CN107902502A - The control method of loading equipment, loading equipment, computer-readable storage medium - Google Patents
The control method of loading equipment, loading equipment, computer-readable storage medium Download PDFInfo
- Publication number
- CN107902502A CN107902502A CN201710952765.9A CN201710952765A CN107902502A CN 107902502 A CN107902502 A CN 107902502A CN 201710952765 A CN201710952765 A CN 201710952765A CN 107902502 A CN107902502 A CN 107902502A
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- China
- Prior art keywords
- elevator
- loading equipment
- state information
- server
- path
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- 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
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a kind of control method of loading equipment, loading equipment, computer-readable storage medium, the described method includes：Loading device-to-server sends elevator controlling request message, and the elevator controlling request message at least carries following information：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone；The loading equipment receives the running state information for the elevator that the server is sent；When determining that the elevator is run to first number of floor levels based on the running state information, the loading equipment controls the driving device of itself to move into the elevator；When determining that the elevator is run to second number of floor levels based on the running state information, the loading equipment controls the driving device of itself to be removed from the elevator.
Description
Technical field
The present invention relates to cloud control technology field, more particularly to a kind of control method of loading equipment, loading equipment, calculating
Machine storage medium.
Background technology
At present, send the completion for the task of passing mostly to be realized by manually, for vast number send the task of passing for, effect
Rate is low and personnel's carelessness easily occurs and causes to send and pass mistake.For this reason, complete to send the task of passing to become hair by robot
Exhibition trend.
Under real public environment, disengaging elevator that robot can not be successfully, this is because either Cargo Lift or visitor
Ladder, robot can not all avoid coexisting with people, and robot can not assist the control information of elevator with people the control information of elevator
Adjust unanimously, in addition, human factor is flexibly dynamic, many uncertain factors are caused to robot disengaging elevator.
The content of the invention
In order to solve the above technical problems, an embodiment of the present invention provides a kind of control method of loading equipment, loading equipment,
Computer-readable storage medium.
The control method of loading equipment provided in an embodiment of the present invention, including：
Loading device-to-server sends elevator controlling request message, and the elevator controlling request message at least carries as follows
Information：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone；
The loading equipment receives the running state information for the elevator that the server is sent；
When determining that the elevator is run to first number of floor levels based on the running state information, the loading is set
It is standby to control the driving device of itself to move into the elevator；
When determining that the elevator is run to second number of floor levels based on the running state information, the loading is set
It is standby to control the driving device of itself to be removed from the elevator.
It is described to determine that the elevator is run to described first based on the running state information in the embodiment of the present invention
During number of floor levels, the loading equipment controls the driving device of itself to move into the elevator, including：
When determining that the elevator is run to first number of floor levels based on the running state information, elevator door is judged
Whether open mode is in；
When the elevator door is in open mode, the loading equipment gathers environmental state information in real time；
If the environmental state information shows that the accommodation space of the elevator interior meets preset condition, it is determined that performs
Move into the operation of elevator；
If the environmental state information shows that the accommodation space of the elevator interior does not meet preset condition, it is determined that puts
Abandon the operation for moving into elevator.
In the embodiment of the present invention, the operation for performing immigration elevator, including：
The loading equipment is based on the environmental state information collected, path planning；
The loading equipment is moved according to the path of planning to the elevator interior；
When the loading equipment moves into the elevator interior in the first preset duration according to the path, to described
Server sends the first notification message, and first notification message is used to notify the loading equipment to enter electricity to the server
Ladder success；
When the loading equipment does not move into the elevator interior in the first preset duration according to the path, perform
The operation of exit path.
In the embodiment of the present invention, the method further includes：
After the operation for completing exit path is performed in the loading equipment, second notification message is sent to the server,
The second notification message is used to notify the loading equipment into elevator to fail to the server.
In the embodiment of the present invention, when determining that the elevator is run to second floor based on the running state information
During number, the loading equipment controls the driving device of itself to be removed from the elevator, including：
When determining that the elevator is run to second number of floor levels based on the running state information, elevator door is judged
Whether open mode is in；
When the elevator door is in open mode, the loading equipment gathers environmental state information in real time；
The loading equipment is based on the environmental state information collected, path planning；
The loading equipment is moved according to the path of planning from the elevator to outside.
In the embodiment of the present invention, the method further includes：
Judge whether the loading equipment removes the elevator in the second preset duration；
When the loading equipment removes the elevator in the second preset duration, third notice is sent to the server
Message, the third notice message are used to notify the loading equipment to leave elevator success to the server；
When the loading equipment does not move out the elevator in the second preset duration, four-way is sent to the server
Know message, the 4th notification message is used to notify the loading equipment to leave elevator failure to the server.
In the embodiment of the present invention, the method further includes：
When the loading equipment is moved according to the path of planning to the elevator interior, the loading equipment is real-time
Environmental state information is gathered, and planned path is updated based on the environmental state information collected；
When the loading equipment is moved according to the path of planning from the elevator to outside, the loading equipment is real
When gather environmental state information, and planned path is updated based on the environmental state information collected.
