CN114560360A

CN114560360A - Method, device and medium for taking elevator by robot and robot controller

Info

Publication number: CN114560360A
Application number: CN202210133093.XA
Authority: CN
Inventors: 杨洪强
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2022-02-10
Filing date: 2022-02-10
Publication date: 2022-05-31

Abstract

The present disclosure relates to a method, apparatus, medium, and robot controller for a robot to take an elevator, including: obtaining operation characteristic parameters of the elevator car from the current acceleration to the current stop; determining whether the elevator car stops at a target floor to which the robot goes according to the operation characteristic parameters and reference operation characteristic parameters collected in advance, wherein the reference operation characteristic parameters comprise operation characteristic parameters which are operated to any floor by taking each floor as a reference floor; in case it is determined that the elevator car stops at the destination floor, the robot is controlled to leave the elevator car. The robot is taken to compare the running characteristic parameters of the robot from the acceleration to the stop with the pre-collected reference running characteristic parameters, whether the elevator car stops at the destination floor where the robot goes is determined, an RFID label is not required to be installed in the elevator shaft, a read-write device is not required to be installed in the elevator car, the arrangement cost is reduced, and the space limitation of the elevator shaft is avoided.

Description

Method, device, medium and robot controller for robot taking elevator

Technical Field

The disclosure relates to the technical field of unmanned distribution, in particular to a method, a device, a medium and a robot controller for a robot to take an elevator.

Background

The indoor distribution robot needs to take the elevator to finish autonomous movement between floors, and when the distribution robot takes the elevator autonomously, the real-time floor information where the elevator is located must be acquired, so that whether the floor where the elevator stops is a distribution target floor or not is judged. In the related art, an RFID (Radio Frequency Identification) tag is installed near an elevator shaft at each floor, and an RFID reader/writer is provided on an elevator car to determine floor information of a stop by reading tag information of the RFID tag. However, the RFID tag and the RFID reader/writer are expensive to arrange, require a large installation space, and are difficult to install and debug in the elevator shaft.

Disclosure of Invention

The invention aims to provide a method, a device, a medium and a robot controller for a robot to take an elevator.

In order to achieve the above object, in a first aspect of the present disclosure, there is provided a method for a robot to ride an elevator, including:

obtaining operation characteristic parameters of the elevator car from the current acceleration to the current stop;

determining whether the elevator car stops at a target floor to which the robot goes according to the operation characteristic parameters and reference operation characteristic parameters collected in advance, wherein the reference operation characteristic parameters comprise operation characteristic parameters which are operated to any floor by taking each floor as a reference floor;

controlling the robot to exit the elevator car if it is determined that the elevator car is parked at the destination floor.

Optionally, before the obtaining of the operation parameter of the elevator car from the current acceleration to the current stop, the method includes:

determining the boarding floor of the robot aiming at the current distribution task of the robot;

and generating calling information according to the boarding floor, wherein the calling information is used for calling the elevator car to stop at the boarding floor, and controlling the robot to enter the elevator car under the condition that the elevator car stops at the boarding floor.

Optionally, the determining whether the elevator car stops at the destination floor to which the robot goes according to the operation characteristic parameter and a reference operation characteristic parameter collected in advance includes:

determining a target reference operation characteristic parameter from the pre-collected reference operation characteristic parameters according to the boarding floor and the target floor;

and comparing the operation characteristic parameters with the target reference operation characteristic parameters, and determining whether the elevator car stops at the target floor to which the robot goes according to a comparison result.

Optionally, the determining a target reference operation characteristic parameter from the pre-collected reference operation characteristic parameters according to the boarding floor and the target floor includes:

determining a combination mode of the robot reaching the target floor and the stop of the elevator car according to the floor difference between the target floor and the upper floor, wherein the combination mode comprises a running floor difference from the beginning to the stop of the elevator car every time;

selecting operation characteristic parameters aiming at the operation floor difference from the pre-collected reference operation characteristic parameters;

and combining the operation characteristic parameters to obtain the target reference operation characteristic parameters according to the operation floor difference in the combination mode.

Optionally, the method further comprises:

the following operations are executed in a loop:

under the condition that the elevator car is determined not to stop at the target floor, determining the floor where the robot is located currently according to the operation characteristic parameter and the target reference operation characteristic parameter;

determining a new combination mode from the combination modes by taking the floor where the elevator car is currently located as the boarding floor, and obtaining the running characteristic parameters of the elevator car from the acceleration to the stopping again;

determining a new target reference operation characteristic parameter from the target reference operation characteristic parameters according to the new combination mode;

until it is determined that the elevator car is stopped at the destination floor based on the retrieved operational characteristic and the new target reference operational characteristic.

Optionally, the reference operating characteristic parameter is acquired by:

starting from the bottom floor of a building installed with the elevator car, stopping midway, ascending to reach any floor of the building, obtaining operation characteristic parameters from the bottom floor to the floor, determining an ascending floor difference from the bottom floor to the floor, and taking the operation characteristic parameters from the bottom floor to the floor as reference floors to ascending operation characteristic parameters from the floor to the floor which is the same as the ascending floor difference;

starting from the floor after ascending, stopping midway, and reaching the bottom layer without descending, obtaining the running characteristic parameters from the floor after ascending to the bottom layer, determining the descending floor difference from the floor after ascending to the bottom layer, and taking the running characteristic parameters from the floor after ascending to the bottom layer as the descending running characteristic parameters from the reference floor to the floor which is the same as the descending floor difference;

until the operation characteristic parameters from the bottom floor to each floor of the building and the operation characteristic parameters from each floor of the building to the bottom floor are acquired, and the reference operation characteristic parameters are obtained according to the uplink operation characteristic parameters and the downlink operation characteristic parameters.

