CN114735553A - Robot autonomous elevator taking method - Google Patents
Robot autonomous elevator taking method Download PDFInfo
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- CN114735553A CN114735553A CN202210253447.4A CN202210253447A CN114735553A CN 114735553 A CN114735553 A CN 114735553A CN 202210253447 A CN202210253447 A CN 202210253447A CN 114735553 A CN114735553 A CN 114735553A
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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
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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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
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
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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
- B66B2201/4615—Wherein the destination is registered before 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
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention provides an autonomous elevator taking method for a robot, which comprises the following steps: s101: the robot goes to the elevator according to the station allocation information sent by the dispatching management system, and performs data communication with the dispatching management system through the robot positioned at the elevator calling point or the elevator queuing point after the robot is in abnormal communication; s102: carrying out elevator calling at an elevator calling point, and selecting a data forwarding object to carry out data communication with a dispatching management system according to the current floor after the robot is in abnormal communication; s103: and entering the elevator, and exiting the elevator after the elevator reaches a target floor, wherein the robot performs data communication with the dispatching management system through the elevator control system after the communication is abnormal. The invention ensures the communication fluency and the task execution reliability, shortens the task execution time, improves the task execution efficiency and improves the user experience.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an autonomous ladder taking method for a robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, and the robot is developed rapidly at present and is applied to various industries. For example, in service industries such as restaurants, hotels and the like, the service robot can be used for goods delivery, ordering and the like.
At present, a service robot with an autonomous moving capability needs to have the capability of taking a building elevator autonomously when working in an urban building. Among them, when the robot is controlled to take an elevator, the robot and a dispatching management system for controlling the robot to act often adopt WiFi or mobile communication network for communication. However, when the robot is in a scene such as an elevator room/an elevator car, a signal is weak, and a network is easy to be disconnected, and the robot can only be reconnected in situ to wait after the network is disconnected. Moreover, the robot cannot recover after the network is disconnected, the task is interrupted, manual intervention is needed, the task time is prolonged, and the efficiency is reduced.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an autonomous elevator taking method for a robot, which is characterized in that the robot is in communication connection with a dispatching management system, corresponding elevator taking operation is executed according to the instruction of the dispatching management system, after the communication connection with the dispatching management system is detected to be disconnected in the elevator taking operation, the robot is connected with the dispatching management system through other robots or elevator control systems, the problem that the network is easily disconnected in the environment with weak signals is solved by utilizing a near field communication mode, the communication fluency and the task execution reliability are ensured, the task execution time is shortened, the task execution efficiency is improved, and the user experience is improved.
In order to solve the above problems, the present invention adopts a technical solution as follows: a robot autonomous ladder-taking method includes: s101: the robot goes to the elevator according to the station allocation information sent by the dispatching management system, wherein after the robot is in communication abnormity, the robot performs data communication with the dispatching management system through the robot positioned at an elevator calling point or an elevator queuing point to go to the elevator; s102: carrying out elevator calling at an elevator calling point, wherein after the robot is in communication abnormity, a data forwarding object is selected according to the current floor to carry out data communication with the dispatching management system so as to carry out elevator calling, and the data forwarding object comprises an elevator control system and a robot located at an elevator queuing point; s103: and entering the elevator, and exiting the elevator after the elevator reaches a target floor, wherein after the robot is in communication abnormity, the robot carries out data communication with the dispatching management system through the elevator control system so as to enter the elevator, exit the elevator and pass through a control area.
Further, the step of the robot acquiring the station allocation information sent by the dispatching management system to go to the elevator specifically comprises: the robot reports an elevator call point and current real-time position information to a dispatching management system, receives station distribution information generated by the dispatching management system according to the elevator call point and the real-time position information, and goes to the elevator call point based on the station distribution information and communication information with the dispatching management system, wherein the station distribution information comprises one of the elevator call point, an elevator queuing point and an intermediate point.
Further, the step of selecting a data forwarding object according to the floor where the data forwarding object is currently located to perform data communication with the dispatching management system so as to perform elevator calling specifically includes: the method comprises the steps that a robot obtains a total floor number preset by an elevator, a first difference value and a second difference value are obtained according to the total floor number and a floor where the elevator is located at present, a data forwarding object is selected based on the size relation between the first difference value and the second difference value and a set value, and the data forwarding object is communicated with a dispatching management system, wherein the first difference value is the absolute value of the difference value between the total floor number and the floor number where the robot is located, and the second difference value is the absolute value of the difference value between the floor where the robot is located and the lowest floor.
