CN109205406B - Robot elevator taking method and device, computer equipment and readable storage medium - Google Patents
Robot elevator taking method and device, computer equipment and readable storage medium Download PDFInfo
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- CN109205406B CN109205406B CN201811215500.1A CN201811215500A CN109205406B CN 109205406 B CN109205406 B CN 109205406B CN 201811215500 A CN201811215500 A CN 201811215500A CN 109205406 B CN109205406 B CN 109205406B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/104—Call input for a preferential elevator car or indicating a special request
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- Automation & Control Theory (AREA)
- Elevator Control (AREA)
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Abstract
The invention relates to a robot ladder taking method, a robot ladder taking device, computer equipment and a readable storage medium. The method can comprise the following steps: acquiring elevator taking application information of the robot; determining the elevator taking type of the robot according to the elevator taking application information; determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking; and controlling the robot to take the target elevator. In the method, the central server determines the type of the robot taking the elevator according to the elevator taking application information of the robot, so that the problem that the safety of other passengers taking the elevator is influenced when goods carried by the robot are inflammable and explosive is effectively solved; in addition, the central server determines the target elevator taking according to the elevator taking type of the robot and the operation state information of each elevator taking, controls the robot to take the target elevator taking, can effectively manage the robot elevator taking, and guarantees the safe operation of the elevator taking.
Description
Technical Field
The invention relates to the field of transportation, in particular to a robot ladder taking method, a robot ladder taking device, computer equipment and a readable storage medium.
Background
Along with the continuous development of economy, the use of the elevator is more and more popular, and the functions are more and more intelligent; the elevator robot can carry goods and independently take advantage of the ladder, carries out the transportation of goods, and the appearance of elevator robot provides convenient part for the user obtains the goods.
At present, when an elevator robot carries goods, the robot carries the goods to be transported to enter an elevator and take the elevator together with other passengers, an elevator controller controls the elevator to reach a target layer to be reached by the robot, and after the elevator reaches the target layer, the robot transports the goods to a user to finish transporting the goods.
However, in the conventional method for the robot to take the elevator, when the goods carried by the robot are inflammable and explosive, the safety of other passengers is affected.
Disclosure of Invention
Therefore, it is necessary to provide a robot elevator taking method, a robot elevator taking device, a computer device and a readable storage medium, aiming at the problem that in the conventional robot elevator taking method, when the goods carried by the robot are inflammable and explosive, the safety of other passengers is affected.
In a first aspect, an embodiment of the present invention provides a robot elevator taking method, where the method includes:
acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and controlling the robot to take the target elevator.
In one embodiment, the determining the elevator taking type of the robot according to the elevator taking application information includes:
determining the type of goods carried by the robot according to the goods information;
if the cargo type is flammable and explosive, determining that the elevator taking type is the elevator taking type exclusively shared by the robot;
and if the cargo type is a non-inflammable and explosive article, determining that the elevator taking type is a man-machine shared elevator taking type.
In one embodiment, if the elevator taking type is the elevator taking type exclusively shared by the robot, the controlling the robot to take the target elevator comprises:
calling the target elevator to the elevator taking floor of the robot when the elevator taking time of the robot arrives according to the elevator taking application information, and controlling an elevator controller to send a voice notification message; the voice notification message is used for notifying the target elevator taking mode to be exclusively shared by the robot;
closing the elevator door according to a door closing instruction sent by the robot;
when the target elevator is detected to reach a target floor, sending a reaching instruction to the robot; the arrival instruction is used for indicating the robot to exit the target elevator.
In one embodiment, if the boarding type is the man-machine shared boarding, the controlling the robot to board the target boarding includes:
sending the identification of the target elevator taking and the elevator taking time to the robot;
when the target elevator reaches the elevator taking floor of the robot, sending an elevator entering and taking command to the robot so that the robot enters the target elevator;
and when receiving the elevator entering information sent by the robot, closing an elevator taking door, and sending the target layer of the robot to an elevator taking controller.
In one embodiment, the sending the entry boarding command to the robot further comprises:
when the target elevator taking is detected to reach the elevator taking floor and the elevator taking door is opened, detecting the space of the target elevator taking car, the number of people taking the elevator and the condition of user entering and exiting;
and if the residual space of the target elevator taking is larger than or equal to the occupied space of the robot, sending an elevator taking command to the robot.