Optionally, the operation characteristic parameter includes a maximum acceleration, an acceleration duration of acceleration to a maximum operation speed, a uniform speed duration of the maximum operation speed, a 1/N maximum operation speed, an operation duration from the 1/N maximum operation speed in the acceleration stage to the 1/N maximum operation speed in the deceleration stage, an operation duration from the current acceleration operation to the current stop, a deceleration duration from the maximum operation speed to the stop, an operation speed oscillogram, and a sub-parameter of at least one dimension of operation displacement obtained by integrating operation speeds.

Optionally, the operation characteristic parameter includes the sub-parameters of multiple dimensions, and the determining whether the elevator car stops at the destination floor to which the robot goes according to the operation characteristic parameter and a pre-collected reference operation characteristic parameter includes:

determining the similarity of each sub-parameter according to the operation characteristic parameters and the pre-collected reference operation characteristic parameters;

and determining whether the elevator car stops at the destination floor to which the robot goes according to the sub-parameter with the highest similarity.

Optionally, the method further comprises:

updating the reference operating characteristic parameter according to the operating characteristic parameter if the robot leaves the elevator car.

In a second aspect of the present disclosure, there is provided an apparatus for a robot to ride on an elevator, including:

the obtaining module is configured to obtain operation characteristic parameters of the elevator car from the current acceleration to the current stop;

the determining module is configured to determine whether the elevator car stops at a destination floor to which the robot goes according to the operation characteristic parameters and pre-collected reference operation characteristic parameters, wherein the reference operation characteristic parameters comprise operation characteristic parameters which are operated to any floor by taking each floor as a reference floor;

a control module configured to control the robot to exit the elevator car if it is determined that the elevator car is stopped at the destination floor.

Optionally, the obtaining module is further configured to determine, for the current delivery task of the robot, an boarding floor of the robot before the obtaining of the operation parameter of the elevator car from the current acceleration to the current stop;

Optionally, the determining module includes a first determining sub-module configured to determine a target reference operation characteristic parameter from the pre-collected reference operation characteristic parameters according to the boarding floor and the target floor;

a second determination submodule configured to compare the operation characteristic parameter with the target reference operation characteristic parameter, and determine whether the elevator car is stopped at the target floor to which the robot goes according to a comparison result.

Optionally, the first determining submodule is configured to:

Optionally, the first determining sub-module is further configured to:

the following operations are executed in a loop:

determining a new combination mode from the combination modes by taking the floor where the elevator car is currently located as the boarding floor, and obtaining the running characteristic parameters of the elevator car from the current acceleration to the current stop again;

Optionally, the determination module is further configured to acquire the reference operating characteristic parameter by:

Optionally, the operation characteristic parameter includes sub-parameters of multiple dimensions, and the determining module is configured to determine a similarity of each sub-parameter according to the operation characteristic parameter and the pre-acquired reference operation characteristic parameter, and determine whether the elevator car stops at a destination floor to which the robot goes according to the sub-parameter with the highest similarity.

Optionally, the apparatus further comprises an updating module configured to update the reference operating characteristic parameter according to the operating characteristic parameter if the robot leaves the elevator car.

In a third aspect of the disclosure, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of the first aspect.

In a fourth aspect of the present disclosure, there is provided a robot controller comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of any one of the first aspect.

Through the technical scheme, the following technical effects can be at least achieved:

the method comprises the steps of obtaining running characteristic parameters of an elevator car from the acceleration to the stop; determining whether the elevator car stops at a target floor to which the robot goes according to the operation characteristic parameters and reference operation characteristic parameters collected in advance, wherein the reference operation characteristic parameters comprise operation characteristic parameters which are operated to any floor by taking each floor as a reference floor; in case it is determined that the elevator car stops at the destination floor, the robot is controlled to leave the elevator car. The robot is taken to compare the running characteristic parameters of the robot from the acceleration to the stop with the pre-collected reference running characteristic parameters, whether the elevator car stops at the destination floor where the robot goes is determined, an RFID label is not required to be installed in the elevator shaft, a read-write device is not required to be installed in the elevator car, the arrangement cost is reduced, and the space limitation of the elevator shaft is avoided.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a flow chart illustrating a method of a robot riding an elevator according to an exemplary embodiment.

Fig. 2 is a flow chart illustrating pre-acquisition of an uplink reference operating characteristic parameter according to an exemplary embodiment.

Fig. 3 is a diagram illustrating a comparison of uplink reference operating characteristic parameters according to an exemplary embodiment.

Fig. 4 is a diagram illustrating another comparison of uplink reference operating characteristic parameters according to an example embodiment.

Fig. 5 is a flow chart illustrating a pre-acquisition of a downlink reference operating characteristic parameter according to an exemplary embodiment.

Fig. 6 is a diagram illustrating a comparison of downlink reference operating characteristic parameters according to an exemplary embodiment.

Fig. 7 is a diagram illustrating a comparison of uplink and downlink reference operating characteristic parameters in accordance with an exemplary embodiment.

Fig. 8 is a flow chart illustrating another method of a robot riding an elevator in accordance with an exemplary embodiment.

Fig. 9 is a flowchart illustrating one implementation of step S12 in fig. 8, according to an example embodiment.

