CN113093748A - Robot elevator taking control method and device - Google Patents
Robot elevator taking control method and device Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The application discloses a robot elevator taking control method and device. In the method, after a robot control module acquires floor indication information, a mapping relation between each floor identifier configured in advance and corresponding floor control information is searched, and target floor control information corresponding to the identifier of a target floor is acquired; and then sending an elevator taking control instruction carrying the target floor control information to the elevator control module, wherein the elevator taking control instruction is used for indicating that a floor key of the elevator control module for controlling the target floor based on the target floor control information is selected. The method can realize the autonomous ladder taking of the robot.
Description
Technical Field
The application relates to the technical field of Internet of things, in particular to a robot elevator taking control method and device.
Background
At present, robots play an increasingly important role in human life and are widely used in many fields. In some applications, robots may be used in cross-floor scenarios, such as cross-floor user guidance, carrying items, etc.
However, the inventor found that when there is a floor-crossing scene in which the robot is located, if there are no 4-floor or 13-floor buttons of the elevator and/or there are elevators at 12A-floor, 12B-floor and party floor, the robot cannot take the elevator by itself.
Disclosure of Invention
The embodiment of the application provides a robot elevator taking control method and device, which are used for solving the problem that the robot cannot automatically take an elevator when a floor-crossing operation is carried out in the prior art.
In a first aspect, a robot elevator-taking control method is provided, which is applied to a robot control module, and the method may include:
acquiring floor indication information, wherein the floor indication information is used for indicating a target floor of the robot for expecting the elevator to stop;
searching a mapping relation between each preset floor identification and corresponding floor control information, and acquiring target floor control information corresponding to the identification of the target floor;
and sending an elevator taking control instruction carrying the target floor control information to an elevator control module, wherein the elevator taking control instruction is used for indicating that a floor key of the target floor is controlled by the elevator control module to be selected based on the target floor control information.
In an alternative implementation, the mapping relationship between each floor identifier and the corresponding floor control information is stored in a mapping table in a key-value pair data structure.
In an optional implementation, the elevator control module is connected with at least two relays in an elevator, the relays correspond to floor buttons one by one, and the floor control information includes a relay identifier;
searching a mapping relation between each preset floor identification and corresponding floor control information, and acquiring target floor control information corresponding to the identification of the target floor, wherein the mapping relation comprises the following steps:
searching a mapping relation between each floor mark configured in advance and the corresponding relay mark, and acquiring a target relay mark corresponding to the mark of the target floor;
sending an elevator taking control instruction carrying the target floor control information to an elevator control module, comprising:
and sending an elevator taking control instruction carrying the target relay identification to an elevator control module, wherein the elevator taking control instruction is specifically used for indicating the elevator control module to trigger a relay corresponding to the target relay identification to act so as to enable the floor key of the target floor to be selected.
In an optional implementation, the sending an elevator taking control command carrying the target floor control information to an elevator control module includes:
sending an elevator call request carrying the target floor control information to an elevator control module;
or sending an elevator taking request carrying the target floor control information to an elevator control module.
In a second aspect, a robot elevator riding control method is provided, which is applied to an elevator control module, and the method may include:
receiving an elevator taking control instruction which is sent by a robot control module and carries target floor control information, wherein the target floor control information is obtained by searching a mapping relation between each preset floor identification and corresponding floor control information after the robot control module obtains the floor indication information, and the floor indication information is used for indicating a target floor of the robot expecting the elevator to stop;
and controlling the floor key of the target floor to be selected based on the target floor control information.
In an alternative implementation, the mapping relationship between each floor identifier and the corresponding floor control information is stored in a mapping table in a key-value pair data structure.
In an optional implementation, the elevator control module is connected with at least two relays in an elevator, the relays correspond to floor buttons one by one, and the floor control information includes a relay identifier;
receiving an elevator taking control instruction which is sent by a robot control module and carries target floor control information, comprising the following steps:
receiving an elevator taking control instruction which is sent by a robot control module and carries a target relay identifier, wherein the target relay identifier is obtained by searching a mapping relation between each floor identifier and a corresponding relay identifier which are configured in advance after the robot control module obtains floor indication information;
the floor button of the destination floor is controlled to be selected based on the destination floor control information, and the method comprises the following steps:
and triggering the relay corresponding to the target relay identification to act so as to select the floor key of the target floor.
