CN114988237B - Robot interactive elevator taking method and device, electronic equipment and readable storage medium - Google Patents

Robot interactive elevator taking method and device, electronic equipment and readable storage medium Download PDF

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Publication number
CN114988237B
CN114988237B CN202210681334.4A CN202210681334A CN114988237B CN 114988237 B CN114988237 B CN 114988237B CN 202210681334 A CN202210681334 A CN 202210681334A CN 114988237 B CN114988237 B CN 114988237B
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Prior art keywords
elevator
mobile robot
target
taking
interaction
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CN114988237A (en
Inventor
卢鹰
梁朋
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Uditech Co Ltd
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Uditech Co Ltd
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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
    • 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
    • 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
    • B66B1/3476—Load weighing or car passenger counting devices
    • 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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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Elevator Control (AREA)

Abstract

The application discloses a robot interaction elevator taking method, a device, electronic equipment and a readable storage medium, which are applied to a robot interaction elevator taking system, wherein the robot interaction elevator taking system comprises a mobile robot and a target elevator, and the robot interaction elevator taking method comprises the following steps: generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information; detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction; if yes, controlling the mobile robot to perform elevator riding interaction with the key panel of the target elevator through the elevator riding physical signal. The application solves the technical problem of high limitation when the mobile robot carries out autonomous elevator taking in the prior art.

Description

Robot interactive elevator taking method and device, electronic equipment and readable storage medium
Technical Field
The present application relates to the field of robot control technologies, and in particular, to a robot interactive elevator taking method, apparatus, electronic device, and readable storage medium.
Background
With the continuous progress of robotics, robots are playing an important role in more and more scenes, such as hotel meal delivery and cell delivery, etc., where robots are usually required to operate across floors by riding in elevators, so as to realize the operation across floors. At present, in general, a robot autonomously carries an elevator in a communication mode, for example, a wireless communication control module is arranged on the robot to realize information interaction with a ladder control system, and the robot and the ladder control system carry out communication information interaction through a third-party server. However, the current method of autonomous elevator riding by the robot not only increases the construction cost of the elevator control system, but also can not realize autonomous elevator riding by the robot when the robot and the elevator control system are not in a linkage state to perform information interaction in a direct or indirect mode, so that the current limitation in autonomous elevator riding by the mobile robot is high.
Disclosure of Invention
The application mainly aims to provide a robot interaction elevator taking method, a robot interaction elevator taking device, electronic equipment and a readable storage medium, and aims to solve the technical problem that in the prior art, when a mobile robot carries out autonomous elevator taking, the limitation is high.
In order to achieve the above object, the present application provides a robot interactive boarding method applied to a robot interactive boarding system, the robot interactive boarding system including a mobile robot and a target elevator, the robot interactive boarding method including:
generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information;
Detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction;
If yes, controlling the mobile robot to perform elevator riding interaction with the key panel of the target elevator through the elevator riding physical signal.
Optionally, the step-up physical signal comprises a step-up pressure signal, the key panel comprises a first key panel and a second key panel,
The step of controlling the elevator riding interaction between the mobile robot and the key panel of the target elevator through the elevator riding physical signal comprises the following steps of:
if the fact that the elevator taking indication information does not exist on the first key panel is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the first key panel is larger than a preset first pressure threshold value or not is detected;
if so, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot and the target elevator to perform elevator riding interaction through a second pressure value corresponding to an elevator riding pressure signal triggered by the mobile robot on the second key panel;
If the elevator taking indication information exists on the first key panel, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
Optionally, the controlling, by the mobile robot, the elevator riding interaction between the mobile robot and the target elevator according to the second pressure value corresponding to the elevator riding pressure signal triggered by the second key panel includes:
If the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot;
When the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
Optionally, the step-up physical signal comprises a step-up laser signal, the key panel comprises a first key panel and a second key panel,
The step of controlling the elevator riding interaction between the mobile robot and the key panel of the target elevator through the elevator riding physical signal comprises the following steps of:
if no elevator taking indication information exists on the first key panel, detecting whether the target elevator receives first interaction information corresponding to the elevator taking laser signals input by the mobile robot through the first key panel or not;
If so, after the mobile robot is detected to enter the car of the target elevator, receiving second interaction information corresponding to the elevator taking laser signals input by the mobile robot through the second key panel;
And controlling the target elevator to go to a target floor according to the first interaction information and the second interaction information so as to control the mobile robot and the target elevator to finish elevator taking interaction.
Optionally, the step-up instruction comprises a first step-up instruction and a second step-up instruction,
The step of detecting whether the target elevator generates an elevator riding physical signal triggered by the physical operation of the mobile robot according to the elevator riding instruction comprises the following steps of:
controlling the mobile robot to move out of the car of the target elevator according to the first elevator taking instruction;
controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;
And detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.
