CN115744512A - Robot elevator taking method and device and computer readable storage medium - Google Patents
Robot elevator taking method and device and computer readable storage medium Download PDFInfo
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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
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
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Abstract
The invention discloses a robot elevator taking method, a robot elevator taking device and a computer readable storage medium, wherein the method comprises the following steps: the elevator control device receives the information of taking the elevator of the robot, through monitoring the running condition of the elevator, and when the robot is monitored to take the elevator direction to be consistent with the current running direction of the elevator, the elevator is called again, so that the elevator can be prevented from being called when the current running direction of the elevator is inconsistent with the elevator taking direction of the robot, the robot is caused to occupy the condition of the elevator which does not meet the elevator taking requirement, the utilization rate of the elevator can be improved, meanwhile, the elevator can be prevented from stopping at the floor which the elevator taking personnel do not need to reach, the phenomenon of elevator taking experience of the elevator taking personnel is influenced, and the elevator taking experience of the elevator taking personnel is facilitated to be improved.
Description
Technical Field
The invention relates to the technical field of taking an elevator by a robot, in particular to a robot elevator taking method, a robot elevator taking device and a computer readable storage medium.
Background
With the continuous development of robot technology, more and more robots enter the visual field of people, and the robots replace human beings to perform repeated work, so that the robots are applied to various application scenes (such as communities, parks, shopping malls and the like).
When the robot works in a high-rise building, the robot is usually required to take an elevator to reach different floors to perform corresponding tasks (such as delivery tasks and the like). Because most of the existing elevators are not special for robots, the situation that the robots take the elevators with people inevitably exists. In this case, if the robot occupies an elevator that does not satisfy its elevator riding requirement (e.g., a riding direction requirement), the usage rate of the elevator is affected.
Therefore, there is a need to provide a solution that can increase the utilization of elevators.
Disclosure of Invention
Based on this, the invention aims to provide a robot elevator taking method, a robot elevator taking device and a computer readable storage medium, which are used for improving the utilization rate of elevators.
In a first aspect, the present invention provides a robot elevator taking method, including:
monitoring the running condition of an elevator when elevator taking information of the robot is received; the elevator taking information comprises an elevator waiting floor and an elevator outgoing floor, wherein the elevator waiting floor is an elevator floor for which the robot waits, and the elevator outgoing floor is a target floor which the robot intends to reach;
and calling the elevator if the direction of taking the elevator by the robot is consistent with the current running direction of the elevator, wherein the direction of taking the elevator is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the method further includes:
if the elevator taking direction is inconsistent with the current running direction of the elevator, the running condition of the elevator is continuously monitored, and the elevator is called when the current running direction of the elevator is monitored to be changed to be consistent with the elevator taking direction.
In one possible design, the method further includes:
if the situation that the elevator taking direction is inconsistent with the current running direction of the elevator is monitored, monitoring the current floor information of the elevator;
calling the elevator when the elevator is monitored to pass through the elevator waiting floor;
and calling the elevator again when the current running direction of the elevator is continuously monitored to be consistent with the elevator riding direction.
In one possible design, the method further includes:
and if the elevator taking direction is not consistent with the current running direction of the elevator, but the elevator waiting floor is monitored to be positioned at the subsequent floor of the target floor corresponding to the current running direction of the elevator, and the elevator is called.
In one possible design, before it is monitored that the boarding direction of the robot coincides with the current running direction of the elevator, the method further comprises:
monitoring floor button lighting information in the elevator; determining a current running direction of the elevator based on current floor information of the elevator and the floor button lighting information; or,
monitoring lighting information of uplink and downlink buttons of each floor outside the elevator, and determining the current running direction of the elevator based on the lighting information of the uplink and downlink buttons.
In one possible design, the method further includes:
after calling the elevator, sending the monitored current floor information, running condition and opening and closing condition information of the elevator door of the elevator to the robot;
when the door opening keeping information sent by the robot is received, controlling the elevator to keep the elevator door open; the door opening keeping information is sent by the robot when the robot knows that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door, and the door opening keeping information is used for indicating that the elevator door of the elevator keeps the door opening state.
In a second aspect, the present invention also provides a robot elevator taking method, including:
sending elevator taking information to a cloud platform; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for which the robot waits, and the elevator exit floor is a target floor which the robot intends to reach;
the elevator taking information is forwarded to an elevator control device through the cloud platform, so that the elevator control device monitors the running condition of an elevator after receiving the elevator taking information, and calls the elevator when monitoring that the elevator taking direction of a robot is consistent with the current running direction of the elevator, or calls the elevator when monitoring that the current running direction of the elevator is changed into the direction consistent with the elevator taking direction or monitoring that the elevator waiting floor is positioned on a subsequent floor of a target floor corresponding to the current running direction of the elevator under the condition that the elevator taking direction is inconsistent with the current running direction of the elevator; the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the method further includes:
receiving current floor information, running conditions and opening and closing condition information of an elevator door of the elevator, which are forwarded by the cloud platform; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
based on the current floor information, the running condition and the opening and closing condition information of the elevator door, when the elevator arrives at the elevator waiting floor and the elevator door is opened, the door opening keeping information is sent to the elevator control device, so that the elevator control device controls the elevator to keep the elevator door open; the door opening keeping information is used for indicating that the elevator door keeping the elevator keeps the door opening state.
