A robot staggered protection method, device, medium and electronic equipment

Abstract

The embodiments of the present application disclose a robot staggered floor protection method, device, medium, and electronic device. The method includes: if the target elevator stops at the target robot's desired floor, instructing the target robot to enter or exit the target elevator; obtaining the current position and motion data of the target elevator during the process of the target robot entering or exiting the target elevator; determining the staggered floor risk level of the target robot based on the current position and motion data of the target elevator, and controlling the target robot based on the staggered floor risk level to protect the target robot from staggered floors. The technical solution of the present application is applicable to the situation where the robot is staggered floor protected during the process of the robot entering or exiting the elevator, which can reduce the occurrence of staggered floor accidents and improve the efficiency of taking the elevator.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot staggered protection method, device, medium, and electronic equipment. Background Art

[0002] Service robots are widely used in various industries. In certain applications, robots may need to operate across multiple floors and autonomously take elevators. During autonomous elevator travel, robots need to perform a series of operations, such as calling the elevator, determining the floor, and entering and exiting the elevator.

[0003] However, during autonomous elevator travel, the robot may make an elevator error, for example, the robot may exit the elevator at a floor other than the intended floor, which may lead to a missed floor accident and affect the robot's elevator travel efficiency. Summary of the Invention

[0004] The present application provides a robot staggered floor protection method, device, medium and electronic equipment, which are suitable for performing staggered floor protection on the robot when the robot enters or exits the elevator, and can achieve the purpose of reducing the occurrence of staggered floor accidents and improving elevator riding efficiency.

[0005] According to a first aspect of the present application, a robot staggered floor protection method is provided, the method comprising:

[0006] If the target elevator stops at the target robot's desired floor, instruct the target robot to enter or exit the target elevator;

[0007] Acquiring current position and motion data of the target elevator while the target robot enters or exits the target elevator;

[0008] The target robot is controlled based on the current position and motion data of the target elevator to protect the target robot from straying from the floor.

[0009] According to a second aspect of the present application, a robot staggered level protection device is provided, the device comprising:

[0010] a robot instruction module, configured to instruct the target robot to enter or exit the target elevator if the target elevator stops at the target robot's desired floor;

[0011] an elevator data acquisition module, configured to acquire the current position and motion data of the target elevator when the target robot enters or exits the target elevator;

[0012] The staggered floor risk determination module is used to determine the staggered floor risk level of the target robot according to the current position and motion data of the target elevator, and control the target robot based on the staggered floor risk level to perform staggered floor protection on the target robot.

[0013] According to a third aspect of the present invention, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the robot staggered layer protection method as described in the embodiment of the present application.

[0014] According to the fourth aspect of the present invention, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the computer program, the robot staggered protection method as described in the embodiment of the present application is implemented.

[0015] The technical solution of the present application determines the target robot's stray floor risk level based on the current position and motion data of the target elevator during the process of the target robot entering or exiting the target elevator, and controls the target robot based on the stray floor risk level to protect the target robot from leaving the elevator from the wrong floor. The embodiment of the present application utilizes the current position of the target elevator to verify whether the actual stop floor of the target elevator is the target robot's desired floor; and utilizes the motion state of the target elevator to determine whether the target robot has completed the operation of entering or exiting the elevator. By comprehensively considering the current position and motion data of the target elevator, the target robot's stray floor risk level is determined, and the stray floor risk level is used as the data basis for stray floor protection of the target robot, which can effectively reduce the occurrence of stray floor accidents and help improve elevator efficiency.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a flow chart of the robot staggered protection method provided in accordance with the first embodiment;

[0019] Figure 2 This is a flow chart of the robot staggered protection method provided in Example 2;

[0020] Figure 3 This is a flow chart of the robot staggered protection method provided in Example 3;

[0021] Figure 4A This is a flow chart of the robot staggered protection method provided in accordance with the fourth embodiment;

[0022] Figure 4B A schematic diagram showing a scenario in which the robot staggered protection method provided by an embodiment of the present application is applicable;

[0023] Figure 5 This is a schematic structural diagram of a robot staggered protection device provided in Example 5 of the present application;

[0024] Figure 6 This is a structural diagram of an electronic device provided in Example 6 of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", "target" and "candidate" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] Figure 1 This is a flow chart of a robot staggered floor protection method provided according to Example 1. This embodiment is applicable to situations where staggered floor protection is provided for a robot during the process of the robot entering or exiting an elevator. The method can be executed by a robot staggered floor protection device, which is configured in an elevator control system and can be implemented in the form of hardware and / or software and can be integrated into electronic equipment that runs this system.

[0029] like Figure 1 As shown, the method includes:

[0030] S110: If the target elevator stops at the target robot's desired floor, instruct the target robot to enter or exit the target elevator.

