CN112783160A - Robot elevator taking method, device, terminal and storage medium - Google Patents
Robot elevator taking method, device, terminal and storage medium Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a robot ladder taking method, which comprises the following steps: transmitting the target floor information of the robot to the elevator; obtaining floor operation information of an elevator; when the distance between the current floor and the target floor is smaller than the preset floor number, controlling the front end of the robot to turn to the direction of the elevator door; the robot is controlled to drive in front of the elevator door in order to perform an exit movement when reaching the target floor. According to the invention, the steering is started when the elevator reaches the target floor by acquiring the running information of the elevator, and the preparation for going out of the elevator is made before the elevator reaches the target floor, so that the efficiency of going out of the elevator by the robot is improved. When the robot encounters the conditions of being blocked, staying for too long on a non-target floor and failing to reach the target floor, the robot is operated by a corresponding logic method, so that when the robot encounters various conditions in the elevator taking process, the robot is processed by a corresponding scheme, and the robot is prevented from being crashed due to logic disorder.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a robot ladder taking method, a robot ladder taking device, a robot ladder taking terminal and a storage medium.
[ background of the invention ]
With the continuous development of the robot technology, tasks such as automatic distribution and the like performed by the existing robot are applied to many buildings. Which often requires the robot to take an elevator to reach different floors. Currently, no special scheme for controlling how to quickly prepare for getting out of a elevator by a robot in the elevator taking process exists, and the elevator is usually prepared after the elevator reaches a target floor, so that the elevator getting-out time is long, and the robot can also fail to get out of the elevator. In addition, the robot may encounter various problems while riding the elevator, thereby causing confusion in the processing logic of the robot and causing downtime.
In view of the above, it is desirable to provide a method, an apparatus, a terminal and a storage medium for taking a robot elevator to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a method, a device, a terminal and a storage medium for taking a ladder by a robot, and aims to solve the problem of logic disorder of taking the ladder by the robot caused by various barrier factors when the robot takes the ladder.
In order to achieve the above object, a first aspect of the present invention provides a method for a robot to ride an elevator, which is applied to a robot entering an elevator, and comprises the following steps:
transmitting target floor information of the robot to the elevator;
obtaining floor operation information of an elevator; the floor operation information comprises an operation direction and a current floor;
when the floor distance between the current floor and the target floor is smaller than the preset number of floors, controlling the front end of the robot to turn to the direction of an elevator door;
the robot is controlled to drive in front of the elevator door in order to perform an exit movement when the target floor is reached.
In a preferred embodiment, the method further comprises the following steps:
when the fact that the steering of the robot is blocked is detected, recording and counting the blocked duration of the robot;
judging whether the blocking duration exceeds a preset blocking duration threshold value, and if so, controlling the robot to stop steering; and if the result is negative, controlling the robot to continue steering when the obstruction disappears.
In a preferred embodiment, the step of obtaining the floor operation information of the elevator further comprises the following steps:
when the elevator stops at a non-target floor, recording and counting the continuous stopping time of the robot at the non-target floor;
judging whether the continuous stay time exceeds a preset stay time threshold, and if so, controlling the robot to get out of the elevator in the non-target floor for transfer; and if the result is negative, controlling the robot to continuously stop in the non-target floor.
In a preferred embodiment, the method further comprises the steps of:
counting the number of changes in the elevator traveling direction before the robot reaches the target floor;
and judging whether the change times exceed a preset time threshold value, if so, switching the target floor of the robot to be an elevator entering floor, and restarting the elevator taking step.
A second aspect of the present invention provides a robot elevator-riding device applied to a robot controlling an elevator, including:
the target floor sending module is used for sending target floor information of the robot to the elevator;
the floor operation acquisition module is used for acquiring floor operation information of the elevator; the floor operation information comprises an operation direction and a current floor;
the steering control module is used for controlling the front end of the robot to steer to the direction of the elevator door when the floor distance between the current floor and the target floor is less than the preset number of floors;
and the forward control module is used for controlling the robot to drive to the front of the elevator door so as to carry out the elevator exit movement when reaching the target floor.