In a third aspect, the present invention further provides a ladder taking method for a robot, including:
when elevator taking information of the robot is received, the elevator taking information is forwarded to an elevator control device; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for waiting of the robot, and the elevator exit floor is a target floor which the robot intends to reach;
monitoring the running condition of an elevator through the elevator control device, calling the elevator when the elevator control device monitors that the elevator taking direction of the robot is consistent with the current running direction of the elevator, or calling the elevator when the elevator control device monitors that the current running direction of the elevator is changed into the direction consistent with the elevator taking direction or monitors that the elevator waiting floor is positioned on the subsequent floor of the target floor corresponding to the current running direction of the elevator under the condition that the elevator taking direction is inconsistent with the current running direction of the elevator; the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the method further includes:
receiving the current floor information, the running condition and the opening and closing condition information of the elevator door sent by the elevator control device as the elevator control device; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
forwarding the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator to the robot, so that the robot can know that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door, and then send door opening maintaining information to the elevator control device, so that the elevator control device controls the elevator to keep the elevator door open; the door opening keeping information is used for indicating that the elevator door keeping the elevator keeps the door opening state.
In a fourth aspect, the present invention provides a ladder control device, including:
the monitoring unit is used for monitoring the running condition of the elevator when receiving the elevator taking information of the robot; the elevator taking information comprises an elevator waiting floor and an elevator outgoing floor, wherein the elevator waiting floor is an elevator floor for which the robot waits, and the elevator outgoing floor is a target floor which the robot intends to reach;
and the calling unit is used for calling the elevator when the monitoring unit monitors that the elevator taking direction of the robot is consistent with the current running direction of the elevator, and the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the listening unit is further configured to: if the elevator taking direction is inconsistent with the current running direction of the elevator, the running condition of the elevator is continuously monitored;
the call unit is also used for: and calling the elevator when the monitoring unit monitors that the current running direction of the elevator is changed to be consistent with the elevator riding direction.
In one possible design, the listening unit is further configured to: if the situation that the elevator taking direction is inconsistent with the current running direction of the elevator is monitored, monitoring the current floor information of the elevator;
the call element is further to: calling the elevator when the monitoring unit monitors that the elevator passes through the elevator waiting floor; and calling the elevator again when the monitoring unit continuously monitors that the current running direction of the elevator is changed to be consistent with the elevator riding direction.
In one possible design, the call unit is also used to:
and monitoring that the elevator taking direction is inconsistent with the current running direction of the elevator in the monitoring unit, but monitoring that the elevator waiting floor is positioned on the subsequent floor of the target floor corresponding to the current running direction of the elevator, and calling the elevator.
In one possible design, the listening unit is further configured to:
monitoring floor button lighting information in the elevator; determining a current running direction of the elevator based on current floor information of the elevator and the floor button lighting information; or,
monitoring uplink and downlink button lighting information of each floor outside the elevator, and determining the current running direction of the elevator based on the uplink and downlink button lighting information.
In one possible design, the listening unit is further configured to:
after the calling unit calls the elevator, sending the monitored current floor information, running condition and opening and closing condition information of the elevator door of the elevator to the robot;
when the door opening keeping information sent by the robot is received, controlling the elevator to keep the elevator door open; the door opening keeping information is sent by the robot when the robot knows that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door, and the door opening keeping information is used for indicating that the elevator door of the elevator keeps the door opening state.
In a fifth aspect, the present invention also provides a robot comprising:
the sending unit is used for sending elevator taking information to the cloud platform; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for waiting of the robot, and the elevator exit floor is a target floor which the robot intends to reach;
the processing unit is used for forwarding the elevator taking information to the elevator control device through the cloud platform, so that the elevator control device monitors the running condition of an elevator after receiving the elevator taking information, and calls the elevator when monitoring that the elevator taking direction of the robot is consistent with the current running direction of the elevator, or calls the elevator when monitoring that the current running direction of the elevator is changed into the direction consistent with the elevator taking direction or monitoring that the elevator waiting floor is positioned on the subsequent floor of the target floor corresponding to the current running direction of the elevator under the condition that the elevator taking direction is inconsistent with the current running direction of the elevator; the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the robot further comprises a receiving unit for: receiving current floor information, operation conditions and opening and closing condition information of an elevator door of the elevator, which are forwarded by the cloud platform; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
the processing unit is further to: based on the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator, when the elevator arrives at the elevator waiting floor and the elevator door is opened, the door opening keeping information is sent to the elevator control device through the sending unit, so that the elevator control device controls the elevator to keep the elevator door open; the door opening keeping information is used for indicating that the elevator door keeping the elevator keeps the door opening state.
