target floor to execute tasks through interaction of data of multiple parts in the robot, the problems that in the prior art, the cost of a robot taking the elevator is high, an algorithm is complex and the difficulty is high are solved, and the problems of resource waste and high cost caused by the fact that one robot is used for working at one floor in the real work are solved.
Drawings
Fig. 1 is a flowchart of an autonomous ladder-taking method of a robot according to an embodiment of the present invention;
fig. 2 is an interaction schematic diagram of an autonomous ladder-taking method of a robot according to a second embodiment of the present invention;
fig. 3 is a structural diagram of a service module according to a third embodiment of the present invention;
fig. 4 is a structural diagram of a regulation module according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
According to the autonomous elevator taking method for the robot, the automatic driving technology is applied to the robot for floor operation, and the problems of resource waste and high cost caused by the fact that one robot is used for operation on one floor at present are solved.
Example one
Fig. 1 is a flowchart of an autonomous ladder taking method of a robot according to an embodiment of the present invention, and as shown in fig. 1, the autonomous ladder taking method of a robot according to an embodiment of the present invention mainly includes the following steps:
Specifically, the business module can be understood as a unit in the robot having functions of calculating, processing and interacting information with other modules. The robot may specifically include a cleaning robot (e.g., a vacuum cleaner, a floor cleaning vehicle, a floor maintenance vehicle, a floor sweeping robot, etc.), a delivery robot, a welcome robot, a disinfection robot, etc. The task information may specifically be cleaning task information, food delivery task information, express delivery task information, welcome task information, disinfection task information, and other operation information.
And 102, the service module instructs the regulation and control module to control the robot to travel to the first elevator waiting point of the current floor.
Specifically, the control module may be specifically understood as a unit having computing and controlling capabilities in the robot, and illustratively, the control module includes a navigation function, a behavior decision planning function and a control function, a communication function, and the like.
Further specifically, the service module determines a first elevator waiting point corresponding to the target floor, and sends a path planning request including the first elevator waiting point to the planning module, so that the planning module plans a navigation path from the current position to the first elevator waiting point, and controls the robot to travel to the first elevator waiting point along the navigation path.
And 103, the service module acquires the running state of the target elevator corresponding to the first elevator waiting point, judges whether the target elevator is available according to the running state and sends an elevator taking request when the target elevator is available.
In some examples, the operational status includes whether the elevator has failed, floor information that the elevator can reach, elevator load bearing information, whether communication capability is available, and the like. In some embodiments, in step 103, the service module determines that the target elevator is unavailable if the service module determines that the target elevator is any one of the following: the target elevator breaks down, the load bearing of the target elevator is smaller than the weight of the robot, the target elevator cannot be in communication connection (for example, the cloud server cannot be in communication connection with the target elevator, or the robot cannot be in communication connection with the target elevator), and the target elevator cannot reach the floor where the robot is located at present.
Specifically, the obtaining, by the service module, the operating state of the target elevator corresponding to the first elevator waiting point includes, but is not limited to, the following modes:
mode A: and the service module sends a target elevator running state acquisition request to the cloud server and receives the running state of the target elevator from the cloud server.
The cloud server in the method a is, for example, a server capable of managing elevators in a certain area, such as a server of a building, and is capable of managing the cloud terminals of all elevators in the building; alternatively, the system may be a server capable of managing a certain brand of elevator in a certain geographical area, for example, a server capable of managing all the elevators of the brand name in beijing.
Mode B: the service module establishes communication connection with the target elevator and sends a running state acquisition request to the target elevator; the operating condition is received from the target elevator.
The service module establishes communication connection with the target elevator, for example, the communication connection between the devices can be established through wifi or bluetooth, or the service module controls a sensing module in the robot to acquire a two-dimensional code image of the target elevator and perform scanning to complete the communication connection; the communication connection between the service module and the target elevator can be established by adopting a communication connection mode between the devices in the prior art, and the communication connection mode is not strictly limited in the application.
Further specifically, when the robot reaches the first waiting point, the orientation of the robot is adjusted, so that the robot faces the elevator entrance of the target elevator, and the regulation and control module sends positioning information to the service module. And the service module sends the positioning information to a cloud server or a target elevator. The cloud server or the target elevator can search the target elevator corresponding to the positioning information according to the positioning information, so that the running state of the target elevator is determined.