[0031] The target elevator refers to the elevator that the target robot needs to take. The target robot is a robot that needs to take an elevator and perform tasks across floors. For example, the target robot is a service robot working in a hotel. The target robot needs to enter or exit the elevator at a desired floor. The desired floor can be the target robot's departure floor or arrival floor.

[0032] The elevator control system is connected to the target elevator and the target robot in communication, and the elevator control system can assist the target elevator in calling the target elevator. Optionally, when the target robot arrives at the elevator waiting point or the elevator inside point, it sends an outbound call command or an inbound call command to the elevator control system. The inbound call command or the outbound call command is generated based on the desired floor and is used to call the target elevator. It can be known that when the target robot arrives at the elevator waiting point outside the elevator, it calls the target elevator by outbound call; when the target robot is at the elevator boarding point inside the elevator, it calls the target elevator by inbound call. The elevator control system responds to the outbound call command or the inbound call command sent by the target robot, extracts the desired floor from the outbound call command or the outbound call command, generates a key command based on the desired floor, and sends the key command to the target elevator.

[0033] The elevator control system detects the target elevator's landing floor. If the elevator control system detects that the target elevator has landed at the target robot's desired floor, the elevator control system instructs the target robot to enter or exit the target elevator. Optionally, if the target elevator has landed at the target robot's desired floor, the elevator control system instructs the target elevator to continuously illuminate the door open button, controlling the target elevator's door to open, allowing the target robot to enter or exit the target elevator.

[0034] Optionally, the elevator control system generates an elevator-riding instruction for the target robot, and sends the elevator-riding instruction to the target robot so that the target robot performs an elevator-entering or elevator-exiting operation based on the elevator-riding instruction.

[0035] Understandably, due to the complex structure of elevators and the volatile operating environment, the elevator control system may misjudge that the target elevator has stopped at the target robot's desired floor. This misjudgment is generally sporadic and is the main cause of missed floor accidents. Therefore, if the target elevator stops at the desired floor, further verification is required to determine whether the target elevator's arrival at the target robot's desired floor is a misjudgment.

[0036] S120. Acquire the current position and motion data of the target elevator while the target robot enters or exits the target elevator.

[0037] Specifically, the elevator control system obtains the current position and motion data of the target elevator as the target robot enters or exits it. This data is used to verify whether the target elevator's arrival at the target robot's desired floor is a false positive.

[0038] The current position of the target elevator refers to the actual landing floor of the target elevator; the motion data of the target elevator is used to describe the actual motion state of the target elevator. Optionally, the motion data of the target elevator is the motion speed or motion acceleration.

[0039] Optionally, while the target robot is entering or exiting the target elevator, the elevator control system continuously obtains the current position and motion data of the target elevator at a preset time interval. The preset time interval is determined based on actual conditions. For example, the preset time interval is in milliseconds and may be 200 milliseconds.

[0040] S130. Determine a staggered floor risk level of a target robot according to the current position and motion data of the target elevator, and control the target robot based on the staggered floor risk level to perform staggered floor protection on the target robot.

[0041] The target elevator's current position is used to verify whether the target elevator's actual landing floor is the target robot's desired floor. The target elevator's motion state is used to determine whether the target robot has completed an elevator entry or exit operation. The target elevator's current position, combined with its motion data, is used to determine whether a missed floor incident has occurred. It is understood that if the target robot executes an elevator entry or exit operation when the target elevator's actual landing floor is not the target robot's desired floor, a missed floor incident may occur.

[0042] The misalignment risk level is used to quantify the possibility of misalignment accidents. The misalignment risk level can serve as the data basis for misalignment protection of target robots.

[0043] The elevator control system determines the target robot's level of risk for missing floors based on the target elevator's current position and motion data, and controls the target robot based on this level. Optionally, if the likelihood of a missing floor accident is high (i.e., the missing floor risk level is high), a missing floor risk indicator is generated to alert the target robot, allowing it to respond to missing floors based on its current stage of travel.

[0044] The technical solution of the present application determines the target robot's stray floor risk level based on the current position and motion data of the target elevator during the process of the target robot entering or exiting the target elevator. The target robot is controlled based on the stray floor risk level to protect the target robot from stray floors, thereby preventing the target robot from leaving the elevator from the wrong floor. The embodiment of the present application utilizes the current position of the target elevator to verify whether the actual stop floor of the target elevator is the target robot's desired floor; and utilizes the motion state of the target elevator to determine whether the target robot has completed the operation of entering or exiting the elevator. By comprehensively considering the current position and motion data of the target elevator, the target robot's stray floor risk level is determined, and the stray floor risk level is used as the data basis for stray floor protection of the target robot, which can effectively reduce the occurrence of stray floor accidents and help improve elevator efficiency.

