A robot elevator path planning method, system and related products

Abstract

The present invention discloses a robot elevator path planning method, system and related products. First, a cache path that can reach the starting floor is selected, then it is determined that the cache path reaches the destination floor, and the elevator group that can reach the destination floor is determined. Otherwise, a transfer path is searched. If the transfer path can reach the destination floor, an available path is directly obtained by combining the cache path and the transfer path. The method can adaptively plan the elevator path according to the division method of the elevator group and the floor. It can adapt to various floor division methods and provide multiple optimal elevator paths and time expectations according to the starting floor and the target floor.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent devices, and in particular to a robot elevator path planning method, system and related products. Background Art

[0002] Considering the transportation efficiency, stability and energy consumption of goods, taking the elevator is currently the best choice for robots to move across floors in a building, especially when there are many floors to cross, taking the elevator is almost the only option.

[0003] To ensure efficient transportation, high-rise buildings often have multiple elevator groups corresponding to different floors, limiting the number of floors that could be affected by a single elevator group. Floor divisions vary depending on building design and may be divided into high-rise and low-rise areas based on physical height, transfer floors, sightseeing floors, and even and odd-numbered floors, depending on their attributes. Furthermore, elevator wait times vary with the flow of people.

[0004] Therefore, a method for elevator path planning is needed, which enables the robot to calculate and correct the elevator plan in real time and estimate the elevator time, so that the user can have a better prediction of the robot's movement process. Summary of the Invention

[0005] The embodiments of the present invention provide a robot elevator path planning method, system and related products, which can adapt to various floor division methods and provide several optimal elevator paths and time expectations based on the starting floor and target floor.

[0006] In a first aspect, an embodiment of the present invention provides a robot elevator path planning method, comprising:

[0007] Step S1, obtaining the starting layer and the ending layer of the robot;

[0008] Step S2: determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence;

[0009] Step S3: traverse all the cached paths. If the elevator group corresponding to the traversed cached path can directly reach the terminal floor, add the cached path to the available path sequence;

[0010] Otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cache path is used as the current floor;

[0011] Traverse all transfer elevator groups that are reachable from the current floor, and exclude any duplicate elevator groups in the current cached path. If it is determined that the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current cached path, and add the current cached path as the elevator path to the available path sequence.

[0012] Step S4: Repeat step S3 until all cache paths are traversed.

[0013] Preferably, in step S4, after all cache paths are traversed, the following steps are further included:

[0014] The path finding count value is increased by 1; the initial value of the path finding count value is 0.

[0015] As a preference, it also includes:

[0016] Step S5, repeating steps S3 to S4 until the path finding count value is greater than n, where n is less than or equal to the number of elevator groups;

[0017] Arrange the elevator paths in the available path sequence from small to large according to the number of elevator nodes; wherein the elevator node represents the process of taking a single elevator, and the elevator node includes an elevator group, an elevator, a starting floor, an ending floor, an expected starting time, and an expected ending time.

[0018] Preferably, in the elevator path, the elevator group, elevator and starting floor of the elevator node i correspond to the i-th element of the elevator group sequence, elevator sequence and floor sequence in the elevator path respectively, and the ending floor of the elevator node corresponds to the i+1-th element of the floor sequence in the elevator path.

[0019] Preferably, in step S3, if it is determined that the transfer elevator group cannot reach the destination floor, the current cache path is used as a blueprint to add elevator nodes from the current floor to all floors reachable by the transfer elevator group to form a new path, and the new path is added to the cache path sequence.

[0020] As a preference, it also includes:

[0021] Step S6: If it is determined that the available path sequence is empty, the start time of the robot movement and the end time of the robot reaching the elevator room are determined;

[0022] Based on the start time and the end time, as well as the waiting time of each elevator in the cache path and the elevator ride time to reach the end floor, a plurality of supplementary paths are determined.

[0023] Preferably, based on the start time and the end time, as well as the waiting time for each elevator in the cached path and the time it takes to take the elevator to the end floor, several supplementary paths are determined, specifically including:

[0024] Convert the elevator group sequence and floor sequence of the cache path into nodes in order, where the i-th node corresponds to the i-th elevator group with the i-th floor to the i+1-th floor;

[0025] Determine the waiting time for each elevator at node i to reach floor i in the desired direction, and the riding time from floor i to floor i+1;

[0026] Based on the waiting time and riding time of each elevator in the cache path, the new start time and the new end time are calculated, and the paths are arranged according to the new end time to obtain m supplementary paths with the earliest end times. The new riding path is determined based on the supplementary paths.