Further, the step of selecting a data forwarding object based on the magnitude relationship between the first difference, the second difference, and the setting value specifically includes: if the first difference value and the second difference value are not larger than the set value, the robot is in communication connection with the elevator control system to send data to the dispatching management system; and if the first difference value or the second difference value is larger than a set value, the robot selects communication connection with the robot positioned at the elevator queuing point so as to send data to the dispatching management system.
Further, the step of the robot selecting a communication connection with the robot at the elevator queuing point for transmitting data to the dispatch management system further comprises: and if the elevator queuing point does not have a robot, the robot returns to the last task station, and the elevator is called or alarmed according to the communication connection condition between the return way and the dispatching management system.
Further, the step of entering the elevator specifically comprises: after receiving an access permission instruction sent by the dispatching management system, executing elevator access operation, and judging whether the elevator is accessed within a set time, wherein when the dispatching management system is abnormal in communication, the dispatching management system is communicated with the robot through an elevator control system to control the robot to perform elevator access operation; if so, reporting entry success information after entering the elevator; if not, returning to an elevator calling point, reporting failure information of entering the elevator, and carrying out elevator calling again at the elevator calling point.
Further, the step of exiting the elevator specifically comprises: after receiving an exit instruction of the dispatching management system, executing an elevator exit operation, and judging whether the elevator exits within preset time, wherein the dispatching management system communicates with the robot through an elevator control system to control the robot to perform the elevator exit operation after communication is abnormal; if so, reporting exit success information, wherein after the robot exits the elevator, if the communication is abnormal, the robot communicates with the dispatching management system through an elevator control system or a robot located in a traffic control area so as to pass through the traffic control area; if not, returning to a stop point in the elevator, reporting failure information of exiting the elevator, and calling the elevator again at the stop point.
Further, the step of entering the elevator further comprises: judging whether non-autonomous movement is generated in the process of entering the elevator; if so, continuing to enter the elevator after the non-autonomous movement is stopped, calling the elevator according to an elevator entering result or exiting the elevator according to a received instruction after the elevator reaches a target floor; if not, the elevator exits according to the received instruction after reaching the target floor.
Further, the step of entering the elevator further comprises the following steps: judging whether non-autonomous movement is generated in the elevator; if so, acquiring the positioning of the robot, judging whether the robot is positioned on a target floor according to the positioning of the robot after the non-autonomous movement is stopped, reporting an exception when the robot is not positioned on the target floor and leaves the elevator, and calling the elevator again; if not, the elevator exits according to the received instruction after the elevator reaches the target floor.
Further, the step of exiting the elevator further comprises: judging whether non-autonomous movement is generated in the process of exiting the elevator; if yes, acquiring the positioning information of the robot in the moving process, and executing a task or continuing to execute an elevator exit operation according to the positioning information; if not, the operation of continuously exiting the elevator is executed.
Compared with the prior art, the invention has the beneficial effects that: the robot is in communication connection with the dispatching management system, corresponding elevator taking operation is executed according to instructions of the dispatching management system, after communication connection disconnection with the dispatching management system is detected in the elevator taking operation, the robot is connected with the dispatching management system through other robots or elevator control systems, the problem that a network is easily disconnected in an environment with weak signals is solved by using a near field communication mode, communication smoothness and task execution reliability are guaranteed, task execution time is shortened, task execution efficiency is improved, and user experience is improved.
Drawings
FIG. 1 is a flowchart illustrating an autonomous ladder-taking method of a robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an embodiment of a connection relationship among a robot, a dispatch management system, and an elevator control system in the autonomous elevator riding method of the robot of the present invention.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It should be noted that the various embodiments of the present disclosure, described and illustrated in the figures herein generally, may be combined with one another without conflict, and that the structural components or functional modules therein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1 to 2, fig. 1 is a flowchart illustrating an autonomous ladder-taking method of a robot according to an embodiment of the present invention; fig. 2 is a schematic view illustrating a connection relationship among a robot, a dispatch management system, and an elevator control system in the autonomous elevator riding method of the robot according to an embodiment of the present invention. The robot autonomous boarding method of the present invention will be described in detail with reference to fig. 1 to 2.
In this embodiment, the robot is connected to the dispatch management system in a communication manner, and the robot performs an elevator riding operation according to an instruction of the dispatch management system. The physical media for running the background is scheduled and managed, and the system running and the database running of the background are realized. The dispatching management background can carry out unified management on the robot and can be interactively linked with the elevator control system.