[0045] Example 2

[0046] Figure 2 This is a flow chart of the robot staggered floor protection method provided in accordance with Example 2. This embodiment further optimizes the above embodiment, specifically, the operation of "determining the staggered floor risk level of the target robot based on the current position and motion data of the target elevator" is refined.

[0047] like Figure 2 As shown, the method includes:

[0048] S210: If the target elevator stops at the target robot's desired floor, instruct the target robot to enter or exit the target elevator.

[0049] S220. Acquire the current position and motion data of the target elevator while the target robot enters or exits the target elevator.

[0050] S230: Compare the current position of the target elevator with the desired floor of the target robot to obtain a floor comparison result.

[0051] The floor comparison result is used to determine whether the actual stop floor of the target elevator is the desired floor of the target robot.

[0052] When the target robot enters or exits, the elevator control system compares the current position of the target elevator with the target robot's desired floor to verify whether the actual stop floor of the target elevator is consistent with the desired floor.

[0053] S240: Determine the current motion state of the target elevator according to the motion data of the target elevator.

[0054] Optionally, the current motion state of the target elevator includes: a stationary state and a moving state. The target elevator should be stationary while the target robot is entering or exiting the elevator. After the target robot completes the entry or exit operation, the target elevator's motion state changes from a stationary state to a moving state.

[0055] Based on the current motion state of the target elevator, it can be determined whether the target elevator has a position change trend, providing data support for discovering the wrong floor accident in the first place.

[0056] S250: Determine the staggered floor risk level of the target robot according to the floor comparison result and the current motion state.

[0057] The elevator control system determines the target robot's risk level of staggered floors based on the floor comparison results and the current motion status.

[0058] In an optional embodiment, the staggered floor risk level of the target robot is determined based on the floor comparison result and the current motion state, including: if the current position of the target elevator is inconsistent with the expected floor of the target robot, the staggered floor risk score of the target robot is determined to be a first risk score; if the current motion state of the target elevator changes, the staggered floor risk score of the target robot is determined to be a second risk score; and the staggered floor risk level of the target robot is determined based on the staggered floor risk score of the target robot.

[0059] If the current location of the target elevator is inconsistent with the target robot's desired floor, it indicates that the target elevator's actual stop floor is not the target robot's desired floor. Once the target robot enters or exits the elevator, a floor-missing accident will occur. In this case, the target robot's floor-missing risk score is determined as the first risk score.

[0060] Optionally, the current position and motion data of the target elevator are read by a position determination device and a motion detection device, respectively, configured in the target elevator. The position determination device may be a tag reading device for reading floor tags. Exemplarily, the tag reading device may be an RFID card reader. The motion detection device may be used to collect velocity description parameters of the target elevator; the velocity description parameters may be velocity or acceleration. Exemplarily, the motion detection device may be an accelerometer.

[0061] Optionally, if the location determination device is a tag reader, further analysis is performed on the cause of the discrepancy between the target elevator's current location and the target robot's desired floor, and the target robot's misalignment risk score is refined based on the cause. Specifically, the discrepancy between the target elevator's current location and the target robot's desired floor may be due to the tag reader reading a different floor tag or failing to read a floor tag.

[0062] Optionally, when the tag reading device reads other floor labels, the target robot's misalignment risk score is determined as the third risk score; when the tag reading device does not read the floor label, the target robot's misalignment risk score is determined as the fourth risk score.

[0063] If the current motion state of the target elevator changes, indicating that the target elevator has transitioned from a stationary state to a moving state and its position is about to change, it can be determined that the target elevator has completed an entry or exit operation. The target robot's completion of an entry or exit operation inherently carries a risk of missing floors. If the target robot completes an entry or exit operation on a floor other than its intended floor, a missing floor accident may occur. In this case, the target robot's missing floor risk score is determined as the second risk score.

[0064] Optionally, when the current position of the target elevator is consistent with the desired floor of the target robot, or the current motion state of the target elevator has not changed, the staggered floor risk score of the target robot is determined to be 0.

[0065] The specific values ​​of the first, second, third, and fourth risk scores are not necessarily related. In other words, the specific values ​​of the risk scores may or may not be the same, depending on the specific circumstances. For example, using the third and fourth risk scores to refine the first risk score could be used. The third risk score could be set to 2, and both the fourth and second risk scores could be set to 1.

[0066] Specifically, the elevator control module combines the staggered floor risk score determined based on the floor comparison results and the staggered floor risk score determined based on the current motion state to determine the target robot's staggered floor risk level. For example, if the staggered floor risk score determined based on the floor comparison results is 1 and the staggered floor risk score determined based on the current motion state is 1, then these two risk level scores are added together to obtain a final staggered floor risk score of 2. The staggered floor risk level corresponding to a staggered floor risk score of 2 is then determined.

