Elevator riding method, device, terminal and storage medium in multi-robot elevator riding system

Abstract

The present invention discloses a method for taking an elevator in a multi-robot elevator system, comprising the following steps: obtaining the current floor information of a target elevator in real time; judging whether the robot has reached the target floor according to the current floor information, and if the result is no, obtaining the current movement speed of the target elevator in real time; detecting the up and down speeds of the robot according to the robot's own sensor; judging whether the current movement speed of the target elevator matches the up and down speeds of the robot, and if the result is no, judging that the robot is taking the elevator abnormally. The method for taking an elevator in a multi-robot elevator system provided by the present invention judges whether the robot is located in the target elevator by matching the robot's own speed with the speed of the target elevator, thereby achieving the effect of quickly judging whether the robot is taking the elevator correctly, thereby avoiding affecting the robot's task execution.

Description

[Technical field]

[0001] The present invention relates to the field of robot technology, and in particular to an elevator riding method, device, terminal and storage medium in a multi-robot elevator riding system. [Background technology]

[0002] With the development of robot technology, robots with autonomous mobility have become more and more unmanned, automated, and remote. When a robot takes an elevator in a building, there is a problem that it may not enter the elevator or enter the wrong elevator. However, the existing technology cannot effectively solve this problem, so that the robot can quickly determine whether it is taking the elevator correctly to avoid affecting the robot's task execution.

[0003] In view of this, it is necessary to provide an elevator riding method, device, terminal and storage medium in a multi-robot elevator riding system to overcome the above-mentioned defects. [Summary of the invention]

[0004] The purpose of the present invention is to provide an elevator riding method, device, terminal and storage medium in a multi-robot elevator riding system, aiming to improve the problem of how the robot can quickly judge whether it is correct to ride the elevator, so as to avoid affecting the robot's task execution.

[0005] In order to achieve the above object, the present invention provides, in a first aspect, an elevator riding method in a multi-robot elevator riding system, which is applied to a robot that has entered an elevator, and comprises the following steps:

[0006] Get the current floor information of the target elevator in real time;

[0007] Determine whether the robot has reached the target floor according to the current floor information, and if so, enter the elevator exit process; if not, obtain the current movement speed of the target elevator in real time;

[0008] Detect the robot's up and down speeds based on its own sensors;

[0009] Determine whether the current moving speed of the target elevator matches the up and down speeds of the robot. If not, determine that the robot is abnormal in taking the elevator; wherein the abnormal elevator includes that the robot is in an elevator other than the target elevator and has not entered any elevator;

[0010] When it is determined that the robot is in an elevator other than the target elevator, the robot is controlled to enter the wrong elevator mode and send out a distress signal to wait for rescue; if it is determined that the robot has not entered any elevator, the robot is controlled to enter the midway exit elevator mode, restore its own map to the floor at the time of the last elevator matching, and re-select the elevator.

[0011] In a preferred embodiment, the following steps are also included:

[0012] Obtaining the robot registration list of the target elevator in real time;

[0013] If it is detected that the robot registration list is empty or does not contain the identity number of the current robot, the current robot is controlled to enter the escape mode.

[0014] In a preferred embodiment, the following steps are also included:

[0015] Obtaining a target floor registration list of the target elevator in real time;

[0016] If it is detected that the target floor registration list is empty or does not contain the target floor expected by the current robot, the current robot is controlled to enter the escape mode.

[0017] In a preferred embodiment, in the escape mode, the following steps are included:

[0018] Circularly determine the door opening and closing status of the target elevator;

[0019] If it is detected that the door of the target elevator is in the open position, the robot is controlled to exit the elevator.

[0020] A second aspect of the present invention provides an elevator riding method in a multi-robot elevator riding system, which is applied to an elevator and comprises the following steps:

[0021] Obtain and determine in real time whether the robot's elevator status code remains in the "elevator in progress" state;

[0022] If the result is to maintain, the registration state of the desired target floor of the robot is maintained, and the registration button on the elevator panel is clicked at predetermined intervals;

[0023] If the result is not to maintain, the registration status of the desired target floor of the robot is cancelled, and the robot stops clicking the registration button on the elevator panel.

