CN114852807B - Robot ladder calling method and related equipment - Google Patents
Robot ladder calling method and related equipment Download PDFInfo
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- CN114852807B CN114852807B CN202210442000.1A CN202210442000A CN114852807B CN 114852807 B CN114852807 B CN 114852807B CN 202210442000 A CN202210442000 A CN 202210442000A CN 114852807 B CN114852807 B CN 114852807B
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000004590 computer program Methods 0.000 claims description 21
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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Classifications
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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
- 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)
- Manipulator (AREA)
- Elevator Control (AREA)
Abstract
The application discloses a robot ladder calling method and related equipment. The method comprises the following steps: acquiring second task information of a second robot in the target floor under the condition that the first robot prepares to call the target elevator at the target floor; acquiring first task information of the first robot; and determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder. According to the method provided by the embodiment of the application, whether the follow-up tasks of the first robot and the second robot are in the same direction is determined according to the first task information and the second task information, so that the targeted schemes of immediately calling the elevator and waiting for calling the elevator can be made according to different conditions, the number of times of calling the elevator can be effectively reduced, the operation pressure of the elevator is relieved, and the elevator calling scheme of the robot is optimized.
Description
Technical Field
The present disclosure relates to the field of robot control, and more particularly, to a robot ladder calling method and related devices.
Background
In places such as hotels and restaurants, the robot can call the elevator by itself so as to finish the tasks of dispatching, patrol or guiding across floors. The robot is provided with a calling elevator transmitting device, a calling elevator receiving device is connected in a key circuit of the elevator car, and the calling elevator transmitting device can communicate with the calling elevator receiving device. When the robot arrives at the elevator waiting hall, an elevator taking instruction is sent to a calling elevator sending device of the robot, the elevator taking instruction comprises current floor information, and after receiving the elevator taking instruction, a calling elevator receiving device activates a button of the current floor, so that the elevator is controlled to run to the floor where the robot is located.
In the current general robot control method, once a certain robot completes the task of the current floor, the elevator is called to the elevator calling area corresponding to the current floor immediately to complete the subsequent task, and when a plurality of robots execute the task on the same floor, each robot can call the elevator after completing the task, so that the running resource waste of the elevator can be caused.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to fully utilize the running resources of the elevator without wasting, in a first aspect, the invention provides a robot elevator calling method, which comprises the following steps:
acquiring second task information of a second robot in the target floor under the condition that the first robot prepares to call the target elevator at the target floor;
acquiring first task information of the first robot;
and determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder.
Optionally, determining a ladder calling scheme of the first robot based on the first task information and the second task information includes:
determining elevator riding direction information of the first robot and the second robot according to the first task information and the second task information;
and controlling the first robot to wait for the elevator to be lifted together with the second robot when the elevator lifting direction information is in the same direction.
Optionally, the method further comprises:
acquiring the longest waiting time of the first robot according to the first task information;
acquiring the current task residual duration of the second robot according to the second task information;
and controlling the first robot to call the ladder immediately under the condition that the residual time of the current task is longer than the longest waiting time.
Optionally, the method further comprises:
acquiring the residual space information of the target elevator under the condition that the residual time length of the current task is longer than the longest waiting time length;
acquiring first size information of the first robot and second size information of the second robot;
and controlling the first robot to call the elevator immediately when the remaining space information is larger than the first size information and smaller than the sum of the first size information and the second size information.
Optionally, the method further comprises:
acquiring real-time floor information of the target elevator when the residual space information is larger than the sum of the first size information and the second size information;
determining the arrival time of the target elevator according to the real-time floor information;
and determining a ladder calling scheme of the first robot based on the target elevator arrival time and the current task remaining time.
Optionally, the determining the elevator calling time based on the target elevator arrival time and the current task remaining time includes:
and controlling the first robot to call the elevator immediately under the condition that the difference between the arrival time of the target elevator and the residual time of the current task is smaller than or equal to a preset time.
Optionally, the method further comprises:
controlling the first robot to call the elevator immediately under the condition that the residual space information is the empty car size;
when the target elevator reaches the target floor, the target elevator is controlled to wait for the first robot and the second robot to take the elevator together.
In a second aspect, the present invention further provides a robot ladder calling device, including:
a first acquisition unit configured to acquire second task information of a second robot in a target floor in a case where the first robot prepares to call the target elevator at the target floor;
a second acquiring unit configured to acquire first task information of the first robot;
and the determining unit is used for determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder.
In a third aspect, an electronic device, comprising: the robot ladder calling method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor is used for realizing the steps of the robot ladder calling method according to any one of the first aspects when executing the computer program stored in the memory.
In a fourth aspect, the present invention also proposes a computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the robot ladder method of any of the first aspects.