Fig. 10 is a flowchart illustrating an implementation of step S121 in fig. 9 according to an exemplary embodiment.

Fig. 11 is a flow chart illustrating another method of a robot riding an elevator according to an exemplary embodiment.

Fig. 12 is a flow chart illustrating another method of a robot riding an elevator according to an exemplary embodiment.

Fig. 13 is a block diagram illustrating an arrangement of a robot riding an elevator according to an exemplary embodiment.

FIG. 14 is a block diagram illustrating an electronic device in accordance with an example embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

It is noted that for simplicity of description, the method embodiments provided by the present disclosure are expressed as a series of acts, but those skilled in the art will recognize that the present disclosure is not limited by the order of acts described. For example, the terms "S22", "S11", and the like are used to distinguish method steps and are not necessarily to be construed as describing a particular order of execution. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required in order to implement the disclosure.

Fig. 1 is a flow diagram illustrating a method for a robot to ride an elevator that may be used for a delivery robot in a delivery scenario, such as a takeaway delivery, a courier delivery, etc., for example, a hotel or office takeaway delivery, according to an example embodiment. As shown in fig. 1, the method includes the following steps.

In step S11, an operation characteristic parameter of the elevator car from the current acceleration to the current stop is acquired.

Wherein, the robot can be configured with an accelerometer, a gravity sensor, a speed sensor and the like to acquire the running characteristic parameters from acceleration to stopping each time when taking the elevator.

Here, the acceleration to the stop means that the elevator car is accelerated upward (upward movement) or downward (downward movement) from 0 speed each time, and indicates that the elevator car has stopped at the elevator entrance when the speed is again 0.

The operation characteristic parameters can represent the operation characteristics of the elevator car, and in a possible implementation mode, the operation characteristic parameters comprise sub-parameters of at least one dimension of maximum acceleration, acceleration duration from acceleration to maximum operation speed, constant speed duration of the maximum operation speed, 1/N maximum operation speed, operation duration from 1/N maximum operation speed in an acceleration stage to the 1/N maximum operation speed in a deceleration stage, operation duration from current acceleration operation to current stop, deceleration duration from maximum operation speed deceleration to stop, operation speed oscillogram and operation displacement obtained by operation speed integration.

Where the 1/N maximum operating speed may be 1/2 maximum operating speed, the corresponding operating characteristic parameter may include an operating duration from 1/2 maximum operating speed in the acceleration phase to 1/2 maximum operating speed in the deceleration phase. The 1/N maximum operating speed may be 1/10 maximum operating speed. Similarly, the operating characteristic may include an operating duration from 1/10 maximum operating speed in the acceleration phase to 1/10 maximum operating speed in the deceleration phase.

It is understood that the maximum travel speed may be the maximum travel speed at which the elevator car is traveling upward, or the maximum travel speed at which the elevator car is traveling downward; the running speed integral can represent the displacement of the elevator car from the current acceleration running to the current stopping.

In step S12, it is determined whether the elevator car is stopped at the destination floor to which the robot is going based on the operation characteristic parameters including the operation characteristic parameters to be moved to an arbitrary floor with each floor as a reference floor and reference operation characteristic parameters collected in advance.

The reference operation characteristic parameters include operation characteristic parameters from each floor of a building where the elevator car is located to any floor, for example, the reference operation characteristic parameters include operation characteristic parameters from a bottom floor of the building to any floor, operation characteristic parameters from a second bottom floor to any floor and operation characteristic parameters from the second bottom floor to the bottom floor, and so on, operation characteristic parameters from a second top floor to any floor and operation characteristic parameters from the second top floor to the top floor, and operation characteristic parameters from the top floor to any floor.

Optionally, the reference operation characteristic parameters may be acquired in advance by a sensor or the like configured in the robot itself, or the reference operation characteristic parameters may be obtained by requesting the elevator controller to upload the operation characteristic parameters of the elevator.

Fig. 2 is a flowchart of a method for acquiring reference operation characteristic parameters in advance through a sensor configured in a robot per se, and referring to fig. 2, the robot is located in an elevator car and moves up and down together with the elevator car, firstly, the elevator car starts from the bottom floor of a building, the bottom floor can be a negative floor under the condition that the building has a negative floor (basement), and the bottom floor can be a floor 1 under the condition that the building does not have a negative floor. The elevator car accelerates up from the bottom floor and decelerates to stop at the next bottom floor. For example, the elevator car accelerates upwards from floor 1, decelerates and stops at floor 2, records the operation characteristic parameters, and takes the operation characteristic parameters of the floor going upwards to the next floor as the ascending reference operation characteristic parameters with the floor difference of floor 1, for example, the floor 2 going upwards to floor 3 is the floor difference of floor 1, and the operation characteristic parameters of the floor 1 going upwards to floor 2 are taken as the ascending reference operation characteristic parameters of the floor 2 going upwards to floor 3; for another example, the difference between floors 3 and 4 is also 1 floor, and the operation characteristic parameter of floor 1 going upward to floor 2 is used as the upward reference operation characteristic parameter of floor 3 going upward to floor 4.

Further, the elevator car accelerates upward from the floor 2, decelerates and stops at the floor 4, records the operation characteristic parameters, and takes the operation characteristic parameters from the floor 2 to the floor 4 as the upward reference operation characteristic parameters with the floor difference of the floor 2, for example, the upward reference operation characteristic parameters from the floor 1 to the floor 3 are the floor difference of the floor 2, and the operation characteristic parameters from the floor 2 to the floor 4 are taken as the upward reference operation characteristic parameters from the floor 1 to the floor 3; for another example, the difference between floors 3 and 5 is 2 floors, and the operation characteristic parameter of floor 2 going upward to floor 4 is used as the upward reference operation characteristic parameter of floor 3 going upward to floor 5.