[0024] In a preferred embodiment, the following steps are also included:

[0025] Acquire the current floor information of the elevator in real time;

[0026] It is determined whether the robot has reached the target floor it expects based on the current floor information. If yes, the target floor is deleted from the target floor registration list.

[0027] A third aspect of the present invention is an elevator riding device in a multi-robot elevator riding system, which is applied to a robot that has entered an elevator, comprising:

[0028] The elevator floor acquisition module is used to obtain the current floor information of the target elevator in real time;

[0029] The target floor judgment module is used to judge whether the robot has reached the target floor according to the current floor information. If the result is yes, the robot enters the elevator exit process; if the result is no, the robot obtains the current movement speed of the target elevator in real time;

[0030] The up and down speed detection module is used to detect the up and down speed of the robot based on the robot's own sensors;

[0031] A speed matching judgment module is used to judge whether the current moving speed of the target elevator matches the up and down speeds of the robot. If the result is no, it is judged that the robot is abnormal in taking the elevator; wherein the abnormal elevator includes that the robot is in an elevator other than the target elevator and has not entered any elevator;

[0032] When it is determined that the robot is in an elevator other than the target elevator, the robot is controlled to enter the wrong elevator mode and send out a distress signal to wait for rescue; if it is determined that the robot has not entered any elevator, the robot is controlled to enter the midway exit elevator mode, restore its own map to the floor at the time of the last elevator matching, and re-select the elevator.

[0033] A fourth aspect of the present invention provides an elevator riding device in a multi-robot elevator riding system, which is applied to an elevator, comprising:

[0034] The robot status judgment module is used to obtain and judge in real time whether the robot's elevator status code remains in the "elevator in progress" state;

[0035] If the result is to maintain, the registration state of the desired target floor of the robot is maintained, and the registration button on the elevator panel is clicked at predetermined intervals;

[0036] If the result is not to maintain, the registration status of the desired target floor of the robot is cancelled, and the robot stops clicking the registration button on the elevator panel.

[0037] A fifth aspect of the present invention provides a terminal, which includes a memory, a processor, and an elevator riding program in a multi-robot elevator riding system that is stored in the memory and can be run on the processor. When the elevator riding program in the multi-robot elevator riding system is executed by the processor, the various steps of the elevator riding method in the multi-robot elevator riding system as described in any one of the above-mentioned embodiments are implemented.

[0038] A sixth aspect of the present invention provides a computer-readable storage medium, which stores an elevator riding program in a multi-robot elevator riding system. When the elevator riding program in the multi-robot elevator riding system is executed by a processor, the various steps of the elevator riding method in the multi-robot elevator riding system as described in any one of the above-mentioned embodiments are implemented.

[0039] The elevator riding method in the multi-robot elevator riding system provided by the present invention detects the running speed of the target elevator when the target elevator is running, and detects the up and down speeds of the robot through its own sensor, and determines whether the robot is located in the target elevator by matching the robot's own speed with the speed of the target elevator, thereby achieving the effect of quickly determining whether the robot is riding the elevator correctly, thereby avoiding affecting the robot's task execution.

Brief Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A flow chart of an elevator riding method in a multi-robot elevator riding system applied to a robot side provided by the present invention;

[0042] Figure 2 A flow chart of an elevator riding method in a multi-robot elevator riding system provided by the present invention;

[0043] Figure 3 A framework diagram of the elevator riding device in the multi-robot elevator riding system provided by the present invention. [Specific implementation method]

[0044] In order to make the purpose, technical solution and beneficial technical effect of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the present invention, not for limiting the present invention.

[0045] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0046] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] In an embodiment of the present invention, a first aspect provides an elevator riding method in a multi-robot elevator riding system, which is applied to a robot that has entered an elevator, and is used to provide processing logic for problems encountered by the robot when riding the elevator, so that the robot can handle the corresponding problems on its own, thereby improving the robot's degree of automation.

[0048] like Figure 1 As shown, at the robot end, the elevator riding method in the multi-robot elevator riding system includes the following steps S11-S14.

[0049] Step S11, real-time acquisition of the current floor information of the target elevator. That is, when the robot's processing system believes that it has entered the elevator and started to ride the elevator, it needs to constantly observe the changes in the floor of the elevator. At this time, the robot can obtain the operating status of the elevator through the pre-wired connection with all elevators, and can also obtain which floor the elevator has reached by identifying the changes in the floor numbers on the elevator's display interface.