[0067] It's known that when a misalignment occurs, the target elevator typically begins to move first, showing a trend of position change. The tag reader installed in the target elevator will then fail to read the floor tag of the desired floor. Subsequently, the tag reader will read tags from other floors. The above technical solution determines misalignment risk scores based on the different stages of misalignment, and then uses the combined risk scores to determine the misalignment risk level, ensuring the accuracy of the misalignment risk level.

[0068] S260: Control the target robot based on the staggered floor risk level to perform staggered floor protection on the target robot.

[0069] The technical solution of the embodiment of the present application compares the current position of the target elevator with the target robot's desired floor to obtain a floor comparison result; determines the current motion state of the target elevator based on the target elevator's motion data; and determines the target robot's stray floor risk level based on the floor comparison result and the current motion state. The embodiment of the present application takes into account the performance at different stages of a stray floor accident, comprehensively considers the current position and motion data of the target elevator, ensures the accuracy of the stray floor risk level, and implements stray floor protection for the target robot based on the stray floor risk level, which is beneficial to reducing the frequency of stray floor accidents and improving elevator riding efficiency.

[0070] Example 3

[0071] Figure 3 This is a flow chart of the robot staggered floor protection method provided in accordance with Example 3. This embodiment further optimizes the above-mentioned embodiment. Specifically, the operation "obtaining the current position and motion data of the target elevator" is further refined to include "the current position data of the target elevator is determined based on the acceleration value detected by the target accelerometer; the motion data of the target elevator is determined based on the acceleration value detected by the target accelerometer; and the tag reading device and the target accelerometer are disposed in the target elevator."

[0072] like Figure 3 As shown, the method includes:

[0073] S310: If the target elevator stops at the target robot's desired floor, instruct the target robot to enter or exit the target elevator.

[0074] When the floor tag read by the tag reading device is the desired floor and the target elevator is determined to be stationary based on the acceleration value detected by the target accelerometer, the elevator control system determines that the target elevator is parked at the desired floor of the target robot, and then instructs the target robot to enter or exit the target elevator.

[0075] S320: When the target robot enters or exits a target elevator, determine the current position of the target elevator according to the floor tag read by the tag reading device.

[0076] The tag reading device is configured at the target elevator and can be used to read the floor tag. The current position of the target elevator can be determined based on the floor tag read by the tag reading device.

[0077] Optionally, the tag reading device is an RFID card reader, and the corresponding floor tag is an RFID tag. The tag reading device can be located outside the elevator car of the target elevator. The RFID tag is pre-installed in the shaft of the target elevator. The RFID tag is used to distinguish different floors and is associated with a corresponding floor number.

[0078] Optionally, while the target robot enters or exits the target elevator, the tag reading device continuously reads the floor tags at a preset time interval. Exemplarily, the preset time interval is in milliseconds, such as 100 milliseconds. Optionally, the tag reading device reads the floor tags at a frequency higher than the frequency at which the elevator control system obtains the current location of the target elevator.

[0079] In an optional embodiment, the current position of the target elevator is determined based on the floor label read by the label reading device, including: determining the floor label read by the label reading device within a preset time period as a candidate floor label, and determining the frequency of occurrence of the candidate floor label; filtering the candidate floor labels according to the frequency of occurrence of the candidate floor label to obtain the target floor label; and determining the current position of the target elevator based on the target floor label.

[0080] The preset duration is determined based on actual business needs and is not limited here. The preset duration is significantly shorter than the time required for the target robot to enter or exit the target elevator. For example, the preset duration can be 1 second. The elevator control system determines the floor tags read by the tag reader within the preset duration as candidate floor tags. The number of candidate floor tags is at least two, and the specific number of candidate floor tags is determined by the preset duration and the tag reader's reading frequency. For example, if the preset duration is 1 second and the tag reader's reading frequency is 10 times per second, the number of candidate floor tags is 10. If the number of candidate floor tags is large, the elevator control system may optionally sample the floor tags read by the tag reader within the preset duration at a preset sampling frequency and use the floor tags obtained at the sampling point as candidate floor tags. Optionally, the number of candidate floor tags is compared with a preset threshold to determine whether sampling of the floor tags read by the tag reader is necessary. The sampling frequency is determined based on actual business needs; for example, the sampling frequency may be 5 times per second.