Loading equipment provided in an embodiment of the present invention, including：
Communicator, for sending elevator controlling request message to server, the elevator controlling request message is at least taken
With following information：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone；Receive
The running state information for the elevator that the server is sent；
Control device, for determining that the elevator is run to first number of floor levels based on the running state information
When, the loading equipment controls the driving device of itself to move into the elevator；Determined based on the running state information described
When elevator is run to second number of floor levels, the loading equipment controls the driving device of itself to be removed from the elevator.
Driving device, for controlling the movement of itself under the control of the control device.
In the embodiment of the present invention, the control device, specifically for described when being determined based on the running state information
When elevator is run to first number of floor levels, judge whether elevator door is in open mode；
The loading equipment further includes：Environment harvester, for being adopted in real time when the elevator door is in open mode
Collect environmental state information；
The control device, if the accommodation space for showing the elevator interior specifically for the environmental state information expires
Sufficient preset condition, it is determined that perform the operation for moving into elevator；If the environmental state information shows the appearance of the elevator interior
Receiving space does not meet preset condition, it is determined that abandons moving into the operation of elevator.
In the embodiment of the present invention, the control device, specifically for based on the environmental state information collected, planning road
Footpath；Moved according to driving device described in the path clustering of planning to the elevator；
The communicator, when being additionally operable to move into the elevator interior according to the path in the first preset duration,
The first notification message is sent to the server, first notification message is used to notify the loading equipment to the server
Into elevator success；
The control device, does not move into the elevator specifically for working as in the first preset duration according to the path
During portion, the operation of exit path is performed.
In the embodiment of the present invention, the communicator, is additionally operable to the behaviour in loading equipment execution completion exit path
After work, second notification message is sent to the server, the second notification message is used to notify the load to the server
Thing equipment fails into elevator.
In the embodiment of the present invention, the control device, specifically for described when being determined based on the running state information
When elevator is run to second number of floor levels, judge whether elevator door is in open mode；
The loading equipment further includes：Environment harvester, for when the elevator door is in open mode, adopting in real time
Collect environmental state information；
The control device, specifically for based on the environmental state information collected, path planning；According to the path of planning
The driving device is controlled to be moved from the elevator to outside.
In the embodiment of the present invention, whether the control device, be additionally operable to judge the loading equipment in the second preset duration
It is interior to remove the elevator；
The communicator, when being additionally operable to remove the elevator in the second preset duration, the is sent to the server
Three notification messages, the third notice message are used to notify the loading equipment to leave elevator success to the server；
When not moving out the elevator in two preset durations, the 4th notification message is sent to the server, the 4th notification message is used
In to the server notify the loading equipment leave elevator failure.
In the embodiment of the present invention, the environment harvester, is additionally operable in the case of following at least one, gathers ring in real time
Border status information：Set when the loading equipment is moved according to the path of planning to the elevator interior, in the loading
For when being moved according to the path of planning from the elevator to outside；
The communicator, is additionally operable to update planned path based on the environmental state information collected.
Computer-readable storage medium provided in an embodiment of the present invention, is stored thereon with computer executable instructions, the computer
The control method of above-mentioned loading equipment is realized when executable instruction is executed by processor.
In the technical solution of the embodiment of the present invention, loading device-to-server sends elevator controlling request message, the electricity
Terraced control data message at least carries following information：The first number of floor levels that the loading equipment is currently located at, the loading equipment
Second number of floor levels to be gone；The loading equipment receives the running state information for the elevator that the server is sent；When based on institute
When stating running state information and determining that the elevator is run to first number of floor levels, the loading equipment controls the driving of itself
Device moves into the elevator；When determining that the elevator is run to second number of floor levels based on the running state information,
The loading equipment controls the driving device of itself to be removed from the elevator.Using the technical solution of the embodiment of the present invention, pass through
Loading equipment is interacted by server and elevator, and this interaction interacts the button of elevator with people and is no different, thus loading is set
Standby and control of the people to elevator can be harmonious, and loading equipment realizes the whole of disengaging elevator by the motion control to itself
A process, in addition, when the movement to itself is controlled, combines environmental state information and carries out motion control, flexibly more
New route scheme, has adapted to human factor complicated and changeable.
Brief description of the drawings
Fig. 1 is the flow diagram of the control method of the loading equipment of the embodiment of the present invention；
Fig. 2 is the system architecture diagram of the embodiment of the present invention；
Fig. 3 is the flow diagram one of the immigration elevator of the embodiment of the present invention；
Fig. 4 is the flow diagram two of the immigration elevator of the embodiment of the present invention；
Fig. 5 is the flow diagram one of the removal elevator of the embodiment of the present invention；
Fig. 6 is the flow diagram two of the removal elevator of the embodiment of the present invention；
Fig. 7 is the structure composition schematic diagram of the loading equipment of the embodiment of the present invention.