Optionally, the robot interaction elevator taking method further comprises the following steps:
acquiring a relative positional relationship between the mobile robot and the car of the target elevator when the car door of the target elevator is detected to be in an open state;
if the relative position relationship is a first relative position relationship, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;
And if the relative position relationship is a second relative position relationship, determining whether to generate a second control instruction for controlling the mobile robot according to the size relationship between the occupied area of the mobile robot and the empty car area corresponding to the target elevator.
Optionally, before the step of generating the elevator taking instruction for controlling the mobile robot to take the target elevator according to the obtained elevator taking information, the robot interaction elevator taking method further includes:
Acquiring the type of a robot of the mobile robot;
If the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to the elevator taking information after detecting that the first type mobile robot receives the elevator taking information;
And if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.
In order to achieve the above object, the present application also provides a robot interactive boarding device applied to a robot interactive boarding system including a mobile robot and a target elevator, the robot interactive boarding device comprising:
The generation module is used for generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information;
the detection module is used for detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction;
and the control module is used for controlling the mobile robot and the key panel of the target elevator to carry out elevator riding interaction through the elevator riding physical signal if the elevator riding physical signal is the same.
Optionally, the control module is further configured to:
if the fact that the elevator taking indication information does not exist on the first key panel is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the first key panel is larger than a preset first pressure threshold value or not is detected;
if so, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot and the target elevator to perform elevator riding interaction through a second pressure value corresponding to an elevator riding pressure signal triggered by the mobile robot on the second key panel;
If the elevator taking indication information exists on the first key panel, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
Optionally, the control module is further configured to:
If the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot;
When the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
Optionally, the control module is further configured to:
If the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot;
When the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
Optionally, the step-up instruction includes a first step-up instruction and a second step-up instruction, and the detection module is further configured to:
controlling the mobile robot to move out of the car of the target elevator according to the first elevator taking instruction;
controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;
And detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.
Optionally, the robot interaction boarding device is further configured to:
acquiring a relative positional relationship between the mobile robot and the car of the target elevator when the car door of the target elevator is detected to be in an open state;
if the relative position relationship is a first relative position relationship, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;
And if the relative position relationship is a second relative position relationship, determining whether to generate a second control instruction for controlling the mobile robot according to the size relationship between the occupied area of the mobile robot and the empty car area corresponding to the target elevator.
Optionally, the robot interaction boarding device is further configured to:
Acquiring the type of a robot of the mobile robot;
If the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to the elevator taking information after detecting that the first type mobile robot receives the elevator taking information;
And if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.
The application also provides an electronic device comprising: the system comprises a memory, a processor and a program of the robot interaction elevator-taking method, wherein the program of the robot interaction elevator-taking method is stored in the memory and can run on the processor, and the program of the robot interaction elevator-taking method can realize the steps of the robot interaction elevator-taking method when being executed by the processor.
The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a program for realizing the robot interaction elevator taking method, and the program for realizing the robot interaction elevator taking method realizes the steps of the robot interaction elevator taking method when being executed by a processor.
The application also provides a computer program product comprising a computer program which when executed by a processor implements the steps of the robot interaction boarding method as described above.
Compared with the prior art, the application firstly generates the elevator taking instruction for controlling the mobile robot to take the target elevator according to the acquired elevator taking information, the purpose of controlling the mobile robot to take the elevator can be achieved, whether the target elevator generates the elevator taking physical signal triggered by the physical operation of the mobile robot or not is detected according to the elevator taking instruction, and if so, elevator taking interaction is carried out between the mobile robot and the key panel of the target elevator through the elevator taking physical signal, namely, the elevator taking interaction can be carried out between the target elevator and the mobile robot through the elevator taking physical signal, and further, the purpose of carrying out elevator taking interaction between the mobile robot and the key panel of the target elevator through the elevator taking physical signal can be achieved, namely, even if a elevator control system and the mobile robot are not in a state, the mobile robot can also independently carry the elevator, the defects of the prior art are overcome, and the elevator taking interaction is further realized through the elevator taking control system and the mobile robot, and the elevator taking interaction is further reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic flow chart of a first embodiment of a robot interactive elevator riding method of the present application;
FIG. 2 is a schematic view of a portion of a second key panel in the robot interactive stair riding method of the present application;
FIG. 3 is a schematic flow chart of a second embodiment of the robot interactive elevator riding method of the present application;
fig. 4 is a schematic device structure diagram of a hardware operation environment related to a robot interactive ladder riding method in an embodiment of the application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the following description of the embodiments accompanied with the accompanying drawings will be given in detail. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Firstly, it should be understood that, for the mobile robot, if the mobile robot needs to independently take an elevator, the elevator needs to be modified in general, so that the mobile robot can directly send an elevator taking instruction to an elevator control system through wireless modes such as WIFI, loRa or 4G/5G, and finally the elevator identifies floors in real time, so that the mobile robot can independently take an elevator. However, due to the high cost of modifying the elevator, the control system of many elevators cannot meet the requirement of elevator taking interaction with the mobile robot, that is, the mobile robot and the elevator control system of the elevator are not in a linkage state, and further the mobile robot cannot realize autonomous elevator taking, so that the current limitation of the mobile robot in autonomous elevator taking is high.
