A robot elevator riding method, device and computer-readable storage medium

Abstract

The present invention discloses a robot elevator-riding method, device and computer-readable storage medium. The method includes: after receiving the robot's elevator-riding information, the elevator control device monitors the operation of the elevator, and calls the elevator when it monitors that the robot's elevator-riding direction is consistent with the current running direction of the elevator. This can avoid calling the elevator when the current running direction of the elevator is inconsistent with the robot's elevator-riding direction, causing the robot to occupy an elevator that does not meet its elevator-riding needs, thereby improving the utilization rate of the elevator. At the same time, it can also avoid the phenomenon that the elevator stops at a floor that the passengers do not need to reach, thereby affecting the elevator-riding experience of the passengers, which helps to improve the elevator-riding experience of the passengers.

Description

Technical Field

[0001] The present invention relates to the technical field of robots riding elevators, and in particular to a robot elevator riding method, device, and computer-readable storage medium. Background Art

[0002] With the continuous development of robotics technology, more and more robots are coming into people's view. Robots have replaced humans in performing some repetitive tasks and have been used in various application scenarios (such as communities, parks, and shopping malls).

[0003] When robots operate in high-rise buildings, they often need to take elevators to different floors to perform tasks (such as delivery). Since most elevators are not currently designed for robots, robots and humans will inevitably share elevators. In this case, if a robot occupies an elevator that does not meet its needs (for example, the direction it needs to travel), it will affect the elevator's utilization rate.

[0004] Therefore, it is necessary to provide a solution that can improve the utilization rate of elevators. Summary of the Invention

[0005] Based on this, the object of the present invention is to provide a robot elevator riding method, device and computer-readable storage medium for improving the utilization rate of elevators.

[0006] In a first aspect, the present invention provides a method for a robot to take an elevator, the method comprising:

[0007] Upon receiving the robot's elevator information, the operation status of the elevator is monitored; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach;

[0008] If it is monitored that the robot's riding direction is consistent with the current running direction of the elevator, the elevator is called, and the riding direction is determined by the waiting floor and the exiting floor.

[0009] In one possible design, the method further includes:

[0010] If it is monitored that the riding direction is inconsistent with the current running direction of the elevator, continue to monitor the operation of the elevator, and call the elevator when it is monitored that the current running direction of the elevator is changed to be consistent with the riding direction.

[0011] In one possible design, the method further includes:

[0012] If it is detected that the direction of taking the elevator is inconsistent with the current running direction of the elevator, the current floor information of the elevator is monitored;

[0013] When monitoring that the elevator passes the waiting floor, calling the elevator;

[0014] When it is continuously monitored that the current running direction of the elevator is changed to be consistent with the riding direction, the elevator is called again.

[0015] In one possible design, the method further includes:

[0016] If it is monitored that the elevator riding direction is inconsistent with the current running direction of the elevator, but it is monitored that the elevator waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator, the elevator is called.

[0017] In one possible design, before monitoring that the robot's elevator riding direction is consistent with the elevator's current running direction, the method further includes:

[0018] Monitoring the lighting information of floor buttons in the elevator; determining the current running direction of the elevator based on the current floor information of the elevator and the lighting information of the floor buttons; or,

[0019] Monitor the lighting information of the up and down buttons on each floor outside the elevator, and determine the current running direction of the elevator based on the lighting information of the up and down buttons.

[0020] In one possible design, the method further includes:

[0021] After calling the elevator, the monitored information about the current floor, operation status and door opening and closing status of the elevator is sent to the robot;

[0022] When receiving the keep-door-open information sent by the robot, the elevator is controlled to keep the elevator door open; the keep-door-open information is sent by the robot when it knows that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator. The keep-door-open information is used to instruct the elevator door to remain in the open state.

[0023] In a second aspect, the present invention further provides a robot elevator riding method, the method comprising:

[0024] Sending elevator information to the cloud platform; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach;

[0025] The elevator information is forwarded to the elevator control device through the cloud platform, so that after receiving the elevator information, the elevator control device monitors the operation status of the elevator, and calls the elevator when it monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, or calls the elevator when it monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, or when it monitors that the current running direction of the elevator changes to be consistent with the elevator riding direction or when it monitors that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator; the elevator riding direction is determined by the waiting floor and the exiting floor.

[0026] In one possible design, the method further includes:

[0027] receiving the current floor information, operating status, and elevator door opening and closing status information of the elevator forwarded by the cloud platform; the current floor information, operating status, and elevator door opening and closing status information of the elevator are monitored by the elevator control device;

[0028] Based on the current floor information, operating status and elevator door opening and closing status information of the elevator, when it is known that the elevator has arrived at the waiting floor and the elevator door is open, a keep-door-open information is sent to the elevator control device to enable the elevator control device to control the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator is kept in an open state.

[0029] In a third aspect, the present invention further provides a robot elevator riding method, the method comprising:

[0030] When receiving the robot's elevator information, the elevator information is forwarded to the elevator control device; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach;

[0031] The operation status of the elevator is monitored by the elevator control device. When the elevator control device monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, the elevator is called. Alternatively, when the elevator control device monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, the elevator is called when the current running direction of the elevator is monitored to be consistent with the elevator riding direction or the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator; the elevator riding direction is determined by the waiting floor and the exiting floor.

