Multi-robot elevator selection method, electronic device and storage medium

Abstract

The present application relates to a method for selecting an elevator by multiple robots, an electronic device and a storage medium. The method comprises the following steps: selecting the currently optimal elevator according to the assigned elevators through a first algorithm to obtain a determined elevator; requesting to obtain the determined elevator to obtain a request result; queuing multiple robots in the request result through a second algorithm to obtain a queue order; and determining that a robot ranked first in the queue order uses the determined elevator, thereby enabling multiple robots to arbitrarily travel in the same building, so that multiple robots can simultaneously pass through gates, automatic doors, elevators and other equipment elevators.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a multi-robot elevator selection method, an electronic device and a storage medium. Background Art

[0002] Multiple robots have incomparable advantages over a single robot, such as parallelism, flexibility and other superior performance. As a product with social value, in practical applications, it is difficult for a single robot to complete tasks within an effective time that require the collaboration of multiple robots (such as: cooperative delivery of takeout, cooperative building inspections, etc.).

[0003] Robots with autonomous mobility need to pass through various equipment resources such as gates, automatic doors, and elevators when traveling between floors. As the number of robots gradually increases, the number of various equipment resources is limited. Therefore, multiple robots need to be reasonably and efficiently scheduled to maximize resource utilization and avoid resource waste.

[0004] Therefore, it is desirable to provide a multi-robot elevator selection method, which enables multiple robots to move freely in the same building, thereby maximizing the utilization of various equipment elevators. Summary of the invention

[0005] In order to overcome the problems existing in the related technology, the present application provides a multi-robot elevator selection method, electronic equipment and storage medium, aiming to solve the problem of how to reasonably and efficiently schedule multiple robots to maximize the utilization of elevators and avoid elevator waste.

[0006] The technical solution of the present application to solve the above technical problems is as follows: a multi-robot elevator selection method, comprising the following steps: step 1, according to the allocated elevators, selecting the current optimal elevator through a first algorithm to obtain a determined elevator; step 2, requesting to obtain the determined elevator and obtaining a request result; step 3, queuing multiple robots in the request result through a second algorithm to obtain a queuing order; step 4, determining a robot ranked first in the queuing order to use the determined elevator.

[0007] Preferably, the first algorithm is an algorithm for selecting an elevator. According to the assigned elevator, the currently optimal elevator is selected by the first algorithm, and obtaining the determined elevator specifically includes the following steps: Step 101, obtaining the robot's own ID information and the robot's position information under the machine map; Step 102, obtaining the assigned elevator ID information and the elevator status information; Step 103, inputting the robot's own ID information, the robot's position information, the assigned elevator ID information and the elevator status information into a distributed calculator to obtain the score of the robot selecting the assigned elevator; Step 104, determining the elevator with the best score as the determined elevator.

[0008] Preferably, the calculation formula for the best score is:

[0009] TCost=max(αax(,βxT2)+γγxT+δxT4+εxT5

[0010] Among them, TCost is the cost of the time required for the robot to take the elevator, T1 is the time required for the elevator to reach the robot's current floor, α is the coefficient used to adjust the weight of T1 in the overall score, T2 is the time required for the robot to reach the elevator entrance, β is the coefficient used to adjust the weight of T2 in the overall score, T3 is the time required for the elevator to reach the target floor after receiving the robot, γ is the coefficient used to adjust the weight of T3 in the overall score, T4 is the time required for the robot to wait for the elevator door to open and enter the elevator, δ is the coefficient used to adjust the weight of T4 in the overall score, T5 is the time that the robot calls the elevator, which will affect the entire available elevator group, and the ε coefficient is used to adjust the weight of T5 in the overall score.

[0011] Preferably, elevators are assigned to the robots via a central server.

[0012] Preferably, before the currently optimal elevator is selected by the first algorithm and the determined elevator is obtained, the first algorithm continuously selects the elevators according to a fixed time sequence.

[0013] Preferably, when the first algorithm continuously selects elevators through a fixed time sequence, it is determined whether the elevator selected for the first time is the same as the elevator selected for the second time.

[0014] Preferably, when the elevator selected for the first time is different from the elevator selected for the second time, the elevator selected for the second time is filtered by a filtering algorithm to obtain the determined elevator.

[0015] Preferably, when requesting to obtain the determined elevator, each robot communicates with other robots in a complementary manner of 2.4G and 4G.

[0016] A second aspect of an embodiment of the present application provides an electronic device, including:

[0017] processor; and one or more processors; one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the method as described above.