In a specific embodiment, the dispatching management system is connected with a plurality of robots through communication equipment, has wireless communication networking capability, and can be connected with the robots in a plurality of wireless communication modes (WIFI, Ethernet, 4G communication, 433MHz communication and the like). The robot supports autonomous navigation positioning and obstacle avoidance, and can autonomously perform tasks such as delivery/disinfection/inquiry/temperature measurement. The elevator control system comprises an elevator control device and a related software system, is arranged on the elevator car, and controls the operation of the elevator through the elevator control system.
Before the autonomous elevator taking method of the robot, the robot scans and acquires an environment two-dimensional map through a laser radar, and presets a task point, an elevator queuing point, an elevator calling point, a traffic control area (when multiple robots pass through, the robot needs to be managed through a dispatching management system to ensure the robot to pass through in order) and other travel places according to an input instruction. In the process of executing the task, the robot is positioned in real time through the laser radar and the binocular sensor, and a walking line is planned autonomously according to the task point.
In this embodiment, the robot autonomous boarding method includes:
s101: and the robot goes to the elevator according to the station allocation information sent by the dispatching management system, wherein after the robot is in communication abnormity, the robot and the dispatching management system perform data communication to the previous elevator through the robot positioned at the elevator calling point or the elevator queuing point.
The steps that the robot obtains the station allocation information sent by the dispatching management system and goes to the elevator specifically comprise: the robot reports elevator call points and current real-time position information to the dispatching management system, receives station distribution information generated by the dispatching management system according to the elevator call points and the real-time position information, and goes to the elevator based on the station distribution information and communication information with the dispatching management system, wherein the station distribution information comprises one of the elevator call points, the elevator queuing points and the intermediate points.
The elevator calling point, the elevator queuing point and the middle point are different positions which are pre-defined in the walking path of the robot. When the robot is at an elevator call point, it can call the elevator associated with that location. The calling modes comprise communication calling of the robot and the dispatching management system, communication calling forwarded to the dispatching management system through other robots, and communication calling of the robot which is directly communicated with the elevator control system to be indirectly connected with the dispatching management system. When the elevator call point is occupied, the robot waits at the elevator queuing point, and for the robot, the next target position of the elevator queuing point is the elevator call point. The intermediate points are stoppable positions passed by the robot in the task process, when the next target point of the intermediate points is a queuing point, the robot is communicated with the dispatching management system to obtain the number of the robots going to the elevator queuing points and the number of the elevator queuing points, if the number of the robots going to the elevator queuing points is less than the number of the elevator queuing points, the robots can go to the elevator queuing points, otherwise, other routes are waited or planned at the current stoppable positions (intermediate points).
Specifically, when the robot executes a cross-floor task, the robot reports the current real-time coordinate position and the call point of the destination elevator to the dispatching management system. And the dispatching system calculates the walking distance of the robot according to the acquired position of the robot and the position of the elevator calling point, and calculates the predicted arrival time of the robot at the elevator calling point by combining the average walking speed of the robot. The dispatch management system assigns the stations that the robot goes to based on the predicted arrival times of the robots (the first arriving robot goes directly to the elevator call point and the second arriving robot goes to the elevator queuing point).
In this embodiment, a plurality of queuing points are set for the same elevator, and when the number of machines currently going to the same elevator is greater than that of the queuing points when the dispatching management system allocates stops, the dispatching management system replans the route for the machines not allocated to the queuing points. If no other lines can be passed, the dispatching management system sends station distribution information of the intermediate point waiting to the robot, the robot receives the station distribution information and waits at the intermediate point (set during deployment) on the path going to the elevator call point, and after the queuing point of the dispatching management system has the spare station, the dispatching management system sends the spare queuing point information to the robot, so that the robot goes to the queuing point.
In the embodiment, a robot reaching an elevator calling point calls directly and jumps to a calling flow; and after the robot heading to the queuing point according to the station allocation information is positioned at the elevator queuing point, reporting the priority sequence number of the current task to a dispatching management system, and allocating and rearranging the calling sequence of the robot according to the priority sequence by the system and informing the robot. The robot queues up to the elevator call points according to the call sequence.
In one embodiment, if the robot is abnormal in communication at the queuing point (for example, the robot is disconnected from the dispatching management system after network disconnection, the data transmission speed is lower than a preset value, and the like), and cannot communicate with the dispatching management system, the robot communicates with the robots at other queuing points/elevator call points through near field broadcasting, and data forwarding is performed through other robots to realize communication with the dispatching management system. The near field communication mode can be WiFi, bluetooth, ZigBee or other wireless communication modes.
S102: and carrying out elevator calling at an elevator calling point, wherein after the robot is in abnormal communication, a data forwarding object is selected according to the current floor to carry out data communication with the dispatching management system so as to carry out elevator calling, and the data forwarding object comprises an elevator control system and the robot positioned at an elevator queuing point.
