CN114988237A

CN114988237A - Robot interactive ladder taking method and device, electronic equipment and readable storage medium

Info

Publication number: CN114988237A
Application number: CN202210681334.4A
Authority: CN
Inventors: 卢鹰; 梁朋
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2022-06-16
Filing date: 2022-06-16
Publication date: 2022-09-02
Anticipated expiration: 2042-06-16
Also published as: CN114988237B

Abstract

The application discloses a robot interactive elevator taking method, a robot interactive elevator taking device, electronic equipment and a readable storage medium, which are applied to a robot interactive elevator taking system, wherein the robot interactive elevator taking system comprises a mobile robot and a target elevator, and the robot interactive elevator taking method comprises the following steps: generating an elevator taking command for controlling the mobile robot to take the target elevator according to the acquired elevator taking information; detecting whether the target elevator generates an elevator taking physical signal triggered by physical operation of the mobile robot or not according to the elevator taking command; and if so, controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal. The technical problem that limitation is high when mobile robot takes advantage of the ladder independently among the prior art has been solved in this application.

Description

Robot interactive ladder taking method and device, electronic equipment and readable storage medium

Technical Field

The present disclosure relates to the field of robot control technologies, and in particular, to a method and an apparatus for a robot to interactively take a ladder, an electronic device, and a readable storage medium.

Background

With the continuous progress of robot technology, robots are increasingly playing an important role in more and more scenes, such as hotel delivery, district delivery and the like, and in such scenes that work is carried out across floors, the robots usually need to take elevators to carry out the work across the floors. At present, a robot carries an elevator autonomously by a communication mode, for example, a wireless communication control module is arranged on the robot to realize information interaction with an elevator control system, and the robot and the elevator control system perform communication information interaction through a third-party server. However, the current method of taking an elevator by the robot autonomously not only increases the construction cost of the elevator control system, but also has a high limitation when the mobile robot autonomously takes an elevator because the robot cannot take an elevator autonomously when the robot and the elevator control system do not perform information interaction in a direct or indirect manner in an interlocked state.

Disclosure of Invention

The present application mainly aims to provide a robot interactive elevator taking method, device, electronic device and readable storage medium, and aims to solve the technical problem of high limitation when a mobile robot takes an elevator autonomously in the prior art.

In order to achieve the above object, the present application provides a robot interactive elevator taking method, which is applied to a robot interactive elevator taking system, the robot interactive elevator taking system includes a mobile robot and a target elevator, and the robot interactive elevator taking method includes:

generating an elevator taking command for controlling the mobile robot to take the target elevator according to the acquired elevator taking information;

detecting whether the target elevator generates an elevator taking physical signal triggered by physical operation of the mobile robot or not according to the elevator taking command;

and if so, controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal.

Optionally, the elevator riding physical signal comprises an elevator riding pressure signal, the key panel comprises a first key panel and a second key panel,

the step of controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal comprises the following steps:

if the first key panel is detected to be free of the elevator taking indication information, detecting whether a first pressure value corresponding to an elevator taking pressure signal triggered by the first key panel by the mobile robot is larger than a preset first pressure threshold value or not;

if yes, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot and the target elevator to carry out elevator taking interaction through a second pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel;

if the first key panel is detected to have the elevator taking indication information, after the mobile robot is detected to enter the car of the target elevator, the mobile robot is controlled to carry out elevator taking interaction with the target elevator through a third pressure value corresponding to an elevator taking pressure signal triggered by the second key panel through the mobile robot.

Optionally, the controlling, by the mobile robot, an elevator taking interaction between the mobile robot and the target elevator according to a second pressure value corresponding to the elevator taking pressure signal triggered by the second key panel includes:

if the second pressure value corresponding to the target floor indicating key of the mobile robot is detected to reach the preset second pressure threshold value corresponding to the target floor indicating key, generating target floor information, wherein the target floor indicating key is a floor key which is used for indicating the mobile robot to arrive at on the second key panel;

and when the elevator car of the target elevator is detected to be in an elevator taking interaction state, controlling the target elevator to move to a target floor according to the target floor information so as to control the mobile robot and the target elevator to finish elevator taking interaction.

Optionally, the elevator physical signal comprises an elevator laser signal, the key panel comprises a first key panel and a second key panel,

if the situation that no elevator taking indication information exists on the first key panel is detected, whether the target elevator receives first interaction information corresponding to the elevator taking laser signal input by the mobile robot through the first key panel is detected;

if yes, receiving second interactive information corresponding to the elevator taking laser signal input by the mobile robot through the second key panel after the mobile robot is detected to enter the car of the target elevator;

and controlling the target elevator to move to a target floor according to the first interactive information and the second interactive information so as to control the mobile robot and the target elevator to finish elevator taking interaction.