[0050] Step S12, judging whether the robot has reached the target floor according to the current floor information, if the result is yes, then entering the elevator exit process; if the result is no, then obtaining the current movement speed of the target elevator in real time.

[0051] Specifically, if the robot observes that the current floor of the elevator it is in is consistent with the desired target floor and the elevator speed is zero, the robot ends the elevator riding process and enters the subsequent elevator exit process. Otherwise, the robot continuously obtains the current movement speed of the target elevator remotely through a wireless connection with the building's elevator system background, that is, obtains the actual movement speed of the target elevator.

[0052] Step S13, detecting the up and down speeds of the robot according to the robot's own sensor, wherein the up and down speeds include the up speed and the down speed, that is, including the up and down running directions.

[0053] Step S14, determine whether the current moving speed of the target elevator matches the up and down speed of the robot. If the result is no, for example, the speed direction of the target elevator is opposite to the speed direction of the robot itself, or the speeds of the two are inconsistent, then it is determined that the robot is abnormal in taking the elevator. Among them, the abnormal elevator includes the robot being in an elevator other than the target elevator and not entering any elevator. It can be understood that both of these situations can cause the robot's own speed to not match the speed of the target elevator.

[0054] Specifically, when it is determined that the robot is in an elevator other than the target elevator, that is, the robot's own speed is not zero and is in a moving state, and the speed of the target elevator is another value, the robot is controlled to enter the wrong elevator mode and send a distress signal to wait for rescue. If it is determined that the robot has not entered any elevator, that is, the robot's speed is zero for a long time, and the speed of the target elevator is not zero, the robot is controlled to enter the mid-way exit mode, so that an exit operation is performed in the robot's processing system, indicating that the robot is no longer in the elevator, and restores its own map to the floor at the time of the last elevator matching (indicating that the floor where the robot is located has not changed), and re-selects the elevator.

[0055] Furthermore, the method further comprises the following steps on the robot side:

[0056] First, the robot registration list of the target elevator is obtained in real time. It can be understood that the robot can obtain the operation information of any elevator through a remote connection with the building elevator system, and the operation information includes the elevator's operating status, operating speed, robot registration list and target floor registration list.

[0057] Among them, if it is detected that the robot registration list is empty or does not contain the identity number of the current robot, it means that the target elevator has not received the elevator boarding instruction sent by the robot. If the robot has been in the target elevator, it may delay the robot's task execution. At this time, the current robot is controlled to enter the escape mode.

[0058] Furthermore, the method further comprises the following steps on the robot side:

[0059] First, the target floor registration list of the target elevator is obtained in real time.

[0060] Among them, if it is detected that the target floor registration list is empty or does not contain the target floor expected by the current robot, that is, the target elevator will not stop at the target floor expected by the robot within a certain period of time, then the current robot is controlled to enter the escape mode.

[0061] It should be noted that the escape mode includes the following steps:

[0062] First, the door opening and closing status of the target elevator is judged cyclically. Specifically, when the robot enters the escape mode, the robot needs to cyclically judge the door opening and closing status of the elevator so that it can get out of the elevator immediately after the elevator stops at any floor.

[0063] Among them, if it is detected that the target elevator is in the door-opening state, it means that the elevator is already leveled at a certain floor. At this time, the robot is controlled to exit the elevator, that is, the robot ends the elevator riding process and enters the abnormal elevator exit process.

[0064] The second aspect of the present invention provides an elevator riding method in a multi-robot elevator riding system, which is applied to an elevator so that the elevator can monitor the robot's elevator status in real time during the robot's elevator riding process to avoid elevator failures in the elevator, thereby affecting the robot's task execution.

[0065] like Figure 2 As shown, at the elevator end, the elevator riding method in the multi-robot elevator riding system includes the following steps S21-S23.

[0066] Step S21, real-time acquisition and judgment of whether the robot's elevator state code remains in the "elevator riding" state. The elevator needs to constantly judge the robot's state during the robot's elevator riding process. It is understandable that the elevator can also obtain the robot's operating state in the system through a wireless connection, thereby judging whether the elevator state code in the robot's system enters and remains in the elevator riding process.