The embodiment of the application provides a robot interaction elevator taking method which is applied to a robot interaction elevator taking system. In a first embodiment of the robot-interaction-based boarding method of the present application, referring to fig. 1, the robot-interaction-based boarding method includes:
Step S10, generating a boarding instruction for controlling the mobile robot to ride the target elevator according to the obtained boarding information;
Step S20, detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction;
And step S30, if yes, controlling the mobile robot and the key panel of the target elevator to carry out elevator riding interaction through the elevator riding physical signal.
In this embodiment, the mobile robot is an intelligent robot that is provided with a multi-axis mechanical arm and performs a cross-floor operation, and may be a dispensing robot, a sterilizing robot, a cleaning robot, or the like. The elevator riding information is used for representing that the mobile robot needs to carry out cross-floor operation through taking an elevator, and comprises one or more pieces of floor information which can be specifically input by a user through a display panel of the mobile robot or operation information which can be sent to the mobile robot for a third party platform. In one embodiment, the mobile robot is a delivery robot located in a first floor hall, and the elevator information may be "601", that is, the mobile robot needs to travel to a second floor by taking an elevator to provide delivery service for a user with a room number of "601". The elevator taking information can also be "full floor cleaning", that is, the mobile robot can finish cleaning from one floor to the top floor according to a preset cleaning path.
The target elevator is one elevator selected by the mobile robot from the elevator group corresponding to the elevator taking information to perform the operation of crossing floors. In one implementation, assuming that the mobile robot is performing a delivery task on building a, when a service for delivering a user characterized as building B, i.e. building 302, is received, the target elevator is one elevator selected by the mobile robot from elevator groups of building B for performing a cross-floor operation, wherein one or more elevator groups of building B may be selected, and when there are multiple elevator groups of building B, the mobile robot selects the nearest elevator group according to the distance to select the target elevator.
Additionally, the elevator taking instruction is used for instructing the robot to take an elevator according to the elevator taking information, specifically, the elevator taking instruction is sent by a control chip of the mobile robot, and the elevator taking instruction can comprise a first elevator taking instruction and a second elevator taking instruction. The elevator taking interaction mode can be a mode of signal interaction between a key panel of a target elevator and a mechanical arm of a mobile robot, and the elevator taking physical signal is load information and physical media representing symbols, states and marks of the information, and can be specifically a pressure signal or a laser signal and the like.
As an example, steps S10 to S30 include: acquiring elevator taking information input by a user through a display panel of the mobile robot, and generating an elevator instruction for controlling the mobile robot to take the target elevator according to the elevator taking information; detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction; and if the target elevator is detected to generate an elevator-taking physical signal triggered by the physical operation of the mobile robot, controlling the mobile robot and the key panel of the target elevator to perform elevator-taking interaction through the elevator-taking physical signal.
In one embodiment, if it is detected that the target elevator is not generating an elevator riding physical signal triggered by the physical operation of the mobile robot, the target elevator is controlled to operate in a current state.
Wherein, take advantage of ladder physical signal and include taking advantage of ladder pressure signal, the button panel includes first button panel and second button panel, through take advantage of ladder physical signal control mobile robot with take advantage of the step of ladder interaction between the button panel of target elevator includes:
Step A10, if no elevator taking indication information exists on the first key panel, detecting whether a first pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the first key panel is larger than a preset first pressure threshold value or not;
Step A20, if yes, after detecting that the mobile robot enters the car of the target elevator, controlling the mobile robot and the target elevator to perform elevator riding interaction through a second pressure value corresponding to an elevator riding pressure signal triggered by the mobile robot on the second key panel;
And step A30, if the elevator taking indication information is detected to exist on the first key panel, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
In this embodiment, it should be noted that the boarding pressure signal is used to characterize the pressure provided by the mobile robot to the target elevator, where the pressure providing manner may specifically be touch extrusion or space-apart extrusion. The key panel comprises a first key panel and a second key panel. The first key panel is an elevator outbound key panel and is used for calling a target elevator to reach the floor where the mobile robot is located. The second key panel is an elevator inward call key panel and is used for indicating that the target elevator is going to a floor where the mobile robot wants to reach. For example, referring to fig. 2, fig. 2 is a schematic diagram showing a portion of the second key panel, and when the mechanical arm of the mobile robot is controlled to generate a pressure interaction signal on the floor indication key "4" in the second key panel, the target elevator is controlled to reach the floor 4.
