Robot autonomous elevator riding method

Abstract

The present invention provides a robot autonomous elevator riding method, which includes: S101: the robot goes to the elevator according to the site allocation information sent by the dispatching management system, and after the robot is in a communication abnormality, the robot communicates data with the dispatching management system through the robot located at the elevator call point or the elevator queuing point; S102: the elevator call is made at the elevator call point, and after the robot is in a communication abnormality, the robot selects a data forwarding object according to the current floor to communicate data with the dispatching management system; S103: enter the elevator, and after the elevator reaches the target floor, exit the elevator, wherein after the robot is in a communication abnormality, the robot communicates data with the dispatching management system through the elevator control system. The present invention ensures the smoothness of communication and the reliability of task execution, shortens the task execution time, improves the task execution efficiency, and enhances the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a method for a robot to autonomously take an elevator. Background Art

[0002] Robots are machines that perform tasks automatically. They can accept human commands, run pre-programmed tasks, or act according to principles developed using artificial intelligence. Their mission is to assist or replace human work in tasks such as manufacturing and construction, or in dangerous occupations. Robotics are rapidly developing and are being applied in many industries. For example, in service industries such as restaurants, hotels, and guesthouses, service robots are used for tasks such as delivery and ordering.

[0003] Currently, autonomous service robots operating in urban buildings need to be able to autonomously ride elevators. To control the robot's elevator ride, it typically communicates with the dispatch management system that controls its movements via Wi-Fi or mobile networks. However, when the robot is in an elevator lobby or cabin, it faces the risk of weak signal and network disconnection. After a network disconnection, the robot must wait in place to reconnect. Furthermore, a disconnected network connection prevents the robot from recovering, interrupting its mission and requiring manual intervention. This increases task time and reduces efficiency. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the present invention proposes a method for robot autonomous elevator riding, which connects the robot to the dispatching management system for communication, performs corresponding elevator riding operations according to the instructions of the dispatching management system, and detects that the communication connection with the dispatching management system is disconnected during the elevator riding operation. Then, the robot is connected to the dispatching management system through other robots or elevator control systems, and uses near-field communication to solve the problem of easy network disconnection in weak signal environments, thereby ensuring the smoothness of communication and the reliability of task execution, shortening the task execution time, improving the task execution efficiency, and enhancing the user experience.

[0005] To solve the above problems, the present invention adopts a technical solution: a method for a robot to take an elevator autonomously, comprising: S101: the robot goes to the elevator according to the site allocation information sent by the dispatching and management system, wherein, after the robot is in a communication abnormality, the robot communicates data with the dispatching and management system through a robot located at the elevator call point or the elevator queuing point to go to the elevator; S102: making an elevator call at the elevator call point, wherein, after the robot is in a communication abnormality, the robot selects a data forwarding object according to the current floor to communicate data with the dispatching and management system to make an elevator call, and the data forwarding object includes the elevator control system and the robot located at the elevator queuing point; S103: entering the elevator, and exiting the elevator after the elevator reaches the target floor, wherein, after the robot is in a communication abnormality, the robot communicates data with the dispatching and management system through the elevator control system to enter the elevator, exit the elevator and pass through the control area.

[0006] Furthermore, the step of the robot obtaining the site allocation information sent by the dispatching management system and going to the elevator specifically includes: the robot reports the elevator call point and the current real-time location information to the dispatching management system, receives the site allocation information generated by the dispatching management system according to the elevator call point and real-time location information, and goes to the elevator call point based on the site allocation information and the communication information with the dispatching management system, and the site allocation information includes one of the elevator call point, elevator queuing point, and intermediate point.

[0007] Furthermore, the step of selecting a data forwarding object based on the current floor to communicate data with the scheduling management system to make an elevator call specifically includes: the robot obtains the total number of floors preset for the elevator, obtains a first difference and a second difference based on the total number of floors and the current floor, selects a data forwarding object based on the size relationship between the first difference, the second difference and the set value, and communicates with the scheduling management system through the data forwarding object, wherein the first difference is the absolute value of the difference between the total number of floors and the number of the floor where the robot is located, and the second difference is the absolute value of the difference between the floor where the robot is located and the lowest floor.

[0008] Furthermore, the step of selecting a data forwarding object based on the size relationship between the first difference, the second difference and the set value specifically includes: if the first difference and the second difference are both not greater than the set value, the robot communicates with the elevator control system to send the data to the scheduling management system; if the first difference or the second difference is greater than the set value, the robot selects to communicate with the robot located at the elevator queuing point to send the data to the scheduling management system.