Embodiment
The characteristics of in order to more fully hereinafter understand the embodiment of the present invention and technology contents, below in conjunction with the accompanying drawings to this hair
The realization of bright embodiment is described in detail, appended attached drawing purposes of discussion only for reference, is not used for limiting the embodiment of the present invention.
It is below the explanation with the relevant Key Term of the embodiment of the present invention：
Internet：Also referred to as internet (Internet), is the huge network being concatenated between network and network, these
Network is connected with one group of general agreement, forms single huge international network in logic.
Autokinetic movement：File obtained from paleocinetic equipment (such as robot) will use sensing device scanning circumstance is loaded into
After map file, by matching map and residing true environment, oneself coordinate on map is determined, so that arrival be calculated
Control information needed for the coordinate of destination；Equipment is based on control information and controls displacement to purpose coordinate.
Cloud service：The function of cloud service can realize that here, Cloud Server refers to a management money by Cloud Server
Source and the computer equipment for providing cloud service to the user.Cloud service be a kind of disposal ability can elastic telescopic storage and calculate clothes
Business.The way to manage of Cloud Server is simpler than physical server efficiently, and user need not purchase hardware in advance, you can rapid to create
Or any more Cloud Servers of release.
Motion planning：Motion planning is made of path planning and trajectory planning, the sequence in connection source position and final position
Row point or curve are referred to as path, and the strategy for forming path is referred to as path planning.Path planning in the present embodiment refers to the overall situation
Path planning, that is, refer to the fullpath from a position to another position.
Fig. 1 is the flow diagram of the control method of the loading equipment of the embodiment of the present invention, as shown in Figure 1, the loading
The control method of equipment comprises the following steps：
Step 101：Loading device-to-server sends elevator controlling request message, and the elevator controlling request message is at least
Carry following information：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone.
In the embodiment of the present invention, loading equipment is the equipment for referring to load cargo, and specifically, loading equipment has storing
Device, the article-storage device have the space for loading or holding freight.In one embodiment, article-storage device can be storing
Cabinet.In another embodiment, article-storage device can be storage tank.The shape of article-storage device is not restricted, and can be carried and be appointed
The cargo for type of anticipating, it might even be possible to carry human body.
In the embodiment of the present invention, the task that loading equipment is completed has variation, such as：The autonomous task of passing, simple sent
Transport task etc..
By it is autonomous send the task of passing exemplified by, the scene for sending the task of passing to be realized of loading equipment can be any two place it
Between or any more than three places between.Such as：Loading equipment, which can be realized, is sent to some cargo from source of goods place
To some user residence (namely building independently send the task of passing).Again for example：Loading equipment, which can be realized, is sent to certain several cargo
To several user residences.
In addition, loading equipment has intelligence control system, this loading equipment is referred to as loading robot or intelligence
Delivery device.
In the embodiment of the present invention, server refers to a management resource and provides the computer equipment of cloud service to the user,
Cloud service be a kind of disposal ability can elastic telescopic storage and calculate service.
As shown in Fig. 2, electric life controller is connected by internet with server, the both-way communication of information is realized.Wherein, it is electric
Terraced controller can be controlled the inside and outside of elevator, such as the inside door of control elevator and external door unlatching/closing.It is in addition, electric
Terraced controller can be by operating status (such as the number of floor levels reached, unlatching/closed mode of elevator) notification server of elevator.Carry
Thing equipment is connected by internet with server, realizes the both-way communication of information, wherein, loading equipment can be by the movement of itself
State notification server, such as elevator controlling request message is sent to server, here, loading equipment is moved to some elevator
When, the number of floor levels residing for itself can be detected by sensor, namely the first number of floor levels that loading equipment is currently located at, loading are set
It is standby to pre-set the second number of floor levels to be gone, in this way, loading equipment is based on the first number of floor levels and the packaged electricity of the second number of floor levels
Terraced control data message is sent to server, and elevator controlling request message is transmitted to electric life controller, this elevator by server
Control data message and people have the function that identical by button come the elevator controlling request message realized.
Specifically, using the people of elevator by controlling elevator by button, loading equipment by wireless control directives (namely
Elevator controlling request message) control elevator, wherein, the type of wireless control directives and button is corresponding, control signal from
Electric life controller issues elevator, since elevator controlling request message and button are performed by same control interface, even if
Wireless control directives are abnormal, and elevator is also like handling " user is disorderly by button ".
Step 102：The loading equipment receives the running state information for the elevator that the server is sent.
In the embodiment of the present invention, the running state information of elevator includes：Number of floor levels that elevator is currently run to, the door of elevator
On off state.
In the embodiment of the present invention, elevator is by the electric life controller of itself to the server real-time Transmission operating status of itself
Information, in this way, server has just grasped the operating status of elevator in real time.When some loading equipment has elevator ride demand,
The running state information of elevator is just sent to the equipment, so as to the loading equipment according to the running state information decision-making of elevator how
Take elevator.