In a sixth aspect, the present invention further provides a cloud platform, including:
the receiving unit is used for forwarding the elevator taking information to the elevator control device when receiving the elevator taking information of the robot; the elevator taking information comprises an elevator waiting floor and an elevator outgoing floor, wherein the elevator waiting floor is an elevator floor for which the robot waits, and the elevator outgoing floor is a target floor which the robot intends to reach;
the processing unit is used for monitoring the running condition of an elevator through the elevator control device, calling the elevator when the elevator control device monitors that the elevator riding direction of the robot is consistent with the current running direction of the elevator, or calling the elevator when the current running direction of the elevator is changed into the direction consistent with the elevator riding direction or the elevator waiting floor is monitored to be positioned at the subsequent floor of a target floor corresponding to the current running direction of the elevator under the condition that the elevator riding direction is inconsistent with the current running direction of the elevator; the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the receiving unit is further configured to: receiving the current floor information, the running condition and the opening and closing condition information of the elevator door sent by the elevator control device as the elevator control device; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
the cloud platform further comprises a sending unit, and the sending unit is used for: the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are forwarded to the robot, so that the robot can know that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door, and send opening keeping information to the elevator control device, so that the elevator control device controls the elevator to keep the elevator door open; the door opening keeping information is used for indicating that the elevator door keeping the elevator keeps the door opening state.
In a seventh aspect, the present invention further provides a robot elevator riding device, including: at least one memory for storing one or more programs and at least one processor;
the one or more programs, when executed by the at least one processor, implement a method as may be devised in any one of the first, second and third aspects above.
In an eighth aspect, the present invention also provides a computer-readable storage medium storing at least one program; the at least one program, when executed by a processor, performs the method according to any one of the possible designs of one of the first, second and third aspects described above.
The invention has the following beneficial technical effects:
compared with the prior art, in the technical scheme provided by the invention, the elevator control device monitors the running condition of the elevator after receiving the elevator taking information of the robot, and calls the elevator when monitoring that the elevator taking direction of the robot is consistent with the current running direction of the elevator, so that the situation that the robot occupies the elevator which does not meet the elevator taking requirement when calling the elevator when the current running direction of the elevator is inconsistent with the elevator taking direction of the robot can be avoided, the utilization rate of the elevator can be improved, meanwhile, the phenomenon that the elevator stops at a floor where elevator taking personnel do not need to reach to influence the elevator taking experience of the elevator taking personnel can be avoided, and the elevator taking experience of the elevator taking personnel can be improved.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a robot elevator-taking method provided by the invention;
FIG. 2 is a schematic flow chart of another robot elevator-taking method provided by the present invention;
fig. 3 is a schematic structural diagram of a ladder control device provided by the present invention;
FIG. 4 is a schematic view of a robot according to the present invention;
fig. 5 is a schematic structural diagram of a cloud platform provided in the present invention;
fig. 6 is a schematic structural diagram of a robot elevator riding device provided by the invention.
Detailed Description
The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of implementations consistent with certain aspects of the present disclosure.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Unless stated to the contrary, the terms "first," "second," and the like, as used in this disclosure, are used to distinguish one object from another and are not used to limit the order, sequence, priority, or importance of the objects.
Referring to fig. 1, the ladder taking method of the robot provided by the present invention includes the following steps:
s101, the robot sends elevator taking information to the cloud platform. Accordingly, the cloud platform receives elevator taking information from the robot.
In a specific implementation, the elevator taking information may include, but is not limited to, an elevator waiting floor and an elevator exit floor, where the elevator waiting floor is an elevator floor on which the robot waits, and the elevator exit floor is a target floor that the robot intends to reach.
In specific implementation, when the robot determines that cross-floor operation is needed based on an operation task, the elevator taking information is sent to the cloud platform to request taking of an elevator from an elevator waiting floor.
And S102, the cloud platform forwards the elevator taking information to the elevator control device. Correspondingly, the elevator control device receives elevator taking information forwarded by the cloud platform.
In particular implementation, the cloud platform communicates with the robot and the elevator control device respectively through a wireless network (e.g., a 4G network or a WiFi network). After receiving the elevator taking information from the robot, the cloud platform synchronously forwards the elevator taking information to the elevator control device.
At present, the robot communicates with the elevator control device through near field communication, and when the robot sends elevator taking information, the robot is often not on the same floor with the elevator control device, so that the situation that the robot cannot communicate with the elevator control device may exist. In this embodiment, the robot communicates with the ladder control device through the cloud platform, can avoid appearing the condition that the robot can't communicate with the ladder control device for the robot can give and take the elevator, further the rate of utilization that can the lifting machine elevator.
In specific implementation, after the robot sends elevator taking information to the cloud platform, whether the elevator control device receives the elevator taking information is not determined, and after the elevator control device receives the confirmation information forwarded by the cloud platform, the confirmation information is sent to the robot through the cloud platform to inform the robot that the elevator control device has received the elevator taking information, so that the robot can timely know whether the elevator control device receives the elevator taking information.
S103, the elevator control device monitors the running condition of the elevator and judges whether the elevator riding direction of the robot is consistent with the current running direction of the elevator. And if the elevator taking direction of the robot is consistent with the current running direction of the elevator, executing step S104, otherwise executing step S105.
In the implementation, the boarding direction of the robot can be determined by the elevator waiting floor and the elevator exiting floor. For example, if the waiting floor is 2 floors and the exit floor is 10 floors, the robot takes the elevator upward in the elevator taking direction. Or, if the elevator waiting floor is 10 floors and the elevator exit floor is 2 floors, the robot takes the elevator downwards in the elevator taking direction.