[0081] It is known that the success rate of reading floor tags is easily affected by the elevator structure and the elevator operating environment. The tag reading device may misread or fail to read the floor tag. In the embodiment of the present application, the elevator control system filters the candidate floor tags according to the frequency of occurrence of the candidate floor tags to obtain the target floor tag. Optionally, the candidate floor with the highest frequency of occurrence is determined as the target floor tag. Then, the elevator control system determines the current position of the target elevator based on the target floor tag. Specifically, based on the correspondence between the floor tag and the floor code, the current position of the target elevator can be determined based on the floor number associated with the target floor tag.

[0082] The above technical solution filters candidate floor tags based on their frequency of occurrence and uses the resulting target floor tag to determine the current location of the target elevator. This allows for more accurate determination of the target elevator's current location, which is then used to determine the target robot's misplaced floor risk level. This improves the accuracy of the misplaced floor risk level. This reduces the requirements for the tag reader's reading accuracy and tag deployment precision, improving the fault tolerance of the robot's misplaced floor protection method.

[0083] S330. Determine motion data of the target elevator according to the acceleration value detected by the target accelerometer; wherein the tag reading device and the target accelerometer are configured in the target elevator.

[0084] A target accelerometer is installed in the target elevator to detect the target elevator's acceleration. The elevator control system determines the target elevator's motion data based on the acceleration values ​​detected by the target accelerometer. This motion data describes the target elevator's actual operating status. Based on the acceleration values ​​detected by the target accelerometer, the elevator control system can determine whether the target elevator is currently stationary or in motion, and further, whether the target elevator's motion state has changed.

[0085] S340. Determine a staggered floor risk level of a target robot according to the current position and motion data of the target elevator, and control the target robot based on the staggered floor risk level to perform staggered floor protection on the target robot.

[0086] The technical solution of the present application utilizes the tag reading device and accelerometer configured in the target elevator during the process of performing staggered floor protection on the robot. Specifically, the current position and motion data of the target elevator are determined based on the floor label read by the tag reading device and the acceleration value detected by the accelerometer, and the current position and motion data of the target elevator are used to determine the staggered floor risk level of the target robot, and staggered floor protection is performed on the target robot based on the staggered floor risk level. The technical solution of the present application does not require the addition of other devices, and can achieve staggered floor protection for the robot by utilizing the tag reading device and accelerometer configured in the target elevator itself, thereby reducing the cost of staggered floor protection.

[0087] Example 4

[0088] Figure 4A This is a flow chart of the robot staggered protection method provided in Example 4. This embodiment further optimizes the above embodiment, specifically, the operation of "controlling the target robot based on the staggered risk level to perform staggered protection on the target robot" is refined.

[0089] like Figure 4A As shown, the method includes:

[0090] S410: If the target elevator stops at the target robot's desired floor, instruct the target robot to enter or exit the target elevator.

[0091] S420: Acquire the current position and motion data of the target elevator while the target robot enters or exits the target elevator.

[0092] S430: Determine the staggered floor risk level of the target robot according to the current position and motion data of the target elevator.

[0093] S440: Compare the staggered floor risk level with a preset risk threshold. If the staggered floor risk level is higher than the preset risk threshold, generate a staggered floor risk prompt.

[0094] The preset risk threshold is predetermined based on actual business needs and serves as a measure of whether the target robot's risk of straying from one floor to another is within a reasonable range. The elevator control system compares the target robot's risk level with the preset risk threshold to determine the relative magnitude of the target robot's risk level.

[0095] If the target robot's level-error risk exceeds the preset risk threshold, it can be determined that the target robot's level-error risk has exceeded the reasonable range, indicating that a level-error accident may have occurred. In this case, the elevator control system generates a level-error risk alert for the target robot. The level-error risk alert indicates that a level-error accident has occurred and instructs the target robot to take level-error measures based on its current stage of travel.

[0096] S450. Send the staggered floor risk prompt to the target robot based on a set time interval until a read receipt for the staggered floor risk prompt is received from the target robot, so that the target robot responds to the staggered floor risk prompt and handles the staggered floor based on its current stage of the elevator.

[0097] The time interval is determined based on actual business needs and is not limited here. For example, the time interval is set to 1 second. To ensure that the staggered floor risk warning is successfully delivered to the target robot, the elevator control system continuously sends staggered floor risk warnings to the target robot at set intervals until a read receipt for the staggered floor risk warning is received from the target robot.

[0098] A read receipt is generated by the target robot when it receives a misaligned floor risk alert from the elevator control system. This receipt notifies the elevator control system that the misaligned floor risk alert has been received and does not need to be resent. This read receipt is associated with the misaligned floor risk alert and is generated specifically for that specific misaligned floor risk alert.

[0099] In response to the risk of a missed floor, the target robot will implement a missed floor response based on its current elevator stage. The elevator stage includes both the entry and exit stages. The entry stage refers to the process of the target robot entering the target elevator from the elevator waiting area outside. The exit stage, the opposite of the entry stage, refers to the process of the target robot leaving the target elevator from the elevator boarding area inside.