In summary, the robot ladder calling method provided by the embodiment of the application comprises the following steps: acquiring second task information of a second robot in the target floor under the condition that the first robot prepares to call the target elevator at the target floor; acquiring first task information of the first robot; and determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder. According to the method provided by the embodiment of the invention, under the condition that the first robot finishes the current task and prepares to call the target elevator, the first task information corresponding to the first robot and the second task information corresponding to the second robot on the same floor are obtained, and whether the subsequent tasks of the first robot and the second robot are in the same direction is determined according to the first task information and the second task information, so that targeted schemes of immediately calling and waiting for calling can be made according to different conditions, the number of times of calling can be effectively reduced, the operation pressure of the elevator is relieved, and the scheme of calling the elevator by the robot is optimized.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a robot ladder calling method provided in an embodiment of the present application;
fig. 2 is a ladder calling device of a robot provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a robot ladder calling electronic device provided in an embodiment of the present application.
Detailed Description
According to the method provided by the embodiment of the invention, under the condition that the first robot finishes the current task and prepares to call the target elevator, the first task information corresponding to the first robot and the second task information corresponding to the second robot on the same floor are obtained, and whether the subsequent tasks of the first robot and the second robot are in the same direction is determined according to the first task information and the second task information, so that targeted schemes of immediately calling and waiting for calling can be made according to different conditions, the number of times of calling can be effectively reduced, the operation pressure of the elevator is relieved, and the scheme of calling the elevator by the robot is optimized.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application.
Referring to fig. 1, a schematic flow chart of a robot ladder calling method in an embodiment of the application is shown, where the method includes:
s110, acquiring second task information of a second robot in a target floor under the condition that the first robot prepares to call the target elevator at the target floor;
the first robot is a robot which completes tasks at a target floor and prepares to call the target elevator to go to other floors, and when the first robot prepares to call the target elevator, second task information of a second robot which is the same floor as the first robot is acquired, the second robot is the other robots except the first robot in the target floor, and the second task information is task information corresponding to the second robot. The number of the second robots may be one or a plurality of.
S120, acquiring first task information of the first robot;
exemplary, first task information corresponding to the first robot is obtained. The first task information and the second task information may be acquired simultaneously, may be acquired separately, and may be acquired by a server corresponding to the first robot and the second robot, or may be acquired by the first robot.
S130, determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder.
Illustratively, a ladder calling scheme of the first robot is determined according to the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder (i.e. not immediately calling the ladder). Specifically, the subsequent task conditions of the first robot and the second robot can be determined according to the first task information and the second task information, if tasks in the same direction exist, and the first robot can be controlled to make an operation of waiting for calling a ladder under the condition that the first robot can wait, the second robot and the first robot can jointly take a target elevator waiting for waiting, the calling frequency can be reduced, and the operation pressure of the elevator is relieved. When the second robot and the subsequent task of the first robot are different in direction, or the second robot does not exist in the target floor, the first robot is controlled to call the ladder immediately, and the task is continuously executed.
In summary, in the method provided by the embodiment of the application, under the condition that the first robot finishes the current task and prepares to call the target elevator, the first task information corresponding to the first robot and the second task information corresponding to the second robot on the same floor are acquired, and whether the subsequent tasks of the first robot and the second robot are in the same direction is determined according to the first task information and the second task information, so that the targeted schemes of immediately calling and waiting for calling can be made according to different conditions, the number of times of calling can be effectively reduced, the operation pressure of the elevator is relieved, and the scheme of calling the elevator by the robot is optimized.
In some examples, determining the ladder calling scheme of the first robot based on the first task information and the second task information includes:
determining elevator riding direction information of the first robot and the second robot according to the first task information and the second task information;
and controlling the first robot to wait for the elevator to be lifted together with the second robot when the elevator lifting direction information is in the same direction.
The first robot and the second robot are respectively moved in the directions including ascending and descending after the tasks corresponding to the target floors are completed according to the acquired first task information and second task information, and if the elevator taking directions of the two robots are the same, the first robot is controlled to wait for calling an elevator until the second robot completes the tasks corresponding to the floors, and then the elevator is called, so that the first robot and the second robot take the elevator together, the calling times are reduced, and the running resources of the elevator are saved.
In summary, according to the embodiment, by acquiring the elevator riding directions of the first robot and the second robot, when the elevator riding directions are the same, the first robot is controlled to wait for calling an elevator, and after the second robot finishes a task, the first robot and the second robot call the elevator together, so that the number of calls can be reduced, and the running resources of the elevator can be saved.
In some examples, the above method further comprises:
acquiring the longest waiting time of the first robot according to the first task information;
acquiring the current task residual duration of the second robot according to the second task information;
and controlling the first robot to call the ladder immediately under the condition that the residual time of the current task is longer than the longest waiting time.
