Multi-robot elevator passing method and multi-robot cross-floor passing method

Abstract

The invention discloses a multi-robot elevator passing method and a multi-robot cross-floor passing method. The multi-robot elevator passing method comprises the following steps: judging whether an elevator has an occupation point or not; if not, setting an occupying point in the elevator, and binding the robot with the elevator; the robot enters the elevator, and after the robot passes through the elevator to cross floors and leaves the elevator, the occupied points in the elevator are removed, and the robot is unbound with the elevator; if yes, the robot waits outside the elevator; according to the technical scheme, idle and waste of elevator resources are effectively avoided, reasonable allocation and use of the elevator resources are ensured, and the passing efficiency of the multi-robot elevator is improved; the method is easy to implement, does not need to perform complex data interaction with an elevator system or other equipment, and does not depend on the number or type of robots, so that the method is suitable for elevator systems of various scales and different application scenes.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a multi-robot elevator passage method and a multi-robot cross-floor passage method. Background Art

[0002] With the rapid development of science and technology, robotics has become an important force in promoting social progress. In order to adapt to the requirements of human society, the ways of robots' travel are becoming increasingly diverse. Robots that move on a single floor can no longer meet people's needs, so how robots can move across floors through operation is gradually becoming a focus. However, this situation where multiple robots move across floors and perform tasks is prone to confusion and collisions, which reduces the efficiency of robots. Therefore, it is necessary to reasonably plan the robots' use of elevators to ensure efficient operation while avoiding collisions between machines, so that multiple robots can move to the destination in an orderly and fast manner through the corresponding elevators to perform tasks, which has become an urgent problem to be solved.

[0003] Referring to CN113104683A, a method and device for elevator dispatching based on multiple robots is disclosed, which includes: determining all elevators whose unfinished journeys of robots that have boarded but not reached the target floor have passed through the floor where the elevator-calling robot is located, i.e., the second elevator set, based on the received waiting elevator information of the elevator-calling robot; calculating the third elevator set to be called based on the received first elevator set and the second elevator set; determining all elevators whose journeys of the waiting elevator robot overlap with the journeys of the calling robot, i.e., the fourth elevator set, based on the waiting elevator information of the elevator-calling robot; calculating the available elevators of the elevator-calling robot based on the third elevator set and the fourth elevator set, thereby avoiding the situation where the elevator waiting robot is already in the elevator or the robot that is about to board the elevator cannot board the elevator due to insufficient elevator space, thereby improving the operation efficiency of the elevator-calling robot and the elevator. Although the above technical solution can avoid the situation where the elevator waiting robot is already in the elevator or the robot that is about to board the elevator cannot board the elevator due to insufficient elevator space, thereby improving the operation efficiency of the elevator-calling robot and the elevator. However, there are the following disadvantages: First, the technical complexity is high; this method involves a large amount of data interaction and communication, including information transmission between the robot and the elevator, data processing of the dispatching system, etc. It involves complex algorithms and calculation processes, and requires high-precision data processing and algorithm optimization to ensure the accuracy and efficiency of the dispatch. Second, the flexibility is poor; this method requires the preset information of the robot's itinerary and destination. If the robot's itinerary changes or needs to be temporarily adjusted, the dispatching system may need to recalculate and adjust. Third, the versatility is poor; this method requires the preset and dispatch of the robot's itinerary, destination and other information, and has certain requirements for the number, type and itinerary planning of the robot, and the versatility is poor. Summary of the invention

[0004] In view of the above problems, the present application provides a multi-robot elevator passage method to solve the problems of high technical complexity, poor flexibility and poor versatility of existing multi-robot elevator passage methods.

[0005] To achieve the above object, the inventor provides a multi-robot elevator passage method, which comprises the following steps:

[0006] Determine whether the elevator has an occupied position;

[0007] If not, a reserved position is set in the elevator and the robot is bound to the elevator; after the robot enters the elevator and completes the cross-floor operation through the elevator, the robot leaves the elevator, the reserved position in the elevator is removed, and the robot is unbound from the elevator;

[0008] If yes, the robot is waiting outside the elevator.