In step 103, when the service module determines that the target elevator is available, step 1031 is executed; when the running state of the target elevator is unavailable, the task is finished or the target elevator is replaced.
Step 1031, the service module sends an elevator taking request containing the current floor ID and the target floor ID to the cloud server; or the service module sends an elevator taking request containing the current floor ID and the target floor ID to the target elevator.
And 104, judging whether the robot meets the elevator entering condition or not by the service module, and if so, indicating the rule control module to control the robot to drive into the target elevator. And if the condition of entering the elevator is not met, continuing to wait and continuously judging whether the robot meets the condition of entering the elevator.
Specifically, the parameters of the entry condition may specifically include the heading direction of the target elevator, the opening and closing of the target elevator door, the volume of the target elevator, the load capacity of the target elevator, and the like.
Further specifically, the service module determines whether the target elevator arrives at the current floor and the running direction is consistent with the direction going to the target floor according to the running state of the target elevator;
if yes, judging whether the target elevator door is opened or not; and if the robot is opened, determining whether the target elevator can bear the robot, and if so, determining that the robot meets the elevator entering condition. If the robot meets the entry condition, step 1041 is performed. And if the robot does not meet the elevator entering condition, repeatedly executing the step 103 and the step 104.
Step 1041, the service module sends the elevator task to the rule control module.
Specifically, the regulation and control module carries out obstacle avoidance and plans an elevator entering path according to the environment information around the robot acquired by the sensor, so that the robot can smoothly enter the elevator.
Preferably, the service module further determines whether the robot successfully enters the elevator. The regulation and control module can determine whether the robot passes through the elevator door line or not by judging. When the robot crosses the elevator door line, the regulation and control module returns information of successful elevator entering to the service module.
Further, when the service module determines that the robot successfully enters the elevator, the map engine module is instructed to load and display the target floor map.
Furthermore, when the service module determines that the map engine module successfully loads the target floor map, the service module instructs the positioning module to perform positioning initialization and position the target elevator. Specifically, positioning initialization specifically refers to determining an initial pose of the robot according to the initial pose of the target floor.
And 105, when the service module determines that the target elevator reaches the target floor, the service module instructs the regulation and control module to control the robot to exit the elevator and drive to a second elevator waiting point corresponding to the target floor.
Specifically, the service module determines that the target elevator arrives at the target floor, which may specifically include, but is not limited to, the following several ways:
and in the first mode, the service module matches the positioning information fed back by the positioning module with the positioning information of the target floor, and determines that the target elevator reaches the target floor when the matching is successful. In the first mode, the positioning information corresponding to each floor is collected and stored in advance.
And secondly, matching the ID of the arrival floor in the running state of the target elevator with the ID of the target floor by the service module, and determining the arrival floor when the matching is successful. In the second mode, the operation state may include information on normal operation of the elevator, information on failure, information on which floor the elevator is running, information on bearable weight, and the like.
And the service module matches the floor ID obtained by identifying the floor information attached to each floor by the sensing module with the target floor ID, and determines to reach the target floor when the matching is successful. In the third method, floor information (for example, a sticker indicating a floor, or a two-dimensional code including floor information) is previously attached to each floor, and the floor information is located near the elevator shaft where the target elevator is located, so that the sensor of the robot can acquire the floor information.
After determining that the target elevator arrives at the target floor, step 1051 is performed:
step 1051, the service module sends an exit request including a second landing point to the regulatory module. The planning module plans a second path from the target elevator to a second landing point and controls the robot to travel along the second path to the second landing point.
It is understood that before or during the execution of the method, the robot performs mapping according to the floor input by the user, and the specific mapping process is as follows:
the service module generates a mapping request containing a target floor ID according to the target floor ID input by a user, and sends the mapping request to the mapping module so that the mapping module establishes a floor map corresponding to the target floor, wherein the floor map contains elevator position points, elevator waiting points, elevator IDs, elevator door directions and elevator door lines corresponding to elevators.
More specifically, in order to improve the map building efficiency and reduce the calculation amount, before the map is built, the user must select a floor, and the robot starts the map building mode. After the map building is finished, the map building module sends the floor map to the service module, so that the service module stores the floor map and is convenient to call.