In this embodiment, the robot at the elevator call point communicates with the dispatch management system to make an elevator call (an elevator call includes reporting an elevator number, the current floor where the robot is located, and a target floor). After receiving the reported information, the dispatching management system checks the elevator occupation state, if the elevator is occupied by other robots, the dispatching management system refuses the call request, sends an elevator call feedback instructing the robot to continue waiting, and can continue to call when the elevator state is released to be idle after other robots leave the elevator; if the elevator is not occupied, the dispatching management system communicates with the elevator control system to call the elevator. And after receiving the call request, the elevator control system controls the elevator to move to the floor where the robot is located. And the dispatching management system sends the call success information elevator call feedback to the robot and sets the elevator state as the robot occupation, and the robot waits for the elevator in place.
When the robot continues waiting according to the instruction of the dispatching management system, the robot can be connected with the elevator control system to acquire the state of the elevator, and when the elevator is in an idle state, the elevator is called, or the dispatching management system can be connected with the elevator control system to acquire the state of the elevator, and when the elevator is in a gap state, the elevator is called. And after receiving the call request, the elevator control system controls the elevator to move to the floor where the robot is located. And the dispatching management system sends the call success information elevator call feedback to the robot.
In this embodiment, when the robot is in communication abnormality, the step of selecting a data transfer object according to the floor where the robot is currently located to perform data communication with the dispatch management system to perform an elevator call specifically includes: the method comprises the steps that a robot obtains the total floor number preset by an elevator, a first difference value and a second difference value are obtained according to the total floor number and the floor where the elevator is located at present, a data forwarding object is selected based on the size relation between the first difference value and the floor number where the robot is located, and the data forwarding object is communicated with a dispatching management system, wherein the first difference value is the absolute value of the difference value between the total floor number and the floor number where the robot is located, and the second difference value is the absolute value of the difference value between the floor where the robot is located and the lowest floor. The elevator system comprises an elevator, a first floor, a second floor and a setting value, wherein the first floor is the lowest floor which can be reached by the elevator, the second floor is the total floor which can be reached by the elevator, and the setting value can be set according to the requirements of users.
The step of selecting the data forwarding object based on the magnitude relationship between the first difference, the second difference and the set value specifically includes: if the first difference value and the second difference value are not greater than the set value, the robot is in communication connection with the elevator control system to send data to the dispatching management system; and if the first difference value or the second difference value is larger than the set value, the robot selects communication connection with the robot positioned at the elevator queuing point to send data to the dispatching management system.
Specifically, the step of the robot selecting a communication connection with the robot at the elevator queuing point to transmit data to the dispatch management system further comprises: if the elevator queuing point does not have a robot, the robot returns to the last task station, and the elevator is called or alarmed according to the communication connection condition between the robot and the dispatching management system in the returning process.
In a specific embodiment, if the robot at the elevator call point is in communication anomaly (disconnected from the dispatch management system, data transmission speed below a preset value, etc.) while calling an elevator, the robot reads the total floor number preset by the elevator number from its local configuration information. If the absolute value of the difference between the floor where the robot is located and the total floor number (including the negative floor) is less than or equal to a set value, and the absolute value of the difference between the floor where the robot is located and the lowest floor (including the negative floor) is less than or equal to the set value, the robot is directly connected with an elevator control system in an elevator car through near field communication, and a call request is sent. The elevator control system receives the call request and then forwards the call request to the dispatching management system, and when the dispatching management system judges that the elevator is idle, the robot is allowed to take the elevator and sends the call request to the elevator control system. If the elevator is in a busy state, the dispatching system forwards the call rejection information to the robot through the elevator control system.
In another specific embodiment, if the absolute value of the difference between the floor where the robot is located and the total floor number (including the negative floor) is greater than a set value or the absolute value of the difference between the floor where the robot is located and the lowest floor (including the negative floor) is greater than a set value, the robot communicates with the robot at the elevator queuing point through near field broadcasting, and data forwarding is performed through other robots to achieve communication with the dispatching management system. And if the robot is not positioned at the elevator queuing point, the robot returns to the last task station, and tries to reestablish connection with the dispatching management system in the returning process. And if the robot successfully establishes connection with the dispatching management system on the way of returning, the robot goes to the target elevator calling point again. And returning to the last task site, and if the last task site still cannot establish connection with the scheduling management system, waiting in place and giving an alarm in a voice broadcast mode. And the alarm can be given by means of warning of an indicator lamp, alarm ring sound broadcasting and the like.