[0032] In one possible design, the method further includes:

[0033] The elevator control device receives the current floor information, operating status and elevator door opening and closing status information of the elevator sent by the elevator control device; the current floor information, operating status and elevator door opening and closing status information of the elevator are monitored by the elevator control device;

[0034] The current floor information, operating status and elevator door opening and closing status information of the elevator are forwarded to the robot, so that the robot knows that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator, and sends a keep-door-open information to the elevator control device so that the elevator control device controls the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator is kept in an open state.

[0035] In a fourth aspect, the present invention provides an elevator control device, comprising:

[0036] a monitoring unit configured to monitor the operation of the elevator upon receiving the robot's elevator information; the elevator information includes a waiting floor and an exiting floor, the waiting floor being the elevator floor the robot is waiting for, and the exiting floor being the target floor the robot intends to reach;

[0037] The elevator calling unit is used to call the elevator when the monitoring unit detects that the robot's elevator riding direction is consistent with the current running direction of the elevator. The elevator riding direction is determined by the waiting floor and the exiting floor.

[0038] In a possible design, the monitoring unit is further configured to: if it is monitored that the boarding direction is inconsistent with the current running direction of the elevator, continue to monitor the running status of the elevator;

[0039] The elevator calling unit is further configured to call the elevator when the monitoring unit monitors that the current running direction of the elevator changes to be consistent with the riding direction.

[0040] In a possible design, the monitoring unit is further configured to: if it is monitored that the boarding direction is inconsistent with the current running direction of the elevator, monitor the current floor information of the elevator;

[0041] The elevator calling unit is further configured to: call the elevator when the monitoring unit monitors that the elevator passes the waiting floor; and call the elevator again when the monitoring unit continues to monitor that the current running direction of the elevator changes to be consistent with the riding direction.

[0042] In one possible design, the elevator call unit is further used to:

[0043] When the monitoring unit monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, but monitors that the waiting floor is located at a subsequent floor of the destination floor corresponding to the current running direction of the elevator, the elevator is called.

[0044] In one possible design, the monitoring unit is further configured to:

[0045] Monitoring the lighting information of floor buttons in the elevator; determining the current running direction of the elevator based on the current floor information of the elevator and the lighting information of the floor buttons; or,

[0046] Monitor the lighting information of the up and down buttons on each floor outside the elevator, and determine the current running direction of the elevator based on the lighting information of the up and down buttons.

[0047] In one possible design, the monitoring unit is further configured to:

[0048] After the elevator calling unit calls the elevator, the monitored information about the current floor, operation status and door opening and closing status of the elevator is sent to the robot;

[0049] When receiving the keep-door-open information sent by the robot, the elevator is controlled to keep the elevator door open; the keep-door-open information is sent by the robot when it knows that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator. The keep-door-open information is used to instruct the elevator door to remain in the open state.

[0050] In a fifth aspect, the present invention further provides a robot comprising:

[0051] A sending unit is used to send elevator information to the cloud platform; the elevator information includes a waiting floor and an exiting floor, the waiting floor is the elevator floor where the robot is waiting, and the exiting floor is the target floor that the robot intends to reach;

[0052] A processing unit is used to forward the elevator riding information to the elevator control device through the cloud platform, so that after receiving the elevator riding information, the elevator control device monitors the operation status of the elevator, and calls the elevator when it monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, or, when it monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, calls the elevator when it monitors that the current running direction of the elevator changes to be consistent with the elevator riding direction or when it monitors that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator; the elevator riding direction is determined by the waiting floor and the exiting floor.

[0053] In one possible design, the robot further includes a receiving unit, configured to receive information about the current floor, operating status, and door opening and closing status of the elevator forwarded by the cloud platform; the information about the current floor, operating status, and door opening and closing status of the elevator being monitored by the elevator control device;

[0054] The processing unit is also used to: based on the current floor information, operating status and elevator door opening and closing status information of the elevator, when it is known that the elevator has arrived at the waiting floor and the elevator door is open, send a keep-door-open information to the elevator control device through the sending unit, so that the elevator control device controls the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator is kept in an open state.

[0055] In a sixth aspect, the present invention further provides a cloud platform, comprising:

[0056] a receiving unit, configured to forward the robot's elevator information to the elevator control device upon receiving the information; the elevator information includes a waiting floor and an exiting floor, the waiting floor being the elevator floor the robot is waiting for, and the exiting floor being the target floor the robot intends to reach;

[0057] A processing unit is used to monitor the operation status of the elevator through the elevator control device, and call the elevator when the elevator control device monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, or, when the elevator control device monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, and monitors that the current running direction of the elevator changes to be consistent with the elevator riding direction or monitors that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator, call the elevator; the elevator riding direction is determined by the waiting floor and the elevator exit floor.