The current elevator control device usually adopts a direction sensor to detect the current running direction of the elevator, and the direction sensor can detect the current running direction of the elevator only in the process of up-down running of the elevator. Therefore, when the elevator stops at a certain floor, the current running direction of the elevator cannot be detected through the direction sensor, and the situation that the current running direction of the elevator cannot be detected due to the fact that the elevator stops at the certain floor exists, so that the elevator control device cannot call the elevator by judging the current running direction of the elevator in time. In view of this, in the present embodiment, the elevator control device can determine the current running direction of the elevator in, but not limited to, the following two ways.
In a first mode
The elevator control device monitors the current floor information of the elevator and the floor button lighting information in the elevator, and then determines the current running direction of the elevator based on the current floor information and the floor button lighting information of the elevator.
For example, if the elevator control device monitors the lighting information of the floor buttons in the elevator, the lighting information is as follows: floor button lamps corresponding to floors 1, 4, 9 and 10 are turned on, floor button lamps corresponding to floors 15, 13 and 11 are sequentially turned off from the turned-on state, and then the elevator control device determines that the current running direction of the elevator runs downwards.
Mode two
The elevator control device monitors the lighting information of the uplink button and the downlink button of each floor outside the elevator, and determines the current running direction of the elevator based on the lighting information of the uplink button and the downlink button.
For example, if the elevator control device monitors that the uplink and downlink button lighting information of each floor outside the elevator is: and the uplink button lamps corresponding to the floors 2, 4, 8 and 18 are sequentially changed from an on state to an off state from the floor 2, and then the elevator control device determines the current running direction of the elevator to be running upwards.
According to the elevator control device, the current running direction of the elevator is judged by adopting the first mode and the second mode, compared with the situation that the current running direction of the elevator is detected by adopting the direction sensor in the prior art, the situation that the current running direction of the elevator cannot be detected due to the fact that the elevator stops at a certain floor can be avoided, the elevator control device can call the elevator by judging the current running direction of the elevator in time, and the efficiency of taking the elevator by a robot and the use efficiency of the elevator are improved.
In specific implementation, after receiving the elevator taking information of the robot, the elevator control device monitors the operation condition of the elevator to determine that the elevator taking direction of the robot is consistent with the current operation direction of the elevator, and then executes step S104, or determines that the elevator taking direction of the robot is not consistent with the current operation direction of the elevator, and then executes step S105.
And S104, calling the elevator by the elevator control device.
In a specific implementation, the elevator control device is used for calling the elevator by sending an elevator waiting floor registration signal and an elevator exit floor registration signal to the elevator. The elevator waiting floor registration signal is used for indicating an elevator to register an elevator waiting floor, and the elevator exit floor registration signal is used for indicating the elevator to register an elevator exit floor.
For example, the elevator control device may simultaneously transmit an elevator waiting floor registration signal and an elevator exit floor registration signal to the elevator to call the elevator, or may transmit an elevator waiting floor registration signal to the elevator to call the elevator, and then transmit an elevator exit floor registration signal to the elevator to call the elevator, for example, after the robot gets on the elevator, the elevator control device transmits an elevator exit floor registration signal to the elevator to call the elevator.
In the invention, after receiving the elevator taking information of the robot, the elevator control device monitors the running condition of the elevator and calls the elevator when monitoring that the elevator taking direction of the robot is consistent with the current running direction of the elevator, so that the situation that the robot occupies the elevator which does not meet the elevator taking requirement due to the fact that the elevator is called when the current running direction of the elevator is inconsistent with the elevator taking direction of the robot can be avoided, the utilization rate of the elevator can be improved, meanwhile, the phenomenon that the elevator stops at floors which elevator taking personnel do not need to reach to influence the elevator taking experience of the elevator taking personnel can be avoided, and the elevator taking experience of the elevator taking personnel can be improved.
In practical implementation, when the direction in which the robot rides the elevator coincides with the direction in which the elevator runs, the elevator may be fully loaded. Under this condition, because there is not unnecessary space in the elevator to hold the robot and make in the robot can't get into the elevator, perhaps can lead to the overweight warning of elevator when the robot gets into the elevator, still can lead to the robot to occupy unsatisfied its elevator of taking advantage of the ladder demand, lead to having the elevator to stop at the floor that takes advantage of the ladder personnel and need not reach, and influence the phenomenon of taking advantage of the ladder experience of taking advantage of the ladder personnel.
In one example provided by the present invention, before executing step S104, the elevator control device monitors whether the elevator is in a full load state. Wherein, the full load state means that the current load capacity of the elevator car reaches the rated load capacity or is in a full state currently. And when the elevator is monitored not to be in the full-load state, executing the step S104 again to improve the elevator taking experience of the elevator taking personnel.
And S105, the elevator control device continuously monitors the running condition of the elevator, and calls the elevator when the current running direction of the elevator is monitored to be changed to be consistent with the elevator riding direction of the robot.
In step S105, the elevator control device calls the elevator only when it is monitored that the current running direction of the elevator changes to be in accordance with the boarding direction of the robot.
In the elevator control device, when the situation that the elevator taking direction of the robot is inconsistent with the current running direction of the elevator is monitored, the running condition of the elevator is continuously monitored, and when the situation that the current running direction of the elevator is changed into the situation that the elevator taking direction of the robot is consistent is monitored, the elevator is called, so that the elevator can be called in time, meanwhile, the situation that the robot occupies the elevator which does not meet the elevator taking requirement can be avoided, the utilization rate of the elevator can be improved, the phenomenon that the elevator stops at floors which elevator taking personnel do not need to reach to influence the elevator taking experience of the elevator taking personnel can be avoided, and the elevator taking experience of the elevator taking personnel can be improved.