S103: and entering the elevator according to the received entering instruction, and exiting the elevator according to the received instruction after the elevator reaches the target floor, wherein when the robot enters the elevator or exits the elevator, if the communication is abnormal, the robot carries out data communication through an elevator control system so as to enter the elevator or exit the elevator.
In this embodiment, after the elevator reaches the floor where the robot is located, the elevator control system controls the elevator door to remain open, and simultaneously notifies the dispatch management system, which notifies the robot that the elevator can enter. And after receiving the access permission command, the robot autonomously navigates to enter the elevator. After the elevator enters the target floor, the robot reports successful entering information to the dispatching management system (meanwhile, the robot switches the navigation map to the target floor), and the dispatching management system sends a door closing signal to the elevator control system to close the door and move to the target floor.
Wherein, the step of entering the elevator specifically includes: after receiving an access permission instruction sent by a dispatching management system, executing an elevator access operation, and judging whether the elevator access is performed within a set time, wherein when the communication of the dispatching management system is abnormal, the dispatching management system is communicated with a robot through an elevator control system so as to control the robot to perform the elevator access operation; if so, reporting entry success information after entering the elevator; if not, returning to the elevator calling point, reporting failure information of entering the elevator, and calling the elevator again at the elevator calling point.
Specifically, if the robot scans an obstacle in the process of entering the elevator and cannot enter the elevator after the set time is exceeded, the robot returns to an elevator calling point autonomously, failure information of entering the elevator is reported to a dispatching management system, the dispatching management system sends the failure information of entering to an elevator control system and releases the occupied state of the elevator, the elevator control system controls a door of the elevator to be closed, and after the robot returns to the elevator calling point, the robot calls the elevator again to carry out elevator taking operation.
In this embodiment, when the robot performs an elevator entering operation or an elevator exiting operation, the dispatching management system robot is connected with the robot through the elevator control system after being in communication abnormality.
In a specific embodiment, if the robot cannot establish connection with the dispatching management system due to network abnormality after the elevator reaches the floor where the robot is located, the dispatching management system sends a communication abnormal state of the robot to the elevator control system, the elevator control system informs the robot in a near field communication mode, and the robot autonomously navigates to enter the elevator after receiving an entry instruction of the elevator control system. After the robot enters the elevator in place, the robot reports successful entering information to the elevator control system, the elevator control system controls the door of the elevator to be closed and moves forward to the target floor, and meanwhile the elevator control system informs the dispatching management system that the robot enters the elevator successfully. If the robot meets an obstacle and cannot enter the elevator after the preset time in the entering process, the robot automatically returns to an elevator calling point, failure information of entering the elevator is reported to an elevator control system, the elevator control system controls a door to be closed and informs a dispatching management system that the robot fails to enter the elevator, the dispatching management system restores the elevator occupying state to be idle, and the robot calls the elevator again.
In one embodiment, after the elevator arrives at the destination floor, the elevator control system informs the dispatch management system of the arrival information and the dispatch management system informs the robot to exit the elevator. And after the robot receives the exit instruction, the robot automatically navigates to exit the elevator. After the elevator leaves the elevator, the robot reports successful exiting information to the dispatching management system, the dispatching management system sends a door closing signal to the elevator control system to close the elevator, and meanwhile the dispatching management system restores the elevator occupation state to be idle.
In this embodiment, the step of exiting the elevator specifically includes: after receiving an exit instruction of the dispatching management system, executing an elevator exit operation, and judging whether the elevator exits within preset time, wherein the dispatching management system communicates with the robot through an elevator control system to control the robot to exit the elevator operation after communication is abnormal; if so, reporting exit success information, wherein after the robot exits the elevator, if the communication is abnormal, the robot communicates with the dispatching management system through the elevator control system or the robot located in the traffic control area so as to pass through the traffic control area; if not, returning to a stop point in the elevator, reporting failure information of exiting the elevator, and calling the elevator again at the stop point.
In a specific embodiment, if the robot scans obstacles in the process of exiting the elevator and cannot exit the elevator after the preset time, the robot returns to a stop point inside the elevator, failure information of exiting the elevator is reported to the dispatching management system, the dispatching management system sends the failure information of exiting the elevator to the elevator control system, and the elevator control system controls the door of the elevator to be closed. The robot calls the elevator again at a stopping point in the elevator, the dispatching management system sends an in-elevator call instruction to the elevator control system, and the elevator control system controls the elevator to go to a starting floor of the robot before (directly jump to the robot to enter an in-place state after reaching the starting floor and directly close the door), then go to a target floor and try to exit the elevator.