[0027] In a second aspect, an embodiment of the present invention provides a robot elevator path planning system, comprising:

[0028] Initialization module, obtains the robot's starting layer and end layer;

[0029] a cache path module, determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence;

[0030] The available path determination module traverses all the cached paths. If the elevator group corresponding to the traversed cached path can directly reach the terminal floor, the cached path is added to the available path sequence; otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cached path is used as the current floor;

[0031] Traverse all transfer elevator groups that are reachable from the current floor, and exclude any duplicate elevator groups in the current cached path. If it is determined that the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current cached path, and add the current cached path as the elevator path to the available path sequence.

[0032] Repeat the above steps until all cache paths are traversed.

[0033] In a third aspect, an embodiment of the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the robot elevator path planning method as described in the embodiment of the first aspect of the present invention are implemented.

[0034] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robot elevator path planning method as described in the embodiment of the first aspect of the present invention.

[0035] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implement the steps of the robot elevator path planning method.

[0036] An embodiment of the present invention provides a robot elevator path planning method and system, which first selects a cache path that can reach the starting floor, then determines whether the cache path reaches the destination floor, and determines the elevator group that can reach the destination floor to find a transfer path. If the transfer path can reach the destination floor, an available path is directly obtained by combining the cache path and the transfer path; it can adaptively plan the elevator path according to the division method of the elevator group and the floor; it can adapt to various floor division methods, and provide the optimal elevator paths and time expectations according to the starting floor and the target floor. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a flowchart of a method for planning a robot's elevator path according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of an elevator path according to an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of a process for supplementing an elevator group path according to an embodiment of the present invention;

[0041] Figure 4 Schematic diagram of the physical structure according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] In the embodiments of the present application, the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0044] The terms "first" and "second" in the embodiments of the present application are only used for descriptive purposes and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a system, product or device comprising a series of components or units is not limited to the listed components or units, but may optionally also include components or units that are not listed, or may optionally also include other components or units that are inherent to these products or devices. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] To ensure efficient transportation, high-rise buildings often have multiple elevator groups corresponding to different floors, limiting the number of floors that could be affected by a single elevator group. Floor divisions vary depending on building design and may be divided into high-rise and low-rise areas based on physical height, transfer floors, sightseeing floors, and even and odd-numbered floors, depending on their attributes. Furthermore, elevator wait times vary with the flow of people.

[0047] Therefore, a method for elevator path planning is needed, which enables the robot to calculate and correct the elevator plan in real time and estimate the elevator time, so that the user can have a better prediction of the robot's movement process.

[0048] Therefore, embodiments of the present invention provide a robot elevator path planning method, system, and related products that can adaptively plan elevator paths based on elevator groups and floor divisions. They can adapt to various floor divisions and provide optimal elevator paths and estimated travel times based on the starting and destination floors. This will be explained and introduced below through multiple embodiments.

[0049] Figure 1 An embodiment of the present invention provides a robot elevator path planning method, comprising:

[0050] Step S1: Obtain the robot's starting floor and destination floor. In this embodiment, the destination floor is fixed, while the starting floor is variable. The robot's starting floor changes with each elevator transfer. The starting floor refers to the robot's departure floor when it takes an elevator. If there is a transfer, the starting floor becomes the departure floor (not the destination floor) of the next elevator transfer.

[0051] In this embodiment, elevator information, elevator groups, and elevator group information are pre-acquired; elevator information is used to describe the state of the elevator, including operating parameters, load, speed, height, direction (up, down, idle), door status, target floor, and accessible floors. Operating parameters refer to the default values ​​of the elevator during operation, such as maximum speed, acceleration, and unobstructed door opening time. Load includes not only the current load and maximum load of the elevator, but also the number of robots riding on it, which is used to limit the number of robots on a single elevator. An elevator group is a collection of elevators. Elevator group information is used to describe roughly the same information about elevators in the group, such as accessible floors and corresponding heights of floors. Elevators in the same group may have different accessible floors due to design or other reasons. In this case, the accessible floors of the elevator group are the union of the accessible floors of all elevators in the group. Pathfinding will further determine the reachable floors of the elevators.