[0009] Furthermore, the step of the robot selecting a communication connection with a robot located at an elevator queuing point to send data to a dispatching management system also includes: if there is no robot at the elevator queuing point, the robot returns to the previous task site and makes an elevator call or alarm based on the communication connection status with the dispatching management system on the return journey.

[0010] Furthermore, the step of entering the elevator specifically includes: after receiving the entry permission instruction sent by the dispatching and management system, executing the elevator entry operation, and judging whether the elevator is entered within the set time, wherein, when the communication is abnormal, the dispatching and management system communicates with the robot through the elevator control system to control the robot to enter the elevator operation; if so, reporting the entry success information after entering the elevator; if not, returning to the elevator call point, reporting the elevator entry failure information, and re-making the elevator call at the elevator call point.

[0011] Furthermore, the step of exiting the elevator specifically includes: after receiving the exit instruction from the dispatching and management system, executing the exit elevator operation, and determining whether the elevator is exited within the predetermined time, wherein, after a communication abnormality occurs, the dispatching and management system communicates with the robot through the elevator control system to control the robot to exit the elevator operation; if so, reporting the exit success information, wherein, after the robot exits the elevator, if the communication abnormality occurs, the robot communicates with the dispatching and management system through the elevator control system or the robot located in the traffic control area to pass through the traffic control area; if not, returning to the stop point inside the elevator, reporting the elevator exit failure information, and re-making the elevator call at the stop point.

[0012] Furthermore, the step of entering the elevator also includes: determining whether non-autonomous movement occurs during the process of entering the elevator; if so, continuing to enter the elevator after the non-autonomous movement stops, making an elevator call based on the elevator entry result, or exiting the elevator according to the received instruction after the elevator reaches the target floor; if not, exiting the elevator according to the received instruction after the elevator reaches the target floor.

[0013] Furthermore, after the step of entering the elevator, the step also includes: determining whether non-autonomous movement occurs inside the elevator; if so, obtaining the positioning of the robot, and determining whether the robot is located at the target floor based on the positioning of the robot after the non-autonomous movement stops, and when the robot is not located at the target floor and leaves the elevator, reporting an abnormality and re-making the elevator call; if not, after the elevator reaches the target floor, exiting the elevator according to the received instructions.

[0014] Furthermore, the step of exiting the elevator also includes: determining whether non-autonomous movement occurs during the process of exiting the elevator; if so, obtaining the robot's positioning information during the movement, performing tasks or continuing to exit the elevator according to the positioning information; if not, continuing to execute the exit elevator operation.

[0015] Compared with the existing technology, the beneficial effects of the present invention are: the robot is communicatively connected with the dispatching management system, the corresponding elevator operation is performed according to the instructions of the dispatching management system, and after detecting that the communication connection with the dispatching management system is disconnected during the elevator operation, it is connected to the dispatching management system through other robots or elevator control systems. The near-field communication method is used to solve the problem of easy network disconnection in a weak signal environment, ensure the smoothness of communication and the reliability of task execution, shorten the task execution time, improve the task execution efficiency, and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of an embodiment of a method for autonomously riding an elevator by a robot according to the present invention;

[0017] Figure 2 Schematic diagram of an embodiment of the connection relationship between the robot, the dispatching management system and the elevator control system in the robot autonomous elevator riding method of the present invention. DETAILED DESCRIPTION

[0018] The following describes the implementation methods of the present application through specific concrete examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the various embodiments of the present disclosure generally described and shown in the drawings herein can be combined with each other without conflict, and the structural components or functional modules therein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents selected embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0019] See also Figures 1 to 2 ,in, Figure 1 This is a flow chart of an embodiment of a method for autonomously riding an elevator by a robot according to the present invention; Figure 2 This is a schematic diagram of an embodiment of the connection relationship between the robot, the dispatching management system and the elevator control system in the robot autonomous elevator riding method of the present invention. Figures 1 to 2The robot autonomous elevator riding method of the present invention is described in detail.

[0020] In this embodiment, the robot communicates with the dispatch management system and executes elevator boarding operations according to its instructions. The physical medium running the dispatch management backend enables backend system and database operations. The dispatch management backend provides unified management of the robot and interacts with the elevator control system.