Further, when the robot is a cleaning robot, the method specifically includes:
the service module establishes and stores task information for each floor according to a preset floor map corresponding to each floor, wherein the task information comprises cleaning tasks and cleaning strategies thereof.
Or the service module receives and stores task information corresponding to each floor from the cloud server, wherein the task information comprises cleaning tasks and cleaning strategies thereof.
Still further, the method further comprises:
and the service module sends the task information of the target floor to the robot when determining that the robot reaches the second elevator waiting point of the target floor.
Still further preferably, the method further comprises:
after determining a target floor, the service module matches the target floor with the current floor; if the target floor is not the current floor, executing a step that the service module instructs the regulation and control module to control the robot to travel to a first elevator waiting point of the current floor; if the target floor is consistent with the current floor, executing the following steps: the service module acquires the cleaning state of the cleaning task in the task information of the current floor, and if the cleaning is determined to be not finished according to the cleaning state, the cleaning task of the current floor is continuously executed according to the cleaning strategy in the task information; and if the cleaning is determined to be finished according to the cleaning state, determining the next target floor to be cleaned.
According to the method and the device for the robot to take the elevator autonomously, the robot can take the elevator autonomously to reach the target floor to execute tasks through interaction of data of multiple parts in the robot, the problems that in the prior art, the cost of a robot taking the elevator is high, an algorithm is complex and the difficulty is high are solved, and the problems of resource waste and high cost caused by the fact that one robot is used for working at one floor in the real work are solved.
Example two
In order to more clearly understand the process of the present invention, a specific implementation process is taken as an example, and a process of autonomous taking a ladder by a robot is described below with reference to an interactive schematic diagram of the method shown in fig. 2. The interaction process shown in fig. 2 is illustrated by a robot and a cloud server, and it should be understood that fig. 2 is only one implementation scheme, and does not limit the present invention to be implemented by this scheme.
S201, a service module of the robot generates a mapping request containing a target floor ID according to the target floor ID input by a user, and sends the mapping request to a mapping module.
S202, the map building module builds a floor map corresponding to the target floor, and adds an elevator position point, an elevator waiting point, an elevator ID, an elevator door direction and an elevator door line in the floor map.
And S203, the mapping module sends the floor map of the target floor to the service module for storage.
It should be noted that steps S201 to S203 may be understood as a process of building a floor map performed by the robot to perform the task of autonomous boarding. The following steps are the operation process of the robot for realizing the autonomous elevator taking.
And S204, the service module acquires and analyzes the task information and determines a target floor.
S205, a first elevator waiting point corresponding to the target floor is determined, and a path planning request containing the first elevator waiting point is sent to the planning module.
And S206, the planning and controlling module plans a navigation path from the current position to the first elevator waiting point according to the path planning request and controls the robot to drive to the first elevator waiting point along the navigation path.
And S207, the service module sends a target elevator running state acquisition request to the cloud server.
And S208, the cloud server returns the running state of the target elevator to the service module of the robot.
And S209, the service module sends an elevator taking request containing the current floor ID and the target floor ID to the cloud server when determining that the target elevator is available.
S210, the service module judges whether the robot meets the elevator entering condition.
And S211, when the robot meets the elevator entering condition, the service module indicates the regulation and control module to control the robot to enter the target elevator.
S212, the regulation and control module feeds elevator success information back to the service module.
And S213, when the service module determines that the robot successfully enters the elevator, the service module instructs the map engine module to load and display the target floor map.
S214, when the service module determines that the map engine module successfully loads the target floor map, the service module indicates the positioning module to perform positioning initialization and position the target elevator.
S215, the positioning module determines the initial pose of the robot and returns positioning success information to the business module.
And S216, when the service module determines that the target elevator reaches the target floor, the service module sends an elevator exit request containing a second elevator waiting point to the regulation module.
And S217, the regulation and control module plans a second path from the target elevator to a second elevator waiting point and controls the robot to drive to the second elevator waiting point along the second path.
S218, the regulation and control module feeds the elevator exit success information back to the service module.