[0058] In one possible design, the receiving unit is further configured to: receive information about the current floor of the elevator, the operating status, and the opening and closing status of the elevator door sent by the elevator control device; the information about the current floor of the elevator, the operating status, and the opening and closing status of the elevator door are monitored by the elevator control device;

[0059] The cloud platform also includes a sending unit, which is used to forward the current floor information, operating status and elevator door opening and closing status information of the elevator to the robot, so that the robot can know that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator, and send a keep-door-open information to the elevator control device so that the elevator control device controls the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator should be kept in an open state.

[0060] In a seventh aspect, the present invention further provides a robot elevator riding device, comprising: at least one memory and at least one processor, wherein the at least one memory is used to store one or more programs;

[0061] When the one or more programs are executed by the at least one processor, the method involved in any possible design of one of the first, second and third aspects is implemented.

[0062] In an eighth aspect, the present invention also provides a computer-readable storage medium, which stores at least one program; when the at least one program is executed by a processor, it implements the method involved in any possible design of one of the first, second and third aspects above.

[0063] The beneficial technical effects of the present invention are as follows:

[0064] Compared with the existing technology, in the technical solution provided by the present invention, after receiving the robot's elevator information, the elevator control device monitors the operation of the elevator, and calls the elevator when it monitors that the robot's elevator direction is consistent with the current running direction of the elevator. This can avoid calling the elevator when the current running direction of the elevator is inconsistent with the robot's elevator direction, causing the robot to occupy an elevator that does not meet its elevator needs. The utilization rate of the elevator can be improved. At the same time, it can also avoid the phenomenon that the elevator stops at a floor that the passengers do not need to reach, thereby affecting the elevator experience of the passengers, which helps to improve the elevator experience of the passengers.

[0065] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic flow chart of a robot elevator riding method provided by the present invention;

[0067] Figure 2 A schematic flow chart of another robot elevator riding method provided by the present invention;

[0068] Figure 3 A schematic structural diagram of an elevator control device provided by the present invention;

[0069] Figure 4 A schematic structural diagram of a robot provided by the present invention;

[0070] Figure 5 A schematic diagram of the structure of a cloud platform provided by the present invention;

[0071] Figure 6This is a structural schematic diagram of a robot ladder-riding device provided by the present invention. DETAILED DESCRIPTION

[0072] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of embodiments consistent with some aspects of the present disclosure.

[0073] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a," "the," and "the" used in this disclosure are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0074] Unless otherwise specified, the terms "first", "second", etc. used in this disclosure are used to distinguish multiple objects and are not used to limit the order, timing, priority or importance of the multiple objects.

[0075] Please refer to Figure 1 As shown, the robot elevator riding method provided by the present invention includes the following steps:

[0076] S101: The robot sends elevator information to the cloud platform. Correspondingly, the cloud platform receives the elevator information from the robot.

[0077] In a specific implementation, the elevator information may include but is not limited to the waiting floor and the exiting floor, wherein the waiting floor is the elevator floor where the robot is waiting, and the exiting floor is the target floor that the robot intends to reach.

[0078] During specific implementation, when the robot determines that it needs to work across floors based on the work task, it sends the elevator information to the cloud platform to request to take the elevator from the waiting floor.

[0079] S102: The cloud platform forwards the elevator boarding information to the elevator control device. Correspondingly, the elevator control device receives the elevator boarding information forwarded by the cloud platform.

[0080] In a specific implementation, the cloud platform communicates with the robot and the elevator control device respectively through a wireless network (such as a 4G network or a WiFi network). After receiving the elevator boarding information from the robot, the cloud platform synchronously forwards the elevator boarding information to the elevator control device.

[0081] Currently, robots communicate with elevator control systems via near-field communication. When the robot sends information about boarding an elevator, it is often on a different floor than the elevator control system, which can cause the robot to be unable to communicate with the system. In this embodiment, the robot communicates with the elevator control system via a cloud platform, avoiding this situation and enabling the robot to board the elevator, further improving elevator utilization.

[0082] In the specific implementation, since the robot is not sure whether the elevator control device has received the elevator information after sending the elevator information to the cloud platform, the elevator control device sends a confirmation message to the robot through the cloud platform after receiving the confirmation information forwarded by the cloud platform to inform the robot that the elevator control device has received the elevator information, so that the robot can promptly know whether the elevator control device has received the elevator information.

[0083] S103: The elevator control device monitors the operation of the elevator and determines whether the robot's direction of travel is consistent with the elevator's current direction of travel. If the robot's direction of travel is consistent with the elevator's current direction of travel, step S104 is executed; otherwise, step S105 is executed.

[0084] In practice, the robot's direction of travel can be determined by the waiting floor and the exiting floor. For example, if the waiting floor is the 2nd floor and the exiting floor is the 10th floor, the robot's direction of travel is upward. Alternatively, if the waiting floor is the 10th floor and the exiting floor is the 2nd floor, the robot's direction of travel is downward.

[0085] Because current elevator control systems typically use direction sensors to detect the current direction of an elevator, and these sensors can only detect the current direction of an elevator while it's traveling up or down, when the elevator is stopped at a certain floor, the direction sensor cannot detect the elevator's current direction. This can cause the elevator control system to be unable to determine the elevator's current direction and call the elevator in a timely manner. Therefore, in this embodiment, the elevator control system can determine the elevator's current direction using, but not limited to, the following two methods.