Step 103：When determining that the elevator is run to first number of floor levels based on the running state information, institute
Stating loading equipment controls the driving device of itself to move into the elevator.
In the embodiment of the present invention, when loading equipment determines that the elevator is run to described based on the running state information
During the first number of floor levels, the driving device of itself is controlled to move into the elevator.
Here, it is as follows into the decision process of elevator：Loading equipment gathers environmental state information by environment harvester,
Such as the image information around loading equipment is gathered by camera, by being parsed to image information, determine that loading is set
Whether the ambient condition of standby surrounding, such as surrounding have fixed obstacle, and whether surrounding has human or animal etc., the position of elevator
Put, the space of elevator interior, number of elevator load etc..Loading equipment judges whether elevator has foot based on environmental state information
Enough spaces enter, if elevator has enough spaces to enter, decision enters elevator.Specifically, loading equipment is based on environment
Status information path planning, attempts to enter elevator within a certain period of time, notification server after into elevator succeeding；In the expected time
Elevator is not successfully entered inside, then execution route exits operation.Here, since environmental state information is dynamic change,
When being moved according to path, it is necessary to which real-time update environmental state information, is adjusted according to the feedback winding of environmental state information to update
Whole path.
In the embodiment of the present invention, after loading equipment is successfully entered elevator, server can inform that electric life controller loading is set
Standby to be successfully entered, at this moment, electric life controller can control the door of elevator to begin to shut off, and then elevator is run from the first floor
To the second floor.
Step 104：When determining that the elevator is run to second number of floor levels based on the running state information, institute
Stating loading equipment controls the driving device of itself to be removed from the elevator.
In the embodiment of the present invention, when loading equipment determines that the elevator is run to described based on the running state information
During the second number of floor levels, the driving device of itself is controlled to move into the elevator.
Here, the decision process for leaving elevator is as follows：Loading equipment gathers environmental state information by environment harvester,
Such as the image information around loading equipment is gathered by camera, by being parsed to image information, determine that loading is set
Whether the ambient condition of standby surrounding, such as surrounding have fixed obstacle, and whether surrounding has human or animal etc..Loading equipment
Based on environmental state information path planning, attempt to leave elevator within a certain period of time, leave notification server after elevator success；
Elevator is not left in expected time successfully, then is sent to server and alerts/make a request for help message.Here, due to ambient condition
Information is dynamic change, therefore, when being moved according to path, it is necessary to real-time update environmental state information, according to ambient condition
The feedback winding of information updates adjusts path.
It is worth noting that, above-mentioned steps 103 and step 104 do not limit execution sequence.
Fig. 3 is the flow diagram one of the immigration elevator of the embodiment of the present invention, as shown in figure 3, the immigration elevator includes
Following steps：
Step 301：When determining that the elevator is run to first number of floor levels based on the running state information, sentence
Whether disconnected elevator door is in open mode.
In the embodiment of the present invention, the running state information for the elevator that loading equipment receives includes：Elevator is currently run to
Number of floor levels, elevator door on off state.
Based on this, running state information of the loading equipment based on elevator can determine the number of floor levels that elevator is currently run to
And the on off state of the door of elevator.
In one embodiment, the running state information for the elevator that loading equipment receives can only include：Elevator is current
The number of floor levels run to.Loading equipment monitors the on off state of the door of elevator by the camera of itself.
Step 302：When the elevator door is in open mode, the loading equipment gathers environmental state information in real time.
In the embodiment of the present invention, when the elevator door is in open mode, loading equipment just performs the behaviour into elevator
Make, otherwise wait for the arrival of elevator.When loading equipment performs the operation for entering elevator, first have to gather ambient condition letter in real time
Breath, such as the image information around loading equipment is gathered by camera, by being parsed to image information, determine loading
Whether the ambient condition around equipment, such as surrounding have fixed obstacle, and whether surrounding has human or animal etc., elevator
Position, the space of elevator interior, number of elevator load etc..
Step 303：If the environmental state information shows that the accommodation space of the elevator interior meets preset condition,
Determine to perform the operation for moving into elevator.
Loading equipment judges whether elevator has enough space to enter based on environmental state information, if elevator have it is enough
Space enters, then determines to enter elevator.
Here, performing the operation of immigration elevator includes：The loading equipment is based on the environmental state information collected, planning
Path；The loading equipment is moved according to the path of planning to the elevator interior；When the loading equipment is pre- first
If move into the elevator interior according to the path in duration, the first notification message is sent to the server, described the
One notification message is used to notify the loading equipment into elevator success to the server；When the loading equipment is pre- first
If do not move into the elevator interior according to the path in duration, the operation of exit path is performed.In the loading equipment
Perform complete exit path operation after, to the server send second notification message, the second notification message be used for
The server notifies the loading equipment to fail into elevator.