Additionally, it should be noted that, the elevator-taking instruction information is information indicating that the target elevator goes up or down after the previous operation step is completed, for example, in one implementation manner, assuming that the previous operation step of the target elevator goes from floor 2 to floor 6, the floor where the mobile robot is located is floor 3, the elevator-taking information is used for characterizing the operation information of the cross floor from floor 3 to floor 1, when the indicator light of the "down key" of the outbound elevator key panel is turned on, the elevator-taking instruction information is determined to be information indicating that the target elevator goes down after the previous operation step is completed, and when the indicator lights of the "up key" and the "down key" of the outbound elevator key panel are not turned on, the indicator light of the "up key" or the "down key" can be turned on by controlling the mobile robot to generate the elevator-taking pressure signal.
Additionally, it should be noted that the first pressure value is a pressure value extruded by the mobile robot on the outbound elevator key panel, the preset first pressure threshold is used for distinguishing whether the elevator taking indication information is generated, and the second pressure value and the third pressure value are both pressure values extruded by the mobile robot on the inbound elevator key panel, where the second pressure value and the third pressure value may be the same or different and are only used for distinguishing whether the elevator taking indication information exists on the first key panel.
As an example, steps a10 to a30 include: if the fact that the elevator taking indication information does not exist in the outbound elevator key panel of the target elevator is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the outbound elevator key panel of the mobile robot is larger than a preset first pressure threshold value or not is detected; if the first pressure value is larger than a preset first pressure threshold value, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot to perform elevator riding interaction with the target elevator through a second pressure value corresponding to an elevator riding pressure signal triggered by the mobile robot on the second key panel; if the elevator taking indication information exists on the outbound elevator key panel, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
The method for detecting whether the target elevator has elevator taking indication information or not and the method for detecting whether the mobile robot enters the car of the target elevator can be a method for acquiring through a camera of the mobile robot and performing image recognition.
Wherein, through the mobile robot at the second pressure value that the elevator taking pressure signal that the second button panel triggered corresponds, control the mobile robot with take advantage of the ladder interaction between the target elevator, include:
Step B10, if the fact that a second pressure value corresponding to a target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key which indicates the mobile robot to reach on the second key panel;
And step B20, when the condition that the elevator car of the target elevator is in an elevator taking interaction state is detected, controlling the target elevator to go to a target floor according to the target floor information so as to control the mobile robot and the target elevator to complete elevator taking interaction.
In this embodiment, it should be noted that, since the user can accurately determine the indication information of the floor indication key through the nervous system of the brain when pressing the floor indication key, but the mobile robot lacks a logic analysis capability, different pressure values above the trigger pressure values can be set for the floor indication key in the second key panel, where the trigger pressure values are preset second pressure thresholds, that is, the pressure values of the floors corresponding to the floor indication key are triggered to execute the target elevator. For example, in one implementation, assuming that the floor indication keys of the second key panel include "C", "D", "E", and "F", the corresponding mobile robots are able to trigger the boarding pressure values "C", "D", "E", and "F", and the user is able to trigger the boarding pressure values "g", the "C", "D", "E", and "F" are all greater than "g" and different from each other.
In another embodiment, when it is detected that the first pressure value corresponding to the elevator taking pressure signal triggered by the first key panel by the mobile robot is greater than a preset first pressure threshold, that is, the mobile robot needs to take an elevator through the first key panel, at this time, the trigger pressure threshold is reset for the target floor indication key to which the mobile robot needs to go, and the reset trigger pressure threshold corresponds to a unique interaction password between the target elevator and the mobile robot. When the mobile robot presses the target floor indication key on the second key panel and the pressed pressure value is equal to the trigger pressure threshold value after reset, triggering control is carried out, and the target elevator runs to the floor indicated by the target floor indication key. Otherwise, the control instruction of the target floor indication key is not triggered at the target elevator. Therefore, an interactive password is arranged between the target elevator and the mobile robot, so that the situation that the target elevator runs to the wrong floor due to the fact that the mobile robot mistakenly presses other wrong keys is avoided, and the riding efficiency is low.
Further, after detecting that the mobile robot enters the car of the target elevator, the trigger pressure threshold is reset for the target floor indicator to which the mobile robot is going. The reset trigger pressure threshold may be randomly generated, or one of a plurality of preset pressure values may be randomly selected as the reset trigger pressure threshold.
Additionally, it should be noted that the destination floor indication key is a floor key on the second key panel for indicating that the mobile robot is to reach, the destination floor information is used for indicating a floor to reach of the mobile robot, the elevator taking interaction state is used for indicating that the mobile robot is located in the destination elevator, and the elevator control module of the destination elevator generates a control instruction to control the elevator to operate.
As an example, steps B10 to B20 include: if the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot; when the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
The step of detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction comprises the following steps of:
step C10, controlling the mobile robot to move out of the car of the target elevator according to the first elevator taking instruction;
Step C20, controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;
and step C30, detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.