[0009] Furthermore, a detection point is set outside the elevator, and before the robot enters the elevator, it determines at the detection point whether there is an occupied seat in the current elevator.

[0010] Further, the robot waits at a detection point.

[0011] Furthermore, the step of determining whether the elevator has an occupied position comprises the following steps:

[0012] Determine the length of the lift;

[0013] Define the direction of travel and set the initial value of the elevator door position;

[0014] According to the initial value of the elevator door position, calculate whether the occupied position is inside the elevator.

[0015] Furthermore, the occupied point is an area with a radius of 1m.

[0016] A multi-robot elevator passage method, comprising the following steps:

[0017] Determine whether there is an elevator with no occupied position among multiple elevators;

[0018] If yes, a reserved position is set in the elevator, and the robot is bound to the elevator; after the robot enters the elevator and completes the cross-floor operation through the elevator, after the robot leaves the elevator, the reserved position in the elevator is removed, and the robot is unbound from the elevator;

[0019] If not, the robot waits outside the elevator.

[0020] Furthermore, a detection point is set outside the elevator, and before the robot enters the elevator, it determines at the detection point whether there is an occupied seat in the current elevator.

[0021] Furthermore, the step of determining whether there is an elevator without an occupied position among the multiple elevators includes determining whether each elevator has an occupied position, which specifically includes the following steps:

[0022] Determine the length of the lift;

[0023] Define the direction of travel and set the initial value of the elevator door position;

[0024] According to the initial value of the elevator door position, calculate whether the occupied position is inside the elevator.

[0025] Furthermore, the occupied point is an area with a radius of 1m.

[0026] A multi-robot cross-floor passage method, using the above-mentioned multi-robot elevator passage method, comprises the following steps:

[0027] When there are no occupied points in the elevator or at the robot's mission point, set up occupied points at the elevator and robot's mission points respectively, and bind the elevator at the same time;

[0028] The robot enters the elevator, and after completing the cross-floor operation through the elevator, the robot leaves the elevator, removes the occupied position in the elevator, and unbinds the robot from the elevator;

[0029] The robot drives towards the mission point.

[0030] Different from the existing technology, the above technical solution mainly sets an occupied position in the elevator, judges whether the elevator is in an idle state through the occupied position, and decides whether the robot enters the elevator accordingly, which effectively avoids the idleness and waste of elevator resources. When there is no occupied position in the elevator, the robot can set the occupied position and bind the elevator. The robot obtains the position, status, buttons and other information of the elevator by binding the elevator, controls the elevator, realizes autonomous riding, and completes the movement across floors; when there is an occupied position in the elevator, the robot waits outside the elevator, avoiding the crowding inside the elevator caused by blind entry, and even collisions between multiple robots, resulting in unnecessary waiting time; it ensures the reasonable allocation and use of elevator resources and improves the travel efficiency of multi-robot elevators. This method is easy to implement, does not require complex data interaction with the elevator system or other equipment, and does not depend on the number or type of robots, so it is suitable for elevator systems of various sizes and different application scenarios.

[0031] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present invention and other related contents, and shall not be considered as limiting the present application.

[0033] In the drawings of the specification:

[0034] Figure 1 It is a flowchart of the multi-robot elevator passage method described in a specific implementation method. DETAILED DESCRIPTION

[0035] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0036] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0037] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0038] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0039] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0040] Without further limitations, in this application, the words "include", "comprises", "has" or other similar open-ended expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0041] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0042] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0043] See also Figure 1 As shown, a multi-robot elevator passage method is designed to improve the efficiency and safety of elevator passage. It mainly sets an occupied position in the elevator, judges whether the elevator is in an idle state through the occupied position, and decides whether the robot enters the elevator based on this, effectively avoiding the idleness and waste of elevator resources. When there is no occupied position in the elevator, the robot can set the occupied position and bind the elevator. The robot obtains the position, state, and buttons of the elevator by binding the elevator, controls the elevator, and realizes autonomous elevator riding to complete cross-floor movement; when there is an occupied position in the elevator, the robot waits outside the elevator, avoiding the crowding inside the elevator caused by blind entry, and even collisions between multiple robots, resulting in unnecessary waiting time; ensuring the reasonable allocation and use of elevator resources, and improving the efficiency of multi-robot elevator passage. The method is easy to implement, does not require complex data interaction with the elevator system or other equipment, and does not depend on the number or type of robots, so it is suitable for elevator systems of various sizes and different application scenarios.

