CN114296462A - Early warning control method, system, equipment and medium for overtime of robot when getting out of elevator - Google Patents
Early warning control method, system, equipment and medium for overtime of robot when getting out of elevator Download PDFInfo
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Abstract
The invention discloses an early warning control method, a system, equipment and a medium for overtime elevator exit of a robot, wherein the robot takes an elevator, the elevator exits from the center point of the elevator, and the elevator judges whether the elevator exits successfully or not according to the judgment standard: withdraw the elevator in 15s, otherwise for failing, withdraw elevator central point after the failure, go out the ladder again, retry 3 times, if go out the ladder and succeed: finishing the elevator exit process to reach the target floor; if the elevator fails to go out: the elevator taking process is finished, and the robot takes the elevator again, so that the safety of the robot in the operation process is guaranteed, and particularly under the condition that the elevator has more passengers and is difficult to take the elevator; meanwhile, the stability of the robot in the elevator leaving process is guaranteed, forced elevator leaving is avoided, and the elevator is taken again after the robot fails to leave the elevator.
Description
Technical Field
The invention relates to an early warning control method, system, equipment and medium for overtime of a robot when the robot goes out of an elevator, and belongs to the technical field of early warning control of robots.
Background
In the interaction process of the robot and the elevator, a plurality of robots enter and exit the elevator, if the robot does not finish the elevator exit action due to obstacles or self problems, and the elevator does not sense the elevator exit obstacles of the robot in a linkage manner, the elevator and the robot operate in a long-time fault mechanism to cause short circuit risk, and in order to ensure the safe and stable operation of the robot, an early warning control mechanism for overtime elevator exit of the robot is necessary to be designed.
Disclosure of Invention
The invention aims to overcome the technical defects in the prior art, solve the technical problems and provide an early warning control method, system, equipment and medium for overtime when a robot leaves an elevator.
The invention specifically adopts the following technical scheme: the early warning control method of overtime of the robot when the robot leaves the elevator is executed by the robot, and comprises the following steps:
the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; receiving a lift-out action command fed back by the elevator, and executing lift-out by the robot from the center point of the elevator;
after receiving the judgment of the elevator exit failure of the robot executed by the elevator, re-receiving an elevator exit action command sent by the elevator, returning the robot to the elevator center point, and re-executing the elevator by the robot to exit from the elevator center point; in response to the elevator-taking command sent by the elevator, the robot executes the elevator-taking command;
and receiving a successful elevator exit command sent by the elevator, and finishing the elevator exit process executed by the robot.
The invention also provides an early warning control method for overtime of the robot when the robot leaves the elevator, which is executed by the elevator and comprises the following steps:
responding to a lift-out request sent by the robot to reach the lift center, sending a lift-out action command to the robot, and judging whether the robot successfully lifts out;
if the robot exits the elevator within the set time N, the elevator is judged to be successful, an elevator exit success command is sent to the robot, and the elevator exit process of the robot is finished; if the number of retries of the elevator-taking action command exceeds M times, the command for taking the elevator is sent to the robot.
As a preferred embodiment, the set time N is 15 s.
In a preferred embodiment, the retry number M is 3.
The invention also provides an early warning control method for overtime of the robot when the robot leaves the elevator, which comprises the following steps:
step SS 1: the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; the elevator responds to an elevator exit request sent by the robot to reach the elevator center, sends an elevator exit action command to the robot, and judges whether the robot exits the elevator successfully; the robot receives the elevator-exiting action command fed back by the elevator, and the robot exits from the center point of the elevator;
step SS 2: if the robot exits the elevator within the set time N, the elevator is judged to be successful, the elevator sends an elevator exit success command to the robot, and the robot exit process is finished; the robot receives a successful elevator exit command sent by the elevator, and the robot finishes the elevator exit process;
step SS 3: if the robot does not exit the elevator within the set time N, determining that the elevator is failed to exit, sending the elevator failure determination to the robot by the elevator, resending an elevator exit action command to the robot by the elevator, and if the retry number of the elevator exit action command sent by the elevator exceeds M times, sending a command for taking the elevator to the robot by the elevator; after the robot receives the judgment of the elevator exit failure of the robot executed by the elevator, the robot receives the elevator exit action command sent by the elevator again, the robot returns to the center point of the elevator, and the robot executes the elevator exit from the center point of the elevator again; the robot responds to the command sent by the elevator for taking the elevator, and the robot executes the command for taking the elevator.