In a third aspect, a robot elevator riding control method is provided, which is applied to an elevator control module, and the method may include:
receiving an elevator taking control instruction which is sent by a robot control module and carries floor indication information, wherein the floor indication information is used for indicating a target floor of the robot for expecting an elevator to stop;
searching a mapping relation between each preset floor identification and corresponding floor control information, and acquiring target floor control information corresponding to the identification of the target floor;
and controlling the floor key of the target floor to be selected based on the target floor control information.
In a fourth aspect, a robot elevator-taking control device is provided, which is applied to a robot control module, and the device may include: the device comprises an acquisition unit, a search unit and a sending unit;
the acquisition unit is used for acquiring floor indication information, and the floor indication information is used for indicating a target floor of the robot for expecting the elevator to stop;
the searching unit is used for searching the mapping relation between each preset floor identification and the corresponding floor control information and acquiring the target floor control information corresponding to the identification of the target floor;
the sending unit is used for sending an elevator taking control instruction carrying the target floor control information to the elevator control module, and the elevator taking control instruction is used for indicating the elevator control module to control the floor key of the target floor to be selected based on the target floor control information.
In an alternative implementation, the mapping relationship between each floor identifier and the corresponding floor control information is stored in a mapping table in a key-value pair data structure.
In an optional implementation, the elevator control module is connected with at least two relays in an elevator, the relays correspond to floor buttons one by one, and the floor control information includes a relay identifier;
the searching unit is specifically configured to search a mapping relationship between each floor identifier configured in advance and a corresponding relay identifier, and acquire a target relay identifier corresponding to the identifier of the target floor;
the sending unit is specifically configured to send an elevator taking control instruction carrying the target relay identifier to an elevator control module, and the elevator taking control instruction is specifically configured to instruct the elevator control module to trigger a relay corresponding to the target relay identifier to act, so that a floor key of the target floor is selected.
In an optional implementation, the sending unit is further specifically configured to send an elevator call request carrying the target floor control information to an elevator control module; or sending an elevator taking request carrying the target floor control information to an elevator control module.
In a fifth aspect, a robot elevator-taking control device is provided, which is applied to an elevator control module, and the device may include: a receiving unit and a control unit;
the receiving unit is used for receiving an elevator taking control instruction which is sent by the robot control module and carries target floor control information, the target floor control information is obtained by searching a mapping relation between each preset floor identifier and corresponding floor control information after the robot control module obtains the floor indication information, and the floor indication information is used for indicating a target floor where the robot expects the elevator to stop;
and the control unit is used for controlling the floor key of the target floor to be selected based on the target floor control information.
In an alternative implementation, the mapping relationship between each floor identifier and the corresponding floor control information is stored in a mapping table in a key-value pair data structure.
In an optional implementation, the elevator control module is connected with at least two relays in an elevator, the relays correspond to floor buttons one by one, and the floor control information includes a relay identifier;
the receiving unit is specifically configured to receive an elevator taking control instruction which is sent by a robot control module and carries a target relay identifier, where the target relay identifier is obtained by the robot control module searching a mapping relationship between each floor identifier and a corresponding relay identifier, the mapping relationship being configured in advance, after the robot control module obtains floor indication information;
and the control unit is specifically used for triggering the relay corresponding to the target relay identifier to act so as to select the floor key of the target floor.
In a sixth aspect, a robot elevator-taking control device is provided, which is applied to an elevator control module, and the device may include: the device comprises a receiving unit, a searching unit and a control unit;
the receiving unit is used for receiving an elevator taking control instruction which is sent by the robot control module and carries floor indicating information, and the floor indicating information is used for indicating a target floor of the robot expecting the elevator to stop;
the searching unit is used for searching the mapping relation between each preset floor identification and the corresponding floor control information and acquiring the target floor control information corresponding to the identification of the target floor;
and the control unit is used for controlling the floor key of the target floor to be selected based on the target floor control information.
In a seventh aspect, an electronic device is provided, which includes: a memory and a processor;
a memory for storing program instructions;
a processor, configured to call the program instructions stored in the memory, and execute the obtained program instructions to implement the method steps of any of the above first aspects, the method steps of any of the above second aspects, or the method steps of any of the above third aspects.