Optionally, the elevator taking command comprises a first elevator taking command and a second elevator taking command,

the step of detecting whether the target elevator generates an elevator-taking physical signal triggered by a physical operation of the mobile robot according to the elevator-taking command includes:

controlling the mobile robot to move out of the car of the target elevator according to the first elevator taking command;

controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;

and detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.

Optionally, the robot interactive boarding method further includes:

when detecting that a car door of the target elevator is in an open state, acquiring a relative position relation between the mobile robot and the car of the target elevator;

if the relative position relation is a first relative position relation, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;

and if the relative position relationship is a second relative position relationship, determining whether to generate a second control command for controlling the mobile robot according to the size relationship between the floor area of the mobile robot and the area of the empty car corresponding to the target elevator.

Optionally, before the step of generating an elevator taking command for controlling the mobile robot to take the target elevator according to the acquired elevator taking information, the robot interactive elevator taking method further includes:

acquiring the robot type of the mobile robot;

if the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to elevator taking information after detecting that the first type mobile robot receives the elevator taking information;

and if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.

In order to achieve the above object, the present application further provides a robot interactive elevator taking device, which is applied to a robot interactive elevator taking system, the robot interactive elevator taking system includes a mobile robot and a target elevator, the robot interactive elevator taking device includes:

the generating module is used for generating an elevator taking instruction for controlling the mobile robot to take the target elevator according to the acquired elevator taking information;

the detection module is used for detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot or not according to the elevator taking command;

and the control module is used for controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal if the mobile robot and the key panel of the target elevator are in the same state.

Optionally, the control module is further configured to:

if the first key panel is detected not to have the elevator taking indication information, detecting whether a first pressure value corresponding to an elevator taking pressure signal triggered by the first key panel by the mobile robot is larger than a preset first pressure threshold value or not;

Optionally, the control module is further configured to:

if the mobile robot is detected that a second pressure value corresponding to a target floor indication key reaches a preset second pressure threshold value corresponding to the target floor indication key, generating target floor information, wherein the target floor indication key is a floor key which is indicated by the second key panel and is to be reached by the mobile robot;

Optionally, the control module is further configured to:

Optionally, the elevator taking instruction includes a first elevator taking instruction and a second elevator taking instruction, and the detection module is further configured to:

Optionally, the robot interactive boarding device is further configured to:

when detecting that a car door of the target elevator is in an open state, acquiring a relative position relationship between the mobile robot and the car of the target elevator;

if the relative position relation is a first relative position relation, determining whether a first control instruction for controlling the mobile robot is generated or not by detecting whether the stop floor of the target elevator is a target floor or not;

Optionally, the robot interactive boarding device is further configured to:

acquiring the robot type of the mobile robot;

The present application further provides an electronic device, the electronic device including: the robot interactive elevator taking method comprises a memory, a processor and a program of the robot interactive elevator taking method, wherein the program of the robot interactive elevator taking method can realize the steps of the robot interactive elevator taking method when the program of the robot interactive elevator taking method is executed by the processor.

The present application also provides a computer-readable storage medium having stored thereon a program for implementing a robot interactive elevator taking method, the program implementing the steps of the robot interactive elevator taking method as described above when executed by a processor.

The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the robot interactive elevator-taking method as described above.

Compared with the prior art, the method, the device, the electronic equipment and the readable storage medium for the interactive elevator taking of the robot are characterized in that firstly, an elevator taking command for controlling the mobile robot to take the target elevator is generated according to the acquired elevator taking information, so that the aim of controlling the mobile robot to take the elevator is fulfilled, and then whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot is detected according to the elevator taking command, and if so, the elevator taking interaction is carried out between the mobile robot and a key panel of the target elevator through the elevator taking physical signal, namely, the elevator taking physical signal can be transmitted between the target elevator and the mobile robot, so that the aim of controlling the elevator taking interaction between the mobile robot and the key panel of the target elevator through the elevator taking physical signal can be fulfilled, that is, even if the elevator control system and the mobile robot are not in the linkage state, the mobile robot can also carry the elevator autonomously, so that the technical defect that the mobile robot takes the elevator by the elevator information interaction between the elevator control system and the mobile robot when the elevator control system and the mobile robot are in the linkage state in the prior art is overcome, and the limitation that the mobile robot takes the elevator autonomously is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a schematic flowchart of a robot interactive ladder-taking method according to a first embodiment of the present application;

FIG. 2 is a schematic view of a second keypad of the present invention for a robot interactive ladder-taking method;

FIG. 3 is a flowchart illustrating a second embodiment of the robot interactive ladder-taking method according to the present application;

fig. 4 is a schematic structural diagram of a hardware operating environment related to a robot interactive ladder taking method in an embodiment of the present application.