[0044] Combination Figure 1 The present application provides an implementation of a multi-robot elevator passage method, which includes the following steps:

[0045] Determine whether the elevator has an occupied position;

[0046] If not, a reserved position is set in the elevator and the robot is bound to the elevator; after the robot enters the elevator and completes the cross-floor operation through the elevator, the robot leaves the elevator, the reserved position in the elevator is removed, and the robot is unbound from the elevator;

[0047] If yes, the robot is waiting outside the elevator.

[0048] The above robot is any one of the multiple robots; the above elevator does not allow two or more robots to enter, and the elevator is currently occupied by occupying a spot and binding. When other robots try to enter the elevator, they will detect that there is an occupied spot in the elevator, and guide other robots to wait outside the elevator, so that the robot bound to the elevator has exclusive possession; when the robot in the elevator completes the cross-floor movement and leaves the elevator, the occupied spot in the elevator will be removed, and the robot will be untied from the elevator, indicating that the elevator is currently idle; at the same time, other robots waiting outside the elevator are allowed to set the occupied spot and bind the elevator. Of course, there are multiple robots waiting outside the elevator; multiple robots waiting outside the elevator can set the occupied spot and bind the elevator in the order of waiting; multiple robots waiting outside the elevator can also introduce a priority strategy to determine which robot has the right to set the occupied spot and bind the elevator first according to the urgency of the task, the arrival time of the robot or other predetermined rules, and then enter the elevator.

[0049] Bind the robot to the elevator. That is, assign a unique identifier (such as ID or name) to the elevator. Before entering the elevator, the robot identifies the elevator identifier through its sensor or communication. After the robot sets the occupied position in the elevator, it binds the robot to the elevator identifier to confirm that it has occupied the occupied position, so as to prevent the robot from being unable to determine whether it has occupied the occupied position, thereby causing self-contradictory behavior such as occupying the position but not entering. At the same time, by binding the elevator information, the robot obtains the elevator's location, status, buttons and other information, controls the elevator, and realizes autonomous elevator riding.

[0050] The judgment of whether the current elevator has an occupied position is performed before the robot enters the elevator, in order to prevent conflicts and collisions between multiple robots in the elevator. In order to prevent congestion among multiple robots at the elevator entrance, a detection point can be set at the elevator entrance. Before the robot enters the elevator, it is judged at the detection point whether the current elevator has an occupied position. The detection point is usually set near the entrance of the elevator entrance to ensure that the robot has enough time and space to make judgments and decisions before entering the elevator. Specifically, the detection point can be a fixed sensor position, at which the robot begins to obtain real-time occupancy information in the elevator, so as to make a decision whether to enter the elevator. The robot can also wait at the detection point to ensure that there is enough space at the elevator entrance for other robots to pass.

[0051] The above step of determining whether the elevator has an occupied position may specifically include the following steps:

[0052] Determine the length of the elevator; that is, the distance from the elevator door to the side wall of the elevator opposite the elevator door.

[0053] Define the direction of travel and set the initial value of the elevator door position; for example, set the direction of entering the elevator as the positive direction and the direction of leaving the elevator as the reverse direction;

[0054] According to the initial value of the elevator door position, it is calculated whether the occupied position is in the elevator; that is, according to the initial value of the elevator door position, the value of the current position of the occupied position is calculated to determine whether the occupied position is in the elevator.

[0055] For example, the length of the elevator is determined to be 2m, the direction of entering the elevator is set to the positive direction, and the direction of leaving the elevator is set to the reverse direction; the initial value of the elevator entrance position is set to 0; if the current position of the occupied position is between 0-2m, it means that there is an occupied position in the elevator door, otherwise there is no occupied position in the elevator.