[0021] In a specific embodiment, the dispatch management system connects to multiple robots via communication equipment, possessing wireless communication networking capabilities and enabling the use of multiple wireless communication methods (such as Wi-Fi, Ethernet, 4G communication, and 433MHz communication) to connect robots. The robots support autonomous navigation, positioning, and obstacle avoidance, and can autonomously perform tasks such as delivery, disinfection, medical consultation, and temperature measurement. The elevator control system, which includes an elevator control device and related software systems, is installed in the elevator car and controls the operation of the elevator through the elevator control system.

[0022] Before the robot autonomously takes the elevator, it uses LiDAR to scan a two-dimensional map of the environment. Based on input commands, it sets predetermined locations, including mission points, elevator queue points, elevator call points, and traffic control zones. (When multiple robots are moving, a dispatching and management system is required to manage their movement to ensure orderly passage.) During the mission, the robot uses LiDAR and binocular sensors to locate itself in real time and autonomously plans its route based on the mission points.

[0023] In this embodiment, the robot autonomous elevator riding method includes:

[0024] S101: The robot goes to the elevator according to the site allocation information sent by the dispatch management system. After the robot is in communication abnormality, the robot communicates with the dispatch management system through the robot located at the elevator call point or the elevator queue point to go to the elevator.

[0025] The steps for the robot to obtain the site allocation information sent by the dispatching management system and go to the elevator specifically include: the robot reports the elevator call point and the current real-time location information to the dispatching management system, receives the site allocation information generated by the dispatching management system according to the elevator call point and real-time location information, and goes to the elevator based on the site allocation information and the communication information with the dispatching management system. The site allocation information includes one of the elevator call point, elevator queuing point, and intermediate point.

[0026] Elevator call points, elevator queue points, and intermediate points are pre-defined locations within the robot's path. When a robot reaches an elevator call point, it can call the elevator associated with that location. Calling methods include communication between the robot and the dispatch management system, forwarding the call to the dispatch management system via other robots, and direct communication between the robot and the elevator control system to indirectly connect with the dispatch management system. When an elevator call point is occupied, the robot waits at the elevator queue point. For the robot, the elevator queue point's next target location is the elevator call point. Intermediate points are available docking locations during a robot's mission. When the next target location of an intermediate point is a queue point, the robot communicates with the dispatch management system to obtain the number of robots headed to the elevator queue point and the number of elevator queue points. If the number of robots headed to the elevator queue point is less than the number of elevator queue points, the robot proceeds to the elevator queue point. Otherwise, the robot waits at the currently available docking location (intermediate point) or plans another route.

[0027] Specifically, when a robot performs a cross-floor mission, it reports its current real-time coordinates and the robot's location on the elevator call point it is heading to to the dispatch management system. The dispatch system calculates the robot's travel distance based on the robot's current location and the elevator call point's location, and calculates the robot's estimated arrival time (ETA) based on its average travel speed. The dispatch management system then assigns each robot to a destination based on its ETA (the first robot to arrive goes directly to the elevator call point, and the next robot to arrive goes to the elevator queue point).

[0028] In this embodiment, multiple queue points are set for the same elevator. When the dispatching management system assigns stations, if the number of robots heading to the same elevator exceeds the number of queue points, the robots not assigned to queue points will be rerouted. If no other routes are available, the dispatching management system sends the robot station allocation information for waiting at an intermediate point. The robot receives the station allocation information and waits at an intermediate point (set during deployment) on the path to the elevator call point. If a vacant station is found in the queue point, the dispatching management system sends the robot information about the vacant queue point, directing the robot to that vacant station.

[0029] In this embodiment, a robot arriving at an elevator call point directly calls the elevator, jumping into the elevator call process. A robot heading to a queue point according to station allocation information, upon reaching the elevator queue point, reports the priority number of its current task to the dispatch management system. The system then re-arranges the robots' elevator call order based on the priority allocation and notifies the robots. The robots then queue up and proceed to the elevator call point according to this call order.

[0030] In one embodiment, if a robot experiences a communication anomaly at a queue point (e.g., disconnection from the dispatch management system due to a network outage, data transmission speed falling below a preset value, etc.), and is unable to communicate with the dispatch management system, the robot communicates with robots at other queue points / elevator call points via near-field broadcasting (NFC), which forwards data through other robots to enable communication with the dispatch management system. NFC can be implemented using WiFi, Bluetooth, ZigBee, or other wireless communication methods.