[0018] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0019] The present application provides a method, electronic device and storage medium for selecting elevators by multiple robots. The first algorithm is used to select the currently optimal elevator and obtain a determined elevator. When requesting to obtain the determined elevator, each robot communicates with other robots in a complementary manner of 2.4G and 4G, so that multiple robots can communicate with each other in real time in a many-to-many manner, so that the robots themselves use the elevators with a certain consensus, and realize the decision of real-time elevator allocation of multiple robots; the second algorithm is used to queue the multiple robots that have obtained the determined elevator to obtain the queue order of the multiple robots. The queue order does not need to be transmitted in the communication. The robots only share their own positions, cost scores and other information, so that the robots can continuously change the most suitable elevator allocation result according to the changes in the on-site environment, so that multiple robots can travel arbitrarily in the same building, so that multiple robots can pass through the gate / automatic door / elevator and other equipment elevators at the same time. This method is easy to implement, easy to understand for humans, similar to human behavior, easy to expand, and can be easily used in many-to-many elevator allocation scenarios to achieve elevator occupation, exclusivity, queuing and other effects.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0022] Figure 1 is a flow chart of a multi-robot elevator selection method shown in an embodiment of the present application;

[0023] Figure 2 is another flowchart of the multi-robot elevator selection method shown in an embodiment of the present application;

[0024] Figure 3It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0026] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0027] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0029] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a multi-robot elevator selection method according to the first embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0030] Step S1, according to the allocated elevator, the currently optimal elevator is selected by a first algorithm to obtain a determined elevator.

[0031] Specifically, when allocating elevators, the elevators are allocated to the robots through a central server, wherein a group of available elevators is given to all robots, such as gates, automatic doors, and elevators. The elevators allocated to each robot by the central server can be the same or different. Multiple robots will each select from the pool of available elevators. Usually, a group of available elevators is a group of elevators with the same capabilities, for example, all elevators in the same elevator hall that can reach the same target floor are a group of available elevators.

[0032] In one embodiment, the elevator is obtained in real time through the server of the robot. In other embodiments, the elevator can be input to the robot from the outside, the elevator can also be hard-coded in the robot program; or the elevator is determined when the robot program is started.

[0033] In one of the embodiments, before the current optimal elevator is selected by a first algorithm to obtain a determined elevator, the first algorithm continuously selects elevators according to a fixed timing sequence. When the first algorithm continuously selects elevators according to a fixed timing sequence, it is determined whether the elevator selected for the first time is the same as the elevator selected for the second time. When the elevator selected for the first time is different from the elevator selected for the second time, the elevator selected for the second time is filtered by a filtering algorithm to obtain the determined elevator.

[0034] All robots use the same set of selection algorithms, that is, all robots use the first algorithm to select the current optimal elevator. The robot needs to continue selecting before it is determined that the elevator can be used, and select at a shorter fixed time sequence, that is, before the current optimal elevator is selected by the first algorithm and the determined elevator is obtained, the first algorithm continues to select the elevator through a fixed time sequence. Each time the first algorithm gives an optimal solution, that is, outputs an optimal elevator. If the output result is different from the last time, the output result needs to be passed through the filtering algorithm. If the output result successfully passes the filtering, it is determined that the robot selects the elevator, that is, the determined elevator is obtained. The filtering algorithm is to prevent the result from jittering and avoid the result of the robot's selection from changing all the time. The filtering algorithm is mainly used to reduce the jitter of the optimal elevator caused by the jitter of various data obtained by the robot and the sensors in the real world. The filtering algorithm is also used when multiple robots select the same elevator at the same time. According to the differences in the filtering algorithms of each robot, it is exclusive, so that the robot that is more suitable for the elevator keeps choosing the elevator first.

[0035] Step S2, requesting to obtain the determined elevator and obtaining the request result.

[0036] In one embodiment, a first time for the determined elevator to arrive at the destination is estimated, and a second time for the robot to arrive at the destination is estimated; when the time difference between the second time and the first time is equal to a third preset value, multiple robots respectively request to obtain the determined elevator to obtain request results, wherein the request result can be that multiple robots simultaneously request to the same determined elevator, wherein the request result can also be that one robot requests to multiple determined elevators.

[0037] In one embodiment, the timing of starting the request can be dynamically determined by estimating the time it takes for the elevator to arrive at the destination and the time it takes for the robot to move to the elevator door. If the estimated elevator arrival time is greater than the estimated time it takes for the robot to approach the elevator door, the robot can start requesting the elevator. This achieves the effect of calling the elevator in advance but not too early by achieving the effect of calling the elevator when the robot arrives at the elevator door.

[0038] The determined elevator in the process of elevator allocation and elevator selection will not be known by other robots or the elevator itself, and only exists in the robot's own thinking.