[0056] The footprint may be set to an area with a radius of 1 m; a radius of 1 m provides a safety buffer for the robot, ensuring that it will not directly come into contact with other robots or obstacles even if it is predicted that the robot has a slight positioning error or path deviation during driving, thereby greatly reducing the risk of collision.

[0057] The present application also provides a multi-robot elevator passage method in a multi-elevator situation, which comprises the following steps:

[0058] Determine whether there is an elevator with no occupied position among multiple elevators;

[0059] If yes, a reserved position is set in the elevator, and the robot is bound to the elevator; after the robot enters the elevator and completes the cross-floor operation through the elevator, after the robot leaves the elevator, the reserved position in the elevator is removed, and the robot is unbound from the elevator;

[0060] If not, the robot waits outside the elevator.

[0061] Similarly, the robot mentioned above is any one of the multiple robots; the elevator does not allow two or more robots to enter, and the elevator is currently occupied by occupying a spot and binding. When other robots try to enter the elevator, they will detect that there is an occupied spot in the elevator, and guide other robots to wait outside the elevator, so that the robot bound to the elevator has exclusive possession; when the robot in the elevator completes the cross-floor movement and leaves the elevator, the occupied spot in the elevator will be removed, and the robot will be unbound from the elevator, indicating that the elevator is currently idle; at the same time, other robots waiting outside the elevator are allowed to set the occupied spot and bind the elevator. Of course, there are multiple robots waiting outside the elevator; multiple robots waiting outside the elevator can set the occupied spot and bind the elevator in the order of waiting; multiple robots waiting outside the elevator can also introduce a priority strategy to determine which robot has the right to set the occupied spot and bind the elevator first according to the urgency of the task, the arrival time of the robot or other predetermined rules, and then enter the elevator.

[0062] In the above judgment whether there is an elevator without an occupied position among multiple elevators, it may be that there is only one elevator without an occupied position. In this case, an occupied position is set for the elevator and the robot is bound to the elevator; or there are multiple elevators without an occupied position. In this case, one elevator (the elevator closest to the robot) can be selected to set an occupied position and the robot is bound to the elevator.

[0063] Bind the robot to the elevator. That is, assign a unique identifier (such as ID or name) to the elevator. Before entering the elevator, the robot identifies the elevator identifier through its sensor or communication. After the robot sets the occupied position in the elevator, it binds the robot to the elevator identifier to confirm that it has occupied the occupied position, so as to prevent the robot from being unable to determine whether it has occupied the occupied position, thereby causing self-contradictory behavior such as occupying the position but not entering. At the same time, by binding the elevator information, the robot obtains the elevator's location, status, buttons and other information, controls the elevator, and realizes autonomous elevator riding.

[0064] The judgment of whether the current elevator has an occupied position is performed before the robot enters the elevator, in order to prevent conflicts and collisions between multiple robots in the elevator. In order to prevent congestion among multiple robots at the elevator entrance, a detection point can be set at the elevator entrance. Before the robot enters the elevator, it is judged at the detection point whether the current elevator has an occupied position. The detection point is usually set near the entrance of the elevator entrance to ensure that the robot has enough time and space to make judgments and decisions before entering the elevator. Specifically, the detection point can be a fixed sensor position, at which the robot begins to obtain real-time occupancy information in the elevator, so as to make a decision whether to enter the elevator. The robot can also wait at the detection point to ensure that there is enough space at the elevator entrance for other robots to pass.

[0065] The above step of determining whether there is an elevator without an occupied position among multiple elevators includes determining whether each elevator has an occupied position, which specifically includes the following steps:

[0066] Determine the length of the elevator; that is, the distance from the elevator door to the side wall of the elevator opposite the elevator door.

[0067] Define the direction of travel and set the initial value of the elevator door position; for example, set the direction of entering the elevator as the positive direction and the direction of leaving the elevator as the reverse direction;

[0068] According to the initial value of the elevator door position, it is calculated whether the occupied position is in the elevator; that is, according to the initial value of the elevator door position, the value of the current position of the occupied position is calculated to determine whether the occupied position is in the elevator.