[0100] The technical solution of the present application generates a stray floor risk warning when the target robot's stray floor risk level is higher than a preset risk threshold, and sends the stray floor risk warning to the target robot based on a set time interval until a read receipt for the stray floor risk warning is received from the target robot, thereby ensuring that the stray floor risk warning can be successfully delivered to the target robot, greatly reducing the risk of the target robot exiting the elevator at the wrong floor during the elevator riding process, and reducing the possibility of stray floor accidents. When a stray floor accident occurs, the present application generates a stray floor risk warning to instruct the target robot to respond to stray floors based on its current elevator riding stage, thereby correcting the stray floor accident as much as possible and allowing the elevator riding process to be completed normally.

[0101] In an optional embodiment, the target robot responds to the staggered floor risk prompt and responds to the staggered floor based on its current elevator riding stage, including: if the target robot is currently in the elevator entering stage and is still outside the elevator, it returns to the elevator waiting point outside the elevator and calls the target elevator again by outbound call; if the target robot is currently in the elevator entering stage and is already inside the elevator, it remains at the elevator riding point inside the elevator and calls the target elevator again by inbound call; if the target robot is currently in the elevator exiting stage and is already outside the elevator, it moves to the elevator waiting point outside the elevator and calls the target elevator again by outbound call; if the target robot is currently in the elevator exiting stage and is still inside the elevator, it returns to the elevator riding point inside the elevator and calls the target elevator again by inbound call.

[0102] If the target robot is currently in the elevator entry phase, the relative positional relationship between the target robot and the target elevator is further determined. If the target robot is still outside the elevator, indicating that the target robot's elevator entry operation has not yet been completed, the target robot returns to the elevator waiting point outside the elevator and calls the target elevator again using an outbound call. If the target robot is already inside the elevator, indicating that the target robot's elevator entry operation has been completed, the target robot remains at the elevator boarding point inside the elevator and calls the target elevator again using an inbound call.

[0103] If the target robot is currently in the exiting stage, the relative position relationship between the target robot and the target elevator is further determined. If the target robot is already outside the elevator, it means that the exiting operation of the target robot has been completed. The target robot moves to the waiting point outside the elevator and calls the target elevator again using the external call method. If the target robot is still inside the elevator, it means that the exiting operation of the target robot has not been completed. The target robot returns to the boarding point inside the elevator and calls the target elevator again using the internal call method.

[0104] The above technical solution provides a safer robot staggered floor protection method. The target robot responds to the staggered floor risk prompt based on its current elevator stage and takes staggered floor measures. When a staggered floor accident occurs, the solution customizes different protection processes according to the robot's current elevator stage and its relative position relationship with the target elevator, corrects the staggered floor accident as much as possible, and ensures that the elevator process can be completed normally.

[0105] In a specific embodiment, Figure 4B The schematic diagram shows a scenario in which the robot staggered protection method provided by the embodiment of the present application is applicable. Figure 4B , Figure 4B The card reader in corresponds to the tag reading device in this application, which can be an RFID card reader. Figure 4BThe card reader is located outside the elevator car and communicates with the EBOX slave in the elevator control system. The elevator control system can obtain the floor tags read by the RFID card reader through the EBOX slave. EBOX is a wireless Internet on-demand device that uses the advanced DLNA structure, optimizes the P4P transmission structure, and uses cloud technology for distributed data processing. Figure 4B RFID is used to represent the floor tags. RFID tags are pre-installed in the elevator shaft. RFID tags are used to distinguish different floors and are associated with corresponding floor numbers. Figure 4B 1F, 2F, 3F, 4F and 5F are floor numbers, representing the 1st to 5th floors respectively. Optionally, the target elevator is also equipped with an accelerometer ( Figure 4B (not shown), the EBOX slave can obtain the acceleration value of the target elevator through the accelerometer.

[0106] The elevator control system also includes an EBOX Master. The EBOX Master and EBOX Slave devices communicate using LoRa (Long Range Radio) technology. The EBOX Slave devices report RFID tags read by RFID readers and acceleration values ​​detected by accelerometers to the EBOX Master. The EBOX Master implements a robot stagger protection method. This method determines the current position of the target elevator based on the RFID tag reported by the EBOX Slave. It also determines the target elevator's motion data based on the acceleration values ​​reported by the EBOX Slave. Once the target elevator has arrived at the robot's desired floor, the EBOX Slave devices instruct the robot to enter or exit the elevator. The EBOX host also determines the target robot's staggered floor risk level based on the target elevator's current position and motion data; and controls the target robot through the EBOX slave based on the staggered floor risk level to protect the target robot from staggered floors. Specifically, the EBOX host compares the staggered floor risk level with a preset risk threshold. If the staggered floor risk level is higher than the preset risk threshold, a staggered floor risk prompt is generated; the staggered floor risk prompt is sent to the target robot through the EBOX slave based on a set time interval until a read receipt for the staggered floor risk prompt is received from the target robot, so that the target robot responds to the staggered floor risk prompt and takes staggered floor measures based on its current elevator stage. Figure 4B As shown in the figure, the EBOX slave and the target robot communicate based on LoRa technology. Figure 4B The robot in corresponds to the target robot in this application.