[0052] Step S2: determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence;

[0053] In this embodiment, elevators within the same elevator group have roughly the same accessible floors, and a normal elevator ride involves the same elevator group at most once. In this embodiment, elevator groups with significantly different accessible floors are first further divided into groups with similar accessible floors. Then, based on the principle of "visiting the same elevator group at most once," the elevator group path is constructed in the following manner. The elevator group path uses the same structure as the elevator ride path, except that the elevator sequence and time point sequence are temporarily empty. Because the number of elevator groups is far smaller than the number of elevators, this significantly improves pathfinding efficiency.

[0054] Initialize the available path sequence and potential path sequence and set the path count to 0. The available path sequence is used to store the path finding results, that is, the elevator group path from the starting floor to the destination floor. The initial value is an empty sequence. The potential path sequence is used to store intermediate paths that may form an available path. For all elevator groups that can reach the starting floor, an elevator group path is generated and added to the potential path sequence.

[0055] Step S3: Set the cache path sequence = potential path sequence, and clear the potential path sequence.

[0056] Traversing all the cache paths, and taking the last floor in the floor sequence of the elevator group corresponding to the current cache path as the current floor;

[0057] Traverse all transfer elevator groups that are reachable from the current floor, and exclude any duplicate elevator groups in the current cached path. If it is determined that the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current cached path, and add the current cached path as the elevator path to the available path sequence.

[0058] In this embodiment, Figure 2 As shown in , a ride path describes the entire elevator ride process. A ride path consists of at least an elevator group sequence, a floor sequence, an elevator sequence, and an expected time sequence, corresponding to a ride node sequence. A ride node describes the process of taking a single elevator. A node consists of an elevator group, an elevator, a starting floor, an ending floor, an expected start time, and an expected end time.

[0059] The elevator group, elevator, and starting floor of node i correspond to the i-th element of the elevator group sequence, elevator sequence, and floor sequence in the elevator path, respectively. The ending floor corresponds to the (i+1)-th element of the floor sequence. Since the ending floor of the previous node equals the starting floor of the next node when the elevator changes, there is no need to record them repeatedly. The expected time point sequence can be recorded as a sequence of length 2n, starting and ending, respectively, as the start time sequence and end time sequence.

[0060] For example, the elevator route includes: elevator group sequence = [3, 5], elevator sequence = [2, 3], floor sequence = [10, 3, 21]; this means taking elevator No. 2 in elevator group 3 from the 10th floor to the 3rd floor, then transferring to elevator No. 3 in elevator group 5 from the 3rd floor to the 21st floor.

[0061] Traverse all transfer elevator groups reachable from the current floor, excluding those already passed by the current path. If the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current path (i.e., the cached path), and add the current path to the available path sequence. Otherwise, using the current path as a blueprint, add elevator nodes from the current floor to all floors reachable by the transfer elevator group, and then add the new path to the cached path sequence.

[0062] In step S3, if the elevator group corresponding to the traversed cache path can directly reach the terminal floor, the cache path is added to the available path sequence and the process exits after the traversal is completed; otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cache path is set as the current floor, and the subsequent steps of the above embodiment are continued to search for an available path.

[0063] For example, the traversed elevator paths include: elevator group sequence = [3, 3], elevator sequence = [2, 3], floor sequence = [3, 5, 8]; this means taking elevator No. 2 in elevator group 3 from the 3rd floor to the 5th floor, and then taking elevator No. 3 in elevator group 3 from the 5th floor to the 8th floor.

[0064] Step S4: Repeat step S3 until all cache paths are traversed, and add 1 to the path count value.

[0065] Step S5, repeat steps S3 to S4 until the path count value is greater than n; wherein n≤the number of elevator groups; since the number of elevator groups is limited and a path can only pass through the same elevator group once at most, when n≥the number of elevator groups, no new potential paths will be generated. On the other hand, the path count corresponds to the number of nodes currently generating the available path, and the increase in the number of nodes not only increases the complexity of the path but also has a high probability of increasing the time it takes to take the elevator. By adjusting n, the number of nodes in the available path can be limited. In addition, according to the generation process, the elevator paths in the available path sequence are naturally arranged from the smallest to the largest number of nodes. All available path sequences (number of nodes ≤ n) are obtained.