[0039] In the process of requesting to obtain an elevator, the robot will transmit the elevator determined in the allocation and selection process to other robots through mutual communication between robots. In one example, when requesting to obtain the determined elevator, each robot communicates with other robots through the complementary method of 2.4g and 4g. That is, robots send the agreed fields in the multi-machine protocol through the complementary method of 2.4g and 4g so that multiple robots can communicate with each other.

[0040] In the process of requesting to obtain an elevator, the request command only needs to be updated each time the determined elevator changes, and the request command is continuously sent to other robots at a preset timing.

[0041] Step S3, queuing the multiple robots in the request result by using a second algorithm to obtain a queuing order.

[0042] Step S4, determining that a robot ranked first in the queue order uses the determined elevator.

[0043] Specifically, the second algorithm is a queuing algorithm. All robots will use the same queuing algorithm, that is, multiple robots that obtain the determined elevator use the same queuing algorithm. When multiple robots select and request the same elevator, the second algorithm must ensure the order of use of multiple robots. That is, the multiple robots that obtain the determined elevator are queued by the second algorithm to obtain the queuing order of the multiple robots. The calculation of the queuing order is, for example, based on the robot's own positioning, the distance and angle between the robot and the target elevator are calculated to determine which robot can pass faster. The second algorithm will prioritize the robot. Among them, the second algorithm should ensure that the robot that is currently most suitable for using the elevator is ranked first in the queuing order when calculating the queuing result. The queuing order does not need to be transmitted in the communication. The robots only share their own positions, cost scores and other information.

[0044] When the robot uses the determined elevator, if it is determined that the current robot can use a certain allocated elevator, there is no need to continue the queuing process, and the conditions for use should at least include:

[0045] 1. The robot has requested and is requesting the elevator;

[0046] 2. The robot is ranked first in the queue order;

[0047] 3. The physical environment is ready for immediate use of the elevator (e.g. the robot is already waiting at the elevator entrance)

[0048] 4. The requested elevator is available (e.g. the elevator has reached the current floor and has opened its door and stopped).

[0049] In this embodiment, the current optimal elevator is selected by the first algorithm to obtain the determined elevator. When requesting to obtain the determined elevator, each robot communicates with other robots in a complementary manner of 2.4G and 4G, so that multiple robots can communicate with each other in real time in a many-to-many manner, so that the robots themselves use the elevator with a certain consensus, and realize the decision of real-time elevator allocation of multiple robots; the multiple robots that obtain the determined elevator are queued by the second algorithm to obtain the queueing order of the multiple robots. The queueing order does not need to be transmitted in the communication. The robots only share their own positions, cost scores and other information, so that the robots can continuously change the most suitable elevator allocation result according to the changes in the on-site environment, thereby achieving the effect of multiple robots queuing to use the elevator.

[0050] See also Figure 2 , Figure 2 This is another flowchart of the multi-robot elevator selection method shown in the second embodiment of the present application. The second embodiment adds the following steps on the basis of the above embodiment, which are as follows:

[0051] The first algorithm is an algorithm for selecting an elevator. According to the allocated elevator, the currently optimal elevator is selected by the first algorithm. Obtaining the determined elevator specifically includes the following steps:

[0052] Step 101, obtaining the robot's own ID information and the robot's location information on the machine map.

[0053] Specifically, the robot's own ID is pre-set by a middle station manager, and the middle station manager ensures that the ID information of each robot is unique. The robot's position information is (x1, y1, th1), which is the coordinates of the robot in the robot map coordinate system.

[0054] Step 102, obtaining the allocated elevator ID information and elevator status information.

[0055] Specifically, the elevator's own status information includes the floor the elevator is currently on, the elevator's running speed, the target floor the elevator is going to reach, etc.

[0056] Step 103, inputting the robot's own ID information, the robot's location information, the assigned elevator ID information and the elevator status information into a distributed calculator to obtain the robot's score for selecting the assigned elevator.

[0057] Specifically, the formula for calculating the best score is:

[0058] TCost=max(αax(,βxT2)+γγxT+δxT4+εxT5

[0059] Among them, TCost is the cost of the time required for the robot to take the elevator, T1 is the time required for the elevator to reach the robot's current floor, α is the coefficient used to adjust the weight of T1 in the overall score, T2 is the time required for the robot to reach the elevator entrance, β is the coefficient used to adjust the weight of T2 in the overall score, T3 is the time required for the elevator to reach the target floor after receiving the robot, γ is the coefficient used to adjust the weight of T3 in the overall score, T4 is the time required for the robot to wait for the elevator door to open and enter the elevator, δ is the coefficient used to adjust the weight of T4 in the overall score, T5 is the time that the robot calls the elevator, which will affect the entire available elevator group, and the ε coefficient is used to adjust the weight of T5 in the overall score.

[0060] Step 104: determine the elevator with the best score as the determined elevator.