The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Firstly, it should be understood that, for the mobile robot, if the mobile robot wants to take the elevator autonomously, the elevator is generally modified, so that the mobile robot directly issues an elevator taking instruction to an elevator control system in a wireless mode such as WIFI, LoRa or 4G/5G, and finally the elevator recognizes the floor in real time, so as to realize the autonomous taking of the mobile robot. However, since the cost of modifying an elevator is high, many elevator control systems of elevators cannot meet the requirement of taking an elevator with a mobile robot, that is, the mobile robot and an elevator control system of an elevator are not in an interlocking state, and thus the mobile robot cannot take an elevator autonomously, so that the limitation of the mobile robot in taking an elevator autonomously is high at present.

The embodiment of the application provides a robot interactive elevator taking method which is applied to a robot interactive elevator taking system, wherein the robot interactive elevator taking system comprises a mobile robot and a target elevator. In a first embodiment of the robot interactive boarding method of the present application, referring to fig. 1, the robot interactive boarding method includes:

step S10, generating an elevator taking command for controlling the mobile robot to take the target elevator according to the acquired elevator taking information;

step S20, detecting whether the target elevator generates an elevator-taking physical signal triggered by a physical operation of the mobile robot according to the elevator-taking command;

and step S30, if yes, controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal.

In the present embodiment, the mobile robot is an intelligent robot that is equipped with a multi-axis robot arm and needs to perform a cross-floor operation, and specifically, the mobile robot may be a delivery robot, a sterilization robot, a cleaning robot, or the like. The elevator riding information is used for representing that the mobile robot needs to carry out the floor crossing operation by taking the elevator, and comprises one or more of floor information input by a user through a display panel of the mobile robot and operation information sent to the mobile robot by a third-party platform. In an implementation manner, the mobile robot is a delivery robot located in a hall of the first floor, and the elevator riding information may be "601", that is, the mobile robot needs to travel to the sixth floor by an elevator to provide delivery service for the user with the room number of "601". The elevator taking information can also be 'full-floor cleaning', namely, the mobile robot can complete cleaning from one floor to the top floor according to a preset cleaning path.

In addition, the target elevator is an elevator selected by the mobile robot from an elevator group corresponding to the boarding information and performing the cross-floor operation. In an implementable manner, assuming that the mobile robot is performing a delivery task on a floor a, and receiving a service for providing delivery for a user of a room number 302 on a floor B, the target elevator is one elevator selected by the mobile robot in an elevator group on the floor B to perform cross-floor operation, wherein the elevator group on the floor B can be one or more, and when a plurality of elevator groups exist on the floor B, the mobile robot selects the nearest elevator group according to the distance to perform selection of the target elevator.

In addition, the elevator taking command is used for instructing the robot to take the elevator according to the elevator taking information, and the elevator taking command is specifically sent by a control chip of the mobile robot and can comprise a first elevator taking command and a second elevator taking command. The elevator-taking interaction mode can be a signal interaction mode between a key panel of the target elevator and a mechanical arm of the mobile robot, and the elevator-taking physical signal is a physical medium of load information and symbols, states and marks representing the information, and specifically can be a pressure signal or a laser signal and the like.

As one example, steps S10 to S30 include: acquiring elevator taking information input by a user through a display panel of the mobile robot, and generating an elevator instruction for controlling the mobile robot to take the target elevator according to the elevator taking information; detecting whether the target elevator generates an elevator taking physical signal triggered by physical operation of the mobile robot or not according to the elevator taking command; and if the target elevator is detected to generate an elevator-taking physical signal triggered by the physical operation of the mobile robot, controlling the mobile robot and the key panel of the target elevator to carry out elevator-taking interaction through the elevator-taking physical signal.

In one possible embodiment, the target elevator is controlled to operate in a current state if it is detected that the target elevator does not generate an elevator-taking physical signal triggered by a physical operation of the mobile robot.