In a preferred embodiment, the method further comprises:
the blocking duration counting module is used for recording and counting the blocking duration of the blocked robot when the blocked steering of the robot is detected;
the blocking duration judging module is used for judging whether the blocking duration exceeds a preset blocking duration threshold value or not, and if so, controlling the robot to stop steering; and if the result is negative, controlling the robot to continue steering when the obstruction disappears.
In a preferred embodiment, the method further comprises:
the stay time counting module is used for recording and counting the continuous stay time of the robot on the non-target floor when the elevator stays on the non-target floor;
the stay time judging module is used for judging whether the continuous stay time exceeds a preset stay time threshold value or not, and if so, controlling the robot to get out of the elevator to transfer in the non-target floor; and if the result is negative, controlling the robot to continuously stop in the non-target floor.
In a preferred embodiment, the method further comprises:
the change frequency counting module is used for counting the change frequency of the running direction of the elevator before the robot reaches the target floor;
and the change frequency judging module is used for judging whether the change frequency exceeds a preset frequency threshold value, if so, switching the target floor of the robot to be an elevator entering floor, and restarting the elevator taking step.
A third aspect of the present invention provides a terminal, which includes a memory, a processor, and a robot elevator riding program stored in the memory and operable on the processor, wherein the robot elevator riding program, when executed by the processor, implements the steps of the robot elevator riding method according to any one of the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium storing a robot elevator boarding program that, when executed by a processor, implements the steps of the robot elevator boarding method according to any one of the above embodiments.
According to the robot elevator taking method provided by the invention, the operation information of the elevator is acquired, the steering is started when the elevator reaches the target floor, and then the elevator is driven to the front of the elevator door, namely the elevator is ready to go out before reaching the target floor, so that the elevator going out efficiency of the robot is improved. In the preferred embodiment, when the robot encounters a situation that the robot is blocked, stays too long on a non-target floor and fails to reach the target floor, the robot is operated by a corresponding logic method, so that the robot has a corresponding scheme to process various situations in the elevator taking process, and the robot is prevented from logic disorder and further from being crashed.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a robot elevator-taking method provided by the invention;
FIG. 2 is a flow chart of one embodiment of a method for the robot of FIG. 1 to ride an elevator;
FIG. 3 is a flowchart of another embodiment of the ladder taking method of the robot shown in FIG. 1;
FIG. 4 is a flowchart of a method for the robot to ride an elevator shown in FIG. 1 according to still another embodiment;
fig. 5 is a frame diagram of the robot elevator-taking device provided by the invention;
FIG. 6 is a frame diagram of one embodiment of the ladder riding device of the robot shown in FIG. 5;
fig. 7 is a frame diagram of the robot elevator-taking apparatus shown in fig. 5 according to still another embodiment;
fig. 8 is a frame diagram of still another embodiment of the robot elevator taking device shown in fig. 5.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In an embodiment of the invention, a first aspect is to provide a robot elevator taking method, which is applied to a robot entering an elevator, and is used for controlling the robot to make elevator exit preparation in the elevator taking process, so as to improve elevator exit efficiency. In addition, the processing capacity of various problems encountered by the robot in the elevator taking process is improved.
As shown in fig. 1, the robot elevator-taking method includes the following steps S11-S14.
Step S11, the target floor information of the robot is sent to the elevator. In this step, after the robot enters the elevator, the information of the destination floor to be reached is sent to the elevator, and the elevator runs to the destination floor after receiving the information. Wherein, the elevator is equipped with thing networking device, and accessible wireless connection carries out the communication with the robot.
Step S12, obtaining floor operation information of the elevator; the floor operation information comprises an operation direction and a current floor. Specifically, when the elevator runs, the robot can acquire running information of the elevator in real time, such as which floor the elevator currently arrives at, and whether the current elevator runs upwards or downwards.