In one embodiment, the method further comprises:
controlling the elevator taking controller to send voice broadcast information; the voice broadcast information is used for reminding passengers to avoid the robot.
In one embodiment, the method further comprises:
determining the elevator taking time of the robot according to the elevator taking information of the robot;
and sending the elevator taking time to the robot, so that the robot reaches the waiting position of the target elevator taking before the elevator taking time.
In the robot elevator taking method provided by the embodiment, the central server acquires elevator taking application information of the robot, determines an elevator taking type of the robot according to the elevator taking application information, determines a target elevator to take according to the elevator taking type and operation state information of each elevator to control the robot to take the target elevator. In the method, the central server determines the type of the robot taking the elevator according to the elevator taking application information of the robot, so that the problem that the safety of other passengers taking the elevator is influenced when goods carried by the robot are inflammable and explosive is effectively solved; in addition, the central server determines the target elevator taking according to the elevator taking type of the robot and the operation state information of each elevator taking, controls the robot to take the target elevator taking, can effectively manage the robot elevator taking, and guarantees the safe operation of the elevator taking.
In a second aspect, an embodiment of the present invention provides a ladder taking apparatus for a robot, including:
the acquisition module is used for acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
the first determining module is used for determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
the second determining module is used for determining the target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and the control module is used for controlling the robot to take the target elevator.
In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the following steps when executing the computer program:
acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and controlling the robot to take the target elevator.
In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps:
acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and controlling the robot to take the target elevator.
The robot elevator taking device, the computer equipment and the readable storage medium provided by the embodiment can enable the central server to acquire elevator taking application information of the robot, determine the elevator taking type of the robot according to the elevator taking application information, determine a target elevator taking according to the elevator taking type and the running state information of each elevator taking, and control the robot to take the target elevator taking. In the process of determining the type of the robot taking the elevator, the central server determines the type of the robot taking the elevator according to the elevator taking application information of the robot, so that the problem of influencing the safety of other passengers taking the elevator when goods carried by the robot are inflammable and explosive is effectively solved; in addition, the central server determines the target elevator taking according to the elevator taking type of the robot and the operation state information of each elevator taking, controls the robot to take the target elevator taking, can effectively manage the robot elevator taking, and guarantees the safe operation of the elevator taking.
Drawings
Fig. 1 is an application environment diagram of a robot ladder-taking method provided by an embodiment of the invention;
fig. 2 is a schematic flow chart of a robot elevator-taking method according to an embodiment;
fig. 3 is a schematic flow chart of a robot elevator-taking method according to another embodiment;
fig. 4 is a schematic flow chart of a robot elevator-taking method according to another embodiment;
fig. 5 is a schematic flow chart of a robot elevator-taking method according to another embodiment;
fig. 6 is a schematic flow chart of a robot elevator-taking method according to another embodiment;
fig. 7 is a schematic flow chart of a robot elevator-taking method according to another embodiment;
fig. 8 is a schematic structural view of a robot elevator-taking device according to an embodiment;
fig. 9 is a schematic structural view of a robot elevator-taking device according to another embodiment;
fig. 10 is a schematic structural view of a robot elevator-taking device according to another embodiment;
fig. 11 is a schematic structural view of a robot elevator-taking device according to another embodiment;
fig. 12 is a schematic structural view of a robot elevator-taking device according to another embodiment;
fig. 13 is a schematic structural view of a robot elevator-taking device according to another embodiment;
fig. 14 is a schematic internal structural diagram of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The robot ladder-taking method provided by the embodiment of the invention can be suitable for the application environment shown in figure 1. The application environment comprises a robot, an elevator taking device and a central server, wherein the elevator taking device comprises an elevator taking device and an elevator taking controller, the elevator taking controller is communicated with the elevator taking device through an RS485 bus, and the central server can execute the steps of the following method embodiments. Optionally, the central server may further include a network interface, a display screen, and an input device. The robot, the elevator riding device and the central server communicate with each other through a low-power-consumption and wide-coverage network Narrow-Band Internet of Things (Narrow Band Internet of Things) or enhanced machine communication (eMTC).
In the traditional elevator taking method of the robot, the robot carries goods to be transported to enter the elevator and take the elevator together with other passengers, and an elevator controller controls the elevator to reach a target layer to be reached by the robot, so that when the goods carried by the robot are inflammable and explosive articles, the safety problem that other passengers take the elevator is influenced exists. Therefore, embodiments of the present invention provide a robot ladder-taking method, apparatus, computer device and readable storage medium, which aim to solve the above technical problems of the conventional technology.