The step of controlling the elevator-taking interaction between the mobile robot and the key panel of the target elevator through the elevator-taking physical signal comprises the following steps:

step A10, if it is detected that no indication information for taking the elevator exists on the first key panel, detecting whether a first pressure value corresponding to an elevator taking pressure signal triggered by the first key panel by the mobile robot is greater than a preset first pressure threshold value;

step A20, if yes, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot and the target elevator to carry out elevator taking interaction through a second pressure value corresponding to an elevator taking pressure signal triggered by the second key panel by the mobile robot;

and step A30, if it is detected that the first key panel has the elevator taking indication information, controlling the mobile robot and the target elevator to carry out elevator taking interaction through a third pressure value corresponding to an elevator taking pressure signal triggered by the second key panel by the mobile robot after the mobile robot is detected to enter the elevator car of the target elevator.

In this embodiment, it should be noted that the elevator riding pressure signal is used to represent the pressure provided by the mobile robot to the target elevator, where the manner of providing the pressure may specifically be touch extrusion or space extrusion. The key panel comprises a first key panel and a second key panel. The first key panel is an elevator call-out key panel and is used for calling a target elevator to reach a floor where the mobile robot is located. The second key panel is an elevator call key panel and is used for indicating the target elevator to go to a floor where the mobile robot wants to reach. For example, referring to fig. 2, fig. 2 is a partial schematic view showing the second key panel, when the robot arm controlling the mobile robot generates a pressure interactive signal on the floor indication key "4" in the second key panel, the destination elevator is controlled to reach the 4 th floor.

In addition, it should be noted that the elevator taking instruction information is information indicating that the target elevator is going upward or downward after the completion of the preorder operation procedure on the floor where the mobile robot is located, and for example, in an implementable manner, assuming that the preorder operation procedure on the target elevator is from 2 th to 6 th, the floor where the mobile robot is located is 3 th, and the elevator taking information is used to represent the floor-crossing operation information from 3 th to 1 th, when the indicator lamp of the "down key" of the outbound elevator key panel is turned on, the elevator taking instruction information is determined to be information indicating that the target elevator is going downward after the completion of the preorder operation procedure, and when neither the indicator lamp of the "up key" or the "down key" of the outbound elevator key panel is turned on, the indicator lamp of the "up key" or the "down key" is turned on by controlling the mobile robot to generate the elevator taking pressure signal.

Additionally, it should be noted that the first pressure value is a pressure value extruded by the mobile robot on the key panel of the outbound elevator, the preset first pressure threshold is used for distinguishing whether the elevator taking indication information is generated, and the second pressure value and the third pressure value are pressure values extruded by the mobile robot on the key panel of the outbound elevator, where the second pressure value and the third pressure value may be the same or different and are only used for distinguishing whether the elevator taking indication information exists on the first key panel.

As an example, step a10 through step a30 include: if the situation that the elevator taking indication information does not exist in the key panel of the outbound elevator of the target elevator is detected, whether a first pressure value corresponding to an elevator taking pressure signal triggered by the key panel of the outbound elevator by the mobile robot is larger than a preset first pressure threshold value is detected; if the first pressure value is larger than a preset first pressure threshold value, after the mobile robot is detected to enter the car of the target elevator, controlling the mobile robot and the target elevator to carry out elevator taking interaction through a second pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel; if the fact that the elevator taking indication information exists on the key panel of the outbound elevator is detected, after the fact that the mobile robot enters the car of the target elevator is detected, elevator taking interaction between the mobile robot and the target elevator is controlled through a third pressure value corresponding to an elevator taking pressure signal triggered by the mobile robot on the second key panel.

The method for detecting whether the target elevator has the elevator riding indication information and the method for detecting whether the mobile robot enters the car of the target elevator can be both a method for collecting through a camera of the mobile robot and performing image recognition.

Wherein, the controlling the mobile robot to carry out elevator taking interaction with the target elevator through a second pressure value corresponding to the elevator taking pressure signal triggered by the second key panel by the mobile robot comprises:

step B10, if it is detected that a second pressure value corresponding to a target floor indication key of the mobile robot reaches a preset second pressure threshold value corresponding to the target floor indication key, generating target floor information, wherein the target floor indication key is a floor key indicating that the mobile robot arrives at on the second key panel;

and step B20, when the cage of the target elevator is detected to be in an elevator taking interaction state, controlling the target elevator to move to a target floor according to the target floor information so as to control the mobile robot and the target elevator to finish elevator taking interaction.