[0031] S102: Make an elevator call at the elevator call point. When the robot is in communication abnormality, it selects a data forwarding object based on the current floor to communicate with the dispatch management system to make an elevator call. The data forwarding object includes the elevator control system and the robot at the elevator queuing point.

[0032] In this embodiment, a robot at an elevator call point communicates with the dispatch management system to initiate an elevator call (an elevator call includes reporting the elevator number, the robot's current floor, and the target floor). After receiving this information, the dispatch management system checks the elevator's occupancy status. If the elevator is occupied by another robot, the call request is rejected and an elevator call feedback is sent, commanding the robot to continue waiting. After the other robots exit the elevator and the elevator status is released to idle, the call can resume. If the elevator is not occupied, the dispatch management system communicates with the elevator control system to call the elevator. Upon receiving the elevator call request, the elevator control system controls the elevator to the robot's floor. The dispatch management system sends the elevator call feedback indicating a successful call to the robot and sets the elevator status to occupied. The robot then waits in place for the elevator.

[0033] While the robot continues to wait according to instructions from the dispatch management system, it can connect to the elevator control system to obtain the elevator status and, if the elevator is idle, initiate an elevator call. Alternatively, the dispatch management system can connect to the elevator control system to obtain the elevator status and, if the elevator is unoccupied, initiate an elevator call. Upon receiving the elevator call request, the elevator control system controls the elevator to the robot's floor. The dispatch management system sends an elevator call success message ("elevator call feedback") to the robot.

[0034] In this embodiment, when a robot experiences a communication anomaly, the steps of selecting a data forwarding object based on the current floor it is on to communicate with the dispatch management system for an elevator call specifically include: the robot obtaining the total number of floors preset for the elevator, obtaining a first difference and a second difference based on the total number of floors and the current floor it is on, selecting a data forwarding object based on the relationship between the first difference, the second difference, and a set value, and communicating with the dispatch management system via the data forwarding object, wherein the first difference is the absolute value of the difference between the total number of floors and the floor the robot is on, and the second difference is the absolute value of the difference between the floor the robot is on and the lowest floor. The lowest floor is the lowest floor the elevator can reach, and the total number of floors is the number of floors the elevator can reach. The set value can be set according to user needs.

[0035] Among them, the step of selecting the data forwarding object based on the size relationship between the first difference, the second difference and the set value specifically includes: if the first difference and the second difference are both not greater than the set value, the robot is communicated with the elevator control system to send the data to the scheduling management system; if the first difference or the second difference is greater than the set value, the robot selects to communicate with the robot located at the elevator queuing point to send the data to the scheduling management system.

[0036] Specifically, the step of the robot selecting a communication connection with a robot located at an elevator queuing point to send data to the dispatching management system also includes: if there is no robot at the elevator queuing point, the robot returns to the previous task site and makes an elevator call or alarm based on the communication connection status with the dispatching management system on the return journey.

[0037] In one specific embodiment, if a robot at an elevator call point experiences a communication anomaly (disconnected from the dispatch management system, data transmission speed below a preset value, etc.) when calling an elevator, the robot reads the total number of floors preset for the elevator number from its local configuration information. If the absolute value of the difference between the robot's current floor and the total number of floors (including negative floors) is less than or equal to a preset value, and the absolute value of the difference between the robot's current floor and the lowest floor (including negative floors) is less than or equal to a preset value, the robot directly establishes a connection with the elevator control system in the elevator car via near-field communication and sends an elevator call request. Upon receiving the elevator call request, the elevator control system forwards it to the dispatch management system. If the dispatch management system determines that the elevator is idle, it allows the robot to board the elevator and sends the elevator call request to the elevator control system. If the elevator is busy, the dispatch system will deny the elevator call information from being forwarded to the robot via the elevator control system.

[0038] In another specific embodiment, if the absolute value of the difference between the floor where the robot is located and the total number of floors (including negative floors) is greater than a set value or the absolute value of the difference between the floor where the robot is located and the lowest floor (including negative floors) is greater than a set value, the robot communicates with the robot at the elevator queue point through near-field broadcasting, and communicates with the dispatching management system through data forwarding by other robots. If there is no robot at the elevator queue point, the robot returns to the previous task site and attempts to re-establish a connection with the dispatching management system during the return process. If the robot successfully establishes a connection with the dispatching management system on the way back, the robot goes to the target elevator call point again. If it still cannot establish a connection with the dispatching management system after returning to the previous task site, it will wait in place and issue an alarm through voice broadcast. Alarms can also be issued through indicator light warnings, alarm bell broadcasts, etc.