And step S13, when the distance between the current floor and the target floor is less than the preset floor number, controlling the front end of the robot to turn to the direction of the elevator door.
Specifically, the difference between the current floor and the target floor is the number of floors the robot has to travel to reach the target floor from the current floor. When the current running direction of the elevator is the same as the direction from the current floor to the target floor, subtracting the current floor from the target floor to obtain the floor distance; when the current running direction of the elevator is opposite to the direction from the current floor to the target floor, considering that the elevator usually needs to drive one floor at the moment, the actual floor difference is obtained by adding the target floor and the current floor. If the elevator is detected not to arrive at a floor but to arrive at a certain floor, the target floor and the current floor are added, and the number of floors subtracted by double is the actual floor difference.
Wherein the time required for the robot to complete the turn can be tested and the time when the elevator runs on each floor can be estimated from the historical running data of the elevator. Therefore, the number of floors can be preset by combining the two time parameters, so that the robot can be ensured to complete steering under normal conditions before reaching a target floor, the robot can have enough time to complete communication with the elevator and processing of surrounding images in the elevator car, and collision with pedestrians in the elevator is avoided.
And step S14, controlling the robot to drive to the front of the elevator door so as to perform an exit motion when reaching the target floor. When the robot detects that the elevator reaches the target floor, the elevator door is scanned and identified, and if the elevator door is in an open state, the robot is controlled to roll out of the elevator to complete one-time elevator taking motion.
Further, in one embodiment, as shown in fig. 2, the robot elevator taking method further includes the following steps S151 to S152.
And step S151, when the steering of the robot is detected to be blocked, recording and counting the blocked time length of the robot. When the robot detects that the steering movement of the robot is obstructed by a sensor of the robot in the steering process, for example, whether the elevator door is positioned right in front of the robot can be identified by a camera identification device. At this time, it is indicated that there is an external factor or a factor of the robot itself that hinders the steering of the robot, and it is necessary to eliminate the hindering factor by waiting, and record and count the waiting time, that is, the hindering duration.
In step S152, it is determined whether the blocking duration exceeds a preset blocking duration threshold, for example, the blocking duration threshold may be set to 8S. If the result is that the robot cannot complete the turning for a long time, indicating that the hindering factor cannot be eliminated for a short time, in order to avoid the driving device of the robot to idle, the robot is controlled to stop turning, and then to try the turning again after waiting for a preset time, or to turn again before waiting for the next time the elevator reaches the target floor. If the result is no, the obstruction factor is eliminated in a short time, and at this time, the robot is controlled to continue steering when the obstruction is eliminated, and the previous flow is carried out. .
Further, in one embodiment, as shown in fig. 3, the robot elevator taking method further includes the following steps S161 to S162.
And step S161, recording and counting the continuous stay time of the robot at the non-target floor when the elevator stays at the non-target floor. It can be understood that the elevator stops at floors other than the target floor (i.e. non-target floors) due to the presence of other pedestrians or robots in the elevator. Thus, each time an elevator stops at a non-target floor, the duration of the stop at which the elevator is at that time is recorded.
In step S162, it is determined whether the duration exceeds a preset dwell time threshold, for example, the dwell time threshold may be set to 90S. If the result is yes, namely the elevator cannot continue to run in a short time, and the next running condition (such as maintenance, failure or malicious operation behaviors) of the elevator is unknown, the robot can be controlled to go out of the elevator to transfer to other elevators on the non-target floor, so that delay in execution of tasks caused by long-time stay of the robot in the elevator is avoided. And if not, controlling the robot to stay on the non-target floor.
Further, in one embodiment, as shown in fig. 4, the robot elevator taking method further includes the following steps S171 to S172.
In step S171, the number of times of change in the elevator traveling direction before the robot reaches the target floor is counted. That is, the elevator counts the number of changes in the elevator traveling direction during continuous operation, for example, counting once for the up direction and once for the down direction, and counting the number of changes.