In this embodiment, it should be noted that, the first elevator taking instruction is configured to control the mobile robot to move on a flat floor, specifically, to move to a preset elevator waiting area outside the car of the target elevator, where the elevator waiting area may be a reasonable area for waiting for the target elevator. For example, in one embodiment, assuming that the mobile robot is located in front of a door having a room number of "301", the first boarding command is a command to control the mobile robot to move from "301" to a preset area outside the car of the target elevator. The second elevator riding instruction is used for controlling the mobile robot to trigger physical operation. The physical operation is triggered by the main control chip of the mobile robot according to the received second elevator taking instruction, specifically, the physical operation can be triggered by the projection device of the mobile robot, also can be triggered by the pressing device of the mobile robot, and the pressing device can be specifically a mechanical arm. And if the projection device of the mobile robot is triggered, the physical operation is to move the projection device of the mobile robot into a recognizable area of the identifier of the key panel so that the identifier of the key panel can identify the elevator-taking interaction information carried in the projection device, and if the projection device of the mobile robot is triggered, the physical operation is to press the key panel by the pressing device of the mobile robot.
As an example, steps C10 to C30 include: generating a first elevator taking instruction based on a main control chip of the mobile robot, and controlling the mobile robot to move to a preset waiting area outside a car of the target elevator according to the first elevator taking instruction; generating a second elevator taking instruction based on a main control chip of the mobile robot, and controlling the mobile robot to trigger physical operation according to the second elevator taking instruction; and detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.
The robot interaction elevator taking method further comprises the following steps:
step D10, when the car door of the target elevator is detected to be in an open state, acquiring the relative position relationship between the mobile robot and the car of the target elevator;
step D20, if the relative position relationship is a first relative position relationship, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;
And D30, if the relative position relationship is a second relative position relationship, determining whether to generate a second control instruction for controlling the mobile robot according to the size relationship between the occupied area of the mobile robot and the empty car area corresponding to the target elevator.
In this embodiment, the first relative positional relationship is used to characterize that the mobile robot is located in the car of the target elevator. The second relative positional relationship is used to characterize the mobile robot as being located outside of the car of the target elevator. The first control command is a control command for controlling the mobile robot to move outside the car of the target elevator. The second control command is a control command for controlling the mobile robot to move into the car of the target elevator. The area of the empty car is the area of continuous idle space in the car, and the occupied area of the mobile robot is the area of a chassis of the robot.
As an example, steps D10 to D30 include: acquiring a relative positional relationship between the mobile robot and the car of the target elevator when the car door of the target elevator is detected to be in an open state; if the relative position relationship is that the mobile robot is located in the car of the target elevator, when the stop floor of the target elevator is detected to be the target floor, determining to generate a control command for controlling the mobile robot to move out of the car of the target elevator, and when the stop floor of the target elevator is detected to be not the target floor, determining not to generate a control command for controlling the mobile robot to move out of the car of the target elevator; and if the relative position relationship is that the mobile robot is located outside the car of the target elevator, generating a second control instruction for controlling the mobile robot to move into the car when the occupied area of the mobile robot is smaller than the empty car area corresponding to the target elevator.
Before the step of generating the elevator taking instruction for controlling the mobile robot to take the target elevator according to the acquired elevator taking information, the robot interaction elevator taking method further comprises the following steps:
Step E10, acquiring the type of the robot of the mobile robot;
Step E20, if the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to the elevator taking information after detecting that the first type mobile robot receives the elevator taking information;
and E30, if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.
In this embodiment, it should be noted that, the mobile robot type includes a first type mobile robot and a second type mobile robot, the first type robot is a mobile robot connected with the cloud communication, the second type robot is a mobile robot not connected with the cloud communication, when the mobile robot is connected with the cloud communication, the mobile robot can be reserved for selecting a ladder through information interaction, so as to improve the efficiency of the mobile robot interaction for taking the ladder, when the mobile robot is not connected with the cloud communication, the mobile robot can only identify through the main control chip after reaching the elevator group, so as to select a target elevator in the target elevator group.
As an example, steps E10 to E30 include: acquiring the type of a robot of the mobile robot; if the mobile robot is a first type mobile robot, after detecting that the first type mobile robot receives elevator taking information, controlling the first type mobile robot to send the extracted position information of the elevator taking information to a cloud end, so that the cloud end sends elevator selecting information for selecting a target elevator in a target elevator group to the first type mobile robot according to the position information; and if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator from the target elevator group according to the elevator taking information after moving to the target elevator group.
Compared with the prior art, the method for interactively taking the elevator by the robot provided by the embodiment of the application has the advantages that firstly, an elevator taking instruction for controlling the mobile robot to take the target elevator is generated according to the obtained elevator taking information, the purpose of controlling the mobile robot to take the elevator can be achieved, and then, according to the elevator taking instruction, whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot or not is detected, and if so, the elevator taking interaction is carried out between the mobile robot and the key panel of the target elevator through the elevator taking physical signal, namely, the elevator taking physical signal can be transmitted between the target elevator and the mobile robot, and further, the purpose of carrying out the elevator taking interaction between the mobile robot and the key panel of the target elevator through the elevator taking physical signal can be achieved, namely, even if the elevator control system and the mobile robot are not in a linkage state, the mobile robot can be independently loaded with the elevator, and therefore, the defects of realizing the elevator taking interaction by the elevator taking system and the mobile robot through the elevator taking physical signal in the linkage state in the prior art are overcome, and the limitation of the autonomous elevator taking is realized.