[0107] Optionally, in the case where the robot is a service robot working in a hotel, the robot and the EBOX host of each elevator communicate with the hotel business backend based on MQTT (Message Queuing Telemetry Transport) technology.

[0108] Optionally, a response time can be pre-set in the elevator control system. If the elevator control system does not receive a read receipt for the robot's misaligned floor risk warning within the response time, the system will send the misaligned floor risk warning to the hotel's backend, which will terminate the robot's current task. Alternatively, the hotel's backend will notify the operation and maintenance personnel by phone, notifying them to troubleshoot the problem.

[0109] Example 5

[0110] Figure 5 This is a schematic diagram of the structure of a robot staggered floor protection device provided in Example 5 of this application. This embodiment is applicable to situations where a robot staggered floor protection is provided when entering or exiting an elevator. The device can be implemented using software and / or hardware and can be integrated into electronic devices such as smart terminals.

[0111] like Figure 5 As shown, the device may include: a robot indication module 510, an elevator data acquisition module 520 and a staggered floor risk determination module 530.

[0112] a robot instruction module 510 for instructing the target robot to enter or exit the target elevator if the target elevator stops at the target robot's desired floor;

[0113] an elevator data acquisition module 520 for acquiring the current position and motion data of the target elevator when the target robot enters or exits the target elevator;

[0114] The staggered floor risk determination module 530 is used to determine the staggered floor risk level of the target robot according to the current position and motion data of the target elevator, and control the target robot based on the staggered floor risk level to perform staggered floor protection on the target robot.

[0115] The technical solution of the present application determines the target robot's stray floor risk level based on the current position and motion data of the target elevator during the process of the target robot entering or exiting the target elevator. The target robot is controlled based on the stray floor risk level to protect the target robot from stray floors, thereby preventing the target robot from leaving the elevator from the wrong floor. The embodiment of the present application utilizes the current position of the target elevator to verify whether the actual stop floor of the target elevator is the target robot's desired floor; and utilizes the motion state of the target elevator to determine whether the target robot has completed the operation of entering or exiting the elevator. By comprehensively considering the current position and motion data of the target elevator, the target robot's stray floor risk level is determined, and the stray floor risk level is used as the data basis for stray floor protection of the target robot, which can effectively reduce the occurrence of stray floor accidents and help improve elevator efficiency.

[0116] Optionally, the staggered floor risk determination module 530 includes: a floor position comparison submodule, used to compare the current position of the target elevator with the expected floor of the target robot to obtain a floor comparison result; a motion state determination submodule, used to determine the current motion state of the target elevator based on the motion data of the target elevator; and a risk level determination submodule, used to determine the staggered floor risk level of the target robot based on the floor comparison result and the current motion state.

[0117] Optionally, the risk level determination submodule includes: a position factor determination unit; if the current position of the target elevator is inconsistent with the expected floor of the target robot, the staggered floor risk score of the target robot is determined to be a first risk score; a motion factor determination unit, used to determine the staggered floor risk score of the target robot to be a second risk score if the current motion state of the target elevator changes; and a risk level determination unit, used to determine the staggered floor risk level of the target robot based on the staggered floor risk score of the target robot.

[0118] Optionally, the elevator data acquisition module 520 includes: a current position determination submodule, used to determine the current position of the target elevator based on the floor label read by the tag reading device; a motion data determination submodule, used to determine the motion data of the target elevator based on the acceleration value detected by the target accelerometer; wherein the tag reading device and the target accelerometer are configured in the target elevator.

[0119] Optionally, the current position determination submodule includes: a tag frequency determination unit, which is used to determine the floor tag read by the tag reading device within a preset time length as a candidate floor tag, and determine the frequency of occurrence of the candidate floor tag; a floor tag filtering unit, which is used to filter the candidate floor tags according to the frequency of occurrence of the candidate floor tags to obtain the target floor tag; and a current position determination unit, which is used to determine the current position of the target elevator based on the target floor tag.