For example, in order not to affect the first robot to complete the corresponding task on time, when the first robot prepares to call the ladder, the longest waiting duration corresponding to the time limit of completing the task is obtained according to the first task information. And acquiring the residual time length of the current task of the second robot according to the second task information, wherein the current task is the task corresponding to the target floor. If the current task remaining time is longer than the longest waiting time, the first robot is controlled to call the ladder immediately, namely if the first robot waits for the second robot to finish the task and take the ladder together, the time limit of the task is delayed.
In summary, the embodiment determines the ladder calling strategy by acquiring the longest waiting duration of the first robot and the current task remaining duration of the second robot, so that the time limit of the first robot to finish the task can be effectively ensured.
In some examples, the above method further comprises:
acquiring the residual space information of the target elevator under the condition that the residual time length of the current task is longer than the longest waiting time length;
acquiring first size information of the first robot and second size information of the second robot;
and controlling the first robot to call the elevator immediately when the remaining space information is larger than the first size information and smaller than the sum of the first size information and the second size information.
For example, if the current remaining time period is longer than the longest waiting time period, i.e., the first robot may wait for the second robot to take the ladder together, and taking the ladder together will not affect the time limit for the first robot to complete the task. However, at this time, there may be a case where the first robot and the second robot cannot be simultaneously accommodated in the elevator, and thus, in the case where the current remaining time period is longer than the longest waiting time period, the first size information of the first robot and the second size information of the second robot are acquired, and the remaining space information in the target elevator is acquired, and when the remaining space information is greater than the first size information and less than the sum of the first size information and the second size information, that is, the current target elevator cannot allow the two robots to simultaneously enter, the first robot is controlled to call the elevator immediately.
In summary, according to the method of the embodiment, on the premise that the waiting time of the first robot allows, the residual space information of the target elevator is obtained, so that the phenomenon that two robots cannot enter the elevator at the same time can be effectively avoided.
In some examples, the above method further comprises:
acquiring real-time floor information of the target elevator when the residual space information is larger than the sum of the first size information and the second size information;
determining the arrival time of the target elevator according to the real-time floor information;
and determining a ladder calling scheme of the first robot based on the target elevator arrival time and the current task remaining time.
The method includes the steps that when the residual space information is larger than the sum of the first size information and the second size information, namely, the space of the target elevator can allow the first robot and the second robot to enter simultaneously, real-time floor information of the target elevator is acquired at the moment, so that the arrival time of the target elevator to the target floor is determined under the condition of current elevator calling, whether the first robot calls an elevator immediately or waits for the elevator according to the arrival time of the target elevator and the current task residual time, namely, the time when the first robot calls the elevator is determined by comparing the arrival time of the target elevator and the current task residual time, the shortest elevator time of the first robot, the second robot and the like can be ensured, normal operation of the target elevator is not influenced, the progress of accelerating the completion of tasks of the first robot and the second robot is achieved, and meanwhile, operation resources of the target elevator are not wasted.
In summary, according to the method provided by the embodiment, under the condition that the two robots are allowed to enter the elevator simultaneously in the residual space of the target elevator, the elevator calling time is determined according to the real-time position of the target elevator and the residual duration of the current task, so that the purposes of saving the running resources of the target elevator and not delaying the execution of the task by the robots can be achieved.
In some examples, the determining the call time based on the target elevator arrival time and the current task remaining time includes:
and controlling the first robot to call the elevator immediately under the condition that the difference between the arrival time of the target elevator and the residual time of the current task is smaller than or equal to a preset time.
By way of example, the first robot and the second robot can be guaranteed to quickly take the elevator by setting the preset time length, namely, the first robot is controlled to call the elevator immediately under the condition that the difference between the arrival time length of the target elevator and the residual time length of the current task is smaller than or equal to the preset time length, so that the elevator waiting time of the robot can be effectively controlled, and the robot is guaranteed to complete the task on time.
In some examples, the above method further comprises:
controlling the first robot to call the elevator immediately under the condition that the residual space information is the empty car size;
when the target elevator reaches the target floor, the target elevator is controlled to wait for the first robot and the second robot to take the elevator together.
When the residual space information of the target elevator is acquired, the elevator is in an empty state, namely the residual space information is equal to the empty size of the elevator car, at the moment, the first robot is controlled to call the elevator immediately, the target elevator is controlled to stop at the target floor, and even the second robot can be waited for completing the task, because no passenger exists in the target elevator at the moment, and the waste of elevator operation resources is not caused.
In summary, in the method provided by the embodiment, under the condition that the target elevator is empty, the first robot is controlled to call the elevator immediately, after the second robot completes the task, the first robot and the second robot can take the elevator immediately to start the subsequent task, and meanwhile, the waste of elevator operation resources is not caused.