In a sixth aspect, there is provided a computer readable storage medium storing computer executable instructions that when executed perform the method steps of any of the above first aspects or the method steps of any of the above second aspects or the method steps of any of the above third aspects.
In the robot elevator taking control method provided by the embodiment of the application, after the robot control module acquires floor indication information, the floor indication information is used for indicating a target floor where the robot expects an elevator to stop, the mapping relation between each floor identifier configured in advance and corresponding floor control information is searched, and target floor control information corresponding to the identifier of the target floor is acquired; and then, sending an elevator taking control instruction carrying target floor control information to the elevator control module so as to indicate that the floor key of the elevator control module for controlling the target floor based on the target floor control information is selected. The method can realize the autonomous elevator taking of the robot when the cross-floor scene where the robot is located has a staggered floor condition.
Drawings
Fig. 1 is a schematic structural diagram of an elevator taking control system of a robot elevator taking control method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a robot elevator-taking control method according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of another robot elevator-taking control method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot elevator-taking control device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of another robot elevator-taking control device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of another robot elevator-taking control device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without any creative effort belong to the protection scope of the present application.
At present, a robot can perform work by autonomously traveling in one floor. However, when there is a floor-crossing situation in the floor-crossing scene where the robot is located, the robot cannot autonomously take the elevator.
In view of this, the present application provides a control method for taking an elevator by a robot, which can be applied to the elevator taking control system shown in fig. 1. The system may include: a robot 101 and an elevator 102. The robot control module in the robot 101 and the elevator control module in the elevator 102 can communicate with each other through a wireless communication module, such as an internet of things communication module. The elevator control module may be a control module of the elevator 102 itself, or may be a control module that is added later.
The elevator can include elevator control module, at least two relays of being connected with elevator control module, like relay 1, relay 2, …, relay n to and be connected the floor button of corresponding floor with every relay, that is to say, elevator control module is connected with at least two relays in the elevator, and relay and floor button one-to-one. Each relay is used for controlling the floor keys of the corresponding floor to be selected.
Specifically, for an elevator with a floor-staggering situation, the mapping relationship between each floor identifier and corresponding floor control information, such as a relay identifier, needs to be recorded in advance. The floor button has identified the floor information of corresponding floor, and this floor information can be the number of piles of corresponding floor, such as 1 layer, 2 layers, 6A layer, 6B layer, also can be the attribute of corresponding floor, such as banquet layer, administrative hierarchy, XX company etc.. The relay identification may be a serial number of the relay.
When the robot enters a building scene for the first time to establish a map, a user can input the mapping relation between each floor identification and the corresponding floor control information to the robot control module of the robot through the human-computer interaction interface.
According to the robot elevator taking control method provided by the embodiment of the application, after the robot control module obtains the floor indication information of the target floor for indicating that the robot expects the elevator to stop, the mapping relation between the preset floor identifications and the corresponding floor control information is searched, the target floor control information corresponding to the identification of the target floor is obtained, and therefore an elevator taking control instruction carrying the target floor control information is sent to the elevator control module, the elevator control module is indicated to control the floor key of the target floor to be selected based on the target floor control information, and the elevator stops at the floor corresponding to the target floor identification.
The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it should be understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Fig. 2 is a schematic flow chart of a robot elevator taking control method according to an embodiment of the present application. As shown in fig. 2, the main execution body of the method is a robot control module, and the method may include:
and step S210, obtaining floor indication information.
Wherein the floor indication information is used to indicate a destination floor at which the robot desires the elevator to stop.
In a specific implementation, the robot control module may determine floor indication information based on a task to be performed by the robot.
For example, the task to be performed by the robot is to deliver the item to 6A floors. If the floor where the current robot is located is a-1 floor, the robot needs to send an elevator calling request first, and the elevator is called to stop at the-1 floor, namely the target floor where the robot expects the elevator to stop is the-1 floor; after the robot enters the elevator, the robot needs to send a request for taking the elevator to request the elevator to stop at the 6A floor, namely, the target floor at which the robot expects the elevator to stop is the 6A floor.
And S220, searching a mapping relation between each preset floor identification and the corresponding floor control information, and acquiring target floor control information corresponding to the floor identification of the target floor.
In specific implementation, the floor control information may include a relay identifier for controlling the relay selected by each floor button, such as a serial number of the relay, hardware information of the relay, and the like, which uniquely identifies the relay.