The invention also provides an early warning control system for overtime of the robot when the robot leaves the elevator, which comprises the following components:
the pre-exit execution module specifically comprises: the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; the elevator responds to an elevator exit request sent by the robot to reach the elevator center, sends an elevator exit action command to the robot, and judges whether the robot exits the elevator successfully; the robot receives the elevator-exiting action command fed back by the elevator, and the robot exits from the center point of the elevator;
the successful elevator exit execution module specifically comprises: if the robot exits the elevator within the set time N, the elevator is judged to be successful, the elevator sends an elevator exit success command to the robot, and the robot exit process is finished; the robot receives a successful elevator exit command sent by the elevator, and the robot finishes the elevator exit process;
the elevator exit failure execution module specifically comprises: if the robot does not exit the elevator within the set time N, determining that the elevator is failed to exit, sending the elevator failure determination to the robot by the elevator, resending an elevator exit action command to the robot by the elevator, and if the retry number of the elevator exit action command sent by the elevator exceeds M times, sending a command for taking the elevator to the robot by the elevator; after the robot receives the judgment of the elevator exit failure of the robot executed by the elevator, the robot receives the elevator exit action command sent by the elevator again, the robot returns to the center point of the elevator, and the robot executes the elevator exit from the center point of the elevator again; the robot responds to the command sent by the elevator for taking the elevator, and the robot executes the command for taking the elevator.
As a preferred embodiment, the set time N is 15 s.
In a preferred embodiment, the retry number M is 3.
The invention also proposes a device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
The invention also proposes a medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method.
The invention achieves the following beneficial effects: the invention provides an early warning control system and method for overtime elevator exit of a robot, aiming at solving the technical requirements of safety of short circuit risks caused by long-time fault mechanism operation of the elevator and the robot if the robot does not finish elevator exit actions due to obstacles or self problems and the elevator does not sense the elevator exit obstacles in a linkage manner in the interactive process of the robot and the elevator, and the robot takes the elevator by the robot, takes the elevator from the center of the elevator, judges whether the elevator exits successfully or not and judges the standard: withdraw the elevator in 15s, otherwise for failing, withdraw elevator central point after the failure, go out the ladder again, retry 3 times, if go out the ladder and succeed: finishing the elevator exit process to reach the target floor; if the elevator fails to go out: the elevator taking process is finished, and the robot takes the elevator again, so that the safety of the robot in the operation process is guaranteed, and particularly under the condition that the elevator has more passengers and is difficult to take the elevator; meanwhile, the stability of the robot in the elevator outgoing process is guaranteed, forced elevator outgoing is avoided, the elevator is taken again after the elevator outgoing fails, and the technical requirements of safety of short circuit risks caused by long-time fault mechanism operation of the elevator and the robot due to the fact that the elevator outgoing motion of the robot is not completed because of obstacles or self problems if the robot does not complete the elevator outgoing motion in the interaction process of the robot and the elevator are solved integrally.
Drawings
Fig. 1 is a flowchart of a preferred embodiment of the warning control method for robot elevator-out timeout of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1: the invention provides an early warning control method for overtime of a robot when the robot leaves an elevator, which is executed by the robot and comprises the following steps:
the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; receiving a lift-out action command fed back by the elevator, and executing lift-out by the robot from the center point of the elevator;
after receiving the judgment of the elevator exit failure of the robot executed by the elevator, re-receiving an elevator exit action command sent by the elevator, returning the robot to the elevator center point, and re-executing the elevator by the robot to exit from the elevator center point; in response to the elevator-taking command sent by the elevator, the robot executes the elevator-taking command;
and receiving a successful elevator exit command sent by the elevator, and finishing the elevator exit process executed by the robot.
Example 2: the invention also provides an early warning control method for overtime of the robot when the robot leaves the elevator, which is executed by the elevator and comprises the following steps:
responding to a lift-out request sent by the robot to reach the lift center, sending a lift-out action command to the robot, and judging whether the robot successfully lifts out;
if the robot exits the elevator within the set time N, the elevator is judged to be successful, an elevator exit success command is sent to the robot, and the elevator exit process of the robot is finished; if the number of retries of the elevator-taking action command exceeds M times, the command for taking the elevator is sent to the robot.
As a preferred embodiment, the set time N is 15 s.
In a preferred embodiment, the retry number M is 3.
Example 3: as shown in fig. 1, the invention also provides an early warning control method for overtime of the robot when the robot leaves the elevator, which comprises the following steps:
step SS 1: the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; the elevator responds to an elevator exit request sent by the robot to reach the elevator center, sends an elevator exit action command to the robot, and judges whether the robot exits the elevator successfully; the robot receives the elevator-exiting action command fed back by the elevator, and the robot exits from the center point of the elevator;
step SS 2: if the robot exits the elevator within the set time N, the elevator is judged to be successful, the elevator sends an elevator exit success command to the robot, and the robot exit process is finished; the robot receives a successful elevator exit command sent by the elevator, and the robot finishes the elevator exit process;
step SS 3: if the robot does not exit the elevator within the set time N, determining that the elevator is failed to exit, sending the elevator failure determination to the robot by the elevator, resending an elevator exit action command to the robot by the elevator, and if the retry number of the elevator exit action command sent by the elevator exceeds M times, sending a command for taking the elevator to the robot by the elevator; after the robot receives the judgment of the elevator exit failure of the robot executed by the elevator, the robot receives the elevator exit action command sent by the elevator again, the robot returns to the center point of the elevator, and the robot executes the elevator exit from the center point of the elevator again; the robot responds to the command sent by the elevator for taking the elevator, and the robot executes the command for taking the elevator.