In this embodiment, it should be noted that, when the user presses the floor indication key, the indication information of the floor indication key can be accurately determined through the nervous system of the brain, but the mobile robot lacks a logic analysis capability, and then different pressure values above a trigger pressure value can be respectively set for the floor indication key in the second key panel, where the trigger pressure value is a preset second pressure threshold value, that is, a pressure value triggering the target elevator to execute a heading to a floor corresponding to the floor indication key. For example, in one practical aspect, if the floor indication keys of the second key panel include "C", "D", "E", and "F", the pressure values at which the corresponding mobile robots can trigger boarding are "C", "D", "E", and "F", and the trigger pressure values at which the users can trigger boarding are "g", the values "C", "D", "E", and "F" are all larger than "g" and different from each other.

In another embodiment, when it is detected that a first pressure value corresponding to the elevator riding pressure signal triggered by the first key panel by the mobile robot is greater than a preset first pressure threshold value, that is, the mobile robot rides the elevator through the first key panel, at this time, the trigger pressure threshold value is reset for a target floor indication key to which the mobile robot is going, and the reset trigger pressure threshold value is equivalent to a unique interactive password between the target elevator and the mobile robot. And when the mobile robot extrudes the target floor indicating key at the second key panel and the extruded pressure value is equal to the reset trigger pressure threshold value, triggering control, and enabling the target elevator to run to the floor indicated by the target floor indicating key. Otherwise, the control instruction to the target floor indicating key is not triggered at the target elevator. Therefore, the interactive password is arranged between the target elevator and the mobile robot, the phenomenon that the target elevator runs to a wrong floor due to the fact that the mobile robot mistakenly presses other wrong keys is avoided, and riding efficiency is low.

Further, after the mobile robot is detected to enter the car of the target elevator, the trigger pressure threshold value is reset for the target floor indication key to which the mobile robot goes. The reset trigger pressure threshold may be randomly generated, or one of a plurality of preset pressure values may be randomly selected as the reset trigger pressure threshold.

Additionally, it should be noted that the target floor indication key is a floor key indicating the mobile robot to reach on the second key panel, the target floor information is used for representing a floor to be reached by the mobile robot, the elevator boarding interaction state is used for representing that the mobile robot is located in the target elevator, and a control instruction generated by an elevator control module of the target elevator controls the operation of the elevator.

As an example, the steps B10 to B20 include: if the mobile robot is detected that a second pressure value corresponding to a target floor indication key reaches a preset second pressure threshold value corresponding to the target floor indication key, generating target floor information, wherein the target floor indication key is a floor key which is indicated by the second key panel and is to be reached by the mobile robot; and when the elevator car of the target elevator is detected to be in an elevator taking interaction state, controlling the target elevator to move to a target floor according to the target floor information so as to control the mobile robot and the target elevator to finish elevator taking interaction.

Wherein the elevator taking command comprises a first elevator taking command and a second elevator taking command, and the step of detecting whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot according to the elevator taking command comprises the steps of:

step C10, controlling the mobile robot to move out of the car of the target elevator according to the first elevator riding command;

step C20, controlling the mobile robot to trigger physical operation according to the second elevator taking instruction;

and step C30, detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.

In this embodiment, it should be noted that the first elevator taking command is used to control the mobile robot to move on a flat floor, specifically to move to a preset elevator waiting area outside the car of the target elevator, where the elevator waiting area may be a reasonable area for waiting for the target elevator. For example, in an implementable manner, assuming that the mobile robot is located in front of a door having a room number of "301", the first boarding command is a command for controlling the mobile robot to move from "301" to a preset area outside the car of the target elevator. The second elevator taking instruction is used for controlling the mobile robot to trigger physical operation. The physical operation is triggered by the main control chip of the mobile robot according to the received second elevator taking instruction, specifically, the physical operation may be triggered by a projection device of the mobile robot, or may be triggered by a pressing device of the mobile robot, and the pressing device may specifically be a mechanical arm. If the mobile robot is triggered by the projection device of the mobile robot, the physical operation is to move the projection device of the mobile robot to a recognizable area of the recognizer of the key panel so that the recognizer of the key panel recognizes the elevator-taking interaction information carried in the projection device, and if the mobile robot is triggered by the pressing device of the mobile robot, the physical operation is to press the key panel by the pressing device of the mobile robot.

As an example, the step C10 to the step C30 include: generating a first elevator taking instruction based on a main control chip of the mobile robot, and controlling the mobile robot to move to a preset waiting area outside a car of the target elevator according to the first elevator taking instruction; generating a second elevator taking instruction based on a main control chip of the mobile robot, and controlling the mobile robot to trigger physical operation according to the second elevator taking instruction; and detecting whether the target elevator generates an elevator-taking physical signal corresponding to the physical operation.