The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of a robot elevator taking method according to an embodiment. The embodiment relates to a specific implementation process for controlling a robot to board a target elevator. As shown in fig. 2, the method may include:
s201, acquiring elevator taking application information of the robot; the application information comprises cargo information of the robot carrying cargo and elevator taking information of the robot.
Specifically, the robot scans the two-dimensional code on the goods to be carried through the scanning device of the robot, and the information of the goods to be carried is determined. The goods information may include the name of the goods, the goods identification, the volume of the goods, and the destination layer to be transported. In this embodiment, the central server performs network communication with the robot to obtain information about goods to be carried by the robot and information about the elevator riding of the robot. For example, when the robot needs to take the elevator, the elevator taking application information is sent to the central server through the wireless network.
Alternatively, the boarding information may include the boarding time, the boarding floor of the robot, the destination floor, and the like. Optionally, the elevator-saving time of the robot may be determined by the robot according to the demand time of the user, or may be determined by the robot according to the number of goods to be transported; the elevator taking floor of the robot is determined according to the current position of the robot; the destination layer is determined according to the information of the goods to be transported by the robot. Optionally, the central server and the robot may perform network communication through NB-IOT, or may perform network communication through eMTC.
S202, determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type.
The robot special for taking the elevator is that the robot takes one elevator to transport and carry goods independently; the man-machine shared ladder taking method means that the robot carries goods together with other users to take the ladder together.
Specifically, the central server determines whether the elevator taking type of the robot is exclusive or man-machine shared according to the cargo information of the cargo carried by the robot in the acquired elevator taking application information of the robot. Optionally, if the type of the goods carried by the robot is a dangerous goods, the central server determines that the ladder-taking type of the robot is that the robot exclusively takes the ladder; if the type of the goods carried by the robot is a non-dangerous goods, the central server determines that the elevator taking type of the robot is a man-machine shared elevator taking type.
And S203, determining the target elevator taking according to the elevator taking types and the running state information of each elevator taking.
Specifically, the central server may detect operation state information of each elevator car, and the operation state information may include a space margin, the number of passengers, a load, and the like of each elevator car. Optionally, the central server may detect the running state information of each elevator car in real time, or may detect the running state information periodically, for example, every five minutes or every ten minutes. In this embodiment, the central server determines a target elevator to be taken by the robot according to the elevator taking type of the robot and the acquired running state information of each elevator. Optionally, if the elevator taking type of the robot is that the robot exclusively shares elevator taking, the central server determines that the current idle elevator taking is the target elevator taking according to the space allowance, the number of people taking the elevator and the load of each elevator taking car; if the type of the robot is man-machine sharing elevator taking, the central server determines the elevator taking capable of accommodating the robot as the target elevator taking according to the space allowance, the number of elevator taking persons and the load of each elevator taking car.
And S204, controlling the robot to board the target elevator.
Specifically, the central server may send a control instruction to the robot, and the robot rides the target elevator according to the received control instruction. Optionally, the control instruction sent by the central server to the robot may be an instruction for controlling the robot to enter the target elevator car, or may be an instruction for controlling the robot to exit the target elevator car. For example, when the target elevator arrives at the floor where the robot is located, the center server may transmit an instruction to enter the car to the robot, and the robot may drive into the target elevator to ride the target elevator after receiving the instruction to enter the car transmitted by the center server.
In the embodiment, the central server determines the type of the robot taking the elevator according to the elevator taking application information of the robot, so that the problem that when goods carried by the robot are inflammable and explosive goods, the safety of other passengers taking the elevator is influenced is effectively solved; in addition, the central server determines the target elevator taking according to the elevator taking type of the robot and the operation state information of each elevator taking, controls the robot to take the target elevator taking, can effectively manage the robot elevator taking, and guarantees the safe operation of the elevator taking.
Fig. 3 is a schematic flow chart of a robot elevator-taking method according to another embodiment. The embodiment relates to a specific implementation process for determining the elevator taking type of the robot according to elevator taking application information. As shown in fig. 3, on the basis of the foregoing embodiment, as an optional implementation manner, the foregoing S202 includes:
s301, determining the type of goods carried by the robot according to the goods information, and executing step 302 if the type of goods is flammable and explosive; if the cargo type is non-flammable and explosive, step 303 is executed.