[0069] The footprint may be set to an area with a radius of 1 m; a radius of 1 m provides a safety buffer for the robot, ensuring that it will not directly come into contact with other robots or obstacles even if it is predicted that the robot has a slight positioning error or path deviation during driving, thereby greatly reducing the risk of collision.

[0070] The present application also provides a multi-robot cross-floor passage method, which applies the above multi-robot elevator passage method. In some embodiments, after the robot leaves the elevator, it can be determined whether there is an occupied point at the robot's task point. If there is an occupied point, the robot waits after leaving the elevator, otherwise the occupied point is set at the task point and the robot drives to the task point. In some embodiments, it is determined whether there are occupied points at the elevator and the robot's task point at the same time. When there are no occupied points in the elevator and at the robot's task point (in the case of multiple elevators, the condition is satisfied if there is an elevator without an occupied point), the occupied points are set at the elevator and the robot's task point respectively, and the elevators are bound at the same time;

[0071] The robot enters the elevator, passes through the elevator and crosses floors, and then leaves the elevator, removes the occupied position in the elevator, and unbinds the robot from the elevator;

[0072] The robot drives towards the mission point.

[0073] Whether there is an occupied point at the task point of the robot can be obtained through the environment map. The environment usually constructs or obtains an environment map before the robot works, which may include the location of the task point, obstacle information and real-time updated occupied point information. It can also be shared with the robot occupying the task point (setting the occupied point) through wireless communication.

[0074] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A multi-robot elevator passage method, characterized in that: The following steps are involved: Determine whether the elevator has an occupied position; If not, a reserved position is set in the elevator and the robot is bound to the elevator; after the robot enters the elevator and completes the cross-floor operation through the elevator, the robot leaves the elevator, the reserved position in the elevator is removed, and the robot is unbound from the elevator; If yes, the robot is waiting outside the elevator.

2. The multi-robot elevator passage method according to claim 1, characterized in that: A detection point is set outside the elevator. Before the robot enters the elevator, it determines at the detection point whether there is an occupied position in the current elevator.

3. The multi-robot elevator passage method according to claim 2, characterized in that: The robot waits at the detection point.

4. The multi-robot elevator passage method according to claim 1, characterized in that: The step of determining whether the elevator has an occupied position comprises the following steps: Determine the length of the lift; Define the direction of travel and set the initial value of the elevator door position; According to the initial value of the elevator door position, calculate whether the occupied position is inside the elevator.

5. The multi-robot elevator passage method according to claim 1, characterized in that: The site is an area with a radius of 1 m.

6. A multi-robot elevator passage method, characterized in that: The following steps are involved: Determine whether there is an elevator with no occupied position among multiple elevators; If yes, then set a occupancy point in the elevator and bind the robot to the elevator; The robot enters the elevator, passes through the elevator and crosses floors, and then leaves the elevator, removes the occupied position in the elevator, and unbinds the robot from the elevator; If not, the robot waits outside the elevator.

7. The multi-robot elevator passage method according to claim 6, characterized in that: A detection point is set outside the elevator. Before the robot enters the elevator, it determines at the detection point whether there is an occupied position in the current elevator.

8. The multi-robot elevator passage method according to claim 6, characterized in that: The step of determining whether there is an elevator without an occupied position among the multiple elevators includes determining whether each elevator has an occupied position, specifically including the following steps: Determine the length of the lift; Define the direction of travel and set the initial value of the elevator door position; According to the initial value of the elevator door position, calculate whether the occupied position is inside the elevator.

9. The multi-robot elevator passage method according to claim 6, characterized in that: The site is an area with a radius of 1 m.

10. A multi-robot cross-floor passage method, using the multi-robot elevator passage method according to any one of claims 1 to 9, characterized in that: The following steps are involved: When there are no occupied points in the elevator or at the robot's mission point, set up occupied points at the elevator and robot's mission points respectively, and bind the elevator at the same time; The robot enters the elevator, passes through the elevator and crosses floors, and then leaves the elevator, removes the occupied position in the elevator, and unbinds the robot from the elevator; The robot drives towards the mission point.

Images