In one embodiment, if the robot cannot establish connection with the dispatching management system due to abnormal communication after the elevator reaches the target floor of the robot, the dispatching management system sends the abnormal communication state of the robot to the elevator control system, the elevator control system informs the robot in a near field communication mode, and the robot autonomously navigates to exit the elevator after receiving an exit instruction of the elevator control system. After the robot quits in place, the robot reports quit success information to the elevator control system, the elevator control system controls the door to be closed, meanwhile, the elevator control system informs the dispatching management system that the robot quits the elevator successfully, and the dispatching management system sets the elevator occupation state to be idle. If the robot encounters an obstacle and cannot exit after the set time in the exiting process, the robot autonomously returns to an elevator inner point, meanwhile, elevator exiting failure information is reported to an elevator control system, and the elevator control system controls a door to be closed and informs a dispatching management system that the robot fails to enter. The robot calls the elevator control system again at the stopping point in the elevator, the elevator control system informs the dispatching management system of the robot to call again after receiving an in-elevator call instruction, and meanwhile, the elevator control system controls the elevator to go to the starting floor of the robot in advance (directly jump to the robot to enter the in-place state after reaching the starting floor and directly close the door), then go to the target floor and try to exit the elevator.
In the above embodiment, after the network communication between the robot and the dispatching management system is abnormally switched to the near field communication, if the communication between the robot and the dispatching management system is recovered in the near field communication process, the near field communication between the robot and the elevator control system is still maintained until the elevator is exited and the communication connection between the robot and the dispatching management system is normal.
The step of entering the elevator further comprises: judging whether non-autonomous movement is generated in the process of entering the elevator; if so, continuing to enter the elevator after the non-autonomous movement is stopped, calling the elevator according to an elevator entering result or exiting the elevator according to a received instruction after the elevator reaches a target floor; if not, the elevator exits according to the received instruction after reaching the target floor. By which the situation is solved in which the robot is pulled out during the entrance to the elevator.
Specifically, after the non-autonomous movement is stopped, the robot tries to continue to enter the elevator, and if the robot successfully enters the elevator, the successful entering process is recovered; if the access fails, the robot returns to the elevator calling point to call again; if the dispatching management system does not receive the entry success/entry failure information sent by the robot (for example, the robot is pressed down and is not stopped and not released), the dispatching management system judges that the elevator is overtime, the dispatching management system restores the elevator occupancy state to be idle, and informs the elevator control system to close the elevator door. Meanwhile, the dispatching management system informs the robot that the current elevator taking task is finished, and the robot needs to go to the elevator again to carry out elevator calling.
Wherein, still include after the step of entering the elevator: judging whether non-autonomous movement is generated in the elevator; if so, acquiring the positioning of the robot, judging whether the robot is positioned on a target floor according to the positioning of the robot after the non-autonomous movement is stopped, reporting an exception when the robot is not positioned on the target floor and leaves the elevator, and calling the elevator again; if not, the elevator exits according to the received instruction after reaching the target floor. The problem that the robot is pulled out in the process of entering the elevator is solved through the method.
Specifically, the robot does not receive an elevator exit instruction in the elevator, and the robot is pressed to suddenly stop and drag. At this time, the robot communicates with the dispatching system and acquires the current floor of the elevator from the elevator control system. If the current floor is the target floor, the existing navigation map is kept, and if the current floor is not the target floor, the navigation map of the robot is switched to the current floor. Meanwhile, the robot scans environment information through a laser radar in the moving process and matches the environment information with a map to adjust coordinate positioning, and if the robot positioning is still in the elevator after the non-autonomous movement stops, the original elevator taking process is continued. After the non-autonomous movement is stopped, if the robot leaves the elevator and is at the target floor when the robot is at the current floor, the robot sends an elevator exit success instruction to the dispatching management system and continues to execute tasks (when the network communication with the dispatching management system is abnormal, the robot interacts with the elevator control system through near field communication), the dispatching management system restores the elevator occupation state to be idle, and the elevator control system is informed to close the elevator door. If the robot leaves the elevator and the current floor is not the target floor, the robot reports an abnormal exit state to the dispatching management system, the dispatching management system restores the elevator occupation state to be idle, and meanwhile, the robot goes to the elevator calling point of the floor to call the elevator again.
The step of exiting the elevator further comprises: judging whether non-autonomous movement is generated in the process of exiting the elevator; if yes, acquiring the positioning information of the robot in the moving process, and executing a task or continuing to execute an elevator exit operation according to the positioning information; if not, continuing to execute the exit of the elevator operation.