At this time, step S220 is to search for a mapping relationship between each floor identifier and a corresponding relay identifier configured in advance, and obtain a target relay identifier corresponding to the identifier of the target floor.
The mapping relationship of each floor identification and the corresponding floor control information can be stored in a mapping table in a data structure of key value pairs. The data structure of each floor identification and corresponding floor control information may be: { floor identification: floor control information }.
For example, floor control information is the sequence number of relay, and the floor sign is 5 layers, and corresponding relay sequence number is relay No. 6, and then this floor sign is for with the data structure of corresponding relay sequence number: {5 layers: number 6 }.
Taking the floor control information as the serial number of the relay as an example, the mapping table of each floor identifier and the corresponding relay serial number may be as shown in table 1.
TABLE 1
In table 1, a floor corresponding to a floor identifier of an elevator has a floor-staggered condition, wherein a mapping relation exists between a-2 floor and a 0-th relay; the layer 1 and the relay No. 1 have a mapping relation; the layer 1 and the relay No. 2 have a mapping relation; the layer 2 and the relay No. 3 have a mapping relation; the layer 3 and the relay No. 4 have a mapping relation; the layer 5 and the relay No. 5 have a mapping relation; the 6A layer and the No. 6 relay have a mapping relation; the layer 6B and the relay No. 7 have a mapping relation; the 7-layer relay and the 8-layer relay have a mapping relation.
Therefore, the robot control module searches for the mapping relation between each floor identification configured in advance and the corresponding floor control information, and can acquire the target floor control information corresponding to the target floor identification, such as the sequence number of the target relay corresponding to the target floor identification.
And step S230, sending an elevator taking control instruction carrying the target floor control information to the elevator control module.
The elevator taking control instruction is used for indicating the elevator control module to control the floor key of the target floor to be selected based on the target floor control information.
In specific implementation, the robot control module sends an elevator taking control instruction carrying target floor control information to the elevator control module through the wireless communication module.
When the floor control information includes the relay identifier, step S230 is specifically to send an elevator taking control instruction carrying the target relay identifier to the elevator control module, where the elevator taking control instruction is specifically used to instruct the elevator control module to trigger a relay corresponding to the target relay identifier to act, so that the floor key of the target floor is selected.
In one possible embodiment, the robot control module can send an elevator call request carrying target floor control information to the elevator control module through the wireless communication module; in another possible embodiment, the robot control module may send an elevator taking request carrying the target floor control information to the elevator control module through the wireless communication module.
In the previous example, the task to be performed by the robot is to deliver the article to level 6A. If the floor where the current robot is located is the-1 floor, the robot needs to send an elevator calling request first, and calls the elevator to stop at the-1 floor, namely the target floor where the robot expects the elevator to stop is the-1 floor, the lookup table 1 shows that the corresponding relay serial number is the number 1, therefore, the robot control module sends the elevator calling request carrying the relay serial number of the number 1 to the elevator control module through the wireless communication module, the elevator control module triggers the relay of the number 1 to act after receiving the elevator calling request, so that the floor key of the-1 floor is selected, and the elevator stops at the-1 floor; after the robot enters the elevator, the robot needs to send a request for taking the elevator, and the elevator is requested to stop at the 6A layer, namely, the target floor at which the robot expects the elevator to stop at the moment is the 6A layer, the lookup table 1 and the corresponding relay sequence number are 6, therefore, the robot control module sends the request for taking the elevator with the relay sequence number of 6 to the elevator control module through the wireless communication module, the elevator control module triggers the 6 # relay to act after receiving the request for taking the elevator, so that the floor key of the 6A layer is selected, and the elevator stops at the 6A layer.
Fig. 3 is a schematic flow chart of another robot elevator-taking control method according to an embodiment of the present disclosure. As shown in fig. 3, the execution subject of the method is an elevator control module, and the method may include:
and S310, receiving an elevator taking control instruction which is sent by the robot control module and carries the target floor control information.
When the elevator control module is implemented specifically, the elevator control module receives an elevator taking control command which is sent by the robot control module and carries target floor control information through the wireless communication module.
The target floor control information is obtained by searching a mapping relation between each preset floor identification and corresponding floor control information after the robot control module obtains the floor indication information; the floor indication information is used to indicate a destination floor at which the robot desires the elevator to stop.