Here, loading equipment is based on environmental state information path planning, attempts to enter elevator within a certain period of time, into electricity
Notification server after ladder success；Elevator is not successfully entered within the expected time, then execution route exits operation.Here, due to
Environmental state information is dynamic change, therefore, when being moved according to path, it is necessary to real-time update environmental state information, according to
The feedback winding of environmental state information updates adjusts path.
Step 304：If the environmental state information shows that the accommodation space of the elevator interior does not meet preset condition,
Then determine to abandon the operation for moving into elevator.
In the embodiment of the present invention, abandon immigration elevator and specifically comprise the following steps：
During whether loading equipment is carrying out elevator；
If loading equipment during elevator is entered, performs the operation for releasing path；
If loading equipment does not initially enter the process of elevator, it is determined that fails into elevator.
It is worth noting that, above-mentioned steps 303 and step 304 do not limit execution sequence.
In an application scenarios, loading equipment is robot, and the task of robot is to be sent in office building by upper and lower elevator
Take out.Under this scene, since general elevator has wireless control interface, selection of the embodiment of the present invention uses mobile communications network
(such as 4G networks) realizes the both-way communication between electric life controller and server, and server can obtain the operating status letter of elevator
Breath.Robot is by the running state information of the available elevator of server and the control mode of elevator, in this way, robot
Above and below can be as the identically controlled elevator of people.Such as：When robot reaches elevator doorway, the shape of itself can be reported to server
State.At this time, server can send elevator controlling request message by 4G networks to electric life controller, and elevator reaches robot and is located at
Floor after, open the door simultaneously the operating status of elevator is informed into robot by server；The sensing system of robot can obtain
The spatiality of elevator interior, so as to plan the path from current location to elevator interior.During robot execution route, if electric
There are spatial variations in ladder, can be detected by robot, so as to update the path of entrance again.If robot is within a certain period of time
Elevator is cannot be introduced into, then needs to leave, next elevator is changed to or takes other approach, here, if sent out when robot leaves
Existing feasible path, then can again attempt to enter.
Fig. 4 is the flow diagram two of the immigration elevator of the embodiment of the present invention, as shown in figure 4, the immigration elevator includes
Following steps：
Step 401：Server sends elevator controlling request message to electric life controller.
Here, the elevator controlling request message at least carries following information：The loading equipment be currently located at first
Number of floor levels, the loading equipment the second number of floor levels to be gone.
Step 402：When elevator is run to the first number of floor levels, opening elevator door.
Step 403：Loading equipment detects to obtain environmental state information.
Step 404：Loading equipment judges whether that elevator can be carried out based on environmental state information, when being, performs step
405, when no, perform step 409.
Step 405：Loading equipment is based on environmental state information path planning.
Step 406：Loading equipment is moved according to path.
Here, during loading equipment is moved according to path, real-time update environmental state information, and feed back to step
403。
Step 407：Judge whether have been enter into elevator before loading equipment time-out, when being, perform step 408, when no, perform
Step 410.
Step 408：Loading equipment determines to enter elevator success, and notifies server, performs step 413.
Step 409：Judge loading equipment whether enter elevator during, when being, perform step 410, when no, perform
Step 412.
Step 410：Loading equipment performs the operation of exit path.
Here, during loading equipment performs the operation for releasing path, real-time update environmental state information, and feed back to
Step 403.
Step 411：Judge whether have dropped out elevator before loading equipment time-out, when being, perform step 412, when no, perform
Step 410.
Step 412：Loading equipment determines that entering elevator fails, and notifies server.
Step 413：Server sends elevator shutdown signal to electric life controller.
So far, elevator door is closed, and is run according to the requirement of elevator controlling request message by the first number of floor levels to second building
The number of plies.
Fig. 5 is the flow diagram one of the removal elevator of the embodiment of the present invention, as shown in figure 5, the immigration elevator includes
Following steps：
Step 501：When determining that the elevator is run to second number of floor levels based on the running state information, sentence
Whether disconnected elevator door is in open mode.
In the embodiment of the present invention, the running state information for the elevator that loading equipment receives includes：Elevator is currently run to
Number of floor levels, elevator door on off state.
Based on this, running state information of the loading equipment based on elevator can determine the number of floor levels that elevator is currently run to
And the on off state of the door of elevator.
In one embodiment, the running state information for the elevator that loading equipment receives can only include：Elevator is current
The number of floor levels run to.Loading equipment monitors the on off state of the door of elevator by the camera of itself.
Step 502：When the elevator door is in open mode, the loading equipment gathers environmental state information in real time.
In the embodiment of the present invention, when the elevator door is in open mode, loading equipment just performs the behaviour for leaving elevator
Make, otherwise wait for the arrival of elevator.When the operation of elevator is left in the execution of loading equipment, first have to gather ambient condition letter in real time
Breath, such as the image information around loading equipment is gathered by camera, by being parsed to image information, determine loading
Whether the ambient condition around equipment, such as surrounding have fixed obstacle, and whether surrounding has human or animal etc..