Example 4: the invention also provides an early warning control system for overtime of the robot when the robot leaves the elevator, which comprises the following components:
the pre-exit execution module specifically comprises: the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; the elevator responds to an elevator exit request sent by the robot to reach the elevator center, sends an elevator exit action command to the robot, and judges whether the robot exits the elevator successfully; the robot receives the elevator-exiting action command fed back by the elevator, and the robot exits from the center point of the elevator;
the successful elevator exit execution module specifically comprises: if the robot exits the elevator within the set time N, the elevator is judged to be successful, the elevator sends an elevator exit success command to the robot, and the robot exit process is finished; the robot receives a successful elevator exit command sent by the elevator, the robot finishes the elevator exit process, and the robot reaches the target floor;
the elevator exit failure execution module specifically comprises: if the robot does not exit the elevator within the set time N, determining that the elevator is failed to exit, sending the elevator failure determination to the robot by the elevator, resending an elevator exit action command to the robot by the elevator, and if the retry number of the elevator exit action command sent by the elevator exceeds M times, sending a command for taking the elevator to the robot by the elevator; after the robot receives the judgment of the elevator exit failure of the robot executed by the elevator, the robot receives the elevator exit action command sent by the elevator again, the robot returns to the center point of the elevator, and the robot executes the elevator exit from the center point of the elevator again; the robot responds to the command sent by the elevator for taking the elevator, and the robot executes the command for taking the elevator.
As a preferred embodiment, the set time N is 15 s.
In a preferred embodiment, the retry number M is 3.
Example 5: the invention also proposes a device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
Example 6: the invention also proposes a medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method.
The invention provides an early warning control system and method for overtime elevator exit of a robot, aiming at solving the technical requirements of safety of short circuit risks caused by long-time fault mechanism operation of the elevator and the robot if the robot does not finish elevator exit actions due to obstacles or self problems and the elevator does not sense the elevator exit obstacles in a linkage manner in the interactive process of the robot and the elevator, and the robot takes the elevator by the robot, takes the elevator from the center of the elevator, judges whether the elevator exits successfully or not and judges the standard: withdraw the elevator in 15s, otherwise for failing, withdraw elevator central point after the failure, go out the ladder again, retry 3 times, if go out the ladder and succeed: finishing the elevator exit process to reach the target floor; if the elevator fails to go out: the elevator taking process is finished, and the robot takes the elevator again, so that the safety of the robot in the operation process is guaranteed, and particularly under the condition that the elevator has more passengers and is difficult to take the elevator; meanwhile, the stability of the robot in the elevator outgoing process is guaranteed, forced elevator outgoing is avoided, the elevator is taken again after the elevator outgoing fails, and the technical requirements of safety of short circuit risks caused by long-time fault mechanism operation of the elevator and the robot due to the fact that the elevator outgoing motion of the robot is not completed because of obstacles or self problems if the robot does not complete the elevator outgoing motion in the interaction process of the robot and the elevator are solved integrally.
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 computer-usable program code 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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. The early warning control method of overtime of the robot when the robot leaves the elevator is executed by the robot, and is characterized by comprising the following steps:
the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; receiving a lift-out action command fed back by the elevator, and executing lift-out by the robot from the center point of the elevator;
after receiving the judgment of the elevator exit failure of the robot executed by the elevator, re-receiving an elevator exit action command sent by the elevator, returning the robot to the elevator center point, and re-executing the elevator by the robot to exit from the elevator center point; in response to the elevator-taking command sent by the elevator, the robot executes the elevator-taking command;
and receiving a successful elevator exit command sent by the elevator, and finishing the elevator exit process executed by the robot.
2. The early warning control method of overtime of the robot when the robot leaves the elevator is executed by the elevator, and is characterized by comprising the following steps:
responding to a lift-out request sent by the robot to reach the lift center, sending a lift-out action command to the robot, and judging whether the robot successfully lifts out;
if the robot exits the elevator within the set time N, the elevator is judged to be successful, an elevator exit success command is sent to the robot, and the elevator exit process of the robot is finished; if the number of retries of the elevator-taking action command exceeds M times, the command for taking the elevator is sent to the robot.