[0066] If the available path sequence obtained through the above steps is empty, it means that no elevator group path that can reach the destination floor from the starting floor has been found; an available elevator path can be obtained by supplementing any available elevator group path. The following will describe the process of supplementing the elevator group path. Therefore, if Figure 3 As shown in , also includes:

[0067] Step S6: If the available path sequence is determined to be empty, the robot's start time and end time at the elevator are determined. The current time is used as the first start time. The robot's current position is used to estimate the time required to reach the elevator, and the first end time is calculated based on this time.

[0068] Convert the elevator group sequence and floor sequence of the cache path into nodes in order, where the i-th node corresponds to the i-th elevator group with the i-th floor to the i+1-th floor;

[0069] Determine the waiting time for each elevator at node i to reach the i-th floor in the desired direction, as well as the time it takes to travel to the i+1th floor. For node i, estimate the waiting time for each elevator to reach the i-th floor in the desired direction, as well as the time it takes to travel to the (i+1)th floor, based on historical data and the current status of the elevators in the elevator group.

[0070] Calculate the new start time and end time based on the waiting time and riding time of each elevator in the cached path, where the new (current node) start time = the end time of the previous node + the waiting time; the new (current node) end time = the new (current node) start time + the riding time;

[0071] Arrange them according to the new end time to obtain m supplementary paths with the earliest end time, and determine a new elevator route based on the supplementary paths.

[0072] An embodiment of the present invention further provides a robot elevator path planning system, based on the robot elevator path planning method in each of the above embodiments, comprising:

[0073] Initialization module, obtains the robot's starting layer and end layer;

[0074] a cache path module, determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence;

[0075] The available path determination module traverses all the cached paths. If the elevator group corresponding to the traversed cached path can directly reach the terminal floor, the cached path is added to the available path sequence; otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cached path is used as the current floor;

[0076] Traverse all transfer elevator groups that are reachable from the current floor, and exclude any duplicate elevator groups in the current cached path. If it is determined that the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current cached path, and add the current cached path as the elevator path to the available path sequence.

[0077] Repeat the above steps until all cache paths are traversed.

[0078] Based on the same concept, the embodiment of the present invention also provides a schematic diagram of an entity structure, such as Figure 4 As shown, the server may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the steps of the robot elevator path planning method described in the above embodiments. For example, it includes:

[0079] Step S1, obtaining the starting layer and the ending layer of the robot;

[0080] Step S2: determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence;

[0081] Step S3: traverse all the cache paths and take the last floor in the floor sequence of the elevator group corresponding to the current cache path as the current floor;

[0082] Traverse all transfer elevator groups that are reachable from the current floor, and exclude any duplicate elevator groups in the current cached path. If it is determined that the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current cached path, and add the current cached path as the elevator path to the available path sequence.

[0083] Step S4: Repeat step S3 until all cache paths are traversed.

[0084] Among them, in step S3, if the elevator group corresponding to the traversed cache path can directly reach the terminal floor, the cache path is added to the available path sequence until all cache paths are traversed; otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cache path is taken as the current floor, and the transfer elevator group is continued to traverse to obtain available paths.

[0085] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0086] Based on the same concept, an embodiment of the present invention further provides a non-transitory computer-readable storage medium storing a computer program. The computer program includes at least one code segment that can be executed by a main control device to control the main control device to implement the steps of the robot elevator path planning method described in the above embodiments. For example, the steps include:

[0087] Step S1, obtaining the starting layer and the ending layer of the robot;

[0088] Step S2: determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence;

[0089] Step S3: traverse all the cache paths and take the last floor in the floor sequence of the elevator group corresponding to the current cache path as the current floor;

[0090] Traverse all transfer elevator groups that are reachable from the current floor, and exclude any duplicate elevator groups in the current cached path. If it is determined that the traversed transfer elevator group can reach the destination floor, add the transfer elevator group and the destination floor to the current cached path, and add the current cached path as the elevator path to the available path sequence.

[0091] Step S4: Repeat step S3 until all cache paths are traversed.

[0092] Among them, in step S3, if the elevator group corresponding to the traversed cache path can directly reach the terminal floor, the cache path is added to the available path sequence until all cache paths are traversed; otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cache path is taken as the current floor, and the transfer elevator group is continued to traverse to obtain available paths.

[0093] Based on the same technical concept, an embodiment of the present application also provides a computer program, which, when executed by a main control device, is used to implement the above method embodiment.

[0094] The program may be stored in whole or in part on a storage medium packaged with the processor, or may be stored in whole or in part on a memory not packaged with the processor.