Further, the elevator car accelerates from the 4 th floor to ascend, decelerates to stop at the 7 th floor, records the operation characteristic parameters, and takes the operation characteristic parameters of the 4 th floor ascending to the 7 th floor as the ascending reference operation characteristic parameters with the floor difference of 3 floors, for example, the 1 st floor ascending to the 4 th floor is the floor difference of 3 floors, and the operation characteristic parameters of the 4 th floor ascending to the 7 th floor are taken as the ascending reference operation characteristic parameters of the 1 st floor ascending to the 4 th floor; for another example, the difference between floors of 5 th and 8 th is also 3 floors, and the operation characteristic parameter of 4 th and 7 th floors is used as the uplink reference operation characteristic parameter of 5 th and 8 th floors. And repeating the steps until the elevator car accelerates upwards from the floor 1 and decelerates to stop at the top floor, recording the operation characteristic parameters, and obtaining the ascending reference operation characteristic parameters of the building from the floor difference of the floor 1 to the floor difference of the floor N-1, wherein N is the total floor number of the building. For example, in the case where the building includes minus 3 floors and the top floor is 13 floors, N is 16; when the building has no negative floors and the top floor is 13 floors, N is 13.

The acceleration and the velocity in the reference operational characteristic parameters of floors 1 to 4, respectively, are shown with reference to fig. 3, and the velocity in the reference operational characteristic parameters of floors 5 and 6, respectively, are shown with reference to fig. 4. It can be seen that the uniform speed duration of the maximum operation speed is different, when the floor difference is 5 floors, the uniform speed duration of the maximum operation speed is 29 unit times, and when the floor difference is 6 floors, the uniform speed duration of the maximum operation speed is 39 unit times, and similarly, the occurrence time points of the 1/N maximum operation speed are also different. Therefore, whether the elevator car moves upwards to stop at a target floor to which the robot goes can be determined by comparing the constant speed duration of the maximum running speed in the running characteristic parameters with the constant speed duration of the maximum running speed of the reference running characteristic parameters.

Fig. 5 is another flow chart of a method for acquiring reference operation characteristic parameters in advance through a sensor configured in the robot, and referring to fig. 5, the robot is located in an elevator car and moves up and down together with the elevator car, firstly, the elevator car starts from the top floor of a building, and accelerates and moves down from the top floor, and decelerates and stops at the second top floor. Describing along the embodiment of fig. 2, the elevator car is accelerated to descend from the 13 th floor, decelerated to stop at the 12 th floor, the running characteristic parameter is recorded, and the running characteristic parameter of the top floor descending to the second top floor is taken as the descending reference running characteristic parameter with the floor difference of 1 th floor, for example, the running characteristic parameter of the 12 th floor descending to the 11 th floor is taken as the descending reference running characteristic parameter of the 12 th floor descending to the 11 th floor; for another example, the floor difference between 11 th and 9 th is 1 th, and the operation characteristic parameter between 13 th and 12 th is used as the downlink reference operation characteristic parameter between 10 th and 9 th.

Further, the elevator car is accelerated to descend from the 12 th floor, and is decelerated to stop at the 10 th floor, the running characteristic parameters are recorded, the running characteristic parameters of the 12 th floor descending to the 10 th floor are used as descending reference running characteristic parameters with a floor difference of 2 th floor, for example, the condition that the 13 th floor descends to the 11 th floor is 2 th floor difference, and the running characteristic parameters of the 12 th floor descending to the 10 th floor are used as descending reference running characteristic parameters of the 13 th floor descending to the 11 th floor; for another example, the floor difference between the 11 th floor and the 9 th floor is 2 floors, and the operation characteristic parameter of the 12 th floor and the 10 th floor is taken as the downlink reference operation characteristic parameter of the 11 th floor and the 9 th floor.

Further, the elevator car is accelerated to descend from the 10 th floor, is decelerated to stop at the 7 th floor, records the operation characteristic parameters, and takes the operation characteristic parameters of the 10 th floor descending to the 7 th floor as the descending reference operation characteristic parameters with the floor difference of 3 th floor, for example, the 13 th floor descending to the 10 th floor is the floor difference of 3 th floor, and takes the operation characteristic parameters of the 10 th floor descending to the 7 th floor as the descending reference operation characteristic parameters of the 13 th floor descending to the 10 th floor; for another example, if the floor difference is 3 floors between the 9 th floor and the 6 th floor, the operation characteristic parameter of the 10 th floor and the 7 th floor is taken as the downlink reference operation characteristic parameter of the 9 th floor and the 6 th floor. And repeating the steps until the elevator car accelerates downwards from the top floor and decelerates to stop at the bottom floor, and recording the running characteristic parameters to obtain the descending reference running characteristic parameters of the building from the floor difference of 1 floor to the floor difference of N-1 floor. And similarly, N is the total floor number of the building.

Referring to fig. 6, acceleration and speed in the reference operation characteristic parameters of the floors 1 to 4 in the descending floor difference are shown, and it can be seen that the acceleration duration and the maximum acceleration are different, and the maximum operation speed and the uniform speed duration of the maximum operation speed are also different. In this way, by comparing the acceleration duration or the maximum acceleration in the travel characteristic parameter with the acceleration duration or the maximum acceleration of the reference travel characteristic parameter, it can be determined whether the elevator car stops downwards at the destination floor to which the robot is going.