In specific implementation, the floor control information may include a relay identifier, and the elevator control module receives an elevator taking control command carrying a target relay identifier, which is sent by the robot control module, through the wireless communication module.
The target relay identification is obtained by searching a mapping relation between each floor identification and the corresponding relay identification which are configured in advance after the robot control module obtains the floor indication information.
It should be noted that, the specific manner of the robot control module obtaining the target floor control information may refer to the content of step S210, and details of the embodiment of the present application are not described herein.
In step S320, a floor key for controlling the destination floor based on the destination floor control information is selected.
In specific implementation, when the floor control information comprises the relay identification, the elevator control module triggers the relay corresponding to the target relay identification to act, so that the floor key of the target floor is selected.
In a possible embodiment, the mapping relationship between each floor identifier and the corresponding floor control information may also be configured in the elevator control module of the elevator, in which case, the robot control module carries the floor indication information in the elevator riding control command sent to the elevator control module, so that the elevator control module searches the mapping relationship between each floor identifier and the corresponding floor control information to obtain the destination floor control information corresponding to the identifier of the destination floor, and then controls the floor key of the destination floor to be selected according to the destination floor control information. For the specific implementation of each step in this embodiment, reference may be made to the foregoing embodiment, which is not repeated herein.
According to the control method for the robot to take the elevator, when the cross-floor scene where the robot is located has a staggered floor condition, the robot can take the elevator independently, and the use experience of a user is improved.
In accordance with the above method, an embodiment of the present invention further provides a robot elevator-taking control device, applied to a robot control module, as shown in fig. 4, the device includes: an obtaining unit 410, a searching unit 420 and a sending unit 430;
an obtaining unit 410 configured to obtain floor indication information indicating a destination floor at which the robot desires an elevator to stop;
the searching unit 420 is configured to search a mapping relationship between each floor identifier configured in advance and corresponding floor control information, and acquire target floor control information corresponding to the identifier of the target floor;
a sending unit 430, configured to send an elevator taking control instruction carrying the target floor control information to the elevator control module, where the elevator taking control instruction is used to instruct the elevator control module to select a floor key for controlling the target floor based on the target floor control information.
In an alternative implementation, the mapping relationship between each floor identifier and the corresponding floor control information is stored in a mapping table in a key-value pair data structure.
In an optional implementation, the elevator control module is connected with at least two relays in an elevator, the relays correspond to floor buttons one by one, and the floor control information includes a relay identifier;
the searching unit 420 is specifically configured to search a mapping relationship between each floor identifier configured in advance and a corresponding relay identifier, and obtain a target relay identifier corresponding to the identifier of the target floor;
and a sending unit 430, configured to send an elevator taking control instruction carrying the target relay identifier to an elevator control module, where the elevator taking control instruction is specifically configured to instruct the elevator control module to trigger a relay corresponding to the target relay identifier to act, so that a floor key of the target floor is selected.
In an optional implementation, the sending unit 430 is further specifically configured to send an elevator call request carrying the target floor control information to an elevator control module; or sending an elevator taking request carrying the target floor control information to an elevator control module.
The functions of the functional units of the elevator taking robot control device provided by the above embodiments of the present application can be implemented by the above method steps, and therefore, detailed working processes and beneficial effects of the units of the elevator taking robot control device provided by the embodiments of the present application are not repeated herein.
In accordance with the above method, an embodiment of the present invention further provides a robot elevator-taking control device, applied to an elevator control module, as shown in fig. 5, the device including: a receiving unit 510 and a control unit 520;
a receiving unit 510, configured to receive an elevator taking control instruction carrying target floor control information sent by a robot control module, where the target floor control information is obtained by the robot control module searching a mapping relationship between each floor identifier configured in advance and corresponding floor control information after obtaining floor indication information, and the floor indication information is used to indicate a target floor where the robot expects an elevator to stop;
and a control unit 520 for controlling the floor key of the destination floor to be selected based on the destination floor control information.
In an alternative implementation, the mapping relationship between each floor identifier and the corresponding floor control information is stored in a mapping table in a key-value pair data structure.