In an applicable scenario provided by the present invention, as shown in fig. 1 and fig. 2, in step S103, after the elevator control device determines that the elevator taking direction of the robot is not consistent with the current running direction of the elevator, the method for the robot to take the elevator further includes the following steps:
and S106, if the elevator waiting floor is monitored to be positioned at the subsequent floor of the target floor corresponding to the current running direction of the elevator, calling the elevator by the elevator control device.
For example, if the elevator control device monitors that the target floor corresponding to the current running direction of the elevator is 10 floors and the elevator waiting floor is 6 floors, the elevator control device determines that the elevator waiting floor is located on the subsequent floor of the target floor corresponding to the current running direction of the elevator, and at the moment, the elevator control device does not need to call the elevator when the current running direction of the elevator is changed to be consistent with the riding direction of the robot, and can call the elevator directly.
For example, when the elevator travels downward from 18 floors to 10 floors, the destination floor corresponding to the current travel direction of the elevator is 10 floors, and the floor from 10 floors downward is the subsequent floor of 10 floors. Or, the elevator runs upwards from 10 floors to 18 floors, then the destination floor corresponding to the current running direction of the elevator is 18 floors, and the floor where 18 floors go upwards is the subsequent floor of 18 floors.
In the invention, the elevator control device calls the elevator by monitoring that the elevator riding direction of the robot is not consistent with the current running direction of the elevator, but monitoring that the elevator waiting floor is positioned at the subsequent floor of the target floor corresponding to the current running direction of the elevator, and does not need to call the elevator when the current running direction of the elevator is changed to be consistent with the elevator riding direction of the robot, so that the elevator can be called in time, and the utilization rate of the elevator can be improved.
In another applicable scenario provided by the present invention, as shown in fig. 1 and fig. 2, in step S103, after the elevator control device determines that the elevator taking direction of the robot is not consistent with the current running direction of the elevator, the robot elevator taking method provided by the present invention further includes the following steps:
s107, the elevator control device monitors the current floor information of the elevator and calls the elevator when the elevator is monitored to pass the elevator waiting floor.
When the elevator control device is specifically implemented, the elevator control device judges whether the elevator passes through the elevator waiting floor or not by monitoring the current floor information of the elevator, and calls the elevator when the elevator passes through the elevator waiting floor.
For example, when the elevator travels downward from 11 floors to 1 floor, if the elevator waiting floor is 2 floors, the elevator control device monitors that the current floor information of the elevator is: when the current floor is any one of the floors from 11 to 3, the elevator control device determines that the elevator passes through 2 floors and calls the elevator.
And S108, the elevator control device continuously monitors the running condition of the elevator, and calls the elevator again when the elevator taking direction of the robot is monitored to be changed to be consistent with the current running direction of the elevator.
In the specific implementation, the elevator control device calls the elevator again when monitoring that the current running direction of the elevator is changed to be consistent with the elevator riding direction of the robot, so that the elevator can be prevented from automatically canceling floors when the running direction of the elevator is changed, for example, the elevator can cancel 2 floors when the elevator reaches 1 floor.
In the invention, the elevator control device monitors the current floor information of the elevator when monitoring that the elevator taking direction of the robot is inconsistent with the current running direction of the elevator, calls the elevator when monitoring that the elevator passes through an elevator waiting floor, and calls the elevator again by continuously monitoring the running condition of the elevator when monitoring that the elevator taking direction of the robot is changed to be consistent with the current running direction of the elevator, so that the utilization rate of the elevator can be improved while the elevator is prevented from automatically cancelling floors when the running direction is changed.
In another applicable scenario provided by the present invention, as shown in fig. 1 and fig. 2, after step S104, step S105, and step S108, the robot elevator-taking method provided by the present invention further includes the following steps:
and S109, the elevator control device sends the monitored current floor information, the monitored running condition and the monitored opening and closing condition information of the elevator door to the cloud platform. Correspondingly, the cloud platform receives the current floor information, the running condition and the opening and closing condition information of the elevator door sent by the elevator control device.
In specific implementation, the elevator control device synchronously sends the monitored current floor information, running condition and elevator door opening and closing condition information of the elevator to the cloud platform. Wherein the operation condition of the elevator comprises the uplink and downlink information of the elevator.
And S110, the cloud platform forwards the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator to the robot. Correspondingly, the robot receives the current floor information, the running condition and the opening and closing condition information of the elevator door, which are forwarded by the cloud platform.
In practical implementation, since the robot communicates with the elevator control device through near field communication at present, when the robot and the elevator are not on the same floor or the elevator door is not opened, the robot may not communicate with the elevator control device. In the invention, the current floor information, the running condition and the opening and closing condition information of the elevator door monitored by the elevator control device are forwarded to the robot through the cloud platform, so that the situation that the robot cannot know whether the elevator arrives at the elevator waiting floor or the elevator door is opened or not under the condition that the robot cannot communicate with the elevator control device can be avoided, and the robot can timely know whether the elevator arrives at the elevator waiting floor or not and the elevator door is opened.