Referring to fig. 7, which shows a speed comparison diagram of the elevator car with the difference between floors 1-4 and 1-4 in the difference between floors 1-4 in the upward direction and the downward direction, it can be seen that the directions of the speeds are different and the maximum traveling speeds are also different. Whereby it can be determined whether the elevator car is going upwards or downwards.

In step S13, in the case where it is determined that the elevator car stops at the destination floor, the robot is controlled to leave the elevator car.

The robot comprises a robot body, a robot door, a detection device, a control device and a control device, wherein under the condition that the elevator car is confirmed to stop at a target floor, image information can be collected through an image sensor of the robot body, so that whether the elevator door of the elevator car is opened or not is judged, and under the condition that the elevator door is confirmed to be opened, the robot body is controlled to leave the elevator car.

According to the technical scheme, the running characteristic parameters of the robot, which are accelerated to stop at this time by taking the elevator, are compared with the reference running characteristic parameters collected in advance, whether the elevator car stops at the destination floor where the robot goes is determined, an RFID label is not required to be installed in the elevator shaft, a read-write device is not required to be installed in the elevator car, the arrangement cost is reduced, and the restriction of the space of the elevator shaft is avoided. And the robot does not need to access an elevator controller, and can determine whether the elevator car stops at a target floor to which the robot goes, so that the risk of increasing the operation of the elevator is avoided.

In addition to the above-described embodiment, as shown in fig. 8, in step S11, before the operation parameters of the elevator car from the current acceleration to the current stop are acquired, the following steps are further included.

In step S21, the floor on which the robot has taken a ride is determined for the present delivery task of the robot.

The boarding floor is a floor where the elevator car stops and receives the robot, and is usually a floor where the robot is currently located, for example, if the robot starts from the distribution station, the boarding floor is a floor where the distribution station is located; and if the robot finishes the first sub-order distribution, the robot continues to distribute the second sub-order, and the boarding floor is the first sub-order distribution floor.

In step S22, call information for calling the elevator car to stop at the boarding floor is generated based on the boarding floor, and the robot is controlled to enter the elevator car when the elevator car stops at the boarding floor.

The robot can acquire image information through an image sensor of the robot, so that whether the elevator door of the elevator car is opened or not is judged, and the robot is controlled to enter the elevator car under the condition that the elevator door is determined to be opened.

In one possible implementation, the call information may include a destination floor so that the elevator controller may help the robot to press the elevator if no person presses the destination floor.

On the basis of fig. 8, referring to a flowchart shown in fig. 9 for implementing step S12 in fig. 8, in step S12, the determining whether the elevator car stops at the destination floor to which the robot goes according to the operation characteristic parameter and a pre-collected reference operation characteristic parameter includes:

in step S121, a target reference operation characteristic parameter is determined from the reference operation characteristic parameters collected in advance, based on the boarding floor and the target floor.

The method comprises the steps of obtaining the current pressed elevator floors of an elevator car, wherein the pressed elevator floors comprise the floors pressed by the elevator car and the floors pressed by an elevator entrance, determining the pressed elevator floors between the boarding floors and the target floors, determining the floor differences between the pressed elevator floors, the pressed elevator floors and the boarding floors and the floor differences between the pressed elevator floors and the target floors, and determining target reference operation characteristic parameters from pre-acquired reference operation characteristic parameters according to the floor differences.

For example, the floor for riding is floor 1, the destination floor is floor 7, and the elevator floors are floors 2 and 5, it can be determined that the elevator car needs to stop at floors 2 and 5, the floor difference between floor 1 and floor 2 is floor 1, the floor difference between floor 2 and floor 5 is floor 3, and the floor difference between floor 5 and floor 7 is floor 2, and the reference operation characteristic parameters with floor difference 1, floor difference 2, and floor difference 3 can be determined as the target reference operation characteristic parameters from the reference operation characteristic parameters collected in advance.

It can be understood that since the elevator belongs to a special device, acquiring the floor of the elevator already pressed may result in an increased risk of elevator operation due to minimizing access of external devices, and thus the target reference operation characteristic parameter may be determined by not acquiring the floor of the elevator already pressed as follows.

Therefore, on the basis of fig. 9, referring to a flowchart shown in fig. 10 for implementing step S121 in fig. 9, in step S121, the determining a target reference operation characteristic parameter from the pre-collected reference operation characteristic parameters according to the boarding floor and the target floor includes:

in step S1211, a combination of the arrival of the robot at the target floor and the stop of the elevator car is determined based on the floor difference between the target floor and the boarding floor, and the combination includes a running floor difference from the start of the elevator car to the stop each time.

For example, the boarding floor is floor 1, the destination floor is floor 5, and there are 7 possibilities for the robot to reach the destination floor and stop at the elevator car, which are respectively the 1 st possibilities: stopping at every building, namely stopping at every building from 2 to 5; possibility 2: stopping at 2 th, 4 th and 5 th; possibility No. 3: stopping at floors 2 and 5; possibility 4: stopping at 3 th, 4 th and 5 th; possibility 5: stopping at 3 th and 5 th; possibility 6: stopping at the 4 th and 5 th floors; possibility 7: only stop at floor 5.