In an optional implementation, the elevator control module is connected with at least two relays in an elevator, the relays correspond to floor buttons one by one, and the floor control information includes a relay identifier;
the receiving unit 510 is specifically configured to receive an elevator taking control instruction which is sent by a robot control module and carries a target relay identifier, where the target relay identifier is obtained by the robot control module searching a mapping relationship between each floor identifier and a corresponding relay identifier, which are configured in advance, after the robot control module obtains floor indication information;
and the control unit 520 is specifically configured to trigger the relay corresponding to the target relay identifier to operate, so that the floor key of the target floor is selected.
The functions of the functional units of the elevator taking robot control device provided by the above embodiments of the present application can be implemented by the above method steps, and therefore, detailed working processes and beneficial effects of the units of the elevator taking robot control device provided by the embodiments of the present application are not repeated herein.
In accordance with the above method, an embodiment of the present invention further provides a robot elevator-taking control device, applied to an elevator control module, as shown in fig. 6, the device including: a receiving unit 610, a searching unit 620 and a control unit 630;
a receiving unit 610, configured to receive an elevator taking control instruction carrying floor indication information sent by a robot control module, where the floor indication information is used to indicate a target floor where the robot expects an elevator to stop;
the searching unit 620 is configured to search a mapping relationship between each floor identifier configured in advance and corresponding floor control information, and acquire target floor control information corresponding to the identifier of the target floor;
a control unit 630 for controlling the floor key of the destination floor to be selected based on the destination floor control information.
The functions of the functional units of the elevator taking robot control device provided by the above embodiments of the present application can be implemented by the above method steps, and therefore, detailed working processes and beneficial effects of the units of the elevator taking robot control device provided by the embodiments of the present application are not repeated herein.
The electronic device 130 according to this embodiment of the present application, which may be the robot control module described above or an elevator control module communicating with the robot control module, is described below with reference to fig. 7. As shown in fig. 7, the electronic device 130 is in the form of a general purpose computing device. The components of the electronic device 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 that connects the various system components (including the memory 132 and the processor 131).
The memory 132 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.
The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), and/or with any device (e.g., router, modem, etc.) that enables the electronic device 130 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 135. Also, the electronic device 130 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 136. As shown, network adapter 136 communicates with other modules for electronic device 130 over bus 133. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
In some possible embodiments, the various aspects of the robot elevator-taking control method provided by the present application may also be implemented in the form of a program product including a computer program for causing a computer device to perform the steps of the robot elevator-taking control method according to various exemplary embodiments of the present application described above in this specification when the program product is run on the computer device, for example, if the electronic device is a robot control module, the method steps in fig. 2 may be performed; if the electronic device is an elevator control module, the method steps as in fig. 3 can be executed.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for robot ride control of embodiments of the present application may employ a portable compact disc read only memory (CD-ROM) and include a computer program, and may travel on a computing device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A readable signal medium may include a propagated data signal with a readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer program embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer programs for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer program may execute entirely on the target object computing device, partly on the target object apparatus, as a stand-alone software package, partly on the target object computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the target object computing device over any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., over the internet using an internet service provider).
It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functions of two or more units described above may be embodied in one unit, according to embodiments of the application. Conversely, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.
Further, while the operations of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having a computer-usable computer program embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A robot elevator taking control method is applied to a robot control module, and comprises the following steps:
acquiring floor indication information, wherein the floor indication information is used for indicating a target floor of the robot for expecting the elevator to stop;
searching a mapping relation between each preset floor identification and corresponding floor control information, and acquiring target floor control information corresponding to the identification of the target floor;
and sending an elevator taking control instruction carrying the target floor control information to an elevator control module, wherein the elevator taking control instruction is used for indicating that a floor key of the target floor is controlled by the elevator control module to be selected based on the target floor control information.
2. The method of claim 1, wherein the elevator control module is connected to at least two relays in an elevator, the relays are in one-to-one correspondence with floor buttons, and the floor control information includes a relay identification;
searching a mapping relation between each preset floor identification and corresponding floor control information, and acquiring target floor control information corresponding to the identification of the target floor, wherein the mapping relation comprises the following steps:
searching a mapping relation between each floor mark configured in advance and the corresponding relay mark, and acquiring a target relay mark corresponding to the mark of the target floor;
sending an elevator taking control instruction carrying the target floor control information to an elevator control module, comprising:
and sending an elevator taking control instruction carrying the target relay identification to an elevator control module, wherein the elevator taking control instruction is specifically used for indicating the elevator control module to trigger a relay corresponding to the target relay identification to act so as to enable the floor key of the target floor to be selected.