Step S172, determining whether the number of times of change exceeds a preset number threshold. If the result is yes, the elevator only passes through the target floor without stopping, or the elevator does not reach the target floor after a plurality of times of up-going and down-going switching, or the information that the robot sends the target floor to the elevator cannot be sent successfully, the target floor of the robot is switched to be the elevator entering floor, namely the target floor of the robot is determined as the floor which enters the elevator before, and the robot restarts the elevator taking step.
In summary, according to the robot elevator taking method provided by the invention, the operation information of the elevator is acquired, the steering is started when the elevator reaches the target floor, and then the elevator is driven to the front of the elevator door, namely the elevator is ready to go out before the elevator reaches the target floor, so that the elevator going out efficiency of the robot is improved. In the preferred embodiment, when the robot encounters a situation that the robot is blocked, stays too long on a non-target floor and fails to reach the target floor, the robot is operated by a corresponding logic method, so that the robot has a corresponding scheme to process various situations in the elevator taking process, and the robot is prevented from logic disorder and further from being crashed.
A second aspect of the present invention provides a robot elevator taking device 100, which is applied to control a robot entering an elevator, and is used for providing a handling scheme when the robot encounters various conditions while taking an elevator. The implementation principle and the embodiment of the robot elevator taking device 100 are the same as those of the robot elevator taking method described above, and therefore, the description thereof is omitted below.
As shown in fig. 5, the robot elevator riding apparatus 100 includes:
a target floor transmitting module 10 for transmitting target floor information of the robot to the elevator;
the floor operation acquisition module 20 is used for acquiring floor operation information of the elevator; the floor operation information comprises an operation direction and a current floor;
the steering control module 30 is used for controlling the front end of the robot to steer to the direction of the elevator door when the distance between the current floor and the target floor is less than the preset number of floors;
and a forward control module 40 for controlling the robot to drive to the front of the elevator door so as to perform an exit motion when reaching the target floor.
Further, in one embodiment, as shown in fig. 6, the robot elevator apparatus 100 further includes:
the blocking duration counting module 51 is used for recording and counting the blocking duration of the blocked robot when the blocked steering of the robot is detected;
the blocking duration judging module 52 is configured to judge whether the blocking duration exceeds a preset blocking duration threshold, and if so, control the robot to stop steering; if not, the robot is controlled to continue steering when the obstruction is removed.
Further, in one embodiment, as shown in fig. 7, the robot elevator system 100 further includes:
the stay time counting module 61 is used for recording and counting the continuous stay time of the robot on the non-target floor when the elevator stays on the non-target floor;
the stay time judging module 62 is configured to judge whether the duration stay time exceeds a preset stay time threshold, and if so, control the robot to exit the elevator to transfer in the non-target floor; and if not, controlling the robot to stay on the non-target floor.
Further, in one embodiment, as shown in fig. 8, the robot elevator system 100 further includes:
a change times counting module 71 for counting the change times of the elevator running direction before the robot reaches the target floor;
and a change number judging module 72, configured to judge whether the change number exceeds a preset number threshold, and if so, switch the target floor of the robot to be an elevator entering floor, and restart the elevator taking step.
In still another aspect, the present invention provides a terminal (not shown in the drawings), where the terminal includes a memory, a processor, and a robot elevator taking program stored in the memory and operable on the processor, and the robot elevator taking program, when executed by the processor, implements the steps of the robot elevator taking method according to any one of the above embodiments.
The present invention further provides a computer-readable storage medium (not shown in the figures), wherein a robot elevator taking program is stored in the computer-readable storage medium, and when being executed by a processor, the robot elevator taking program realizes the steps of the robot elevator taking method according to any one of the above embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A robot elevator taking method is applied to a robot entering an elevator, and is characterized by comprising the following steps:
transmitting target floor information of the robot to the elevator;
obtaining floor operation information of an elevator; the floor operation information comprises an operation direction and a current floor;
when the floor distance between the current floor and the target floor is smaller than the preset number of floors, controlling the front end of the robot to turn to the direction of an elevator door;
the robot is controlled to drive in front of the elevator door in order to perform an exit movement when the target floor is reached.