Specifically, when the robot is pulled out in the process of exiting the elevator, the robot scans environment information through a laser radar and matches and adjusts coordinate positioning with a map in the moving process, when the robot stops moving autonomously, if the current coordinate is judged to completely exit the elevator, the robot sends an elevator exiting success command to a dispatching management system and continues to execute tasks (when the robot is in network communication abnormality with the dispatching management system, the robot interacts with the elevator control system through near field communication), the dispatching management system restores the elevator occupation state to be idle, and informs the elevator control system to close a door; and if the elevator is not completely withdrawn, the robot continues to execute the procedure of withdrawing the elevator.
In this embodiment, after exiting the elevator, the robot reports exit success information, wherein after exiting the elevator, if the robot is in communication abnormality, the robot sends a door closing delay instruction to the elevator control system, and navigates to pass through the control area according to a communication state during the door closing delay period.
The control area is any polygonal area, is preset during deployment, and can set the number of robots which can pass through the control area at the same time. When the robot needs to pass through the control area, the robot firstly accesses the scheduling management system outside the control area, and can enter the control area only when the robot in the control area is determined to pass through.
Specifically, after the robot exits from the elevator, if the network communication connection between the robot and the dispatching management system is normal, the robot reports exit success information to the dispatching management system, the dispatching management system sends a door closing signal to the elevator control system to close the door, and meanwhile the dispatching management system restores the elevator occupancy state to be idle.
In the embodiment, after the robot exits from the elevator, if the network communication connection between the robot and the dispatching management system is abnormal, the robot sends a door closing delay command to the elevator control system through near field communication, and the elevator control system controls the elevator to close the door after delaying for a set time (note that due to the narrow elevator hall, other robot queuing calls may exist when the robot exits from the elevator at the same time, so that a control area needs to be set, and traffic control and passing are performed through the dispatching management system. If the door closing delay period is long, the robot and the dispatching management system recover communication, the robot acquires information of a traffic control area from the dispatching management system, if the robot does not occupy the traffic control area, autonomous navigation passes through the traffic control area, meanwhile, the robot sends a door closing signal to the dispatching management system, the dispatching management system forwards the door closing signal to the elevator control system, and the elevator control system closes the elevator door (at the moment, the time for delaying door closing does not need to be waited for). And if other robots occupy the robot, waiting in place. If the elevator is delayed to close the door, other robots still do not leave the control area, and the communication connection between the robots and the dispatching management system is disconnected; the robot and other robots acquire the passing state of the control area of other robots through near field communication, after the other robots pass, the robot forwards a request for entering the traffic control area to the dispatching management system through other robots, and the robot autonomously navigates through the control area after receiving permission of the dispatching management system.
Under the condition of network abnormity (when the robots cannot communicate with the dispatching management system), the invention ensures that the robots can automatically complete the elevator taking process without manual intervention through the near field communication relay among the multiple robots and the near field communication between the robots and the elevator control system. And when the robot is dragged to exit the elevator/enter the elevator by human abnormity under the conditions of entering the elevator/exiting the elevator/being in the elevator and the like, the robot can automatically identify and recover without manual intervention, thereby avoiding the influence of the network and the outside on the robot and improving the reliability of the robot for taking the elevator autonomously.
Has the beneficial effects that: the robot autonomous elevator taking method of the invention connects the robot with the dispatching management system in a communication way, executes corresponding elevator taking operation according to the instruction of the dispatching management system, and after the disconnection of the communication with the dispatching management system is detected in the elevator taking operation, the robot autonomous elevator taking method is connected with the dispatching management system through other robots or elevator control systems, and the problem that the network is easily disconnected in the environment with weak signals is solved by using a near field communication way, thereby ensuring the smoothness of communication and the reliability of task execution, shortening the task execution time, improving the task execution efficiency and improving the user experience.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A robot autonomous ladder taking method is characterized by comprising the following steps:
s101: the robot moves to the elevator according to the station allocation information sent by the dispatching management system, wherein after the robot is in abnormal communication, the robot and the dispatching management system perform data communication through the robot positioned at an elevator calling point or an elevator queuing point;
s102: carrying out elevator calling at an elevator calling point, wherein after the robot is in communication abnormity, a data forwarding object is selected according to the current floor to carry out data communication with the dispatching management system so as to carry out elevator calling, and the data forwarding object comprises an elevator control system and a robot located at an elevator queuing point;
s103: and after the elevator reaches a target floor, the elevator exits, wherein after the robot is in communication abnormity, the robot performs data communication with the dispatching management system through the elevator control system so as to enter the elevator, exit the elevator and pass through a control area.