Further, for the 1 st possibility, because of each floor berthing, only the difference of the ascending floor is 1 floor in each operation floor from the examination operation to the berthing. For the 2 nd possibility, the operation floor difference comprises an upward floor difference of 1 floor (the upward floor difference from the 1 st floor to the 2 nd floor and from the 4 th floor to the 5 th floor is 1 floor) and an upward floor difference of 2 floors (from the 2 nd floor to the 4 th floor). For the 3 rd possibility, the running floor difference has an upward floor difference of 1 st floor (from 1 st floor to 2 nd floor) and an upward floor difference of 3 rd floor (from 2 nd floor to 5 th floor). For the 4 th possibility, the travel floor difference has an upward floor difference of 1 st floor (from 3 th to 4 th and from 4 th to 5 th) and an upward floor difference of 2 nd floor (from 1 st floor to 3 th). For the 5 th possibility, the only difference between the operational floors is the upward floor difference of 2 floors (from 1 floor to 3 floors and from 3 floors to 5 floors). For the 6 th possibility, the travel floor difference has an upward floor difference of 1 st floor (from 4 th to 5 th) and an upward floor difference of 3 rd floor (from 1 st to 4 th). For the 7 th possibility, the only difference between the operating floors is the 4 th floor (from the 1 st floor to the 5 th floor). Thus, the combination includes an ascending floor difference of 1, an ascending floor difference of 2, an ascending floor difference of 3, and an ascending floor difference of 4.

In step S1212, an operation characteristic parameter for the operation floor difference is selected from the reference operation characteristic parameters acquired in advance.

Illustratively, the operation characteristic parameters of 1 st floor, 2 nd floor, 3 rd floor and 4 th floor are selected from the pre-collected reference operation characteristic parameters.

In step S1213, the operation characteristic parameters are combined to obtain a target reference operation characteristic parameter according to the operation floor difference in the combination manner.

Wherein in each landing possibility the same operational floor difference exists, thus requiring a combination of operational characteristic parameters. As illustrated in the foregoing 2, the ascending floor differences from floor 1 to floor 2 and from floor 4 to floor 5 are floor 1, and the ascending floor differences from floor 2 to floor 4 are floor 2, so that the target reference operation characteristic parameters obtained by combining the operation characteristic parameters are: the difference of the ascending floors is the operation characteristic parameter of the 1 st floor, the difference of the ascending floors is the operation characteristic parameter of the 2 nd floor, and the difference of the ascending floors is the operation characteristic parameter of the 1 st floor.

In step S122, the operation characteristic parameter is compared with the target reference operation characteristic parameter, and it is determined whether the elevator car is stopped at a target floor to which the robot goes according to the comparison result.

Taking the above embodiment as an example for explanation, the foregoing may obtain 7 target reference operation characteristic parameters, compare the operation characteristic parameter accelerated to the stop this time with the 7 target reference operation characteristic parameters, and determine that the elevator car stops at the destination floor to which the robot goes under the condition that any one of the target reference operation characteristic parameters coincides with the operation characteristic parameter accelerated to the stop this time.

On the basis of fig. 10, with reference to a flow chart of another method for riding an elevator by a robot shown in fig. 11, the method further comprises the following steps.

The following operations are executed in a loop:

in step S1214, if it is determined that the elevator car is not stopped at the target floor, the floor at which the robot is currently located is determined based on the operation characteristic parameter and the target reference operation characteristic parameter.

When any target reference operation characteristic parameter is not consistent with the operation characteristic parameter accelerated to the stop, the elevator car is determined not to stop at the target floor to which the robot goes, but the current stop floor can be determined. With the foregoing embodiment, in the case where the elevator stops at floor 2, only a part of the target reference operation characteristic parameters corresponds to the operation characteristic parameters going upward to floor 2, and the floor where the robot is currently located is determined to be floor 2 according to the part of the operation characteristic parameters.

In step S1215, a new combination mode is determined from the combination modes with the floor where the elevator car is currently located as the boarding floor, and the operation characteristic parameter of the elevator car from the current acceleration to the current stop is newly acquired.

As explained in the foregoing embodiment, in the case where it is determined that the floor where the robot is currently located is the 2 th floor, the 4 th to 7 th combination modes may not appear, and therefore, the 4 th to 7 th combination modes are removed from the combination modes to obtain the 1 st to 3 th combination modes which may be new combination modes.

In step S1216, a new target reference operating characteristic parameter is determined from the target reference operating characteristic parameters according to the new combination.

Continuing with the foregoing example, there are only 3 seed possibilities for the 1 st to 3 rd possible corresponding combinations, namely the 1 st seed possibility: stopping at 3-5 storied building; seed 2 may: stopping at 3 and 5 stories; seed 3 may: directly stop at the 5 th floor. Thus, the new target reference operating characteristic parameter is determined as: the ascending floor difference is the operation characteristic parameter of 1 floor and the ascending floor difference is 1 floor, the ascending floor difference is the operation characteristic parameter of 2 floors and the ascending floor difference is the operation characteristic parameter of 3 floors.

In step S1217, it is determined that the elevator car stops at the destination floor based on the retrieved running characteristic parameter and the new target reference running characteristic parameter.

Similarly, under the condition that the elevator car stops next time, if any new target reference operation characteristic parameter is consistent with the operation characteristic parameter accelerated to stop this time, the elevator car is determined to stop at the destination floor to which the robot goes. And if the operation characteristic parameter accelerated to the stop at the time is matched with part of any new target reference operation characteristic parameter, determining that the elevator car is not stopped at the target floor to which the robot goes, and continuously determining the floor at which the robot is currently positioned until determining that the elevator car is stopped at the target floor to which the robot goes.