3. The method as claimed in claim 2, wherein the set time N is 15 s.
4. The method as claimed in claim 2, wherein the number of retries M is 3.
5. The early warning control method for overtime of the robot when the robot leaves the elevator is characterized by comprising the following steps:
step SS 1: the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; the elevator responds to an elevator exit request sent by the robot to reach the elevator center, sends an elevator exit action command to the robot, and judges whether the robot exits the elevator successfully; the robot receives the elevator-exiting action command fed back by the elevator, and the robot exits from the center point of the elevator;
step SS 2: if the robot exits the elevator within the set time N, the elevator is judged to be successful, the elevator sends an elevator exit success command to the robot, and the robot exit process is finished; the robot receives a successful elevator exit command sent by the elevator, and the robot finishes the elevator exit process;
step SS 3: if the robot does not exit the elevator within the set time N, determining that the elevator is failed to exit, sending the elevator failure determination to the robot by the elevator, resending an elevator exit action command to the robot by the elevator, and if the retry number of the elevator exit action command sent by the elevator exceeds M times, sending a command for taking the elevator to the robot by the elevator; after the robot receives the judgment of the elevator exit failure of the robot executed by the elevator, the robot receives the elevator exit action command sent by the elevator again, the robot returns to the center point of the elevator, and the robot executes the elevator exit from the center point of the elevator again; the robot responds to the command sent by the elevator for taking the elevator, and the robot executes the command for taking the elevator.
6. Overtime early warning control system of robot out-of-elevator, its characterized in that includes:
the pre-exit execution module specifically comprises: the robot executes an elevator taking instruction, the robot reaches an elevator central point, and the robot sends an elevator exit request reaching the elevator central point to the elevator; the elevator responds to an elevator exit request sent by the robot to reach the elevator center, sends an elevator exit action command to the robot, and judges whether the robot exits the elevator successfully; the robot receives the elevator-exiting action command fed back by the elevator, and the robot exits from the center point of the elevator;
the successful elevator exit execution module specifically comprises: if the robot exits the elevator within the set time N, the elevator is judged to be successful, the elevator sends an elevator exit success command to the robot, and the robot exit process is finished; the robot receives a successful elevator exit command sent by the elevator, and the robot finishes the elevator exit process;
the elevator exit failure execution module specifically comprises: if the robot does not exit the elevator within the set time N, determining that the elevator is failed to exit, sending the elevator failure determination to the robot by the elevator, resending an elevator exit action command to the robot by the elevator, and if the retry number of the elevator exit action command sent by the elevator exceeds M times, sending a command for taking the elevator to the robot by the elevator; after the robot receives the judgment of the elevator exit failure of the robot executed by the elevator, the robot receives the elevator exit action command sent by the elevator again, the robot returns to the center point of the elevator, and the robot executes the elevator exit from the center point of the elevator again; the robot responds to the command sent by the elevator for taking the elevator, and the robot executes the command for taking the elevator.
7. The system of claim 6, wherein the set time N is 15 s.
8. The system of claim 6, wherein the number of retries M is 3.
9. Apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the program.
10. Medium, on which a computer program is stored, characterized in that the computer program realizes the steps of the method of any of claims 1 to 5 when executed by a processor.
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| CN202111660179.XA CN114296462A (en) | 2021-12-30 | 2021-12-30 | Early warning control method, system, equipment and medium for overtime of robot when getting out of elevator |
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| CN202111660179.XA CN114296462A (en) | 2021-12-30 | 2021-12-30 | Early warning control method, system, equipment and medium for overtime of robot when getting out of elevator |
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| US20210122607A1 (en) * | 2019-10-23 | 2021-04-29 | Otis Elevator Company | Method and system for controlling robot to take elevator, elevator, robot system and storage medium |
| CN112743549A (en) * | 2021-02-02 | 2021-05-04 | 苏州优智达机器人有限公司 | Robot control method, system, robot and program product |
| CN112960493A (en) * | 2021-01-28 | 2021-06-15 | 上海思岚科技有限公司 | Method and equipment for controlling robot and elevator door |
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2021
- 2021-12-30 CN CN202111660179.XA patent/CN114296462A/en active Pending
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| CN105905713A (en) * | 2016-05-31 | 2016-08-31 | 北京云迹科技有限公司 | System and method for automatically getting off elevator |
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Effective date of registration: 20220824 Address after: Unit G4-202-009, Artificial Intelligence Industrial Park, No. 88 Jinji Lake Avenue, Suzhou Industrial Park, Suzhou Area, China (Jiangsu) Pilot Free Trade Zone, Suzhou City, Jiangsu Province, 215124 Applicant after: Suzhou super planet Venture Capital Co.,Ltd. Address before: Unit 12, 701, floor 7, building 3, yard 8, Xinyuan South Road, Chaoyang District, Beijing 100027 Applicant before: Beijing Tuling Video Technology Co.,Ltd. |
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