[0086] Method 1

[0087] The elevator control device monitors the current floor information of the elevator and the lighting information of the floor buttons in the elevator, and then determines the current running direction of the elevator based on the current floor information of the elevator and the lighting information of the floor buttons.

[0088] For example, if the elevator control device monitors the lighting information of the floor buttons in the elevator: the floor button lights corresponding to the 1st floor, 4th floor, 9th floor, and 10th floor are lit, and the floor button lights corresponding to the 15th floor, 13th floor, and 11th floor are turned off in sequence, then the elevator control device determines that the current running direction of the elevator is downward.

[0089] Method 2

[0090] The elevator control device monitors the lighting information of the up and down buttons on each floor outside the elevator, and determines the current running direction of the elevator based on the lighting information of the up and down buttons.

[0091] For example, if the elevator control device monitors the lighting information of the up and down buttons on each floor outside the elevator: the up button lights corresponding to the 2nd floor, 4th floor, 8th floor and 18th floor change from the lit state to the off state starting from the 2nd floor, then the elevator control device determines that the current running direction of the elevator is upward.

[0092] In the present invention, the elevator control device determines the current running direction of the elevator by adopting the above-mentioned method 1 and the above-mentioned method 2. Compared with the prior art that uses a direction sensor to detect the current running direction of the elevator, it can avoid the situation where the current running direction of the elevator cannot be detected due to the elevator being stopped at a certain floor, so that the elevator control device can call the elevator in time by judging the current running direction of the elevator, which helps to improve the efficiency of the robot taking the elevator and the efficiency of elevator use.

[0093] In specific implementation, after the elevator control device receives the robot's elevator riding information, it monitors the operation of the elevator to determine whether the robot's elevator riding direction is consistent with the current running direction of the elevator, and executes step S104; or, when it determines that the robot's elevator riding direction is inconsistent with the current running direction of the elevator, executes step S105.

[0094] S104: The elevator control device calls the elevator.

[0095] In a specific implementation, the elevator control device sends a waiting floor registration signal and an exiting floor registration signal to the elevator to call the elevator. The waiting floor registration signal is used to instruct the elevator to register the waiting floor, and the exiting floor registration signal is used to instruct the elevator to register the exiting floor.

[0096] Exemplarily, the elevator control device can simultaneously send a waiting floor registration signal and an exiting floor registration signal to the elevator to call the elevator, or it can first send a waiting floor registration signal to the elevator to call the elevator, and then send an exiting floor registration signal to the elevator to call the elevator. For example, after the robot gets on the elevator, the elevator control device sends an exiting floor registration signal to the elevator to call the elevator.

[0097] In the present invention, after receiving the robot's elevator boarding information, the elevator control device monitors the operation of the elevator, and calls the elevator when it detects that the robot's elevator boarding direction is consistent with the current operating direction of the elevator. This can avoid calling the elevator when the current operating direction of the elevator is inconsistent with the robot's elevator boarding direction, causing the robot to occupy an elevator that does not meet its elevator boarding needs. The utilization rate of the elevator can be improved. At the same time, it can also avoid the phenomenon that the elevator stops at a floor that the passengers do not need to reach, thereby affecting the elevator boarding experience of the passengers, which helps to improve the elevator boarding experience of the passengers.

[0098] In practice, if the robot's direction of travel aligns with the elevator's direction of travel, the elevator may be fully loaded. In this case, the robot may be unable to enter the elevator due to a lack of space for the robot, or the elevator may trigger an overload alarm. This may result in the robot occupying an elevator that does not meet its needs, causing the elevator to stop at floors passengers do not need to reach, thus affecting the passengers' experience.

[0099] In one example provided by the present invention, before executing step S104, the elevator control device monitors whether the elevator is fully loaded. A fully loaded state refers to whether the current load capacity of the elevator car has reached the rated load capacity or the elevator is fully occupied. If the elevator is not fully loaded, step S104 is executed again to improve the passenger's experience.

[0100] S105: The elevator control device continues to monitor the operation of the elevator, and calls the elevator when it monitors that the current running direction of the elevator changes to be consistent with the direction of the robot taking the elevator.

[0101] In step S105, the elevator control device calls the elevator only when it detects that the current running direction of the elevator is consistent with the direction in which the robot takes the elevator.

[0102] In the present invention, the elevator control device continues to monitor the operation of the elevator when it monitors that the robot's elevator direction is inconsistent with the current running direction of the elevator, and calls the elevator when it monitors that the current running direction of the elevator is consistent with the robot's elevator direction. Therefore, the elevator can be called in time, and at the same time, it can avoid the situation where the robot occupies an elevator that does not meet its elevator needs, which can improve the utilization rate of the elevator, and can also avoid the phenomenon that the elevator stops at a floor that the passengers do not need to reach, thereby affecting the elevator experience of the passengers, which helps to improve the elevator experience of the passengers.