Step 503：The loading equipment is based on the environmental state information collected, path planning.
Step 504：The loading equipment is moved according to the path of planning from the elevator to outside.
Step 505：Judge whether the loading equipment removes the elevator in the second preset duration.
Step 506：When the loading equipment removes the elevator in the second preset duration, sent to the server
Third notice message, the third notice message are used to notify the loading equipment to leave elevator success to the server.
Step 507：When the loading equipment does not move out the elevator in the second preset duration, sent out to the server
The 4th notification message is sent, the 4th notification message is used to notify the loading equipment to leave elevator failure to the server.
It is worth noting that, above-mentioned steps 506 and step 507 do not limit execution sequence.
Fig. 6 is the flow diagram two of the removal elevator of the embodiment of the present invention, as shown in fig. 6, the immigration elevator includes
Following steps：
Step 601：When elevator is run to the second number of floor levels, opening elevator door.
Step 602：Loading equipment detects to obtain environmental state information.
Step 603：Loading equipment is based on environmental state information path planning.
Step 604：Loading equipment is moved according to path.
Here, during loading equipment is moved according to path, real-time update environmental state information, and feed back to step
602。
Step 605：Judge whether left elevator before loading equipment time-out, when being, perform step 606, when no, perform
Step 608.
Step 606：Loading equipment determines to leave elevator success, and notifies server.
Step 607：Server notice electric life controller loading equipment leaves elevator success, and electric life controller closes elevator
Door.
Step 608：Loading device-to-server sends message of alarming/make a request for help.
Fig. 7 is the structure composition schematic diagram of the loading equipment of the embodiment of the present invention, as shown in fig. 7, the loading equipment bag
Include：
Communicator 701, for sending elevator controlling request message to server, the elevator controlling request message is at least
Carry following information：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone；Connect
Receive the running state information for the elevator that the server is sent；
Control device 702, for determining that the elevator is run to first floor based on the running state information
During number, the loading equipment controls the driving device of itself to move into the elevator；Institute is determined based on the running state information
When stating elevator and running to second number of floor levels, the loading equipment controls the driving device 703 of itself to be removed from the elevator.
Driving device 703, for controlling the movement of itself under the control of the control device 702.
In an embodiment of the present invention, the control device 702, is determined specifically for working as based on the running state information
When going out the elevator and running to first number of floor levels, judge whether elevator door is in open mode；
The loading equipment further includes：Environment harvester 704, for real-time when the elevator door is in open mode
Gather environmental state information；
The control device 702, if showing that the receiving of the elevator interior is empty specifically for the environmental state information
Between meet preset condition, it is determined that perform move into elevator operation；If the environmental state information shows the elevator interior
Accommodation space do not meet preset condition, it is determined that abandon move into elevator operation.
In an embodiment of the present invention, the control device 702, specifically for based on the environmental state information collected,
Path planning；Moved according to driving device described in the path clustering of planning 703 to the elevator；
The communicator 701, is additionally operable to move into the elevator interior according to the path in the first preset duration
When, the first notification message is sent to the server, first notification message is used to notify the loading to the server
Equipment is successful into elevator；
The control device 702, the electricity is not moved into specifically for working as in the first preset duration according to the path
When ladder is internal, the operation of exit path is performed.
In an embodiment of the present invention, the communicator 701, is additionally operable to exit road in loading equipment execution completion
After the operation in footpath, second notification message is sent to the server, the second notification message is used to notify to the server
The loading equipment fails into elevator.
In an embodiment of the present invention, the control device 702, is determined specifically for working as based on the running state information
When going out the elevator and running to second number of floor levels, judge whether elevator door is in open mode；
The loading equipment further includes：Environment harvester 704, it is real for when the elevator door is in open mode
When gather environmental state information；
The control device 702, specifically for based on the environmental state information collected, path planning；According to planning
Driving device 703 is moved from the elevator to outside described in path clustering.
In an embodiment of the present invention, the control device 702, is additionally operable to judge whether the loading equipment is pre- second
If the elevator is removed in duration；
The communicator 701, when being additionally operable to remove the elevator in the second preset duration, sends to the server
Third notice message, the third notice message are used to notify the loading equipment to leave elevator success to the server；
When not moving out the elevator in the second preset duration, the 4th notification message, the 4th notification message are sent to the server
For notifying the loading equipment to leave elevator failure to the server.
In an embodiment of the present invention, the environment harvester 704, is additionally operable in the case of following at least one, real
When gather environmental state information：When the loading equipment is moved according to the path of planning to the elevator interior, in institute
When stating loading equipment and being moved according to the path of planning from the elevator to outside；
The communicator 701, is additionally operable to update planned path based on the environmental state information collected.
It will be appreciated by those skilled in the art that each device in loading equipment shown in Fig. 7 realize that function can refer to before
State the associated description of the control method of loading equipment and understand.