And S111, the robot sends opening keeping information to the elevator control device when knowing that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator. Correspondingly, the elevator control device receives the door opening keeping information from the robot.
In the specific implementation, when the elevator arrives at the elevator waiting floor and the elevator door is opened, in this case, the robot can communicate with the elevator control device through near field communication and send the door opening keeping information to the elevator control device.
And S112, the elevator control device controls the elevator to keep the elevator door open.
In specific implementation, after receiving the information of keeping the door open sent by the robot, the elevator control device controls the elevator to keep the elevator door open, so that the robot can smoothly enter the elevator and take the elevator to the elevator exit floor.
In the invention, after calling an elevator, the elevator control device forwards monitored current floor information, running condition and elevator door opening and closing condition information of the elevator through the cloud platform, so that the robot can timely know whether the elevator arrives at the elevator waiting floor and the elevator door is opened, and sends door opening maintaining information to the elevator control device when knowing that the elevator arrives at the elevator waiting floor and the elevator door is opened, so that the robot can smoothly enter the elevator to pick up the elevator leaving floor, and the utilization rate of the elevator is improved.
The machine boarding method shown in fig. 1 and 2 is exemplified by a method in which the robot and the elevator control device communicate with each other by near field communication. In specific implementation, when the robot and the elevator control device support communication through the wireless network, communication information (e.g., elevator taking information) between the robot and the elevator control device does not need to be forwarded through the cloud platform, and in this case, an implementation process of the elevator taking method by the machine is the same as or similar to other real-time processes of the elevator taking method by the machine shown in fig. 1 and 2 except that the communication information between the robot and the elevator control device does not need to be forwarded through the cloud platform, and details are not repeated herein.
Compared with the prior art, according to the technical scheme provided by the invention, after receiving the elevator taking information of the robot, the elevator control device monitors the operation condition of the elevator and calls the elevator when monitoring that the elevator taking direction of the robot is consistent with the current operation direction of the elevator, so that the situation that the robot occupies the elevator which does not meet the elevator taking requirement when the current operation direction of the elevator is inconsistent with the elevator taking direction of the robot can be avoided, the utilization rate of the elevator can be improved, meanwhile, the phenomenon that the elevator stops at floors which elevator taking personnel do not need to reach to influence the elevator taking experience of the elevator taking personnel can be avoided, and the elevator taking experience of the elevator taking personnel can be improved.
Based on the same inventive concept, an embodiment of the present invention further provides a ladder control device, as shown in fig. 3, the ladder control device 200 includes:
a monitoring unit 201, configured to monitor an operation condition of the elevator when receiving elevator riding information of the robot; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for waiting of the robot, and the elevator exit floor is a target floor which the robot intends to reach;
and the calling unit 202 is used for calling the elevator by monitoring that the elevator taking direction of the robot is consistent with the current running direction of the elevator in the monitoring unit 201, wherein the elevator taking direction is determined by an elevator waiting floor and an elevator going-out floor.
In one possible design, the listening unit 201 is further configured to: if the elevator taking direction is inconsistent with the current running direction of the elevator, the running condition of the elevator is continuously monitored;
In one possible design, the listening unit 201 is further configured to: if the elevator taking direction is inconsistent with the current running direction of the elevator, monitoring the current floor information of the elevator;
In one possible design, call cells 202 are also used to:
the monitoring unit 201 monitors that the elevator riding direction is not consistent with the current running direction of the elevator, but monitors that the elevator waiting floor is positioned at the subsequent floor of the target floor corresponding to the current running direction of the elevator, and calls the elevator.
In one possible design, the listening unit 201 is further configured to:
monitoring the lighting information of floor buttons in the elevator; determining the current running direction of the elevator based on the current floor information and the floor button lighting information of the elevator; or,
monitoring the lighting information of the uplink and downlink buttons of each floor outside the elevator, and determining the current running direction of the elevator based on the lighting information of the uplink and downlink buttons.
In one possible design, the listening unit 201 is further configured to:
after the calling unit calls the elevator, the monitored current floor information, running condition and opening and closing condition information of the elevator door of the elevator are sent to the robot;
when the information of keeping the door open sent by the robot is received, controlling the elevator to keep the elevator door open; the door opening keeping information is sent when the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door of the robot, and the door opening keeping information is used for indicating that the elevator door of the elevator keeps in the door opening state.
The elevator control device 200 in the embodiment of the present invention is an invention based on the same concept as the robot elevator taking method shown in fig. 1 and fig. 2, and through the foregoing detailed description of the robot elevator taking method, those skilled in the art can clearly understand the implementation process of the elevator control device 200 in the embodiment, so for brevity of the description, no further description is provided here.