[0103] In an applicable scenario provided by the present invention, combined with Figure 1 and Figure 2As shown, in step S103, after the elevator control device determines that the robot's elevator riding direction is inconsistent with the current running direction of the elevator, the robot elevator riding method provided by the present invention further includes the following steps:

[0104] S106: If it is detected that the waiting floor is located at a subsequent floor of the destination floor corresponding to the current running direction of the elevator, the elevator control device calls the elevator.

[0105] For example, if the elevator control device monitors that the destination floor corresponding to the current running direction of the elevator is the 10th floor, and the waiting floor is the 6th floor, then the elevator control device determines that the waiting floor is located on the subsequent floor of the destination floor corresponding to the current running direction of the elevator. At this time, the elevator control device does not need to wait for the current running direction of the elevator to change to the same as the direction of the robot's elevator before calling the elevator, and can call the elevator directly.

[0106] For example, when an elevator is running downward from the 18th floor to the 10th floor, the destination floor corresponding to the elevator's current running direction is the 10th floor, and the floors below the 10th floor are the floors following the 10th floor. Alternatively, when an elevator is running upward from the 10th floor to the 18th floor, the destination floor corresponding to the elevator's current running direction is the 18th floor, and the floors above the 18th floor are the floors following the 18th floor.

[0107] In the present invention, the elevator control device calls the elevator when it detects that the robot's elevator riding direction is inconsistent with the current running direction of the elevator, but detects that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator. There is no need to wait for the current running direction of the elevator to be changed to be consistent with the robot's elevator riding direction before calling the elevator. The elevator can be called in time, and the utilization rate of the elevator can be improved at the same time.

[0108] In another applicable scenario provided by the present invention, combined with Figure 1 and Figure 2 As shown, in step S103, after the elevator control device determines that the robot's elevator riding direction is inconsistent with the current running direction of the elevator, the robot elevator riding method provided by the present invention further includes the following steps:

[0109] S107: The elevator control device monitors the current floor information of the elevator and calls the elevator when it monitors that the elevator passes the waiting floor.

[0110] In specific implementation, the elevator control device determines whether the elevator passes the waiting floor by monitoring the current floor information of the elevator, and calls the elevator when the elevator passes the waiting floor.

[0111] For example, when the elevator runs downward from the 11th floor to the 1st floor, if the waiting floor is on the 2nd floor, the elevator control device monitors the current floor information of the elevator: the current floor is any floor from the 11th floor to the 3rd floor, the elevator control device determines that the elevator passes the 2nd floor and calls the elevator.

[0112] S108. The elevator control device continues to monitor the operation of the elevator, and calls the elevator again when it monitors that the robot's elevator riding direction changes to be consistent with the current running direction of the elevator.

[0113] In specific implementation, when the elevator control device monitors that the current running direction of the elevator has changed to the same direction as the robot's elevator riding direction, it calls the elevator again, which can prevent the elevator from automatically canceling floors when changing the running direction. For example, when the elevator reaches the 1st floor, it will cancel the 2nd floor.

[0114] In the present invention, the elevator control device monitors the current floor information of the elevator when it monitors that the robot's elevator riding direction is inconsistent with the current running direction of the elevator, and calls the elevator when it monitors that the elevator passes the waiting floor. It also continues to monitor the operation of the elevator and calls the elevator again when it monitors that the robot's elevator riding direction changes to be consistent with the current running direction of the elevator. This can prevent the elevator from automatically canceling the floor when changing the running direction, while improving the utilization rate of the elevator.

[0115] In another applicable scenario provided by the present invention, combined with Figure 1 and Figure 2 As shown, after step S104, step S105 and step S108, the robot elevator riding method provided by the present invention further includes the following steps:

[0116] S109: The elevator control device sends the monitored elevator's current floor information, operating status, and elevator door opening and closing status information to the cloud platform. Correspondingly, the cloud platform receives the elevator's current floor information, operating status, and elevator door opening and closing status information sent by the elevator control device.

[0117] In practice, the elevator control device will synchronously send the monitored elevator's current floor information, operating status, and elevator door opening and closing information to the cloud platform. The elevator's operating status includes the elevator's up and down information.

[0118] S110: The cloud platform forwards the current floor information, operating status, and elevator door opening and closing status information of the elevator to the robot. Correspondingly, the robot receives the current floor information, operating status, and elevator door opening and closing status information of the elevator forwarded by the cloud platform.

[0119] In practice, because robots currently communicate with elevator control devices via near-field communication, there is a possibility that the robot may be unable to communicate with the elevator control device if they are not on the same floor or the elevator door has not yet opened. In the present invention, the cloud platform forwards the elevator's current floor information, operating status, and door opening and closing status information monitored by the elevator control device to the robot. This avoids the situation where the robot is unable to determine whether the elevator has reached the waiting floor or whether the elevator door is open when unable to communicate with the elevator control device. Instead, the robot can promptly determine whether the elevator has reached the waiting floor and the elevator door is open.

[0120] S111: Based on the elevator's current floor information, operating status, and elevator door opening and closing status information, the robot receives the door-opening information from the robot when it learns that the elevator has reached the waiting floor and the elevator door is open.

[0121] In a specific implementation, when the elevator reaches the waiting floor and the elevator door is open, in this case, the robot can communicate with the elevator control device through near-field communication and send a keep-door-open message to the elevator control device.