If the above-mentioned loading equipment of the embodiment of the present invention is realized in the form of software function module and is used as independent product
Sale in use, can also be stored in a computer read/write memory medium.Based on such understanding, the present invention is implemented
The part that the technical solution of example substantially in other words contributes the prior art can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) perform all or part of each embodiment the method for the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read Only Memory), magnetic disc or light
Disk etc. is various can be with the medium of store program codes.In this way, the embodiment of the present invention is not restricted to any specific hardware and software
With reference to.
Correspondingly, the embodiment of the present invention also provides a kind of computer-readable storage medium, wherein being stored with computer can perform finger
Order, the computer executable instructions realize the control method of the above-mentioned loading equipment of the embodiment of the present invention when being executed by processor.
, in the case where there is no conflict, can be in any combination between technical solution described in the embodiment of the present invention.
In several embodiments provided by the present invention, it should be understood that disclosed method and smart machine, Ke Yitong
Other modes are crossed to realize.Apparatus embodiments described above are only schematical, for example, the division of the unit, only
Only a kind of division of logic function, can have other dividing mode, such as when actually realizing：Multiple units or component can be tied
Close, or be desirably integrated into another system, or some features can be ignored, or do not perform.In addition, shown or discussed each group
Into the mutual coupling in part or direct-coupling or communication connection can be by some interfaces, equipment or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The above-mentioned unit illustrated as separating component can be or may not be physically separate, be shown as unit
The component shown can be or may not be physical location, you can positioned at a place, can also be distributed to multiple network lists
In member；Partly or entirely unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a second processing unit,
Can also be each unit individually as a unit, can also two or more units integrate in a unit；
Above-mentioned integrated unit can both be realized in the form of hardware, and the form that hardware adds SFU software functional unit can also be used real
It is existing.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.
Claims (15)
- A kind of 1. control method of loading equipment, it is characterised in that the described method includes：Loading device-to-server sends elevator controlling request message, and the elevator controlling request message at least carries following letter Breath：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone；The loading equipment receives the running state information for the elevator that the server is sent；When determining that the elevator is run to first number of floor levels based on the running state information, the loading equipment control Make the driving device of itself and move into the elevator；When determining that the elevator is run to second number of floor levels based on the running state information, the loading equipment control The driving device of itself is made to remove from the elevator.
- 2. the control method of loading equipment according to claim 1, it is characterised in that described to be based on the operating status When information determines that the elevator is run to first number of floor levels, the loading equipment controls the driving device of itself to move into institute Elevator is stated, including：When determining that the elevator is run to first number of floor levels based on the running state information, whether elevator door is judged In open mode；When the elevator door is in open mode, the loading equipment gathers environmental state information in real time；If the environmental state information shows that the accommodation space of the elevator interior meets preset condition, it is determined that performs immigration The operation of elevator；If the environmental state information shows that the accommodation space of the elevator interior does not meet preset condition, it is determined that abandons moving Enter the operation of elevator.
- 3. the control method of loading equipment according to claim 2, it is characterised in that described to perform the behaviour for moving into elevator Make, including：The loading equipment is based on the environmental state information collected, path planning；The loading equipment is moved according to the path of planning to the elevator interior；When the loading equipment moves into the elevator interior in the first preset duration according to the path, to the service Device send the first notification message, first notification message be used for the server notify the loading equipment enter elevator into Work(；When the loading equipment does not move into the elevator interior in the first preset duration according to the path, execution is exited The operation in path.
- 4. the control method of loading equipment according to claim 3, it is characterised in that the method further includes：After the operation for completing exit path is performed in the loading equipment, second notification message is sent to the server, it is described Second notification message is used to notify the loading equipment into elevator to fail to the server.
- 5. the control method of loading equipment according to claim 1, it is characterised in that when based on the running state information When determining that the elevator is run to second number of floor levels, the loading equipment controls the driving device of itself from the elevator Remove, including：When determining that the elevator is run to second number of floor levels based on the running state information, whether elevator door is judged In open mode；When the elevator door is in open mode, the loading equipment gathers environmental state information in real time；The loading equipment is based on the environmental state information collected, path planning；The loading equipment is moved according to the path of planning from the elevator to outside.
- 6. the control method of loading equipment according to claim 5, it is characterised in that the method further includes：Judge whether the loading equipment removes the elevator in the second preset duration；When the loading equipment removes the elevator in the second preset duration, send third notice to the server and disappear Breath, the third notice message are used to notify the loading equipment to leave elevator success to the server；When the loading equipment does not move out the elevator in the second preset duration, send the 4th notice to the server and disappear Breath, the 4th notification message are used to notify the loading equipment to leave elevator failure to the server.