Wherein, the robot interactive elevator taking method further comprises:

step D10, when detecting that the car door of the target elevator is in an open state, acquiring the relative position relation between the mobile robot and the car of the target elevator;

step D20, if the relative position relation is a first relative position relation, determining whether to generate a first control instruction for controlling the mobile robot by detecting whether the stop floor of the target elevator is a target floor;

and D30, if the relative position relationship is a second relative position relationship, determining whether to generate a second control command for controlling the mobile robot according to the size relationship between the floor area of the mobile robot and the area of the empty car corresponding to the target elevator.

In this embodiment, it should be noted that the first relative positional relationship is used to indicate that the mobile robot is located in the car of the target elevator. The second relative positional relationship is used to characterize that the mobile robot is outside of the car of the target elevator. The first control command is a control command for controlling the mobile robot to move to the outside of the car of the target elevator. The second control command is a control command for controlling the mobile robot to move to the car of the target elevator. The area of the empty car is the area of continuous idle space in the car, and the floor area of the mobile robot is the area of a chassis of the robot.

As an example, the steps D10 to D30 include: when detecting that a car door of the target elevator is in an open state, acquiring a relative position relation between the mobile robot and the car of the target elevator; if the relative position relationship is that the mobile robot is located in the car of the target elevator, determining to generate a control command for controlling the mobile robot to move to the outside of the car of the target elevator when the stopping floor of the target elevator is detected to be a target floor, and determining not to generate the control command for controlling the mobile robot to move to the outside of the car of the target elevator when the stopping floor of the target elevator is detected not to be the target floor; and if the relative position relationship is that the mobile robot is positioned outside the car of the target elevator, generating a second control command for controlling the mobile robot to move into the car when the floor area of the mobile robot is smaller than the area of the empty car corresponding to the target elevator.

Wherein, before the step of generating an elevator taking command for controlling the mobile robot to take the target elevator according to the acquired elevator taking information, the robot interactive elevator taking method further comprises:

step E10, acquiring the robot type of the mobile robot;

step E20, if the mobile robot is a first type mobile robot, selecting a target elevator in a target elevator group for the first type mobile robot according to elevator taking information after detecting that the first type mobile robot receives the elevator taking information;

and E30, if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator after moving to the target elevator group.

In this embodiment, it should be noted that the mobile robot type includes a first type mobile robot and a second type mobile robot, the first type robot is a mobile robot connected with cloud communication, the second type robot is a mobile robot not connected with cloud communication, when the mobile robot is connected with cloud communication, then the elevator selection can be reserved for the mobile robot through information interaction to improve the efficiency of taking the elevator by the mobile robot in interaction, when the mobile robot is not connected with cloud communication, then the mobile robot can only identify through a main control chip after arriving at the elevator group to select a target elevator in the target elevator group.

As an example, the steps E10 to E30 include: acquiring the robot type of the mobile robot; if the mobile robot is a first-type mobile robot, after the first-type mobile robot is detected to receive elevator taking information, the first-type mobile robot is controlled to send the extracted position information of the elevator taking information to a cloud end, so that the cloud end sends elevator selection information for selecting a target elevator in a target elevator group to the first-type mobile robot according to the position information; and if the mobile robot is a second type mobile robot, controlling the second type mobile robot to select the target elevator in the target elevator group according to the elevator taking information after the second type mobile robot moves to the target elevator group.

Compared with the prior art, the embodiment of the application provides a robot interactive elevator taking method, firstly, according to the acquired elevator taking information, an elevator taking command for controlling a mobile robot to take a target elevator is generated, so that the aim of controlling the mobile robot to take the elevator is fulfilled, then, according to the elevator taking command, whether the target elevator generates an elevator taking physical signal triggered by the physical operation of the mobile robot is detected, and if so, the mobile robot and a key panel of the target elevator are controlled to carry out elevator taking interaction through the elevator taking physical signal, namely, as the elevator taking physical signal can be transmitted between the target elevator and the mobile robot, the aim of controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal, namely, the elevator control system and the mobile robot can carry the elevator independently even if the elevator control system and the mobile robot are not in a linkage state, so that the technical defect that the mobile robot takes the elevator by means of elevator information interaction between the elevator control system and the mobile robot due to the fact that the elevator control system and the mobile robot are in the linkage state in the prior art is overcome, and therefore the limitation that the mobile robot takes the elevator independently is reduced.