[0122] S112: The elevator control device controls the elevator to keep the elevator door open.

[0123] In specific implementation, after the elevator control device receives the keep-door-open information sent by the robot, it controls the elevator to keep the elevator door open, so that the robot can smoothly enter the elevator and take it to the exit floor.

[0124] In the present invention, after calling the elevator, the elevator control device forwards the monitored information of the current floor, operation status and elevator door opening and closing status of the elevator to the robot through the cloud platform, so that the robot can promptly know whether the elevator has reached the waiting floor and the elevator door is open. When it is known that the elevator has reached the waiting floor and the elevator door is open, the elevator control device sends a keep door open message, so that the robot can smoothly enter the elevator and take it to the exit floor, which helps to improve the utilization rate of the elevator.

[0125] It should be noted that the above Figure 1 and Figure 2 The machine elevator method shown is based on the example of a robot communicating with an elevator control device via near field communication. In specific implementation, when the robot and the elevator control device support communication via a wireless network, the communication information between the robot and the elevator control device (such as elevator information, etc.) does not need to be forwarded through the cloud platform. The implementation process of the machine elevator method in this case is the same as the above Figure 1 and Figure 2 The implementation process of the machine elevator riding method shown is the same or similar in real time except that the communication information between the robot and the elevator control device does not need to be forwarded through the cloud platform, and will not be repeated here.

[0126] It can be seen from the above description that, compared with the existing technology, in the technical solution provided by the present invention, after receiving the robot's elevator information, the elevator control device monitors the operation of the elevator, and calls the elevator when it monitors that the robot's elevator direction is consistent with the current running direction of the elevator. This can avoid calling the elevator when the current running direction of the elevator is inconsistent with the robot's elevator direction, causing the robot to occupy an elevator that does not meet its elevator needs. The utilization rate of the elevator can be improved. At the same time, it can also avoid the phenomenon that the elevator stops at a floor that the passengers do not need to reach, thereby affecting the elevator experience of the passengers, which helps to improve the elevator experience of the passengers.

[0127] Based on the same inventive concept, the embodiment of the present invention further provides a ladder control device, such as Figure 3 As shown, the ladder control device 200 includes:

[0128] The monitoring unit 201 is used to monitor the operation of the elevator when receiving the robot's elevator information; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach;

[0129] The elevator calling unit 202 is used to call the elevator when the monitoring unit 201 monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator. The elevator riding direction is determined by the waiting floor and the elevator exiting floor.

[0130] In a possible design, the monitoring unit 201 is further configured to: if it is detected that the direction of taking the elevator is inconsistent with the current direction of operation of the elevator, continue to monitor the operation of the elevator;

[0131] The elevator calling unit 202 is further used to call the elevator when the monitoring unit 201 monitors that the current running direction of the elevator is changed to be consistent with the direction of taking the elevator.

[0132] In a possible design, the monitoring unit 201 is further configured to: if it is detected that the direction of taking the elevator is inconsistent with the current running direction of the elevator, monitor the current floor information of the elevator;

[0133] The elevator calling unit 202 is also used to: call the elevator when the monitoring unit 201 monitors that the elevator passes the waiting floor; and call the elevator again when the monitoring unit 201 continues to monitor that the current running direction of the elevator is consistent with the direction of taking the elevator.

[0134] In one possible design, the elevator call unit 202 is further configured to:

[0135] The monitoring unit 201 monitors that the direction of taking the elevator is inconsistent with the current running direction of the elevator, but monitors that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator, and calls the elevator.

[0136] In one possible design, the monitoring unit 201 is further configured to:

[0137] Monitor the floor button lighting information in the elevator; determine the current running direction of the elevator based on the current floor information of the elevator and the floor button lighting information; or,

[0138] Monitor the lighting information of the up and down buttons on each floor outside the elevator, and determine the current running direction of the elevator based on the lighting information of the up and down buttons.

[0139] In one possible design, the monitoring unit 201 is further configured to:

[0140] After the elevator call unit calls the elevator, it sends the monitored elevator's current floor information, operating status, and elevator door opening and closing status information to the robot;

[0141] When receiving the keep-door-open information sent by the robot, the elevator is controlled to keep the elevator door open; the keep-door-open information is sent by the robot when it knows that the elevator has reached the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator. The keep-door-open information is used to instruct the elevator door to remain in the open state.

[0142] The elevator control device 200 in the embodiment of the present invention is similar to the above-mentioned Figure 1 and Figure 2 The robot elevator riding method shown is an invention based on the same concept. Through the above detailed description of the robot elevator riding method, those skilled in the art can clearly understand the implementation process of the elevator control device 200 in this embodiment, so for the sake of brevity of the specification, it will not be repeated here.