Example two
Further, referring to fig. 3, in another embodiment of the present application, the same or similar contents as those of the first embodiment may be referred to the description above, and will not be repeated. On the basis, the elevator taking physical signal comprises an elevator taking laser signal, the key panel comprises a first key panel and a second key panel, and the step of controlling elevator taking interaction between the mobile robot and the key panel of the target elevator through the elevator taking physical signal comprises the following steps of:
Step F10, if no elevator taking indication information exists on the first key panel, detecting whether the target elevator receives first interaction information corresponding to the elevator taking laser signals input by the mobile robot through the first key panel or not;
Step F20, if yes, after the mobile robot is detected to enter the car of the target elevator, receiving second interaction information corresponding to the elevator taking laser signals input by the mobile robot through the second key panel;
And F30, controlling the target elevator to go to a target floor according to the first interaction information and the second interaction information so as to control the mobile robot and the target elevator to finish elevator riding interaction.
In this embodiment, it should be noted that, by setting the identifier on the key panel of the target elevator and setting the projection device for projecting the laser signal at the end of the mechanical arm of the mobile robot, for example, in one implementation manner, the projection device of the mobile robot is controlled to project the laser signal, the laser signal carries the target floor information to which the mobile robot is going, and the identifier on the key panel identifies the target floor information of the mobile robot by acquiring the laser signal and sends the target floor information to the target elevator, so as to implement the laser interaction between the mobile robot and the target elevator. The first interaction information is first elevator taking indication information corresponding to an elevator taking laser signal which is input on an outbound elevator key panel by the mobile robot. The first elevator riding indication information is used for indicating information that the mobile robot needs to ride on an elevator. The second interaction information is second elevator taking indication information corresponding to the elevator taking laser signals and used for controlling the mobile robot to input the elevator taking laser signals into an elevator calling key panel. The second boarding indication information is used for indicating destination floor information to be reached by the mobile robot.
As an example, steps F10 to F30 include: if no elevator taking indication information exists on the first key panel, detecting whether the target elevator receives first interaction information corresponding to the elevator taking laser signals input by the mobile robot through the first key panel or not; if the target elevator receives first interaction information input by the mobile robot on a first key panel, after detecting that the mobile robot enters a car of the target elevator, receiving second interaction information corresponding to the elevator taking laser signals input by the mobile robot through a second key panel; and controlling the mobile robot and the target elevator to finish elevator riding interaction through the first interaction information and the second interaction information.
In an embodiment, if it is detected that the elevator taking instruction information exists on the first key panel, the mobile robot is controlled to take an elevator in a preset elevator taking area of the target elevator.
In another implementation manner, if the target elevator does not receive the first interaction information input by the mobile robot on the first key panel, after detecting that the mobile robot inputs the second interaction information on the second key panel, the target elevator and the mobile robot are still controlled to complete the elevator riding interaction.
The embodiment of the application provides a robot elevator riding interaction control method, namely, firstly, if no elevator riding indication information exists on a first key panel, whether a target elevator receives first interaction information corresponding to an elevator riding laser signal input by a mobile robot through the first key panel is detected, and if so, after the mobile robot is detected to enter a car of the target elevator, second interaction information corresponding to the elevator riding laser signal input by the mobile robot through a second key panel is received; and further controlling the target elevator to go to a target floor according to the first interaction information and the second interaction information so as to control the mobile robot and the target elevator to finish elevator taking interaction. The information interaction between the mobile robot and the target elevator can be completed only through the elevator-taking laser signals, so that the purpose of the mobile robot for carrying out cross-floor operation is achieved, the technical defect that the robot cannot independently take an elevator when the robot and the elevator control system are not in a linkage state in the prior art is overcome, meanwhile, the service life of a key panel of the elevator is prolonged due to the characteristic that the laser signals can be transmitted at intervals, and therefore a foundation is laid for reducing the limitation of the mobile robot for carrying out independent elevator-taking.
Example III
The embodiment of the application also provides a robot interaction elevator taking device which is applied to a robot interaction elevator taking system, wherein the robot interaction elevator taking system comprises a mobile robot and a target elevator, and the robot interaction elevator taking device comprises:
The generation module is used for generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information;
the detection module is used for detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction;
and the control module is used for controlling the mobile robot and the key panel of the target elevator to carry out elevator riding interaction through the elevator riding physical signal if the elevator riding physical signal is the same.