Example two

Further, referring to fig. 3, in another embodiment of the present application, the same or similar contents as those in the first embodiment may refer to the above description, and are not repeated herein. On the basis, the elevator-taking physical signal comprises an elevator-taking laser signal, the key panel comprises a first key panel and a second key panel, and the step of controlling the mobile robot and the key panel of the target elevator to carry out elevator-taking interaction through the elevator-taking physical signal comprises the following steps:

step F10, if it is detected that no elevator taking indication information exists on the first key panel, detecting whether the target elevator receives first interaction information corresponding to the elevator taking laser signal input by the mobile robot through the first key panel;

step F20, if yes, receiving second interactive information corresponding to the elevator riding laser signal input by the mobile robot through the second key panel after the mobile robot is detected to enter the car of the target elevator;

and step F30, controlling the target elevator to move to a target floor according to the first interactive information and the second interactive information so as to control the mobile robot and the target elevator to finish elevator taking interaction.

In this embodiment, it should be noted that, a recognizer may be disposed on a key panel of the target elevator, and a projection device for projecting a laser signal is disposed at a terminal of a mechanical arm of the mobile robot, for example, in an implementation manner, the projection device for controlling the mobile robot projects a laser signal, the laser signal carries target floor information to which the mobile robot is going, and the recognizer of the key panel recognizes the target floor information of the mobile robot by acquiring the laser signal, and sends the target floor information to the target elevator, so as to implement laser interaction between the mobile robot and the target elevator. The first interactive information is first elevator taking indication information corresponding to an elevator taking laser signal input by the mobile robot on a key panel of the outbound elevator. The first taking indication information is used for indicating the information that the mobile robot needs to take the elevator. And the second interactive information is second elevator taking indication information corresponding to the laser signal for controlling the mobile robot to input the elevator taking laser signal into the calling elevator key panel. The second boarding indication information is used for indicating information of a target floor to which the mobile robot arrives.

As an example, steps F10 through F30 include: if the situation that no elevator taking indication information exists on the first key panel is detected, whether the target elevator receives first interaction information corresponding to the elevator taking laser signal input by the mobile robot through the first key panel is detected; if the target elevator receives first interactive information input by the mobile robot on a first key panel, after the mobile robot is detected to enter a car of the target elevator, receiving second interactive information corresponding to the elevator riding laser signal input by the mobile robot through a second key panel; and controlling the mobile robot and the target elevator to finish elevator taking interaction through the first interactive information and the second interactive information.

In an implementation manner, if it is detected that the first key panel has the elevator riding instruction information, the mobile robot is controlled to wait for the elevator in a preset elevator waiting area of the target elevator.

In another practical manner, if the target elevator does not receive the first interaction information input by the mobile robot on the first key panel, the target elevator and the mobile robot are still controlled to complete elevator taking interaction when the mobile robot is detected to input the second interaction information on the second key panel.

The embodiment of the application provides a robot elevator taking interaction control method, that is, firstly, if it is detected that no elevator taking indication information exists on a first key panel, whether a target elevator receives first interaction information corresponding to an elevator taking laser signal input by a mobile robot through the first key panel is detected, and then, if so, after the mobile robot is detected to enter a car of the target elevator, second interaction information corresponding to the elevator taking laser signal input by the mobile robot through a second key panel is received; and then controlling the target elevator to move to a target floor according to the first interactive information and the second interactive information so as to control the mobile robot and the target elevator to finish elevator taking interaction. Because only by taking the elevator laser signal, can accomplish the information interaction between mobile robot and the target elevator, and then realized the mobile robot and carry out the purpose of crossing the floor operation, so overcome the technical defect that the robot can't independently take the elevator when robot and elevator control system are not under the linkage state among the prior art, meanwhile, because the characteristic that the laser signal can be separated the transmission, so promoted the life to the button panel of elevator, so, laid a foundation for reducing the mobile robot and independently taking the limitation of elevator.

EXAMPLE III

The embodiment of the present application further provides an elevator device is taken in interaction of robot, is applied to the elevator system is taken in interaction of robot, the elevator system is taken in interaction of robot includes mobile robot and target elevator, the elevator device is taken in interaction of robot includes:

Optionally, the control module is further configured to:

Optionally, the robot interactive boarding device is further configured to:

acquiring the robot type of the mobile robot;

The robot interactive ladder taking device provided by the invention adopts the robot interactive ladder taking method in the embodiment, and solves the technical problem of high limitation when the mobile robot carries out autonomous ladder taking. Compared with the prior art, the beneficial effects of the robot interactive elevator taking device provided by the embodiment of the invention are the same as the beneficial effects of the robot interactive elevator taking method provided by the embodiment, and other technical characteristics of the robot interactive elevator taking device are the same as those disclosed by the embodiment method, which are not repeated herein.

Example four

An embodiment of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the storage stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the robot interactive boarding method in the first embodiment.