[0143] Based on the same inventive concept, an embodiment of the present invention further provides a robot, such as Figure 4 As shown, the robot 300 includes:

[0144] The sending unit 301 is used to send the elevator information to the cloud platform; the elevator information includes the waiting floor and the exiting floor. The waiting floor is the elevator floor where the robot is waiting, and the exiting floor is the target floor that the robot intends to reach;

[0145] The processing unit 302 is used to forward the elevator riding information to the elevator control device through the cloud platform, so that after receiving the elevator riding information, the elevator control device monitors the operation status of the elevator, and calls the elevator when it monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, or calls the elevator when it monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, or when it monitors that the current running direction of the elevator changes to be consistent with the elevator riding direction or when it monitors that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator; the elevator riding direction is determined by the waiting floor and the elevator exit floor.

[0146] In one possible design, the robot further includes a receiving unit 303, which is configured to: receive information on the current floor, operating status, and door opening and closing status of the elevator forwarded by the cloud platform; the information on the current floor, operating status, and door opening and closing status of the elevator is monitored by the elevator control device;

[0147] The processing unit 302 is also used to: based on the current floor information, operating status and elevator door opening and closing status information of the elevator, when it is known that the elevator has reached the waiting floor and the elevator door is open, send a keep-door-open information to the elevator control device through the sending unit, so that the elevator control device controls the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator remains in an open state.

[0148] The robot 300 in the embodiment of the present invention is similar to the above-mentioned Figure 1 and Figure 2 The robot elevator riding method shown is an invention based on the same concept. Through the above detailed description of the robot elevator riding method, those skilled in the art can clearly understand the implementation process of the robot 300 in this embodiment, so for the sake of brevity of the specification, it will not be repeated here.

[0149] Based on the same inventive concept, the embodiment of the present invention further provides a cloud platform, such as Figure 5 As shown, the cloud platform 400 includes:

[0150] The receiving unit 401 is configured to forward the elevator boarding information received by the robot to the elevator control device; the elevator boarding information includes a waiting floor and an exiting floor, where the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach;

[0151] Processing unit 402 is used to monitor the operation status of the elevator through the elevator control device, and call the elevator when the elevator control device monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, or, when the elevator control device monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, monitors that the current running direction of the elevator changes to be consistent with the elevator riding direction or monitors that the waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator, call the elevator; the elevator riding direction is determined by the waiting floor and the elevator exit floor.

[0152] In one possible design, the receiving unit 401 is further configured to: receive information about the current floor, operation status, and door opening and closing status of the elevator sent by the elevator control device; the information about the current floor, operation status, and door opening and closing status of the elevator is monitored by the elevator control device;

[0153] The cloud platform also includes a sending unit 403, which is used to forward the current floor information, operating status and elevator door opening and closing status information of the elevator to the robot, so that the robot can know that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator, and send a keep-door-open information to the elevator control device so that the elevator control device controls the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator should remain in an open state.

[0154] The cloud platform 400 in the embodiment of the present invention is similar to the above Figure 1 and Figure 2 The robot elevator riding method shown is an invention based on the same concept. Through the above detailed description of the robot elevator riding method, those skilled in the art can clearly understand the implementation process of the cloud platform 400 in this embodiment, so for the sake of brevity of the specification, it will not be repeated here.

[0155] Based on the same inventive concept, the embodiment of the present invention also provides a robot elevator device, such as Figure 6 As shown, the robot elevator device 500 may include: at least one memory 501 and at least one processor 502.

[0156] The at least one memory 501 is used to store one or more programs.

[0157] When one or more programs are executed by at least one processor 502, the above Figure 1 and Figure 2 The robot's elevator riding method is shown.

[0158] The robot elevator riding device 500 may also optionally include a communication interface, which is used to communicate with external devices and exchange data.

[0159] It should be noted that the memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (nonvolatile memory), such as at least one disk memory.

[0160] In a specific implementation, if the memory 501, processor 502, and communication interface are integrated on a single chip, the memory 501, processor 502, and communication interface can communicate with each other via an internal interface. If the memory 501, processor 502, and communication interface are implemented independently, the memory 501, processor 502, and communication interface can be connected to each other via a bus and communicate with each other.

[0161] It should be noted that the robot elevator riding device 500 can be one of the elevator control device 200, the robot 300 and the cloud platform 400.

[0162] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, which can store at least one program. When the at least one program is executed by a processor, the above Figures 1 to 6 The robot's elevator riding method is shown.

[0163] It should be understood that a computer-readable storage medium is any data storage device that can store data or programs that can be subsequently read by a computer system. Examples of computer-readable storage media include read-only memory, random access memory, CD-ROMs, HDDs, DVDs, magnetic tapes, and optical data storage devices.

[0164] The computer readable storage medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

[0165] The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination thereof.

[0166] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A robot elevator riding method, characterized in that: include: Upon receiving the robot's elevator information, the operation status of the elevator is monitored; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach; If it is monitored that the robot's elevator riding direction is consistent with the current running direction of the elevator, the elevator is called, and the elevator riding direction is determined by the waiting floor and the exiting floor; If it is detected that the direction of taking the elevator is inconsistent with the current running direction of the elevator, the current floor information of the elevator is monitored; When monitoring that the elevator passes the waiting floor, calling the elevator; When the current running direction of the elevator is continuously monitored to be consistent with the riding direction, calling the elevator again; If it is monitored that the elevator riding direction is inconsistent with the current running direction of the elevator, but it is monitored that the elevator waiting floor is located at the subsequent floor of the destination floor corresponding to the current running direction of the elevator, the elevator is called.