Therefore, a complete process from building to running is realized, and the interaction process among executing main bodies can be clearly seen in the process that the robot takes the elevator autonomously.
EXAMPLE III
Referring to fig. 3 and 4, a third embodiment of the present invention provides a service module 100, including:
the acquisition unit 101 is used for acquiring and analyzing task information and determining a target floor;
a first indicating unit 102 for indicating the regulating module 200 to control the robot to travel to a first landing point of the current floor;
the first judgment unit 103 is used for acquiring the running state of the target elevator corresponding to the first elevator waiting point, judging whether the target elevator is available according to the running state, and sending an elevator taking request when the target elevator is available;
a second judging unit 104, configured to judge whether the robot meets the entry condition, and if so, trigger a second indicating unit 105;
a second indicating unit 105 for indicating the regulation and control module 200 to control the robot to drive into the target elevator;
and a third indicating unit 106, configured to instruct the regulating module 200 to control the robot to exit the elevator and travel to a second elevator waiting point corresponding to the target floor when it is determined that the target elevator reaches the target floor.
The first indicating unit 102 is further configured to determine a first elevator waiting point corresponding to the target floor, and send a path planning request including the first elevator waiting point to the planning module 200; so that the planning and control module 200 plans a navigation path from the current position to the first landing point and controls the robot to travel along the navigation path to the first landing point.
The first judgment unit 103 is further configured to send a target elevator running state acquisition request to the cloud server, and receive a running state of the target elevator from the cloud server; alternatively, the first and second electrodes may be,
establishing communication connection with a target elevator, and sending a running state acquisition request to the target elevator; the operating condition is received from the target elevator.
The first judgment unit 103 is further configured to send an elevator taking request including the current floor ID and the target floor ID to the cloud server when it is determined that the target elevator is available;
alternatively, an elevator boarding request including the current floor ID and the target floor ID is transmitted to the target elevator upon determining that the target elevator is available.
The second judgment unit 104 is further configured to determine whether the target elevator arrives at the current floor and the running direction of the target elevator is consistent with the direction to the target floor according to the running state of the target elevator;
if yes, judging whether the target elevator door is opened or not; and if the robot is opened, determining whether the target elevator can bear the robot, and if so, determining that the robot meets the elevator entering condition.
And a fourth indicating unit 107, configured to, when it is determined that the robot successfully enters the elevator, instruct the map engine module to load and display the target floor map, and when it is determined that the map engine module successfully loads the target floor map, instruct the positioning module to perform positioning initialization and position the target elevator.
The third indicating unit 106 is further configured to send an exit request including the second landing point to the regulatory module 200; so that the planning module 200 plans a second path from the target elevator to the second landing point and controls the robot to travel along the second path to the second landing point.
The third indicating unit 106 is further configured to match the positioning information fed back by the positioning module with the positioning information of the target floor, and determine that the target elevator reaches the target floor when the matching is successful;
or matching the ID of the arrival floor in the running state of the target elevator with the ID of the target floor, and determining the arrival target floor when the matching is successful;
or matching the floor ID obtained by identifying the floor information attached to each floor by the sensing module with the target floor ID, and determining the arrival of the target floor when the matching is successful.
And the fifth indicating unit 108 is configured to generate a mapping request including a target floor ID according to the target floor ID input by the user, and send the mapping request to the mapping module, so that the mapping module establishes a floor map corresponding to the target floor, where the floor map includes elevator location points, elevator waiting points, elevator IDs, elevator door orientations, and elevator door lines corresponding to the elevators.
The task creating unit 109 is configured to create and store task information for each floor according to a preset floor map corresponding to each floor, where the task information includes a cleaning task and a cleaning strategy thereof;
or receiving and storing task information corresponding to each floor from the cloud server, wherein the task information comprises cleaning tasks and cleaning strategies thereof.
And the task issuing unit 110 is configured to send the task information of the target floor to the robot when it is determined that the robot reaches the second landing point of the target floor.
A sixth indicating unit 111, configured to match the target floor with the current floor after determining the target floor; if the target floor is not the current floor, executing the step that the service module instructs the planning and control module 200 to control the robot to travel to the first elevator waiting point of the current floor;
the obtaining unit 101 is further configured to, if the target floor is consistent with the current floor, perform the following steps: and acquiring the cleaning state of the cleaning task of the task information of the current floor, and if the cleaning is determined to be not finished according to the cleaning state, continuing to execute the cleaning task of the current floor according to the cleaning strategy in the task information.