[0039] S103: Enter the elevator according to the received entry instruction, and after the elevator reaches the target floor, exit the elevator according to the received instruction. When entering or exiting the elevator, if there is a communication abnormality, the robot communicates data through the elevator control system to enter or exit the elevator.

[0040] In this embodiment, after the elevator reaches the robot's floor, the elevator control system controls the elevator door to remain open and notifies the dispatch management system, which in turn notifies the robot that it can enter the elevator. After receiving the permission to enter, the robot autonomously navigates into the elevator. Once inside, the robot reports successful entry to the dispatch management system (and simultaneously switches its navigation map to the target floor). The dispatch management system then sends a door-closing signal to the elevator control system, which closes the door and proceeds to the target floor.

[0041] Among them, the steps of entering the elevator specifically include: after receiving the entry permission instruction sent by the dispatching management system, executing the elevator entry operation, and judging whether the elevator is entered within the set time. Among them, when the communication is abnormal, the dispatching management system communicates with the robot through the elevator control system to control the robot to enter the elevator operation; if so, reporting the entry success information after entering the elevator; if not, returning to the elevator call point, reporting the elevator entry failure information, and re-calling the elevator at the elevator call point.

[0042] Specifically, if the robot scans an obstacle while entering the elevator, resulting in it being unable to enter within the set time, the robot will autonomously return to the elevator call point and report the failure to enter the elevator to the dispatch management system. The dispatch management system will send the failure to enter information to the elevator control system and release the elevator occupancy status. The elevator control system will control the elevator door to close. After the robot returns to the elevator call point, it will call the elevator again to take the elevator.

[0043] In this embodiment, when the robot performs the operation of entering or exiting the elevator, the dispatching management system robot is connected to the robot through the elevator control system after a communication abnormality occurs. In other embodiments, the robot can also actively connect to the elevator control system after detecting a communication abnormality to connect to the dispatching management system through the elevator control system.

[0044] In one specific embodiment, if the robot cannot establish a connection with the dispatch management system due to a network anomaly after the elevator reaches the robot's floor, the dispatch management system transmits the robot's communication anomaly status to the elevator control system. The elevator control system then notifies the robot via near-field communication. Upon receiving the elevator control system's entry command, the robot autonomously navigates into the elevator. Once inside, the robot reports a successful entry to the elevator control system, which then closes the elevator doors and proceeds to the target floor. The elevator control system also notifies the dispatch management system of the robot's successful entry. If the robot encounters an obstacle during entry and is unable to enter after a set time, the robot autonomously returns to the elevator call point and reports an entry failure to the elevator control system. The elevator control system then closes the elevator doors and notifies the dispatch management system of the robot's entry failure. The dispatch management system then restores the elevator's occupied status to idle, and the robot initiates another elevator call.

[0045] In one embodiment, after an elevator reaches its destination floor, the elevator control system notifies the dispatch management system of the arrival information, which in turn instructs the robot to exit the elevator. Upon receiving the exit command, the robot autonomously navigates out of the elevator. Once exited, the robot reports a successful exit to the dispatch management system, which then sends a door-closing signal to the elevator control system to close the doors and restores the elevator's occupied status to idle.

[0046] In this embodiment, the steps of exiting the elevator specifically include: after receiving the exit instruction from the dispatching management system, executing the exit elevator operation, and determining whether the elevator is exited within the predetermined time, wherein the dispatching management system communicates with the robot through the elevator control system after a communication abnormality to control the robot to exit the elevator operation; if so, reporting the exit success information, wherein, after the robot exits the elevator, if the communication is abnormal, the robot communicates with the dispatching management system through the elevator control system or the robot located in the traffic control area to pass through the traffic control area; if not, returning to the stop point inside the elevator, reporting the elevator exit failure information, and re-calling the elevator at the stop point.

[0047] In one specific embodiment, if the robot detects an obstacle while exiting an elevator and is unable to exit within a predetermined time, the robot returns to the elevator's internal parking point and reports the exit failure to the dispatch management system. The dispatch management system sends the exit failure information to the elevator control system, which controls the elevator doors to close. The robot then calls the elevator again at the elevator's internal parking point. The dispatch management system sends the elevator call command to the elevator control system, which controls the elevator to first proceed to the robot's departure floor (once arriving at the departure floor, the robot will directly jump to the in-position state and close the doors). The robot then proceeds to the target floor and attempts to exit the elevator.