Optionally, the goods information may be a goods name or a goods identifier. In this embodiment, the central server determines whether the goods to be carried by the robot are flammable and explosive goods or non-flammable and explosive goods according to the obtained goods name or goods identifier. For example, if the name of the goods acquired by the central server is alcohol, it is determined that the goods carried by the robot are flammable and explosive; and if the goods name acquired by the central server is shampoo, determining that the goods carried by the robot are non-flammable and non-explosive goods.
S302, determining that the elevator taking type is the type of the elevator taken by the robot.
Specifically, if the central server determines that the type of the goods carried by the robot is flammable and explosive according to the acquired goods information, the type of the elevator taken by the robot is determined to be the type of the elevator taken by the robot. For example, when the central server acquires that the goods carried by the robot are lighters or alcohol, the type of the elevator taken by the robot is determined to be the type of the elevator taken by the robot.
S303, determining that the elevator taking type is man-machine sharing elevator taking.
Specifically, if the central server determines that the goods carried by the robot are non-flammable and explosive goods according to the obtained goods information, the type of the elevator taken by the robot is determined to be man-machine sharing elevator taken. For example, when the central server acquires that goods carried by the robot are daily necessities such as files or shampoo, the type of the elevator taken by the robot is determined to be man-machine sharing elevator taking.
In this embodiment, the central server determines the type of the goods according to the acquired information of the goods carried by the robot, determines the elevator taking type of the robot according to the type of the goods, and determines that the elevator taking type of the robot is a special elevator if the carried goods are inflammable and explosive goods, so that the problem that the safety of other passengers on the elevator is influenced when the goods carried by the robot are inflammable and explosive goods can be effectively solved.
Fig. 4 is a schematic flow chart of a robot elevator-taking method according to another embodiment. The embodiment relates to a specific implementation process of a robot for taking a ladder exclusively by the ladder taking type. As shown in fig. 4, if the robot takes the ladder exclusively for the robot, controlling the robot to take the target ladder includes:
s401, calling the target elevator to the elevator taking floor of the robot when the elevator taking time of the robot arrives according to the elevator taking application information, and controlling an elevator taking controller to send a voice notification message; the voice notification message is used for notifying the target elevator taking mode to be exclusively shared by the robot.
Specifically, the center server calls the determined target elevator riding to the elevator riding floor of the robot when the elevator riding time of the robot arrives according to the elevator riding application information of the robot, the elevator riding floor of the robot, the target elevator riding time, the elevator riding time. Optionally, the voice notification message may be used to notify the robot that the target takes the elevator for the exclusive use of the robot, and may also be used to remind other users that the target takes the elevator for the exclusive use of the robot, so as to prevent the user and the robot from taking the elevator together.
S402, closing the elevator door according to the door closing instruction sent by the robot.
Specifically, after the robot drives into the target elevator, a door closing instruction is sent to the central server through network communication with the central server, after the central server receives the door closing instruction sent by the robot and detects that no other user exists in the elevator car of the target elevator, the door closing instruction is sent to the elevator taking controller through network communication with the elevator taking controller, and the elevator taking controller closes the elevator door.
S403, when the target elevator is detected to reach a target floor, sending a reaching command to the robot; the arrival instruction is used for indicating the robot to exit the target elevator.
Specifically, when the central server detects that the target elevator arrives at the target floor, the central server sends an arrival instruction to the robot through network communication with the robot, and the robot receives the arrival instruction and then drives out the target elevator. Optionally, the central server may detect that the target takes the elevator to reach the destination floor by detecting an operation state of taking the elevator in real time, or may detect that the target takes the elevator to reach the destination floor by detecting a state of taking the elevator controller.
In this embodiment, if the elevator taking type of the robot is the elevator taking type exclusively shared by the robot, the central server calls the target elevator taking to the elevator taking floor of the robot according to the elevator taking application information of the robot when the elevator taking time of the robot arrives, and controls the elevator taking controller to send a voice notification message notifying that the target elevator taking is exclusively shared by the robot, and notifies the robot or other passengers that the target elevator taking is exclusively shared by the robot, and in the whole process, the central server can effectively manage the elevator taking by the robot, so as to ensure that the target elevator taking is exclusively shared by the robot; in addition, the central server closes the elevator taking door according to a door closing instruction sent by the robot, so that the safety of the robot taking the elevator is ensured; in addition, when the central server detects that the target elevator-taking reaches the target floor, the central server sends an arrival command to the robot, and the robot exits the target elevator-taking according to the received arrival command, so that the elevator-taking of the robot can be effectively managed, and the elevator-taking efficiency of the robot is improved.