[0061] Specifically, the lower the TCost cost, the better the score. When a robot selects multiple available elevators, the TCost costs of multiple elevators are calculated according to the calculation formula with the best score. The robot selects the elevator with the lowest TCost cost as the best elevator, that is, the elevator with the lowest TCost cost is determined.

[0062] In this embodiment, the current optimal elevator is selected by the first algorithm to obtain the determined elevator. When requesting to obtain the determined elevator, each robot communicates with other robots in a complementary manner of 2.4G and 4G, so that multiple robots can communicate with each other in real time in a multi-to-multi manner, so that the robots themselves use the elevator with a certain consensus, and realize the decision of real-time elevator allocation of multiple robots; the multiple robots that obtain the determined elevator are queued by the second algorithm to obtain the queue order of multiple robots. The queue order does not need to be transmitted in the communication. The robots only share their own positions, cost scores and other information, so that the robots can continuously change the most suitable elevator allocation result according to the changes in the on-site environment, so as to achieve the effect of multiple robots queuing to use the elevator. The information of multi-to-multi real-time communication between multiple robots and elevators, multiple robots calculate the local optimal selection results observed by the single robot at the current moment. All robots have almost the same input, which can make the output results almost always consistent.

[0063] Figure 3 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0064] See also Figure 3 , the electronic device 400 includes a memory 410 and a processor 420.

[0065] The processor 420 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0066] The memory 410 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 410 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 410 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0067] The memory 410 stores executable codes, and when the executable codes are processed by the processor 420 , the processor 420 can execute part or all of the methods described above.

[0068] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, refer to the relevant description of other embodiments. Those skilled in the art should also know that the actions and modules involved in the description are not necessarily required for the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0069] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0070] Alternatively, the present application can also be implemented as a non-temporary machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or electronic device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0071] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the application herein may be implemented as electronic hardware, computer software, or combinations of both.

[0072] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, a program segment or a code, and the part of the module, the program segment or the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or the flow chart, and the combination of the square boxes in the block diagram and / or the flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0073] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A multi-robot elevator selection method, characterized in that: The following steps are involved: Step 1: According to the allocated elevator, the currently optimal elevator is selected by the first algorithm to obtain the determined elevator; Step 2, requesting to obtain the determined elevator and obtaining the request result; Step 3, queuing the multiple robots in the request result by using a second algorithm to obtain a queuing order; Step 4, determining that a robot ranked first in the queue order uses the determined elevator; The first algorithm is an algorithm for selecting an elevator. According to the allocated elevator, the currently optimal elevator is selected by the first algorithm. Obtaining the determined elevator specifically includes the following steps: Step 101, obtaining the robot's own ID information and the robot's location information under the machine map; Step 102, obtaining the assigned elevator ID information and elevator status information; Step 103, inputting the robot's own ID information, the robot's location information, the assigned elevator ID information, and the elevator status information into a distributed calculator to obtain a score for the robot selecting the assigned elevator; Step 104, determining the elevator with the best score as the determined elevator; The formula for calculating the best score is: TCost = max(α*T1, β*T2) + γ*T3 + δ*T4 + ε*T5 Among them, TCost is the cost of the time required for the robot to take the elevator, T1 is the time required for the elevator to reach the robot's current floor, α is the coefficient used to adjust the weight of T1 in the overall score, T2 is the time required for the robot to reach the elevator entrance, β is the coefficient used to adjust the weight of T2 in the overall score, T3 is the time required for the elevator to reach the target floor after receiving the robot, γ is the coefficient used to adjust the weight of T3 in the overall score, T4 is the time required for the robot to wait for the elevator door to open and enter the elevator, δ is the coefficient used to adjust the weight of T4 in the overall score, T5 is the time that the robot calls the elevator, which will affect the entire available elevator group, and the ε coefficient is used to adjust the weight of T5 in the overall score; Before the currently optimal elevator is selected by the first algorithm and the determined elevator is obtained, the first algorithm continuously selects the elevator by a fixed time sequence; When the first algorithm continuously selects elevators through a fixed time sequence, determining whether the elevator selected for the first time is the same as the elevator selected for the second time; When the elevator selected for the first time is different from the elevator selected for the second time, the elevator selected for the second time is filtered by a filtering algorithm to obtain a determined elevator.

2. The multi-robot elevator selection method according to claim 1, characterized in that: Elevators are assigned to the robots via a central server.

3. The multi-robot elevator selection method according to claim 1, characterized in that: When requesting to obtain the determined elevator, each robot communicates with other robots in a complementary manner of 2.4G and 4G.

4. An electronic device, comprising: Memory; one or more processors; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for executing any one of the methods according to claims 1-3.

5. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the multi-robot elevator selection method according to any one of claims 1 to 3 is implemented.

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