[0048] In one embodiment, if the robot cannot establish a connection with the dispatch management system due to a communication anomaly after reaching its target floor, the dispatch management system sends the robot's communication anomaly status to the elevator control system, which then notifies the robot via near-field communication. Upon receiving the exit command from the elevator control system, the robot autonomously navigates out of the elevator. After exiting, the robot reports a successful exit to the elevator control system, which controls the elevator doors to close. The elevator control system also notifies the dispatch management system of the robot's successful exit, and the dispatch management system sets the elevator's occupied status to idle. If the robot encounters an obstacle during exit and is unable to exit after a set time, the robot autonomously returns to a point inside the elevator and reports an exit failure to the elevator control system. The elevator control system controls the elevator doors to close and notifies the dispatch management system of the robot's entry failure. At the elevator's internal stop, the robot calls the elevator control system again. Upon receiving the elevator call command, the elevator control system notifies the dispatch management system of the robot's re-call. The elevator control system then directs the elevator to the robot's departure floor (directly transitioning to the robot's entered position and closing the doors upon arrival), before proceeding to the target floor and attempting to exit the elevator.

[0049] In the above embodiment, after the network communication between the robot and the dispatching management system switches to near-field communication abnormally, if the communication between the robot and the dispatching management system is restored during the near-field communication process, the near-field communication between the robot and the elevator control system is still maintained until the robot exits the elevator and the communication connection between the robot and the dispatching management system is normal.

[0050] The elevator entry step also includes determining whether any unintentional movement occurs during the elevator entry process. If so, the robot continues to enter the elevator after the unintentional movement stops, making an elevator call based on the elevator entry result, or exiting the elevator according to the received command after the elevator reaches the target floor. If not, the robot exits the elevator according to the received command after the elevator reaches the target floor. This method solves the problem of the robot being pulled out during the elevator entry process.

[0051] Specifically, after the non-autonomous movement stops, the robot attempts to enter the elevator again. If successful, the above entry process resumes. If failed, the robot returns to the elevator call point and calls the elevator again. If the dispatch management system does not receive the entry success / failure information sent by the robot within the set time (for example, the robot's emergency stop button is pressed but not released), the dispatch management system determines that the elevator entry timeout has occurred, restores the elevator's occupied status to idle, and notifies the elevator control system to close the elevator door. At the same time, the dispatch management system notifies the robot that the elevator ride mission has ended and that the robot needs to return to the elevator to call the elevator again.

[0052] After entering the elevator, the system also includes determining whether any unintentional movement has occurred within the elevator. If so, the robot's location is obtained, and after the unintentional movement has ceased, the robot's location is determined to be at the target floor. If the robot is not at the target floor and has exited the elevator, an exception is reported and the elevator call is re-initiated. If not, the elevator exits the elevator according to the received command after reaching the target floor. This approach addresses the issue of the robot being pulled out of the elevator while entering.

[0053] Specifically, if the robot does not receive an exit command while inside the elevator and is forced to an emergency stop, it will communicate with the elevator control system to obtain the elevator's current floor. If it is the target floor, the robot maintains the existing navigation map; otherwise, the robot's navigation map switches to the current floor. Simultaneously, the robot uses LiDAR to scan the environment and adjust its coordinates based on the map. If the robot's position remains within the elevator after non-autonomous movement ceases, the robot continues its journey. After non-autonomous movement ceases, if the robot has exited the elevator and its current floor is the target floor, it sends a successful exit command to the dispatch management system and continues its mission (if network communication with the dispatch management system is abnormal, it communicates with the elevator control system via near-field communication). The dispatch management system then resets the elevator's occupied status to idle and notifies the elevator control system to close the elevator doors. If the robot has exited the elevator and its current floor is not the target floor, it reports the abnormal exit status to the dispatch management system, which resets the elevator's occupied status to idle and proceeds to the elevator call point at that floor to re-call the elevator.

[0054] The step of exiting the elevator also includes: determining whether non-autonomous movement occurs during the process of exiting the elevator; if so, obtaining the robot's positioning information during the movement, performing tasks or continuing to exit the elevator according to the positioning information; if not, continuing to exit the elevator.