Fig. 5 is a schematic flow chart of a robot elevator-taking method according to another embodiment. The embodiment relates to a concrete implementation process of sharing elevator taking for a man-machine by the elevator taking type of a robot. As shown in fig. 5, if the robot takes the ladder type as the man-machine shared ladder, controlling the robot to take the target ladder comprises:
s501, sending the identification of the target elevator taking and the elevator taking time to the robot.
Wherein the identification of the target elevator is used for informing the robot which elevator to take in all elevators. Specifically, the central server transmits the identification of the target elevator taking and the elevator taking time to the robot through network communication between the central server and the robot. Optionally, the identifier of the target elevator may be a number of the target elevator, or may be position information of the target elevator.
And S502, when the target elevator reaches the elevator taking floor of the robot, sending an elevator entering and taking command to the robot so that the robot enters the target elevator.
Specifically, when the target elevator arrives at the elevator taking floor of the robot, the central server transmits an elevator entering command to the robot through network communication with the robot, and the robot receives the elevator entering command transmitted by the central server and then drives into the target elevator. For example, when the robot is at the 10 th floor and is going to send a document to the 20 th floor, the center server detects that the target elevator-taking arrives at the 10 th floor, and sends an instruction to enter the elevator-taking to the robot, and after receiving the instruction to enter the elevator-taking sent by the center server, the robot drives in the target elevator-taking together with other users to take the elevator-taking.
And S503, when the elevator taking entering information sent by the robot is received, closing the elevator taking door, and sending the target floor of the robot to the elevator taking controller.
Specifically, after the robot drives into a target elevator, information of entering the elevator is sent to a central server, when the central server receives the information of entering the elevator sent by the robot, a door closing instruction is sent to an elevator taking controller, the elevator taking controller closes an elevator taking door after receiving the door closing instruction sent by the central server, meanwhile, when the central server receives the information of entering the elevator sent by the robot, a target layer of the robot is sent to the elevator taking controller, and the elevator taking controller controls the operation of the elevator taking according to the target layer sent by the central server.
In this embodiment, if the elevator taking type of the robot is the shared elevator taking by the robot, the center server sends the identification of the target elevator taking and the elevator taking time to the robot, when the target elevator taking reaches the elevator taking floor of the robot, the robot sends an instruction for entering the target elevator taking to the robot, the robot takes the elevator according to the instruction sent by the center server, and in the whole process, the robot operates according to the instruction of the center server, so that the elevator taking of the robot can be effectively managed; in addition, when the central server receives the entering elevator taking information sent by the robot, the central server controls the elevator taking controller to close the elevator taking door, so that the elevator taking safety of the robot is ensured.
Fig. 6 is a schematic flow chart of a robot elevator-taking method according to another embodiment. The embodiment relates to a specific implementation process for sending an elevator taking command to a robot when the elevator taking type of the robot is man-machine sharing elevator taking. As shown in fig. 6, on the basis of the foregoing embodiment, as an optional implementation manner, the foregoing S502 further includes:
and S601, when the target elevator taking is detected to reach the elevator taking floor and the elevator taking door is opened, detecting the space of the target elevator taking car, the number of people taking the elevator and the condition of user entrance and exit.
Specifically, when the central server detects that the target elevator arrives at the elevator taking floor of the robot and opens the elevator taking door, the space of the target elevator taking car, the number of people taking the elevator and the entrance and exit situation of users are detected, the space can be detected through a video in the elevator taking car, and the space can be detected through various sensors of the elevator taking car.
And S602, if the remaining space of the target elevator taking is larger than or equal to the occupied space of the robot, sending an elevator taking command to the robot.
Specifically, if the central server detects that the remaining space of the target elevator can accommodate the lower robot, the central server sends an instruction for entering the elevator to the robot, that is, when the remaining space of the target elevator is greater than or equal to the occupied space of the robot, the central server sends an instruction for entering the elevator to the robot.
In the embodiment, the central server detects the space of the target elevator car, the number of people taking the elevator and the condition of user entrance and exit when detecting that the target elevator arrives at the elevator taking floor and opens the elevator taking door, and sends the entrance elevator taking command to the robot when confirming that the residual space of the target elevator is greater than or equal to the occupied space of the robot, so that the robot can be effectively ensured to share the elevator taking with other users, and the resources are saved.