2. The method for the robot to autonomously ride on the elevator according to claim 1, wherein the step of the robot acquiring the station assignment information sent by the dispatching management system to go to the elevator specifically comprises:
the robot reports an elevator call point and current real-time position information to a dispatching management system, receives station distribution information generated by the dispatching management system according to the elevator call point and the real-time position information, and goes to the elevator call point based on the station distribution information and communication information with the dispatching management system, wherein the station distribution information comprises one of the elevator call point, an elevator queuing point and an intermediate point.
3. The robot autonomous boarding method of claim 1, wherein the step of selecting a data transfer object for data communication with the dispatch management system to place an elevator call based on the current floor specifically comprises:
the method comprises the steps that a robot obtains a total floor number preset by an elevator, a first difference value and a second difference value are obtained according to the total floor number and a floor where the elevator is located at present, a data forwarding object is selected based on the size relation between the first difference value and the second difference value and a set value, and the data forwarding object is communicated with a dispatching management system, wherein the first difference value is the absolute value of the difference value between the total floor number and the floor number where the robot is located, and the second difference value is the absolute value of the difference value between the floor where the robot is located and the lowest floor.
4. The robot autonomous boarding method of claim 3, wherein the step of selecting a data transfer object based on a magnitude relationship between the first difference value, the second difference value, and a set value specifically comprises:
if the first difference value and the second difference value are not larger than the set value, the robot is in communication connection with an elevator control system to send data to a dispatching management system;
and if the first difference value or the second difference value is larger than a set value, the robot selects communication connection with the robot positioned at the elevator queuing point so as to send data to the dispatching management system.
5. The method of robotic autonomous elevator boarding of claim 4 wherein the step of the robot selecting a communication connection with a robot located at an elevator queuing point to send data to a dispatch management system further comprises:
and if the elevator queuing point does not have a robot, the robot returns to the last task station, and the elevator is called or alarmed according to the communication connection condition between the return way and the dispatching management system.
6. The robot-based elevator riding method according to claim 1, wherein the step of entering the elevator comprises:
after receiving an access permission instruction sent by the dispatching management system, executing elevator access operation, and judging whether the elevator is accessed within a set time, wherein when the dispatching management system is abnormal in communication, the dispatching management system is communicated with the robot through an elevator control system to control the robot to perform elevator access operation;
if so, reporting entry success information after entering the elevator;
if not, returning to the elevator calling point, reporting failure information of entering the elevator, and carrying out elevator calling again at the elevator calling point.
7. The robot-based autonomous boarding method of claim 1, wherein the step of exiting the elevator specifically comprises:
after receiving an exit instruction of the dispatching management system, executing an elevator exit operation, and judging whether the elevator exits within preset time, wherein the dispatching management system communicates with the robot through an elevator control system to control the robot to perform the elevator exit operation after communication is abnormal;
if so, reporting exit success information, wherein after the robot exits the elevator, if the communication is abnormal, the robot communicates with the dispatching management system through an elevator control system or a robot located in a traffic control area so as to pass through the traffic control area;
if not, returning to a stop point in the elevator, reporting failure information of exiting the elevator, and calling the elevator again at the stop point.
8. The robot-autonomous boarding method of claim 1, wherein the step of entering an elevator further comprises:
judging whether non-autonomous movement is generated in the process of entering the elevator;
if so, continuing to enter the elevator after the non-autonomous movement is stopped, calling the elevator according to an elevator entering result or exiting the elevator according to a received instruction after the elevator reaches a target floor;
if not, the elevator exits according to the received instruction after reaching the target floor.
9. The robot autonomous elevator riding method according to claim 1, further comprising, after the step of entering the elevator:
judging whether non-autonomous movement is generated in the elevator;
if so, acquiring the positioning of the robot, judging whether the robot is positioned on a target floor according to the positioning of the robot after the non-autonomous movement is stopped, reporting an exception when the robot is not positioned on the target floor and leaves the elevator, and calling the elevator again;
if not, the elevator exits according to the received instruction after the elevator reaches the target floor.
10. The robot-autonomous boarding method of claim 1, wherein the step of exiting an elevator further comprises:
judging whether non-autonomous movement is generated in the process of exiting the elevator;
if yes, acquiring positioning information of the robot in the moving process, and executing a task or continuing to execute an elevator exit operation according to the positioning information;
if not, the operation of continuously exiting the elevator is executed.
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| CN117446608A (en) * | 2023-12-21 | 2024-01-26 | 江苏中科重德智能科技有限公司 | Robot intelligent elevator taking method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117446608A (en) * | 2023-12-21 | 2024-01-26 | 江苏中科重德智能科技有限公司 | Robot intelligent elevator taking method and system |
| CN117446608B (en) * | 2023-12-21 | 2024-05-24 | 江苏中科重德智能科技有限公司 | Robot intelligent elevator taking method and system |
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