Referring to fig. 2, an embodiment of a robot ladder calling device in an embodiment of the present application may include:
a first acquiring unit 21 for acquiring second task information of a second robot in a target floor in a case where the first robot is ready to call the target elevator at the target floor;
a second acquiring unit 22, configured to acquire first task information of the first robot;
a determining unit 23, configured to determine a ladder calling scheme of the first robot based on the first task information and the second task information, where the ladder calling scheme includes an immediate ladder calling and a waiting ladder calling.
As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 511 stored in the memory 320 and capable of running on the processor, where the processor 320 implements any one of the steps of the method for robot ladder calling described above when executing the computer program 311.
Since the electronic device described in this embodiment is a device for implementing a robot ladder calling device in this embodiment, based on the method described in this embodiment, those skilled in the art can understand the specific implementation manner of the electronic device and various modifications thereof, so how to implement the method in this embodiment for this electronic device will not be described in detail herein, and as long as those skilled in the art implement the device for implementing the method in this embodiment for this purpose, the device is within the scope of protection intended by this application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Embodiments of the present application also provide a computer program product comprising computer software instructions that, when run on a processing device, cause the processing device to perform a flow of a robot ladder method as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid State Disks (SSDs)), among others.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (7)
1. The robot ladder calling method is characterized by comprising the following steps:
acquiring second task information of a second robot in the target floor under the condition that the first robot prepares to call the target elevator at the target floor;
acquiring first task information of the first robot;
determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder;
determining a ladder calling scheme of the first robot based on the first task information and the second task information, including:
determining elevator riding direction information of the first robot and the second robot according to the first task information and the second task information;
controlling the first robot to wait for calling the ladder so as to take the ladder together with the second robot under the condition that the ladder taking direction information is in the same direction;
acquiring the longest waiting time of the first robot according to the first task information;
acquiring the current task residual duration of the second robot according to the second task information;
controlling the first robot to call a ladder immediately under the condition that the residual time length of the current task is longer than the longest waiting time length;
acquiring the residual space information of the target elevator under the condition that the residual time length of the current task is longer than the longest waiting time length;
acquiring first size information of the first robot and second size information of the second robot;
and controlling the first robot to call a ladder immediately under the condition that the residual space information is larger than the first size information and smaller than the sum of the first size information and the second size information.
2. The method as recited in claim 1, further comprising:
acquiring real-time floor information of the target elevator under the condition that the residual space information is larger than the sum of the first size information and the second size information;
determining the arrival time of the target elevator according to the real-time floor information;
and determining a ladder calling scheme of the first robot based on the target elevator arrival time and the current task residual time.
3. The method of claim 2, wherein the determining a call time based on the target elevator arrival time and the current task remaining time comprises:
and controlling the first robot to call the elevator immediately under the condition that the difference between the arrival time of the target elevator and the residual time of the current task is smaller than or equal to a preset time.
4. The method as recited in claim 2, further comprising:
under the condition that the residual space information is the empty load size of the car, the first robot is controlled to call the elevator immediately;
and controlling the target elevator to wait for the first robot and the second robot to jointly take the elevator when the target elevator reaches the target floor.
5. The utility model provides a robot is called ladder device which characterized in that includes:
a first acquisition unit configured to acquire second task information of a second robot in a target floor in a case where the first robot prepares to call the target elevator at the target floor;
a second acquisition unit configured to acquire first task information of the first robot;
the determining unit is used for determining a ladder calling scheme of the first robot based on the first task information and the second task information, wherein the ladder calling scheme comprises immediately calling a ladder and waiting for calling the ladder;
determining a ladder calling scheme of the first robot based on the first task information and the second task information, including:
determining elevator riding direction information of the first robot and the second robot according to the first task information and the second task information;
controlling the first robot to wait for calling the ladder so as to take the ladder together with the second robot under the condition that the ladder taking direction information is in the same direction;
acquiring the longest waiting time of the first robot according to the first task information;
acquiring the current task residual duration of the second robot according to the second task information;
controlling the first robot to call a ladder immediately under the condition that the residual time length of the current task is longer than the longest waiting time length;
acquiring the residual space information of the target elevator under the condition that the residual time length of the current task is longer than the longest waiting time length;
acquiring first size information of the first robot and second size information of the second robot;
and controlling the first robot to call a ladder immediately under the condition that the residual space information is larger than the first size information and smaller than the sum of the first size information and the second size information.
6. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to implement the steps of the robot ladder method according to any one of claims 1-4 when executing the computer program stored in the memory.
7. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program, when executed by a processor, implements the robot ladder method of any of claims 1-4.
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