- 7. the control method of the loading equipment according to claim 3 or 5, it is characterised in that the method further includes：When the loading equipment is moved according to the path of planning to the elevator interior, the loading equipment gathers in real time Environmental state information, and planned path is updated based on the environmental state information collected；When the loading equipment is moved according to the path of planning from the elevator to outside, the loading equipment is adopted in real time Collect environmental state information, and planned path is updated based on the environmental state information collected.
- 8. a kind of loading equipment, it is characterised in that the loading equipment includes：Communicator, for sending elevator controlling request message to server, the elevator controlling request message at least carries such as Lower information：The first number of floor levels that the loading equipment is currently located at, the loading equipment the second number of floor levels to be gone；Described in reception The running state information for the elevator that server is sent；Control device, during for determining that the elevator is run to first number of floor levels based on the running state information, institute Stating loading equipment controls the driving device of itself to move into the elevator；The elevator fortune is determined based on the running state information When row is to second number of floor levels, the loading equipment controls the driving device of itself to be removed from the elevator；Driving device, for controlling the movement of itself under the control of the control device.
- 9. loading equipment according to claim 8, it is characterised in that the control device, specifically for when based on described When running state information determines that the elevator is run to first number of floor levels, judge whether elevator door is in open mode；The loading equipment further includes：Environment harvester, for gathering ring in real time when the elevator door is in open mode Border status information；The control device, if it is pre- to show that the accommodation space of the elevator interior meets specifically for the environmental state information If condition, it is determined that perform the operation for moving into elevator；If the environmental state information shows that the receiving of the elevator interior is empty Between do not meet preset condition, it is determined that abandon move into elevator operation.
- 10. loading equipment according to claim 9, it is characterised in that the control device, specifically for based on collecting Environmental state information, path planning；Moved according to driving device described in the path clustering of planning to the elevator；The communicator, when being additionally operable to move into the elevator interior according to the path in the first preset duration, to institute State server and send the first notification message, first notification message is used to notify the loading equipment to enter to the server Elevator success；The control device, the elevator interior is not moved into specifically for working as in the first preset duration according to the path When, perform the operation of exit path.
- 11. loading equipment according to claim 10, it is characterised in that the communicator, is additionally operable in the loading After equipment performs the operation for completing exit path, second notification message is sent to the server, the second notification message is used In to the server notify the loading equipment into elevator fail.
- 12. loading equipment according to claim 8, it is characterised in that the control device, specifically for when based on described When running state information determines that the elevator is run to second number of floor levels, judge whether elevator door is in open mode；The loading equipment further includes：Environment harvester, for when the elevator door is in open mode, gathering ring in real time Border status information；The control device, specifically for based on the environmental state information collected, path planning；According to the path clustering of planning The driving device is moved from the elevator to outside.
- 13. loading equipment according to claim 12, it is characterised in that the control device, is additionally operable to judge the load Whether thing equipment removes the elevator in the second preset duration；The communicator, when being additionally operable to remove the elevator in the second preset duration, threeway is sent to the server Know message, the third notice message is used to notify the loading equipment to leave elevator success to the server；It is pre- second If the elevator is not moved out in duration, to the server send the 4th notification message, the 4th notification message be used for The server notifies the loading equipment to leave elevator failure.
- 14. the loading equipment according to claim 10 or 12, it is characterised in that the environment harvester, is additionally operable to In the case of following at least one, environmental state information is gathered in real time：In the loading equipment according to the path of planning to the electricity When terraced inside is moved, when the loading equipment is moved according to the path of planning from the elevator to outside；The communicator, is additionally operable to update planned path based on the environmental state information collected.
- 15. a kind of computer-readable storage medium, it is characterised in that be stored thereon with computer executable instructions, which can hold Claim 1-7 any one of them method and steps are realized in row instruction when being executed by processor.
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| CN201710952765.9A CN107902502A (en) | 2017-10-13 | 2017-10-13 | The control method of loading equipment, loading equipment, computer-readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710952765.9A CN107902502A (en) | 2017-10-13 | 2017-10-13 | The control method of loading equipment, loading equipment, computer-readable storage medium |
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| CN201710952765.9A Pending CN107902502A (en) | 2017-10-13 | 2017-10-13 | The control method of loading equipment, loading equipment, computer-readable storage medium |
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| CN109146385A (en) * | 2018-08-30 | 2019-01-04 | 上海与德科技有限公司 | A kind of method for transporting object, device, equipment and storage medium |
| CN109230922A (en) * | 2018-11-22 | 2019-01-18 | 苏州米机器人有限公司 | A kind of elevator up-down enabling control device for robot |
| CN111099461A (en) * | 2018-10-26 | 2020-05-05 | 深圳市旺龙智能科技有限公司 | Elevator control method and system for intelligently improving reliability of robot taking elevator |
| CN111348506A (en) * | 2020-03-06 | 2020-06-30 | 北京云迹科技有限公司 | Method, device and system for contactless elevator taking |
| CN113460816A (en) * | 2021-07-06 | 2021-10-01 | 山东新一代信息产业技术研究院有限公司 | System for robot takes elevator independently |
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