On the basis of the above embodiment, as an optional implementation manner, the method for man-machine sharing to ride the ladder further includes: controlling the elevator taking controller to send voice broadcast information; the voice broadcast information is used for reminding passengers to avoid the robot.
Specifically, when the type of taking the elevator by the robot is man-machine sharing, the central server controls the elevator taking controller to send voice broadcast information for reminding passengers to avoid the robot. In this embodiment, the central server controls the voice broadcast information sent by the elevator taking controller, so that passengers can be reminded to avoid the robot, the robot can smoothly enter a target to take the elevator, and the elevator taking efficiency of the robot is improved.
Fig. 7 is a schematic flow chart of a robot elevator-taking method according to another embodiment. On the basis of the foregoing embodiment, as an optional implementation manner, the foregoing method further includes:
and S701, determining the elevator taking time of the robot according to the elevator taking information of the robot.
The elevator taking information of the robot includes the elevator taking time of the robot, the elevator taking floor and the target floor of the robot, and the like. Specifically, the central server determines the maximum value of the three according to the elevator-saving time of the robot, the time for the robot to travel to the target elevator-taking position and the time for the robot to travel to the floor where the robot is located, and determines the elevator-taking time of the robot according to the determined maximum value. For example, the robot sends an elevator taking request to the central server at 14:00, the elevator taking time is 14:20, the time for the robot to travel to the target elevator taking position is 5 minutes, and the time for the robot to travel to the floor where the robot is located is 10 minutes, so that the elevator taking time of the robot is determined to be 14: 20.
And S702, sending the boarding time to the robot, and enabling the robot to reach the waiting position of the target boarding before the boarding time.
Specifically, the central server sends the determined elevator taking time to the robot through network communication with the robot, and after receiving the elevator taking time sent by the central server, the robot reaches the waiting position of the target elevator taking before the elevator taking time arrives and waits for elevator taking. For example, the determined boarding time is 14:20, the central server transmits the boarding time to the robot, and after the robot receives the boarding time transmitted by the central server, it is necessary to perform, at 14: and 20, the elevator arrives at the waiting position of the target elevator to wait for taking the elevator.
In the embodiment, the central server determines the elevator taking time of the robot according to the elevator taking information of the robot and sends the elevator taking time to the robot, so that the robot can be effectively ensured to wait for taking the elevator at the waiting position of the target elevator before the elevator taking time arrives, and the elevator taking efficiency of the robot is improved.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
Fig. 8 is a schematic structural view of a robot elevator-taking device according to an embodiment. As shown in fig. 8, the apparatus may include: the device comprises an acquisition module 10, a first determination module 11, a second determination module 12 and a control module 13.
Specifically, the acquiring module 10 is configured to acquire elevator riding application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
a first determining module 11, configured to determine a ladder taking type of the robot according to the ladder taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
a second determining module 12, configured to determine a target elevator taking according to the elevator taking type and the operation state information of each elevator taking;
and the control module 13 is used for controlling the robot to take the target elevator.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
Fig. 9 is a schematic structural view of a robot elevator-taking device according to another embodiment. On the basis of the embodiment shown in fig. 8, optionally, the first determining module 11 may include: a first determination unit 111, a second determination unit 112 and a third determination unit 113.
Specifically, the first determining unit 111 is configured to determine a type of goods carried by the robot according to the goods information;
a second determining unit 112, configured to determine that the elevator taking type is the robot-dedicated elevator taking type if the cargo type is an inflammable and explosive article;
a third determining unit 113, configured to determine that the elevator taking type is an airplane-shared elevator taking type if the cargo type is a non-flammable and explosive cargo.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
Fig. 10 is a schematic structural view of a robot elevator-taking device according to another embodiment. On the basis of the embodiment shown in fig. 9, if the elevator-taking type is the robot-dedicated elevator-taking type, the control module 13 may include: a control unit 131, a first operation unit 132, and a second operation unit 133.