[0055] Specifically, when the robot is pulled out during the process of exiting the elevator, the robot scans the environmental information through the lidar during movement and adjusts the coordinate positioning by matching it with the map. When the non-autonomous movement stops, if it is determined that the current coordinates have completely exited the elevator, the robot sends a successful exit elevator instruction to the dispatching management system and continues to execute the task (when the network communication between the robot and the dispatching management system is abnormal, it interacts with the elevator control system through near-field communication). The dispatching management system restores the elevator occupancy status to idle and notifies the elevator control system to close the elevator door; if the elevator has not been completely exited, the robot continues to execute the exit elevator process.

[0056] In this embodiment, after exiting the elevator, the robot reports a successful exit message. After exiting the elevator, if there is a communication abnormality, the robot sends a delayed door closing instruction to the elevator control system, and navigates through the controlled area according to the communication status during the delayed door closing period.

[0057] The control zone is an arbitrary polygonal area, pre-defined during deployment. The number of robots that can pass through the control zone at any one time can be set. When a robot's route requires it to pass through a control zone, it first checks the dispatch management system outside the control zone to confirm that no robots are passing through it before entering.

[0058] Specifically, after the robot exits the elevator, if the network communication connection between the robot and the dispatching management system is normal, the robot reports the exit success information to the dispatching management system, and the dispatching management system sends a door closing signal to the elevator control system to close the door. At the same time, the dispatching management system restores the elevator occupancy status to idle.

[0059] In this embodiment, after the robot exits the elevator, if the network communication connection between the robot and the dispatching management system is abnormal, the robot sends a delayed door closing instruction to the elevator control system through near-field communication, and the elevator control system controls the elevator to delay the set time before closing the door (Note: Because the elevator room is narrow, there may be other robots queuing to call the elevator when the robot exits the elevator, so it is necessary to set a control area and perform traffic control through the dispatching management system. When inside the elevator, there is a network AP in the elevator car. After exiting the elevator, it is necessary to switch the AP. At this time, if the AP signal is weak, it is easy to cause network disconnection / network communication abnormality. Therefore, the delayed release of door closing is to allow the robot to continue to use the AP signal in the elevator to communicate with the dispatching management system to pass through the traffic control area). If the robot resumes communication with the dispatching management system during the delayed door closing period, the robot obtains traffic control area information from the dispatching management system. If there is no robot occupying the area, it will autonomously navigate through the control area. At the same time, the robot sends a signal to close the elevator door to the dispatching management system, which is forwarded to the elevator control system. The elevator control system closes the elevator door (at this time, there is no need to wait for the delayed door closing time to arrive). If there are other robots occupying the area, wait in place. If the elevator door closes after a delay, but other robots have not left the controlled area and the communication connection between the robot and the dispatch management system is disconnected, the robot will obtain the controlled area passing status of other robots through near-field communication. After other robots pass through, the robot forwards the request to enter the traffic controlled area to the dispatch management system through other robots, and after receiving permission from the dispatch management system, it will autonomously navigate through the controlled area.

[0060] In the event of a network anomaly (when the robot is unable to communicate with the dispatch management system), this invention ensures that the robot can autonomously complete the elevator boarding process without human intervention through near-field communication relay between multiple robots and near-field communication between the robot and the elevator control system. Furthermore, if the robot is abnormally dragged out of the elevator or into the elevator while inside the elevator, the robot can autonomously identify and recover without human intervention, thus avoiding network and external influences on the robot and improving the reliability of the robot's autonomous elevator boarding.

[0061] Beneficial effect: The robot autonomous elevator-riding method of the present invention connects the robot to the dispatching management system for communication, performs corresponding elevator-riding operations according to the instructions of the dispatching management system, and after detecting that the communication connection with the dispatching management system is disconnected during the elevator-riding operation, connects to the dispatching management system through other robots or elevator control systems. The near-field communication method solves the problem of easy network disconnection in a weak signal environment, ensures the smoothness of communication and the reliability of task execution, shortens the task execution time, improves the task execution efficiency, and enhances the user experience.

[0062] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0063] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot autonomous elevator riding method, characterized in that: The robot autonomous elevator riding method comprises: S101: The robot goes to the elevator according to the site allocation information sent by the dispatch management system, wherein, after the communication of the robot is abnormal, the robot communicates with the dispatch management system through the robot located at the elevator call point or the elevator queue point to go to the elevator; S102: Making an elevator call at the elevator call point, wherein after the robot is in communication abnormality, the robot selects a data forwarding object according to the current floor to communicate with the dispatch management system to make an elevator call, and the data forwarding object includes the elevator control system and the robot at the elevator queuing point; S103: Entering the elevator, and exiting the elevator after the elevator reaches the target floor, wherein, after the robot is in communication abnormality, data communication is performed with the dispatch management system through the elevator control system to enter the elevator, exit the elevator, and pass through the restricted area.