[0067] Step S22, if the result is to maintain, then maintain the registration status of the robot's desired target floor, and click the registration button on the elevator panel at predetermined intervals, so that the robot's target floor is always on the robot registration list of the elevator, to avoid the robot being removed from the registration list for other reasons before reaching the target floor, thereby affecting the robot's elevator riding effect.

[0068] Step S23, if the result is not maintained, indicating that the robot system believes that it is no longer in the elevator state, the registration status of the robot's desired target floor is cancelled, and the registration button on the elevator panel is stopped, so as to avoid occupying the operating resources of the elevator when the robot exits the elevator or enters the wrong elevator.

[0069] Furthermore, the method also includes the following steps at the elevator end: obtaining the current floor information of the elevator in real time; judging whether the robot has reached the desired target floor based on the current floor information, and if the result is yes, deleting the target floor from the target floor registration list.

[0070] To sum up, the elevator riding method in the multi-robot elevator riding system provided by the present invention detects the running speed of the target elevator when the target elevator is running, and detects the up and down speeds of the robot through its own sensor, and determines whether the robot is located in the target elevator by matching the robot's own speed with the speed of the target elevator, thereby achieving the effect of quickly determining whether the robot is riding the elevator correctly, thereby avoiding affecting the robot's task execution.

[0071] In a third aspect of the present invention, a multi-robot elevator system includes an elevator device 100, which is applied to a robot that has entered an elevator, and is used to provide a processing logic for the robot to encounter problems when riding the elevator, so that the robot can handle the corresponding problems by itself, thereby improving the automation level of the robot. It should be noted that the implementation principle and implementation method of the elevator device 100 in the multi-robot elevator system when applied to the robot end are consistent with the elevator method in the multi-robot elevator system applied to the robot end, so it will not be repeated below.

[0072] like Figure 3 As shown, the elevator device 100 in the multi-robot elevator system includes:

[0073] The elevator floor acquisition module 10 is used to obtain the current floor information of the target elevator in real time;

[0074] The target floor judgment module 20 is used to judge whether the robot has reached the target floor according to the current floor information. If the result is yes, it will enter the elevator exit process; if the result is no, it will obtain the current movement speed of the target elevator in real time;

[0075] The up and down speed detection module 30 is used to detect the up and down speed of the robot according to the robot's own sensor;

[0076] The speed matching judgment module 40 is used to judge whether the current moving speed of the target elevator matches the up and down speeds of the robot. If the result is no, it is judged that the robot is abnormal in taking the elevator; wherein the abnormal elevator includes that the robot is in an elevator other than the target elevator and has not entered any elevator;

[0077] When it is determined that the robot is in an elevator other than the target elevator, the robot is controlled to enter the wrong elevator mode and send out a distress signal to wait for rescue; if it is determined that the robot has not entered any elevator, the robot is controlled to enter the mid-way elevator exit mode, restore its own map to the floor at the time of the last elevator matching, and re-select the elevator.

[0078] The fourth aspect of the present invention provides an elevator device 100 in a multi-robot elevator system, which also includes a part applied to an elevator, so that the elevator can monitor the robot's elevator status in real time during the robot's elevator ride, and avoid elevator failures in the elevator, thereby affecting the robot's task execution. It should be noted that the implementation principle and implementation method of the elevator device 100 in the multi-robot elevator system when applied to the elevator end are consistent with the elevator method in the multi-robot elevator system applied to the elevator end, so it will not be repeated below.

[0079] like Figure 3 As shown, the elevator riding device 100 in the multi-robot elevator riding system also includes:

[0080] The robot state judgment module 50 is used to obtain and judge in real time whether the robot's elevator state code remains in the "elevator in progress" state;

[0081] If the result is to maintain, the robot maintains the registration status of the desired target floor and clicks the registration button on the elevator panel at predetermined intervals;

[0082] If the result is not to maintain, the registration status of the robot's desired target floor is cancelled, and the robot stops clicking the registration button on the elevator panel.

[0083] A fifth aspect of the present invention provides a terminal (not shown in the figure), which includes a memory, a processor, and an elevator riding program in a multi-robot elevator riding system that is stored in the memory and can be run on the processor. When the elevator riding program in the multi-robot elevator riding system is executed by the processor, the various steps of the elevator riding method in the multi-robot elevator riding system as described in any one of the above-mentioned embodiments are implemented.