Optionally, the control module is further configured to:
if the fact that the elevator taking indication information does not exist on the first key panel is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the first key panel is larger than a preset first pressure threshold value or not is detected;
if so, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot and the target elevator to perform elevator riding interaction through a second pressure value corresponding to an elevator riding pressure signal triggered by the mobile robot on the second key panel;
If the elevator taking indication information exists on the first key panel, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
Optionally, the control module is further configured to:
If the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot;
When the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
Optionally, the control module is further configured to:
If the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot;
When the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
Optionally, the step-up instruction includes a first step-up instruction and a second step-up instruction, and the detection module is further configured to:
controlling the mobile robot to move out of the car of the target elevator according to the first elevator taking instruction;
controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;
And detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.
Optionally, the robot interaction boarding device is further configured to:
acquiring a relative positional relationship between the mobile robot and the car of the target elevator when the car door of the target elevator is detected to be in an open state;
if the relative position relationship is a first relative position relationship, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;
And if the relative position relationship is a second relative position relationship, determining whether to generate a second control instruction for controlling the mobile robot according to the size relationship between the occupied area of the mobile robot and the empty car area corresponding to the target elevator.
Optionally, the robot interaction boarding device is further configured to:
Acquiring the type of a robot of the mobile robot;
If the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to the elevator taking information after detecting that the first type mobile robot receives the elevator taking information;
And if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.
The robot interaction ladder riding device provided by the invention adopts the robot interaction ladder riding method in the embodiment, and solves the technical problem of high limitation when a mobile robot carries out autonomous ladder riding. Compared with the prior art, the beneficial effects of the robot interaction stair riding device provided by the embodiment of the invention are the same as those of the robot interaction stair riding method provided by the embodiment, and other technical features of the robot interaction stair riding device are the same as those disclosed by the method of the embodiment, so that redundant description is omitted.
Example IV
The embodiment of the invention provides electronic equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the robot interactive boarding method in the first embodiment.
Referring now to fig. 4, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 4, the electronic device may include a processing means (e.g., a central processing unit, a graphic processor, etc.), which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from the storage means into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.
In general, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid Crystal Displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disk, etc.; a communication device. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by a processing device.
The electronic equipment provided by the invention adopts the robot interaction elevator taking method in the embodiment, and solves the technical problem of high limitation when the mobile robot takes an elevator independently. Compared with the prior art, the beneficial effects of the electronic equipment provided by the embodiment of the invention are the same as those of the robot interaction elevator-taking method provided by the embodiment, and other technical features in the electronic equipment are the same as those disclosed by the method of the embodiment, so that the description is omitted herein.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Example five
The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for executing the robot-interactive boarding method in the above-described embodiments.
The computer readable storage medium according to the embodiments of the present invention may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The above-described computer-readable storage medium may be contained in an electronic device; or may exist alone without being assembled into an electronic device.
The computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information; detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction; if yes, controlling the mobile robot to perform elevator riding interaction with the key panel of the target elevator through the elevator riding physical signal.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The computer readable storage medium provided by the invention stores the computer readable program instructions for executing the robot interaction elevator taking method, and solves the technical problem of high limitation when the mobile robot takes an elevator independently. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the invention are the same as those of the robot interaction ladder-taking method provided by the embodiment, and are not repeated here.
Example six
The application also provides a computer program product comprising a computer program which when executed by a processor implements the steps of the robot interaction boarding method as described above.
The computer program product provided by the application solves the technical problem of high limitation when the mobile robot performs autonomous elevator taking. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the application are the same as those of the robot interaction ladder riding method provided by the embodiment, and the description is omitted here.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein, or any application, directly or indirectly, within the scope of the application.

Claims (9)

1. The robot interaction elevator taking method is characterized by being applied to a robot interaction elevator taking system, wherein the robot interaction elevator taking system comprises a mobile robot and a target elevator, and the robot interaction elevator taking method comprises the following steps of:
generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information;
Detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction;
If the target elevator generates an elevator-taking physical signal triggered by the physical operation of the mobile robot, controlling the mobile robot and a key panel of the target elevator to perform elevator-taking interaction through the elevator-taking physical signal;
Wherein, take advantage of ladder physical signal and include taking advantage of ladder pressure signal, the button panel includes first button panel and second button panel, through take advantage of ladder physical signal control mobile robot with take advantage of the step of ladder interaction between the button panel of target elevator includes:
if the fact that the elevator taking indication information does not exist on the first key panel is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the first key panel is larger than a preset first pressure threshold value or not is detected; if the first pressure value corresponding to the elevator taking pressure signal triggered by the first key panel by the mobile robot is greater than a preset first pressure threshold, resetting the trigger pressure threshold for a target floor indication key to which the mobile robot is going, after detecting that the mobile robot enters the car of the target elevator, controlling elevator taking interaction between the mobile robot and the target elevator through the second pressure value corresponding to the elevator taking pressure signal triggered by the second key panel by the mobile robot, wherein the elevator taking interaction comprises the following steps: when the mobile robot extrudes the target floor indication key on the second key panel and the extruded pressure value is equal to the reset trigger pressure threshold, triggering and controlling the target elevator to run to the floor indicated by the target floor indication key, otherwise, not triggering a control instruction to the target floor indication key by the target elevator;
If the elevator taking indication information exists on the first key panel, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
2. The robot interaction elevator taking method according to claim 1, wherein the step taking interaction between the mobile robot and the target elevator is controlled by the mobile robot at a second pressure value corresponding to an elevator taking pressure signal triggered by the second key panel, comprising:
If the fact that the second pressure value corresponding to the target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key is detected, generating target floor information, wherein the target floor indication key is a floor key on the second key panel, and the floor key is indicated to be reached by the mobile robot;
When the car of the target elevator is detected to be in the elevator taking interaction state, the target elevator is controlled to go to the target floor according to the target floor information, so that elevator taking interaction between the mobile robot and the target elevator is controlled.