Specifically, the control unit 131 is configured to call the target elevator taking to an elevator taking floor of the robot when the elevator taking time of the robot arrives according to the elevator taking application information, and control an elevator taking controller to send a voice notification message; the voice notification message is used for notifying the target elevator taking mode to be exclusively shared by the robot;
a first operation unit 132, configured to close the landing door according to a door closing instruction sent by the robot;
a second operation unit 133 for transmitting an arrival instruction to the robot when it is detected that the target takes the elevator to the destination floor; the arrival instruction is used for indicating the robot to exit the target elevator.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
Fig. 11 is a schematic structural view of a robot elevator-taking device according to another embodiment. On the basis of the embodiment shown in fig. 9, if the boarding type is the man-machine shared boarding, the control module 13 may include: a first transmission unit 131, a second transmission unit 132, and a third transmission unit 133.
Specifically, the first sending unit 131 is configured to send the identifier of the target elevator and the elevator taking time to the robot;
a second transmitting unit 132 configured to transmit an entry boarding command to the robot so that the robot enters the target boarding floor when the target boarding arrives at the boarding floor of the robot;
and a third transmitting unit 133 for closing the landing door and transmitting the destination floor of the robot to the landing controller when receiving the landing entering information transmitted by the robot.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
In one embodiment, the second sending unit 132 is specifically configured to detect a space of the target elevator car, the number of passengers, and a user entering or exiting situation when the target elevator arrives at the elevator taking floor and the elevator taking door is opened; and if the residual space of the target elevator taking is larger than or equal to the occupied space of the robot, sending an elevator taking command to the robot.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
Fig. 12 is a schematic structural view of a robot elevator-taking device according to another embodiment. On the basis of the embodiment shown in fig. 11, if the boarding type is the man-machine shared boarding, the control module 13 further includes: a control unit 134.
Specifically, the control unit 134 is configured to control the elevator taking controller to send voice broadcast information; the voice broadcast information is used for reminding passengers to avoid the robot.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
Fig. 13 is a schematic structural view of a robot elevator-taking device according to another embodiment. On the basis of the above embodiment, as shown in fig. 13, the apparatus further includes: a third determination module 14 and a sending module 15.
Specifically, the third determining module 14 is configured to determine the elevator taking time of the robot according to the elevator taking information of the robot;
and a sending module 15, configured to send the boarding time to the robot, so that the robot reaches a waiting position of the target boarding before the boarding time.
The robot elevator taking device provided by the embodiment can execute the method embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
For specific limitations of the robot elevator taking device, reference may be made to the above limitations of the robot elevator taking method, and details are not described here. All or part of each module in the robot elevator taking device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The robot ladder-taking method provided by the embodiment of the invention can be applied to computer equipment shown in fig. 14. The computer device comprises a processor and a memory connected by a system bus, wherein a computer program is stored in the memory, and the steps of the method embodiments described below can be executed when the processor executes the computer program. Optionally, the computer device may further comprise a network interface, a display screen and an input device. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a nonvolatile storage medium storing an operating system and a computer program, and an internal memory. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. Optionally, the computer device may be a server, may be a PC, may also be a personal digital assistant, may also be other terminal devices, such as a PAD, a mobile phone, and the like, and may also be a cloud or a remote server, and the specific form of the computer device is not limited in the embodiment of the present invention.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and controlling the robot to take the target elevator.
The implementation principle and technical effect of the computer device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, a readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
determining the elevator taking type of the robot according to the elevator taking application information; the ladder taking type comprises a robot-dedicated ladder taking type or a man-machine shared ladder taking type;
determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and controlling the robot to take the target elevator.
The implementation principle and technical effect of the readable storage medium provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
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, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for a robot to ride a ladder, the method comprising:
acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
determining the type of goods carried by the robot according to the goods information, if the type of goods is flammable and explosive, determining that the elevator taking type is a special elevator taken by the robot, and if the type of goods is non-flammable and explosive, determining that the elevator taking type is a man-machine shared elevator taken;
determining a target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and controlling the robot to take the target elevator.
2. The method of claim 1, wherein if the ride type is the robot-dedicated ride, the controlling the robot to ride the target ride comprises:
calling the target elevator to the elevator taking floor of the robot when the elevator taking time of the robot arrives according to the elevator taking application information, and controlling an elevator taking controller to send a voice notification message; the voice notification message is used for notifying the target elevator taking mode to be exclusively shared by the robot;
closing the elevator door according to a door closing instruction sent by the robot;
when the target elevator is detected to reach a target floor, sending a reaching instruction to the robot; the arrival instruction is used for indicating the robot to exit the target elevator.