Referring now to FIG. 4, shown is a block diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 4, the electronic device may include a processing means (e.g., a central processing unit, a graphic processor, etc.) that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage means into a Random Access Memory (RAM). In the RAM, various programs and data necessary for the operation of the electronic apparatus are also stored. The processing device, the ROM, and the RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.

Generally, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, and the like; output devices including, for example, Liquid Crystal Displays (LCDs), speakers, vibrators, and the like; storage devices including, for example, magnetic tape, hard disk, and the like; and a communication device. The communication means may allow the electronic device to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device with various systems, it is to be understood that not all illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means, or installed from a storage means, or installed from a ROM. The computer program, when executed by a processing device, performs the above-described functions defined in the methods of the embodiments of the present disclosure.

The electronic equipment provided by the invention adopts the robot interactive ladder taking method in the embodiment, and solves the technical problem of high limitation when the mobile robot carries out autonomous ladder taking. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the invention are the same as the beneficial effects of the robot interactive ladder-taking method provided by the embodiment, and other technical features of the electronic device are the same as those disclosed by the embodiment method, which are not repeated herein.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

EXAMPLE five

The present embodiments provide a computer-readable storage medium having computer-readable program instructions stored thereon for performing the robot interactive boarding method in the above-described embodiments.

The computer readable storage medium provided by the embodiments of the present invention may be, for example, a USB flash disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer-readable storage medium may be embodied in an electronic device; or may be present alone without being incorporated into the electronic device.

The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to: generating an elevator taking command for controlling the mobile robot to take the target elevator according to the acquired elevator taking information; detecting whether the target elevator generates an elevator taking physical signal triggered by physical operation of the mobile robot or not according to the elevator taking command; and if so, controlling the mobile robot and the key panel of the target elevator to carry out elevator taking interaction through the elevator taking physical signal.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules described in the embodiments of the present disclosure may be implemented by software or hardware. Wherein the names of the modules do not in some cases constitute a limitation of the unit itself.

The computer-readable storage medium provided by the invention stores computer-readable program instructions for executing the robot interactive elevator taking method, and solves the technical problem of high limitation when the mobile robot carries out autonomous elevator taking. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment of the invention are the same as the beneficial effects of the robot interactive ladder-taking method provided by the embodiment, and are not repeated herein.

Example six

The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the robot interactive boarding method as described above.

The computer program product solves the technical problem of high limitation when the mobile robot takes the elevator autonomously. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the invention are the same as the beneficial effects of the robot interactive ladder-taking method provided by the embodiment, and are not repeated herein.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A robot interactive elevator taking method is applied to a robot interactive elevator taking system, the robot interactive elevator taking system comprises a mobile robot and a target elevator, and the robot interactive elevator taking method comprises the following steps:

2. The robot interactive boarding method of claim 1, wherein the boarding physical signal comprises a boarding pressure signal, the keypad comprises a first keypad and a second keypad,

3. The robot-interactive boarding method of claim 2, wherein the controlling of the boarding interaction between the mobile robot and the target elevator by the mobile robot at a second pressure value corresponding to the boarding pressure signal triggered by the second key panel comprises:

4. The robot interactive boarding method of claim 1, wherein the boarding physical signal comprises a boarding laser signal, the keypad comprises a first keypad and a second keypad,

and controlling the target elevator to move to a target floor according to the first interaction information and the second interaction information so as to control the mobile robot and the target elevator to finish elevator riding interaction.

5. The robot-interactive boarding method according to claim 1, wherein the boarding command includes a first boarding command and a second boarding command,

6. The robot interactive boarding method of any one of claims 1-5, further comprising:

7. The robot-interactive boarding method according to claim 1, wherein, prior to the step of generating a boarding instruction for controlling the mobile robot to board the target elevator based on the acquired boarding information, the robot-interactive boarding method further comprises:

acquiring the robot type of the mobile robot;

if the mobile robot is a first-type mobile robot, selecting a target elevator in a target elevator group for the first-type mobile robot according to elevator taking information after the first-type mobile robot is detected to receive the elevator taking information;

8. The robot interaction elevator taking device is applied to a robot interaction elevator taking system, the robot interaction elevator taking system comprises a mobile robot and a target elevator, and the robot interaction elevator taking device comprises:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and (c) a second step of,

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the robot interactive ride method of any of claims 1-7.

10. A computer-readable storage medium, wherein the computer-readable storage medium has stored thereon a program for implementing a robot interactive boarding method, the program being executed by a processor to implement the steps of the robot interactive boarding method according to any one of claims 1 to 7.