3. A robot elevator riding control method is characterized by being applied to an elevator control module, and the method comprises the following steps:
receiving an elevator taking control instruction which is sent by a robot control module and carries target floor control information, wherein the target floor control information is obtained by searching a mapping relation between each preset floor identification and corresponding floor control information after the robot control module obtains the floor indication information, and the floor indication information is used for indicating a target floor of the robot expecting the elevator to stop;
and controlling the floor key of the target floor to be selected based on the target floor control information.
4. The method of claim 3, wherein the elevator control module is connected to at least two relays in an elevator, the relays are in one-to-one correspondence with floor buttons, and the floor control information includes a relay identification;
receiving an elevator taking control instruction which is sent by a robot control module and carries target floor control information, comprising the following steps:
receiving an elevator taking control instruction which is sent by a robot control module and carries a target relay identifier, wherein the target relay identifier is obtained by searching a mapping relation between each floor identifier and a corresponding relay identifier which are configured in advance after the robot control module obtains floor indication information;
the floor button of the destination floor is controlled to be selected based on the destination floor control information, and the method comprises the following steps:
and triggering the relay corresponding to the target relay identification to act so as to select the floor key of the target floor.
5. A robot elevator riding control method is characterized by being applied to an elevator control module, and the method comprises the following steps:
receiving an elevator taking control instruction which is sent by a robot control module and carries floor indication information, wherein the floor indication information is used for indicating a target floor of the robot for expecting an elevator to stop;
searching a mapping relation between each preset floor identification and corresponding floor control information, and acquiring target floor control information corresponding to the identification of the target floor;
and controlling the floor key of the target floor to be selected based on the target floor control information.
6. A robot elevator control device is characterized in that the device is applied to a robot control module, and the device comprises: the device comprises an acquisition unit, a search unit and a sending unit;
the acquisition unit is used for acquiring floor indication information, and the floor indication information is used for indicating a target floor of the robot for expecting the elevator to stop;
the searching unit is used for searching the mapping relation between each preset floor identification and the corresponding floor control information and acquiring the target floor control information corresponding to the identification of the target floor;
the sending unit is used for sending an elevator taking control instruction carrying the target floor control information to the elevator control module, and the elevator taking control instruction is used for indicating the elevator control module to control the floor key of the target floor to be selected based on the target floor control information.
7. A robot elevator-taking control device is characterized by being applied to an elevator control module, and the device comprises: a receiving unit and a control unit;
the receiving unit is used for receiving an elevator taking control instruction which is sent by the robot control module and carries target floor control information, the target floor control information is obtained by searching a mapping relation between each preset floor identifier and corresponding floor control information after the robot control module obtains the floor indication information, and the floor indication information is used for indicating a target floor where the robot expects the elevator to stop;
and the control unit is used for controlling the floor key of the target floor to be selected based on the target floor control information.
8. A robot elevator-taking control device is characterized by being applied to an elevator control module, and the device comprises: the device comprises a receiving unit, a searching unit and a control unit;
the receiving unit is used for receiving an elevator taking control instruction which is sent by the robot control module and carries floor indicating information, and the floor indicating information is used for indicating a target floor of the robot expecting the elevator to stop;
the searching unit is used for searching the mapping relation between each preset floor identification and the corresponding floor control information and acquiring the target floor control information corresponding to the identification of the target floor;
and the control unit is used for controlling the floor key of the target floor to be selected based on the target floor control information.
9. An electronic device, comprising: a memory and a processor;
a memory for storing program instructions;
a processor for calling the program instructions stored in the memory, executing the obtained program instructions to implement the method of claim 1 or 2 or to implement the method of claim 3 or 4 or to implement the method of claim 5.
10. A computer storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed, implement the method of claim 1 or 2 or implement the method of claim 3 or 4 or implement the method of claim 5.
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| CN202110351518.XA CN113093748A (en) | 2021-03-31 | 2021-03-31 | Robot elevator taking control method and device |
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| CN114873390A (en) * | 2022-04-25 | 2022-08-09 | 北京云迹科技股份有限公司 | Method for predicting floor where robot is located and related equipment |
| CN116546050A (en) * | 2023-05-16 | 2023-08-04 | 山东上智智能科技有限公司 | Internet of things monitoring method and system for cross-floor distribution |
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Application publication date: 20210709 |