Based on the same inventive concept, an embodiment of the present invention further provides a robot, as shown in fig. 4, the robot 300 includes:
a sending unit 301, configured to send elevator taking information to the cloud platform; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for waiting of the robot, and the elevator exit floor is a target floor which the robot intends to reach;
the processing unit 302 is configured to forward elevator taking information to the elevator control device through the cloud platform, so that the elevator control device monitors the operation condition of the elevator after receiving the elevator taking information, and calls the elevator when monitoring that the elevator taking direction of the robot is consistent with the current operation direction of the elevator, or calls the elevator when monitoring that the current operation direction of the elevator is changed to be consistent with the elevator taking direction or monitoring that a waiting floor is located on a subsequent floor of a destination floor corresponding to the current operation direction of the elevator when monitoring that the elevator taking direction is inconsistent with the current operation direction of the elevator; the direction of taking the elevator is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the robot further comprises a receiving unit 303, the receiving unit 303 being configured to: receiving current floor information, operation conditions and opening and closing condition information of an elevator door of the elevator, which are forwarded by the cloud platform; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
the processing unit 302 is further configured to: based on the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator, when the elevator arrives at the elevator waiting floor and the elevator door is opened, the opening maintaining information is sent to the elevator control device through the sending unit, so that the elevator control device controls the elevator to keep the elevator door open; the hold open information is used to indicate that the elevator door holding the elevator remains open.
The robot 300 in the embodiment of the present invention is an invention based on the same concept as the robot elevator-taking method shown in fig. 1 and fig. 2, and a person skilled in the art can clearly understand the implementation process of the robot 300 in the embodiment through the foregoing detailed description of the robot elevator-taking method, so that the detailed description is omitted here for brevity of the description.
Based on the same inventive concept, an embodiment of the present invention further provides a cloud platform, as shown in fig. 5, the cloud platform 400 includes:
a receiving unit 401, configured to forward elevator taking information to the elevator control device when receiving elevator taking information of the robot; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for waiting of the robot, and the elevator exit floor is a target floor which the robot intends to reach;
the processing unit 402 is used for monitoring the running condition of the elevator through the elevator control device, calling the elevator when the elevator control device monitors that the elevator riding direction of the robot is consistent with the current running direction of the elevator, or calling the elevator when the current running direction of the elevator is changed into the direction consistent with the elevator riding direction or the elevator waiting floor is monitored to be positioned at the subsequent floor of the target floor corresponding to the current running direction of the elevator under the condition that the elevator riding direction is inconsistent with the current running direction of the elevator; the direction of taking the elevator is determined by the elevator waiting floor and the elevator going-out floor.
In one possible design, the receiving unit 401 is further configured to: receiving the current floor information, the running condition and the opening and closing condition information of the elevator door sent by the elevator control device as the elevator control device; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
the cloud platform further includes a sending unit 403, where the sending unit 403 is configured to: the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are forwarded to the robot, so that the robot knows that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door, and sends the door opening maintaining information to the elevator control device, so that the elevator control device controls the elevator to keep the elevator door open; the hold open information is used to indicate that the elevator door holding the elevator remains open.
The cloud platform 400 in the embodiment of the present invention is an invention based on the same concept as the robot elevator taking method shown in fig. 1 and fig. 2, and through the foregoing detailed description of the robot elevator taking method, a person skilled in the art can clearly understand the implementation process of the cloud platform 400 in the embodiment, so for the brevity of the description, details are not repeated here.
Based on the same inventive concept, an embodiment of the present invention further provides a ladder taking device for a robot, and as shown in fig. 6, the ladder taking device 500 for a robot may include: at least one memory 501 and at least one processor 502. Wherein:
the at least one memory 501 is used to store one or more programs.
The one or more programs, when executed by the at least one processor 502, implement the robot escalator approach described above with respect to fig. 1 and 2.
The robot elevator arrangement 500 may also optionally include a communication interface for communicating with external devices and for interactive data transmission.
It should be noted that the memory 501 may include a high-speed RAM memory, and may further include a nonvolatile memory (nonvolatile memory), such as at least one disk memory.
In a specific implementation process, if the memory 501, the processor 502 and the communication interface are integrated on a chip, the memory 501, the processor 502 and the communication interface may complete communication with each other through an internal interface. If the memory 501, the processor 502 and the communication interface are implemented independently, the memory 501, the processor 502 and the communication interface may be connected to each other through a bus and perform communication with each other.
The robot elevator boarding apparatus 500 may be one of the elevator control apparatus 200, the robot 300, and the cloud platform 400.
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium, which may store at least one program, and when the at least one program is executed by a processor, the robot elevator taking method shown in fig. 1 to 6 is implemented.
It should be understood that the computer-readable storage medium is any data storage device that can store data or programs which can thereafter be read by a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, CD-ROM, HDD, DVD, magnetic tape, optical data storage devices, and the like.
The computer readable storage medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.
Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.
Claims (12)
1. A robot elevator taking method is characterized by comprising the following steps:
monitoring the running condition of the elevator when elevator taking information of the robot is received; the elevator taking information comprises an elevator waiting floor and an elevator outgoing floor, wherein the elevator waiting floor is an elevator floor for which the robot waits, and the elevator outgoing floor is a target floor which the robot intends to reach;
and calling the elevator if the direction of taking the elevator by the robot is consistent with the current running direction of the elevator, wherein the direction of taking the elevator is determined by the elevator waiting floor and the elevator going-out floor.
2. The method of claim 1, wherein the method further comprises:
if the elevator taking direction is not consistent with the current running direction of the elevator, the running condition of the elevator is continuously monitored, and the elevator is called when the current running direction of the elevator is monitored to be consistent with the elevator taking direction.
3. The method of claim 1, wherein the method further comprises:
if the situation that the elevator taking direction is inconsistent with the current running direction of the elevator is monitored, monitoring the current floor information of the elevator;
calling the elevator when the elevator is monitored to pass through the elevator waiting floor;
and calling the elevator again when the current running direction of the elevator is continuously monitored to be consistent with the elevator riding direction.