[0084] The sixth aspect of the present invention provides a computer-readable storage medium (not shown in the figure), which stores an elevator riding program in a multi-robot elevator riding system. When the elevator riding program in the multi-robot elevator riding system is executed by a processor, it implements the various steps of the elevator riding method in the multi-robot elevator riding system as described in any of the above-mentioned embodiments.

[0085] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0086] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0088] In the embodiments provided by the present invention, it should be understood that the disclosed systems or devices / terminal equipment and methods can be implemented in other ways. For example, the system or device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0089] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0091] The present invention is not limited to what is described in the specification and implementation modes, and therefore additional advantages and modifications can be easily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.

Claims

1. A method for taking an elevator in a multi-robot elevator system, applied to a robot that has entered an elevator, characterized in that: The following steps are involved: Get the current floor information of the target elevator in real time; Determine whether the robot has reached the target floor according to the current floor information, and if so, enter the elevator exit process; if not, obtain the current movement speed of the target elevator in real time; Detect the robot's up and down speeds based on its own sensors; Determine whether the current moving speed of the target elevator matches the up and down speeds of the robot. If not, determine that the robot is abnormal in taking the elevator; wherein the abnormal elevator includes that the robot is in an elevator other than the target elevator and has not entered any elevator; When it is determined that the robot is in an elevator other than the target elevator, the robot is controlled to enter the wrong elevator mode and send out a distress signal to wait for rescue; if it is determined that the robot has not entered any elevator, the robot is controlled to enter the midway exit elevator mode, restore its own map to the floor at the time of the last elevator matching, and re-select the elevator.

2. The elevator riding method in the multi-robot elevator riding system according to claim 1, characterized in that: The following steps are also included: Obtaining the robot registration list of the target elevator in real time; If it is detected that the robot registration list is empty or does not contain the identity number of the current robot, the current robot is controlled to enter the escape mode.

3. The elevator riding method in the multi-robot elevator riding system according to claim 1, characterized in that: The following steps are also included: Obtaining a target floor registration list of the target elevator in real time; If it is detected that the target floor registration list is empty or does not contain the target floor expected by the current robot, the current robot is controlled to enter the escape mode.

4. The elevator riding method in the multi-robot elevator riding system according to any one of claims 2 or 3, characterized in that: In escape mode, the following steps are included: Circularly determine the door opening and closing status of the target elevator; If it is detected that the door of the target elevator is in the open position, the robot is controlled to exit the elevator.

5. An elevator riding device in a multi-robot elevator riding system, applied to a robot that has entered an elevator, characterized in that: include: The elevator floor acquisition module is used to obtain the current floor information of the target elevator in real time; The target floor judgment module is used to judge whether the robot has reached the target floor according to the current floor information. If the result is yes, the robot enters the elevator exit process; if the result is no, the robot obtains the current movement speed of the target elevator in real time; The up and down speed detection module is used to detect the up and down speed of the robot based on the robot's own sensors; A speed matching judgment module is used to judge whether the current moving speed of the target elevator matches the up and down speeds of the robot. If the result is no, it is judged that the robot is abnormal in taking the elevator; wherein the abnormal elevator includes that the robot is in an elevator other than the target elevator and has not entered any elevator; When it is determined that the robot is in an elevator other than the target elevator, the robot is controlled to enter the wrong elevator mode and send out a distress signal to wait for rescue; if it is determined that the robot has not entered any elevator, the robot is controlled to enter the midway exit elevator mode, restore its own map to the floor at the time of the last elevator matching, and re-select the elevator.

6. A terminal, characterized in that: The terminal includes a memory, a processor, and an elevator riding program in a multi-robot elevator riding system stored in the memory and executable on the processor. When the elevator riding program in the multi-robot elevator riding system is executed by the processor, the various steps of the elevator riding method in the multi-robot elevator riding system as described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an elevator riding program in a multi-robot elevator riding system, and when the elevator riding program in the multi-robot elevator riding system is executed by a processor, the various steps of the elevator riding method in the multi-robot elevator riding system as described in any one of claims 1-4 are implemented.

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