Example four
As shown in fig. 4, a regulation module 200 according to a fourth embodiment of the present invention includes:
a navigation unit 201, configured to plan a navigation path from a current position to a first landing point of the target elevator when receiving a path planning request including the first landing point;
a path planning unit 202 for planning a first planned path from a first landing point to an elevator location point of the target elevator upon receiving the landing request; and planning a second planned path from the elevator position point of the target elevator to a second landing point of the target floor when receiving a landing request containing the second landing point of the target floor;
a control unit 203 for controlling the robot to travel to a first landing along the navigation path; and controlling the robot to drive into the target elevator from the first elevator waiting point along the first planned path; and controlling the robot to travel from the target elevator to the second landing along the second planned path.
EXAMPLE five
The fifth embodiment of the present invention provides an autonomous elevator riding device for a robot, where the device includes the service module 100 in the third embodiment and the regulatory module 200 in the fourth embodiment.
EXAMPLE six
An embodiment of the present invention provides a computer server, including: a memory, a processor, and a transceiver;
the processor is used for being coupled with the memory, reading and executing the instructions in the memory, so as to realize the method of any one of the above embodiments;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
EXAMPLE seven
The seventh embodiment of the present invention provides a robot, including the computer server of the sixth embodiment.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. 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 invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM powertrain control method, or any other form of storage medium known in the art.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (18)
1. A robot autonomous ladder-taking method, the method comprising:
the service module acquires and analyzes the task information and determines a target floor;
the service module indicates the rule control module to control the robot to travel to a first elevator waiting point of the current floor;
the service module acquires the running state of a target elevator corresponding to the first elevator waiting point, judges whether the target elevator is available according to the running state and sends an elevator taking request when the target elevator is available;
the service module judges whether the robot meets the elevator entering condition, and if so, the service module instructs the regulation and control module to control the robot to drive into the target elevator;
and when the service module determines that the target elevator reaches the target floor, the instruction regulation and control module controls the robot to exit the elevator and to drive to a second elevator waiting point corresponding to the target floor.
2. The method of claim 1, wherein the service module instructs the regulatory module to control the robot to travel to the first landing point of the current floor, and specifically comprises:
the service module determines a first elevator waiting point corresponding to the target floor and sends a path planning request containing the first elevator waiting point to a planning and control module; so that the planning and control module plans a navigation path from the current position to the first elevator waiting point and controls the robot to drive to the first elevator waiting point along the navigation path.
3. The method according to claim 1, wherein the service module obtains the operating status of the target elevator corresponding to the first candidate elevator, and specifically comprises:
a service module sends a target elevator running state acquisition request to a cloud server and receives the running state of a target elevator from the cloud server; alternatively, the first and second electrodes may be,
the service module establishes communication connection with the target elevator and sends a running state acquisition request to the target elevator; a run status is received from the target elevator.
4. The method according to claim 1, wherein said sending a ride request when available comprises:
the service module sends an elevator taking request containing the current floor ID and the target floor ID to the cloud server when determining that the target elevator is available;
alternatively, the service module sends a boarding request including the current floor ID and the target floor ID to the target elevator upon determining that the target elevator is available.
5. The method according to claim 1, wherein the service module determines whether the robot meets the entry condition, specifically comprising:
the service module determines whether the target elevator arrives at the current floor and the running direction is consistent with the direction going to the target floor or not according to the running state of the target elevator;
if yes, judging whether the target elevator door is opened or not; and if the robot is opened, determining whether the target elevator can bear the robot, and if so, determining that the robot meets the elevator entering condition.
6. The method of claim 1, further comprising:
and when the business module determines that the robot successfully enters the elevator, the business module instructs the map engine module to load and display the target floor map.
7. The method of claim 6, further comprising:
and when the service module determines that the map engine module successfully loads the target floor map, the service module indicates the positioning module to perform positioning initialization and position the target elevator.