[0095] Based on the same technical concept, the embodiment of the present application further provides a processor, which is used to implement the above method embodiment. The above processor can be a chip.

[0096] Based on the same technical concept, an embodiment of the present invention provides a computer program product, including a computer program or instructions, which implements the steps of the robot elevator path planning method when executed by a processor.

[0097] To sum up, the embodiments of the present invention provide a robot elevator path planning method, system and related products, which first select a cache path that can reach the starting floor, then determine whether the cache path reaches the destination floor, and determine the elevator group that can reach the destination floor to find a transfer path. If the transfer path can reach the destination floor, the available path is directly obtained by combining the cache path and the transfer path; it can adaptively plan the elevator path according to the division method of the elevator group and the floor; it can adapt to the division method of various floors, and provide the optimal elevator paths and time expectations according to the starting floor and the target floor.

[0098] The various embodiments of the present invention can be combined arbitrarily to achieve different technical effects.

[0099] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in this application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

[0100] Those skilled in the art will appreciate that all or part of the process steps in the above-described method embodiments can be implemented by a computer program instructing the relevant hardware. The program can be stored in a computer-readable storage medium, and when executed, the program can include the process steps in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A robot elevator path planning method, characterized in that: include: Step S1, obtaining the starting layer and the ending layer of the robot; Step S2: determining all elevator groups that can reach the starting floor to form a cache path sequence; wherein each cache path in the cache path sequence includes an elevator group sequence, an elevator sequence, a floor sequence, and an expected time point sequence; Step S3: traverse all the cached paths. If the elevator group corresponding to the traversed cached path can directly reach the terminal floor, then add the cached path to the available path sequence; otherwise, the last floor in the floor sequence of the elevator group corresponding to the current cached path is set as the current floor. Traversing all transfer elevator groups reachable by the current floor, and excluding duplicate elevator groups in the current cached path from all transfer elevator groups; if it is determined that the traversed transfer elevator group can reach the destination floor, adding the transfer elevator group and the destination floor to the current cached path, and adding the current cached path as an elevator path to the available path sequence; in step S3, if it is determined that the transfer elevator group cannot reach the destination floor, using the current cached path as a blueprint, adding elevator nodes from the current floor to all floors reachable by the transfer elevator group to form a new path, and adding the new path to the cached path sequence; Step S4, repeating step S3 until all cache paths are traversed; after all cache paths are traversed, adding 1 to the path count value, and the initial value of the path count value is 0; Step S5, repeating steps S3 to S4 until the path finding count value is greater than n, where n is less than or equal to the number of elevator groups; Arrange the elevator paths in the available path sequence from least to most according to the number of elevator nodes; wherein the elevator node represents the process of taking a single elevator, and the elevator node includes the elevator group, elevator, starting floor, ending floor, expected start time and expected end time; Step S6: If it is determined that the available path sequence is empty, the start time of the robot movement and the end time of the robot reaching the elevator room are determined; Determine a plurality of supplementary paths based on the start time and the end time, as well as the waiting time for each elevator in the cached path and the time it takes to reach the end floor; Based on the start time and the end time, as well as the waiting time for each elevator in the cached path and the time it takes to reach the end floor, several supplementary paths are determined, specifically including: Convert the elevator group sequence and floor sequence of the cache path into nodes in order, where the i-th node corresponds to the i-th elevator group with the i-th floor to the i+1-th floor; Determine the waiting time for each elevator at node i to reach the i-th floor in the desired direction, and the riding time to the i+1-th floor; Based on the waiting time and riding time of each elevator in the cache path, the new start time and the new end time are calculated, and the paths are arranged according to the new end time to obtain m supplementary paths with the earliest end times. The new riding path is determined based on the supplementary paths.

2. The robot elevator path planning method according to claim 1, characterized in that: In the elevator path, the elevator group, elevator, and starting floor of the elevator node i correspond to the i-th element of the elevator group sequence, elevator sequence, and floor sequence in the elevator path respectively, and the ending floor of the elevator node corresponds to the i+1-th element of the floor sequence in the elevator path.

3. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the robot elevator path planning method according to any one of claims 1 to 2 are implemented.

4. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the robot elevator path planning method as described in any one of claims 1 to 2 are implemented.

5. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instructions are executed by a processor, the steps of the robot elevator path planning method according to any one of claims 1 to 2 are implemented.

Images