2. The robot autonomous elevator riding method according to claim 1, characterized in that: The steps of the robot obtaining the site allocation information sent by the dispatching management system and heading to the elevator specifically include: The robot reports the elevator call point and the current real-time location information to the dispatching management system, receives the site allocation information generated by the dispatching management system according to the elevator call point and the real-time location information, and goes to the elevator call point based on the site allocation information and the communication information with the dispatching management system. The site allocation information includes one of the elevator call point, the elevator queuing point, and the intermediate point.

3. The robot autonomous elevator riding method according to claim 1, characterized in that: The step of selecting a data forwarding object according to the current floor to communicate data with the dispatching management system to make an elevator call specifically includes: The robot obtains the total number of floors preset for the elevator, obtains a first difference and a second difference according to the total number of floors and the current floor, selects a data forwarding object based on the size relationship between the first difference, the second difference and the set value, and communicates with the scheduling management system through the data forwarding object, wherein the first difference is the absolute value of the difference between the total number of floors and the number of the floor where the robot is located, and the second difference is the absolute value of the difference between the floor where the robot is located and the lowest floor.

4. The robot autonomous elevator riding method according to claim 3, characterized in that: The step of selecting a data forwarding object based on the magnitude relationship between the first difference, the second difference and the set value specifically includes: If the first difference and the second difference are both not greater than the set value, the robot is connected to the elevator control system for communication to send the data to the dispatching management system; If the first difference or the second difference is greater than a set value, the robot selects to communicate with a robot located at the elevator queuing point to send data to the dispatching management system.

5. The robot autonomous elevator riding method according to claim 4, characterized in that: The step of the robot selecting to communicate with the robot at the elevator queuing point to send data to the dispatching management system also includes: If there is no robot at the elevator queuing point, the robot returns to the last task site and makes an elevator call or alarm according to the communication connection status with the dispatching management system on the way back.

6. The robot autonomous elevator riding method according to claim 1, characterized in that: The steps of entering the elevator specifically include: After receiving the entry permission instruction sent by the dispatching management system, the robot enters the elevator and determines whether the robot enters the elevator within the set time. When the communication is abnormal, the dispatching management system communicates with the robot through the elevator control system to control the robot to enter the elevator. If yes, report successful entry information after entering the elevator; If not, the system returns to the elevator calling point, reports the failure information of entering the elevator, and makes an elevator call again at the elevator calling point.

7. The robot autonomous elevator riding method according to claim 1, characterized in that: The steps of exiting the elevator specifically include: After receiving the exit instruction from the dispatching management system, the robot performs the exit elevator operation and determines whether the robot exits the elevator within a predetermined time. After the communication is abnormal, the dispatching management system communicates with the robot through the elevator control system to control the robot to perform the exit elevator operation; If yes, then report exit success information, wherein after the robot exits the elevator, if the communication is abnormal, the robot communicates with the dispatch management system through the elevator control system or the robot located in the traffic control area to pass through the traffic control area; If not, the elevator returns to the stop point inside the elevator, reports the elevator exit failure information, and calls the elevator again at the stop point.

8. The robot autonomous elevator riding method according to claim 1, characterized in that: The step of entering the elevator also includes: Determine whether involuntary movement occurs during the process of entering the elevator; If so, after the non-autonomous movement stops, continue to enter the elevator, make an elevator call according to the elevator entry result or exit the elevator according to the received command after the elevator reaches the target floor; If not, after the elevator reaches the target floor, the elevator exits according to the received instruction.

9. The robot autonomous elevator riding method according to claim 1, characterized in that: The step of entering the elevator also includes: Determine whether non-autonomous movement occurs inside the elevator; If yes, obtain the location of the robot, determine whether the robot is located at the target floor according to the location of the robot after the non-autonomous movement stops, and report an abnormality and make an elevator call again if the robot is not located at the target floor and leaves the elevator; If not, after the elevator reaches the target floor, exit the elevator according to the received instruction.

10. The robot autonomous elevator riding method according to claim 1, characterized in that: The step of exiting the elevator also includes: Determine whether non-autonomous movement occurs during the process of exiting the elevator; If so, the positioning information of the robot is obtained during the movement, and the task is performed or the exit elevator operation is continued according to the positioning information; If not, continue to execute the exit elevator operation.

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