3. The method of claim 1, wherein the step-up physical signal comprises a step-up laser signal, the key panel comprises a first key panel and a second key panel,
The step of controlling the elevator riding interaction between the mobile robot and the key panel of the target elevator through the elevator riding physical signal comprises the following steps of:
if no elevator taking indication information exists on the first key panel, detecting whether the target elevator receives first interaction information corresponding to the elevator taking laser signals input by the mobile robot through the first key panel or not;
If so, after the mobile robot is detected to enter the car of the target elevator, receiving second interaction information corresponding to the elevator taking laser signals input by the mobile robot through the second key panel;
And controlling the target elevator to go to a target floor according to the first interaction information and the second interaction information so as to control the mobile robot and the target elevator to finish elevator taking interaction.
4. The method of claim 1, wherein the step-up command comprises a first step-up command and a second step-up command,
The step of detecting whether the target elevator generates an elevator riding physical signal triggered by the physical operation of the mobile robot according to the elevator riding instruction comprises the following steps of:
controlling the mobile robot to move out of the car of the target elevator according to the first elevator taking instruction;
controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;
And detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.
5. The robot-interactive boarding method of any one of claims 1-4, further comprising:
acquiring a relative positional relationship between the mobile robot and the car of the target elevator when the car door of the target elevator is detected to be in an open state;
if the relative position relationship is a first relative position relationship, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;
And if the relative position relationship is a second relative position relationship, determining whether to generate a second control instruction for controlling the mobile robot according to the size relationship between the occupied area of the mobile robot and the empty car area corresponding to the target elevator.
6. The robot-interactive boarding method of claim 1, wherein before the step of generating a boarding instruction that controls the mobile robot to ride the target elevator based on the obtained boarding information, the robot-interactive boarding method further comprises:
Acquiring the type of a robot of the mobile robot;
If the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to the elevator taking information after detecting that the first type mobile robot receives the elevator taking information;
And if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.
7. A robot interactive ladder riding device is characterized in that the device is applied to a robot interactive ladder riding system, the robot interaction elevator taking system comprises a mobile robot and a target elevator, and the robot interaction elevator taking device comprises:
The generation module is used for generating a ladder taking instruction for controlling the mobile robot to take the target elevator according to the acquired ladder taking information;
the detection module is used for detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking instruction;
The control module is used for controlling the mobile robot and the key panel of the target elevator to carry out elevator riding interaction through the elevator riding physical signal if the target elevator generates the elevator riding physical signal triggered by the physical operation of the mobile robot, wherein the elevator riding physical signal comprises an elevator riding pressure signal, the key panel comprises a first key panel and a second key panel, and the step of controlling the mobile robot and the key panel of the target elevator to carry out elevator riding interaction through the elevator riding physical signal comprises the following steps: if the fact that the elevator taking indication information does not exist on the first key panel is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the first key panel is larger than a preset first pressure threshold value or not is detected; if the first pressure value corresponding to the elevator taking pressure signal triggered by the first key panel by the mobile robot is greater than a preset first pressure threshold, resetting the trigger pressure threshold for a target floor indication key to which the mobile robot is going, after detecting that the mobile robot enters the car of the target elevator, controlling elevator taking interaction between the mobile robot and the target elevator through the second pressure value corresponding to the elevator taking pressure signal triggered by the second key panel by the mobile robot, wherein the elevator taking interaction comprises the following steps: when the mobile robot extrudes the target floor indication key on the second key panel and the extruded pressure value is equal to the reset trigger pressure threshold, triggering and controlling the target elevator to run to the floor indicated by the target floor indication key, otherwise, not triggering a control instruction to the target floor indication key by the target elevator; if the elevator taking indication information exists on the first key panel, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to perform elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.
8. An electronic device, the electronic device comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the robot-interactive boarding method of any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a program for realizing the robot-interactive boarding method, the program for realizing the robot-interactive boarding method being executed by a processor to realize the steps of the robot-interactive boarding method according to any one of claims 1 to 6.
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