On the basis of the above embodiment, the reference operating characteristic parameter is acquired by:

starting from the bottom floor of the building installed with the elevator car, stopping midway and ascending to reach any floor of the building, obtaining the running characteristic parameters from the bottom floor to the floor, determining the ascending floor difference from the bottom floor to the floor, and taking the running characteristic parameters from the bottom floor to the floor as the ascending running characteristic parameters from the reference floor to the floor which is the same as the ascending floor difference.

illustratively, starting from the bottom floor of a building where the elevator car is installed, ascending to a secondary bottom floor, obtaining operation characteristic parameters aiming at the bottom floor to the secondary bottom floor, and taking the operation characteristic parameters from the bottom floor to the secondary bottom floor as ascending reference operation characteristic parameters with a difference of 1 floor between the ascending floors, please refer to fig. 2 for detailed explanation. And starting from the secondary bottom layer, descending to the bottom layer to obtain the running characteristic parameters aiming at the secondary bottom layer to the bottom layer, taking the running characteristic parameters aiming at the secondary bottom layer to the bottom layer as descending reference running characteristic parameters with the difference of 1 floor between descending floors, and please refer to fig. 5 for detailed explanation.

And further, starting from the bottom layer of the building installed with the elevator car, stopping midway, ascending to reach the bottom layer again, obtaining the running characteristic parameters from the bottom layer to the bottom layer again, and taking the running characteristic parameters from the bottom layer to the bottom layer again as the ascending reference running characteristic parameters with the phase difference of 2 stories between the ascending stories. And starting from the second floor, stopping midway, and reaching the bottom without descending to obtain the running characteristic parameters from the second floor to the bottom, and taking the running characteristic parameters from the second floor to the bottom as descending reference running characteristic parameters with the difference of 2 stories between the descending stories.

Starting from the bottom floor, continuously ascending in the midway, descending from the floor after ascending to the bottom floor until starting from the bottom floor of the building installed with the elevator car, and continuously ascending in the midway to reach the top floor, thereby obtaining the operation characteristic parameters aiming at the bottom floor to the top floor. And starting from the top layer, stopping midway and descending to the bottom layer to obtain the running characteristic parameters aiming at the top layer to the bottom layer.

On the basis of the above embodiment, the operation characteristic parameter includes the sub-parameters of multiple dimensions, and determining whether the elevator car stops at the destination floor to which the robot goes according to the operation characteristic parameter and a reference operation characteristic parameter acquired in advance includes:

and determining the similarity of each sub-parameter according to the operation characteristic parameters and the pre-acquired reference operation characteristic parameters.

Exemplarily, the speed similarity between the maximum operation speed in the operation characteristic parameter accelerated to the stop and the maximum operation speed of the reference operation characteristic parameter, and the acceleration similarity between the maximum acceleration in the operation characteristic parameter accelerated to the stop and the maximum acceleration of the reference operation characteristic parameter are determined.

And determining whether the elevator car stops at a destination floor to which the robot goes according to the sub-parameter with the highest similarity.

And determining the floor at which the elevator car stops currently according to the sub-parameter with the highest similarity, and comparing the floor with the target floor to determine whether the elevator car stops at the target floor.

The method for the robot to take the elevator is described below by an embodiment, and referring to fig. 12, the robot sends the call information carrying the floor to take the elevator at the known floor. And controlling the robot to enter the elevator car in the case that the elevator car is determined to reach the boarding floor. And the elevator car moves to stop, and the running characteristic parameters of the elevator car from the acceleration to the stop are recorded. Comparing the operation characteristic parameters accelerated to the stop with the reference operation characteristic parameters collected in advance, for example, comparing the maximum operation speed, the constant speed duration of the maximum operation speed, the operation duration from 1/2 maximum operation speed in the acceleration stage to 1/2 maximum operation speed in the deceleration stage, the operation duration from 1/10 maximum operation speed in the acceleration stage to 1/10 maximum operation speed in the deceleration stage, the operation speed oscillogram and the operation displacement obtained by operation speed integration to obtain the similarity of each sub-parameter. And selecting the sub-parameter with the highest similarity to determine the floor at which the elevator car stops currently, and judging whether the elevator car stops at the target floor to which the robot goes. If the elevator car is determined to stop at the destination floor to which the robot goes, controlling the robot to leave the elevator car; and if the elevator car is determined not to be stopped at the destination floor to which the robot goes, controlling the robot to continue to be in the elevator car, and continuously recording the operation characteristic parameters of the elevator car from the acceleration to the stop at the time when the elevator operates next time until the elevator car is determined to be stopped at the destination floor to which the robot goes.

On the basis of the above embodiment, the method further comprises:

In one embodiment, the reference operating characteristic parameters are periodically collected and updated based on the newly collected reference operating characteristic parameters, e.g., in the evening of the last weekday of each month, the reference operating characteristic parameters are collected again.

Based on the same inventive concept, the present disclosure also provides a device 100 for taking the robot in the elevator, which is used for executing the steps of the method for taking the robot in the elevator provided by the above method embodiment, and the device 100 can implement the method for taking the robot in the elevator in a software manner, a hardware manner, or a combination of the two manners. Fig. 13 is a block diagram of an apparatus 100 for a robot riding an elevator according to an exemplary embodiment, shown with reference to fig. 13, the apparatus 100 including: an acquisition module 110, a determination module 120, and a control module 130.