2. The method according to claim 1, wherein The method further comprises: If it is monitored that the riding direction is inconsistent with the current running direction of the elevator, continue to monitor the operation of the elevator, and call the elevator when it is monitored that the current running direction of the elevator is changed to be consistent with the riding direction.

3. The method according to claim 1 or 2, wherein: Before monitoring that the robot's elevator riding direction is consistent with the elevator's current running direction, the method further includes: Monitoring the lighting information of floor buttons in the elevator; determining the current running direction of the elevator based on the current floor information of the elevator and the lighting information of the floor buttons; or, Monitor the lighting information of the up and down buttons on each floor outside the elevator, and determine the current running direction of the elevator based on the lighting information of the up and down buttons.

4. The method according to claim 1 or 2, wherein: The method further comprises: After calling the elevator, the monitored information about the current floor, operation status and door opening and closing status of the elevator is sent to the robot; When receiving the keep-door-open information sent by the robot, the elevator is controlled to keep the elevator door open; the keep-door-open information is sent by the robot when it knows that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator. The keep-door-open information is used to instruct the elevator door to remain in the open state.

5. A robot elevator riding method, characterized in that: include: Sending elevator information to the cloud platform; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach; The cloud platform forwards the elevator information to the elevator control device, so that after receiving the elevator information, the elevator control device monitors the operation of the elevator and calls the elevator when it monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator. Alternatively, if it monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, it monitors that the current running direction of the elevator changes to be consistent with the elevator riding direction or it monitors that the waiting floor is located at a subsequent floor of the destination floor corresponding to the current running direction of the elevator, or if it monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, it monitors the current floor information of the elevator and calls the elevator when it monitors that the elevator passes the waiting floor, and calls the elevator again when it continues to monitor that the current running direction of the elevator changes to be consistent with the elevator riding direction. Alternatively, if it monitors that the elevator riding direction is inconsistent with the current running direction of the elevator but it monitors that the waiting floor is located at a subsequent floor of the destination floor corresponding to the current running direction of the elevator, it calls the elevator. The direction of taking the elevator is determined by the waiting floor and the exiting floor.

6. The method according to claim 5, wherein The method further comprises: receiving the current floor information, operating status, and elevator door opening and closing status information of the elevator forwarded by the cloud platform; the current floor information, operating status, and elevator door opening and closing status information of the elevator are monitored by the elevator control device; Based on the current floor information, operating status and elevator door opening and closing status information of the elevator, when it is known that the elevator has arrived at the waiting floor and the elevator door is open, a keep-door-open information is sent to the elevator control device to enable the elevator control device to control the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator is kept in an open state.

7. A robot elevator riding method, characterized in that: include: When receiving the robot's elevator information, the elevator information is forwarded to the elevator control device; the elevator information includes the waiting floor and the exiting floor, the waiting floor is the elevator floor the robot is waiting for, and the exiting floor is the target floor the robot intends to reach; monitoring the operation of the elevator through the elevator control device, and calling the elevator when the elevator control device monitors that the robot's elevator riding direction is consistent with the current running direction of the elevator, or, if the elevator control device monitors that the elevator riding direction is inconsistent with the current running direction of the elevator, monitoring the elevator's current running direction changes to be consistent with the elevator riding direction or monitoring that the waiting floor is located at a subsequent floor of the destination floor corresponding to the current running direction of the elevator, calling the elevator; or, if the elevator riding direction is inconsistent with the current running direction of the elevator, monitoring the elevator's current floor information, calling the elevator when the elevator passes the waiting floor, and calling the elevator again when the elevator's current running direction continues to be consistent with the elevator riding direction; or, if the elevator riding direction is inconsistent with the current running direction of the elevator, but monitoring that the waiting floor is located at a subsequent floor of the destination floor corresponding to the current running direction of the elevator, calling the elevator; The direction of taking the elevator is determined by the waiting floor and the exiting floor.

8. The method according to claim 7, wherein The method further comprises: The elevator control device receives the current floor information, operating status and elevator door opening and closing status information of the elevator sent by the elevator control device; the current floor information, operating status and elevator door opening and closing status information of the elevator are monitored by the elevator control device; The current floor information, operating status and elevator door opening and closing status information of the elevator are forwarded to the robot, so that the robot knows that the elevator has arrived at the waiting floor and the elevator door is open based on the current floor information, operating status and elevator door opening and closing status information of the elevator, and sends a keep-door-open information to the elevator control device so that the elevator control device controls the elevator to keep the elevator door open; the keep-door-open information is used to indicate that the elevator door of the elevator is kept in an open state.

9. A robot elevator device, characterized in that: The robot elevator device includes: at least one memory and at least one processor, wherein the at least one memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, one of the method according to any one of claims 1 to 4, the method according to claim 5 or 6, and the method according to claim 7 or 8 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one program; when the at least one program is executed by a processor, one of the methods according to any one of claims 1 to 4, the method according to claim 5 or 6, and the method according to claim 7 or 8 is implemented.

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