8. The method of claim 1, wherein the command and control module controls the robot to exit the elevator and to travel to a second landing point corresponding to the target floor, and specifically comprises:
the service module sends an elevator exit request containing the second elevator waiting point to a regulation and control module; such that the planning module plans a second path from the target elevator to the second landing and controls the robot to travel along the second path to the second landing.
9. Method according to claim 1, characterized in that the traffic module determines the arrival of the target elevator at the target floor, comprising in particular:
the service module matches the positioning information fed back by the positioning module with the positioning information of the target floor, and determines that the target elevator reaches the target floor when the matching is successful;
or the service module matches the ID of the arrival floor in the running state of the target elevator with the ID of the target floor, and determines the arrival floor when the matching is successful;
or the service module matches the floor ID obtained by identifying the floor information attached to each floor by the sensing module with the target floor ID, and determines to reach the target floor when the matching is successful.
10. The method according to any one of claims 1 to 9, further comprising:
the service module generates a map building request containing the target floor ID according to the target floor ID input by a user, and sends the map building request to a map building module so that the map building module builds a floor map corresponding to the target floor, wherein the floor map contains elevator position points, elevator waiting points, elevator IDs, elevator door directions and elevator door lines corresponding to elevators.
11. The method of any one of claims 1 to 10, wherein the robot is a cleaning robot, the method further comprising:
the service module establishes and stores task information for each floor according to a preset floor map corresponding to each floor, wherein the task information comprises a cleaning task and a cleaning strategy thereof;
or the service module receives and stores task information corresponding to each floor from the cloud server, wherein the task information comprises cleaning tasks and cleaning strategies thereof.
12. The method of claim 11, further comprising:
and the service module sends the task information of the target floor to the robot when determining that the robot reaches a second elevator waiting point of the target floor.
13. The method of claim 12, further comprising:
after determining a target floor, a service module matches the target floor with a current floor; if the target floor is not the current floor, executing the step that the service module indicates the regulation and control module to control the robot to travel to the first elevator waiting point of the current floor; if the target floor is consistent with the current floor, executing the following steps: and the service module acquires the cleaning state of the cleaning task of the task information of the current floor, and if the cleaning is determined not to be finished according to the cleaning state, the service module continues to execute the cleaning task of the current floor according to the cleaning strategy in the task information.
14. A service module, comprising:
the acquisition unit is used for acquiring and analyzing the task information and determining a target floor;
the first indicating unit is used for indicating the regulation and control module to control the robot to travel to a first elevator waiting point of the current floor;
the first judgment unit is used for acquiring the running state of a target elevator corresponding to the first elevator waiting point, judging whether the target elevator is available according to the running state and sending an elevator taking request when the target elevator is available;
the second judgment unit is used for judging whether the robot meets the elevator entering condition or not, and if so, the second indication unit is triggered;
the second indicating unit is used for indicating the regulation and control module to control the robot to drive into the target elevator;
and the third indicating unit is used for indicating the regulation and control module to control the robot to exit the elevator and drive to a second elevator waiting point corresponding to the target floor when the target elevator is determined to reach the target floor.
15. A regulatory control module, comprising:
the navigation unit is used for planning a navigation path from the current position of the robot to a first elevator waiting point when receiving a path planning request containing the first elevator waiting point of the target elevator;
a path planning unit for planning a first planned path from a first elevator waiting point to an elevator location point of the target elevator upon receiving an elevator entry request; and planning a second planned path from the elevator location point of the target elevator to the second landing point of the target floor upon receiving the exit request including the second landing point of the target floor;
the control unit is used for controlling the robot to drive to a first elevator waiting point along the navigation path; and controlling the robot to drive into the target elevator from the first elevator waiting point along the first planned path; and controlling the robot to travel along a second planned path from the target elevator to the second landing.
16. A robotic autonomous elevator ride, characterized in that the ride comprises a service module according to claim 14 and a regulatory module according to claim 15.
17. A computer server, comprising: a memory, a processor, and a transceiver;
the processor is coupled with the memory, reads and executes instructions in the memory to realize the method of any one of claims 1 to 13;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
18. A robot comprising the computer server of claim 17.
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| CN202210264891.6A CN114634070A (en) | 2022-03-17 | 2022-03-17 | Robot autonomous ladder taking method and device |
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