The obtaining module 110 is configured to obtain an operation characteristic parameter of the elevator car from the current acceleration to the current stop;

a determining module 120 configured to determine whether the elevator car stops at a destination floor to which the robot goes according to the operation characteristic parameters and pre-collected reference operation characteristic parameters, where the reference operation characteristic parameters include operation characteristic parameters that operate to any floor with each floor as a reference floor;

a control module 130 configured for controlling the robot to leave the elevator car if it is determined that the elevator car is parked at the destination floor.

The robot is used for comparing the running characteristic parameters of the robot from acceleration to stopping to the time with the reference running characteristic parameters collected in advance by taking the elevator, whether the elevator car stops at the destination floor where the robot goes is determined, an RFID label is not needed to be installed in the elevator shaft, a read-write device is not needed to be installed in the elevator car, the arrangement cost is reduced, and the restriction of the space of the elevator shaft is avoided.

Optionally, the obtaining module 110 is further configured to determine, for the current dispatching task of the robot, an boarding floor of the robot before the obtaining of the operation parameter of the elevator car from the current acceleration to the current stop;

Optionally, the determining module 120 includes a first determining sub-module configured to determine a target reference operation characteristic parameter from the pre-collected reference operation characteristic parameters according to the boarding floor and the target floor;

a second determination submodule configured to compare the operation characteristic parameter with the target reference operation characteristic parameter, and determine whether the elevator car is stopped at the destination floor to which the robot goes according to a comparison result.

Optionally, the first determining submodule is configured to: determining a combination mode of the robot reaching the target floor and the stop of the elevator car according to the floor difference between the target floor and the upper floor, wherein the combination mode comprises a running floor difference from the beginning to the stop of the elevator car every time;

selecting operation characteristic parameters aiming at the operation floor difference from reference operation characteristic parameters collected in advance;

Optionally, the first determining sub-module is further configured to: the following operations are executed in a loop:

Optionally, the determining module 120 is further configured to acquire the reference operating characteristic parameter by:

Optionally, the operation characteristic parameter includes sub-parameters of multiple dimensions, and the determining module 120 is configured to determine a similarity of each of the sub-parameters according to the operation characteristic parameter and the pre-collected reference operation characteristic parameter, and determine whether the elevator car stops at a destination floor to which the robot goes according to the sub-parameter with the highest similarity.

Optionally, the apparatus 100 further comprises an updating module configured to update the reference operating characteristic parameter according to the operating characteristic parameter if the robot leaves the elevator car.

With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.

Embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of any one of the methods described above.

It should be noted that, for convenience and brevity of description, the embodiments described in the specification all belong to the preferred embodiments, and the related parts are not necessarily essential to the present invention, for example, the determining module 120 and the controlling module 130 may be independent devices or the same device when being implemented specifically, and the disclosure is not limited thereto.

The embodiment of the present disclosure further provides a robot controller, including: a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of any of the preceding claims.

Fig. 14 is a block diagram illustrating an electronic device 700 according to an example embodiment. The electronic device 700 may be configured as a robotic controller, as shown in fig. 14, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.

Wherein, the processor 701 is used for controlling the overall operation of the electronic device 700 to complete all or part of the steps of the method for the robot to take the elevator. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as dispatch personnel data, dispatch messages, call information, audio, video, and so forth. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.

In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method of riding an elevator by a robot.

In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method of riding an elevator by a robot. For example, the computer readable storage medium may be the memory 702 described above that includes program instructions executable by the processor 701 of the electronic device 700 to perform the method described above for the robot riding an elevator.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method of riding an elevator by a robot, comprising:

2. The method of claim 1, prior to said obtaining operational parameters for the elevator car from the current acceleration to the current landing, comprising:

3. The method of claim 2, wherein determining whether the elevator car is stopped at a destination floor to which the robot is going based on the operation characteristic parameter and a pre-collected reference operation characteristic parameter comprises:

4. The method of claim 3, wherein determining a target reference operational characteristic from the pre-collected reference operational characteristics based on the boarding floor and the destination floor comprises:

5. The method of claim 4, further comprising:

the following operations are executed in a loop:

6. The method according to any one of claims 1-5, characterized in that the reference operating characteristic parameter is acquired by:

and obtaining the reference operation characteristic parameters according to the uplink operation characteristic parameters and the downlink operation characteristic parameters until the operation characteristic parameters from the bottom floor to each floor of the building and the operation characteristic parameters from each floor of the building to the bottom floor are collected.

7. The method according to any one of claims 1 to 5, wherein the operation characteristic parameters comprise sub-parameters of at least one dimension of maximum acceleration, acceleration duration for acceleration to maximum operation speed, uniform speed duration for the maximum operation speed, 1/N maximum operation speed, operation duration from 1/N maximum operation speed in an acceleration stage to the 1/N maximum operation speed in a deceleration stage, operation duration from current acceleration operation to current parking, deceleration duration from maximum operation speed deceleration to parking, operation speed oscillogram, and operation speed integral operation displacement.

8. The method of claim 7, wherein the operational characteristic parameters comprise the sub-parameters in a plurality of dimensions, and wherein determining whether the elevator car is stopped at a destination floor to which the robot is going according to the operational characteristic parameters and pre-collected reference operational characteristic parameters comprises:

9. The method according to any one of claims 1-5, further comprising:

10. An apparatus for a robot to ride on an elevator, comprising:

the obtaining module is configured to obtain operation characteristic parameters of the elevator car from the acceleration to the stop;

a control module configured to control the robot to exit the elevator car if it is determined that the elevator car is parked at the destination floor.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 9.

12. A robot controller, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 9.