3. The method of claim 1, wherein if the boarding type is the man-machine shared boarding, the controlling the robot to board the target boarding comprises:
sending the identification of the target elevator taking and the elevator taking time to the robot;
when the target elevator reaches the elevator taking floor of the robot, sending an elevator entering and taking command to the robot so that the robot enters the target elevator;
and when receiving the elevator entering information sent by the robot, closing an elevator taking door, and sending the target layer of the robot to an elevator taking controller.
4. The method of claim 3, wherein the sending an entry boarding instruction to the robot further comprises:
when the target elevator is detected to reach the elevator taking floor and the elevator taking door is opened, detecting the space of the target elevator taking car, the number of people taking the elevator and the condition of user entering and exiting;
and if the residual space of the target elevator taking is larger than or equal to the occupied space of the robot, sending an elevator taking command to the robot.
5. The method according to claim 3 or 4, characterized in that the method further comprises:
controlling the elevator taking controller to send voice broadcast information; the voice broadcast information is used for reminding passengers to avoid the robot.
6. The method of claim 1, further comprising:
determining the elevator taking time of the robot according to the elevator taking information of the robot;
and sending the elevator taking time to the robot, so that the robot reaches the waiting position of the target elevator taking before the elevator taking time.
7. The method as claimed in claim 1, wherein the determining the target elevator ride according to the elevator ride type and the operation state information of each elevator ride comprises:
if the elevator taking type is the type that the robot exclusively takes the elevator, determining the current idle elevator taking as the target elevator taking according to the space allowance, the number of people taking the elevator and the load of each elevator taking car; if the elevator taking type is a man-machine shared elevator taking type, the elevator taking type capable of accommodating the robot is determined as a target elevator taking type according to the space allowance, the number of people taking the elevator and the load of each elevator taking car.
8. A robot ladder riding device, characterized in that the device comprises:
the acquisition module is used for acquiring elevator taking application information of the robot; the application information comprises cargo information of cargos carried by the robot and elevator taking information of the robot;
the first determining module is used for determining the type of goods carried by the robot according to the goods information, if the type of goods is flammable and explosive, determining that the elevator taking type is the special elevator taken by the robot, and if the type of goods is non-flammable and explosive, determining that the elevator taking type is man-machine shared elevator taking;
the second determining module is used for determining the target elevator taking according to the elevator taking type and the running state information of each elevator taking;
and the control module is used for controlling the robot to take the target elevator.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1-7.
10. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN112388624B (en) * | 2019-08-15 | 2022-07-12 | 纳恩博（北京）科技有限公司 | Robot control method and apparatus, storage medium, and electronic apparatus |
| CN110482342B (en) * | 2019-08-22 | 2021-12-17 | 日立楼宇技术（广州）有限公司 | Robot-based elevator calling method and related equipment |
| CN110683435A (en) * | 2019-09-03 | 2020-01-14 | 耀灵人工智能(浙江)有限公司 | Elevator control method for carrying robot in personalized adaptation mode |
| CN112693980A (en) * | 2019-10-23 | 2021-04-23 | 奥的斯电梯公司 | Robot elevator taking control method, system, elevator, robot system and storage medium |
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| CN111170095A (en) * | 2019-12-31 | 2020-05-19 | 北京猎户星空科技有限公司 | Elevator dispatching system |
| WO2021160623A1 (en) | 2020-02-10 | 2021-08-19 | Metralabs Gmbh Neue Technologien Und Systeme | Method and a system for conveying a robot in an elevator |
| US11593747B2 (en) | 2020-03-16 | 2023-02-28 | Otis Elevator Company | Automated sort area using robots |
| CN112537702B (en) * | 2020-03-31 | 2022-12-13 | 深圳优地科技有限公司 | Robot elevator taking guiding method and device, terminal equipment and readable storage medium |
| CN112537705B (en) * | 2020-03-31 | 2023-04-11 | 深圳优地科技有限公司 | Robot elevator taking scheduling method and device, terminal equipment and storage medium |
| CN111606157A (en) * | 2020-05-29 | 2020-09-01 | 北京海益同展信息科技有限公司 | Elevator control method and system, conveying robot and elevator controller |
| CN111634766B (en) * | 2020-05-29 | 2022-06-03 | 上海木木聚枞机器人科技有限公司 | Elevator taking scheduling method, server, intelligent mobile device and storage medium |
| CN112551288A (en) * | 2020-12-04 | 2021-03-26 | 深圳市普渡科技有限公司 | Ladder riding control method and device for robot, robot and medium |
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