4. The method of claim 1, wherein the method further comprises:
and if the elevator taking direction is not consistent with the current running direction of the elevator, but the elevator waiting floor is monitored to be positioned at the subsequent floor of the target floor corresponding to the current running direction of the elevator, and the elevator is called.
5. The method according to any of claims 1 to 4, characterized in that before it is monitored that the direction of riding of the robot coincides with the current direction of travel of the elevator, the method further comprises:
monitoring floor button lighting information in the elevator; determining a current running direction of the elevator based on the current floor information of the elevator and the floor button lighting information; or,
monitoring lighting information of uplink and downlink buttons of each floor outside the elevator, and determining the current running direction of the elevator based on the lighting information of the uplink and downlink buttons.
6. The method of any of claims 1 to 4, further comprising:
after calling the elevator, sending the monitored current floor information, running condition and opening and closing condition information of the elevator door of the elevator to the robot;
when the door opening keeping information sent by the robot is received, controlling the elevator to keep the elevator door open; the door opening keeping information is sent by the robot when the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the elevator door opening and closing condition information of the elevator, and the door opening keeping information is used for indicating that the elevator door of the elevator is kept in the door opening state.
7. A robot elevator taking method is characterized by comprising the following steps:
sending elevator taking information to a cloud platform; the elevator taking information comprises an elevator waiting floor and an elevator exit floor, wherein the elevator waiting floor is an elevator floor for waiting of the robot, and the elevator exit floor is a target floor which the robot intends to reach;
the elevator taking information is forwarded to an elevator control device through the cloud platform, so that the elevator control device monitors the running condition of an elevator after receiving the elevator taking information, and calls the elevator when monitoring that the elevator taking direction of a robot is consistent with the current running direction of the elevator, or calls the elevator when monitoring that the current running direction of the elevator is changed into the direction consistent with the elevator taking direction or monitoring that the elevator waiting floor is positioned on a subsequent floor of a target floor corresponding to the current running direction of the elevator under the condition that the elevator taking direction is inconsistent with the current running direction of the elevator; the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
8. The method of claim 7, wherein the method further comprises:
receiving current floor information, operation conditions and opening and closing condition information of an elevator door of the elevator, which are forwarded by the cloud platform; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
based on the current floor information, the running condition and the opening and closing condition information of the elevator door, when the elevator arrives at the elevator waiting floor and the elevator door is opened, the door opening keeping information is sent to the elevator control device, so that the elevator control device controls the elevator to keep the elevator door open; the door opening keeping information is used for indicating that the elevator door keeping the elevator keeps the door opening state.
9. A robot elevator taking method is characterized by comprising the following steps:
when elevator taking information of the robot is received, the elevator taking information is forwarded to an elevator control device; the elevator taking information comprises an elevator waiting floor and an elevator outgoing floor, wherein the elevator waiting floor is an elevator floor for which the robot waits, and the elevator outgoing floor is a target floor which the robot intends to reach;
monitoring the running condition of an elevator through the elevator control device, calling the elevator when the elevator control device monitors that the elevator taking direction of the robot is consistent with the current running direction of the elevator, or calling the elevator when the elevator control device monitors that the current running direction of the elevator is changed into the direction consistent with the elevator taking direction or monitors that the elevator waiting floor is positioned on the subsequent floor of the target floor corresponding to the current running direction of the elevator under the condition that the elevator taking direction is inconsistent with the current running direction of the elevator; the elevator taking direction is determined by the elevator waiting floor and the elevator going-out floor.
10. The method of claim 9, wherein the method further comprises:
receiving the current floor information, the running condition and the opening and closing condition information of the elevator door sent by the elevator control device as the elevator control device; the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator are monitored by the elevator control device;
forwarding the current floor information, the running condition and the opening and closing condition information of the elevator door of the elevator to the robot, so that the robot can know that the elevator arrives at the elevator waiting floor and the elevator door is opened based on the current floor information, the running condition and the opening and closing condition information of the elevator door, and then send door opening maintaining information to the elevator control device, so that the elevator control device controls the elevator to keep the elevator door open; the door opening keeping information is used for indicating that the elevator door keeping the elevator keeps the door opening state.
11. A robot elevator taking device, comprising: at least one memory for storing one or more programs and at least one processor;
the one or more programs, when executed by the at least one processor, implement one of the method of any one of claims 1 to 6, the method of claim 7 or 8, and the method of claim 9 or 10.
12. A computer-readable storage medium characterized in that the computer-readable storage medium stores at least one program; the at least one program, when executed by a processor, implements one of the method of any one of claims 1 to 6, the method of claim 7 or 8, and the method of claim 9 or 10.
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| CN202211479823.8A CN115744512A (en) | 2022-11-24 | 2022-11-24 | Robot elevator taking method and device and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211479823.8A CN115744512A (en) | 2022-11-24 | 2022-11-24 | Robot elevator taking method and device and computer readable storage medium |
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| CN115744512A true CN115744512A (en) | 2023-03-07 |
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| CN202211479823.8A Pending CN115744512A (en) | 2022-11-24 | 2022-11-24 | Robot elevator taking method and device and computer readable storage medium |
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