2. The robot elevator taking method according to claim 1, further comprising the steps of:
when the fact that the steering of the robot is blocked is detected, recording and counting the blocked duration of the robot;
judging whether the blocking duration exceeds a preset blocking duration threshold value, and if so, controlling the robot to stop steering; and if the result is negative, controlling the robot to continue steering when the obstruction disappears.
3. The robot boarding method of claim 1, further comprising, after the step of acquiring floor travel information of the elevator, the steps of:
when the elevator stops at a non-target floor, recording and counting the continuous stopping time of the robot at the non-target floor;
judging whether the continuous stay time exceeds a preset stay time threshold, and if so, controlling the robot to get out of the elevator in the non-target floor for transfer; and if the result is negative, controlling the robot to continuously stop in the non-target floor.
4. The robot elevator taking method according to claim 1, further comprising the steps of:
counting the number of changes in the elevator traveling direction before the robot reaches the target floor;
and judging whether the change times exceed a preset time threshold value, if so, switching the target floor of the robot to be an elevator entering floor, and restarting the elevator taking step.
5. A robot elevator taking device is applied to a robot for controlling access to an elevator, and is characterized by comprising:
the target floor sending module is used for sending target floor information of the robot to the elevator;
the floor operation acquisition module is used for acquiring floor operation information of the elevator; the floor operation information comprises an operation direction and a current floor;
the steering control module is used for controlling the front end of the robot to steer to the direction of the elevator door when the floor distance between the current floor and the target floor is less than the preset number of floors;
and the forward control module is used for controlling the robot to drive to the front of the elevator door so as to carry out the elevator exit movement when reaching the target floor.
6. The robotic ladder device of claim 5, further comprising:
the blocking duration counting module is used for recording and counting the blocking duration of the blocked robot when the blocked steering of the robot is detected;
the blocking duration judging module is used for judging whether the blocking duration exceeds a preset blocking duration threshold value or not, and if so, controlling the robot to stop steering; and if the result is negative, controlling the robot to continue steering when the obstruction disappears.
7. The robotic ladder device of claim 5, further comprising:
the stay time counting module is used for recording and counting the continuous stay time of the robot on the non-target floor when the elevator stays on the non-target floor;
the stay time judging module is used for judging whether the continuous stay time exceeds a preset stay time threshold value or not, and if so, controlling the robot to get out of the elevator to transfer in the non-target floor; and if the result is negative, controlling the robot to continuously stop in the non-target floor.
8. The robotic ladder device of claim 5, further comprising:
the change frequency counting module is used for counting the change frequency of the running direction of the elevator before the robot reaches the target floor;
and the change frequency judging module is used for judging whether the change frequency exceeds a preset frequency threshold value, if so, switching the target floor of the robot to be an elevator entering floor, and restarting the elevator taking step.
9. A terminal, characterized in that the terminal comprises a memory, a processor and a robot elevator taking program stored in the memory and operable on the processor, the robot elevator taking program, when executed by the processor, implementing the steps of the robot elevator taking method according to any one of claims 1-4.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores a robot elevator ride program, which when executed by a processor, implements the steps of the robot elevator ride method of any of claims 1-4.
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| CN113400311A (en) * | 2021-06-29 | 2021-09-17 | 上海有个机器人有限公司 | Elevator discharging method, device, terminal and storage medium in multi-robot elevator taking system |
| CN113830630A (en) * | 2021-09-15 | 2021-12-24 | 南京图菱视频科技有限公司 | Method, system, electronic device and medium for improving ladder taking efficiency of robot |
| CN113954067A (en) * | 2021-10-20 | 2022-01-21 | 上海擎朗智能科技有限公司 | Ladder taking method and device for robot, robot and storage medium |
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