[0120] Optionally, the staggered floor risk determination module 530 includes: a risk prompt generating submodule, used to compare the staggered floor risk level with a preset risk threshold, and generate a staggered floor risk prompt if the staggered floor risk level is higher than the preset risk threshold; a risk prompt sending submodule, used to send the staggered floor risk prompt to the target robot based on a set time interval until a read receipt for the staggered floor risk prompt is received from the target robot, so that the target robot responds to the staggered floor risk prompt and takes staggered floor measures based on its current stage of the elevator ride.

[0121] Optionally, the risk prompt sending submodule includes: a first prompt unit, which is used to return to the elevator waiting point outside the elevator and call the target elevator again by an outbound call if the target robot is currently in the elevator entry stage and is still outside the elevator; a second prompt unit, which is used to maintain the elevator waiting point inside the elevator and call the target elevator again by an inbound call if the target robot is currently in the elevator entry stage and is already inside the elevator;

[0122] The third prompt unit is used to move to the waiting point outside the elevator and call the target elevator again by an outbound call if the target robot is currently in the exiting stage and is already outside the elevator; the fourth prompt unit is used to return to the boarding point inside the elevator and call the target elevator again by an inbound call if the target robot is currently in the exiting stage and is still inside the elevator.

[0123] The robot staggered floor protection device provided in the embodiment of the invention can execute the robot staggered floor protection method provided in any embodiment of the present application, and has the corresponding performance modules and beneficial effects for executing the robot staggered floor protection method.

[0124] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision and disclosure of user data involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0125] Example 6

[0126] Figure 6Schematic diagram of the structure of an electronic device 610 that can be used to implement an embodiment is shown. The electronic device 610 includes at least one processor 611, and a memory connected to the at least one processor 611 in communication, such as a read-only memory (ROM) 612, a random access memory (RAM) 613, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 611 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 612 or the computer program loaded from the storage unit 418 into the random access memory (RAM) 613. Various programs and data required for the operation of the electronic device 610 can also be stored in the RAM 613. The processor 611, ROM 612 and RAM 613 are connected to each other via a bus 614. An input / output (I / O) interface 615 is also connected to the bus 614.

[0127] Multiple components in the electronic device 610 are connected to the I / O interface 615, including an input unit 616, such as a keyboard, a mouse, etc.; an output unit 617, such as various types of displays, speakers, etc.; a storage unit 618, such as a magnetic disk, an optical disk, etc.; and a communication unit 619, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 619 allows the electronic device 610 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0128] Processor 611 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 611 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 611 executes the various methods and processes described above, such as the robotic mismatch protection method.

[0129] In some embodiments, the robot fault protection method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 618. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 610 via the ROM 612 and / or the communication unit 619. When the computer program is loaded into the RAM 613 and executed by the processor 611, one or more steps of the robot fault protection method described above can be performed. Alternatively, in other embodiments, the processor 611 can be configured to execute the robot fault protection method in any other appropriate manner (for example, by means of firmware).

[0130] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0131] Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0132] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0133] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0134] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data processing server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0135] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0136] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0137] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A robot staggered protection method, characterized in that: Executed by an elevator control system, the method includes: If the target elevator stops at the target robot's desired floor, the target robot is instructed to enter or exit the target elevator; if the target robot needs to take the elevator, it needs to perform a cross-floor task; wherein the target robot is in communication with the elevator control system; During the process of the target robot entering or exiting the target elevator, the current position and motion data of the target elevator are obtained; wherein the current position of the target elevator refers to the actual landing floor of the target elevator; the current position of the target elevator is used to verify whether the actual landing floor of the target elevator is the desired floor of the target robot; the motion state of the target elevator is used to determine whether the target robot has completed the elevator entry or exit operation; Determining a level of risk of a target robot missing a floor based on the current position and motion data of the target elevator, and controlling the target robot based on the level of risk to provide level-missing protection for the target robot to prevent the target robot from leaving the elevator from an incorrect floor; wherein the level of risk is used to quantify the likelihood of a level-missing accident occurring and is related to the performance at different stages of a level-missing accident; During the process of the target robot entering or exiting the target elevator, the target elevator should be in a stationary state; after the target robot completes the operation of entering or exiting the elevator, the motion state of the target elevator changes from a stationary state to a moving state.

2. The method according to claim 1, characterized in that Determine the staggered floor risk level of the target robot based on the current position and motion data of the target elevator, including: Comparing the current position of the target elevator with the desired floor of the target robot to obtain a floor comparison result; determining a current motion state of the target elevator according to the motion data of the target elevator; The staggered-floor risk level of the target robot is determined according to the floor comparison result and the current motion state.

3. The method according to claim 2, characterized in that Determining a staggered floor risk level of the target robot according to the floor comparison result and the current motion state, including: If the current position of the target elevator is inconsistent with the desired floor of the target robot, the staggered floor risk score of the target robot is determined as the first risk score; If the current motion state of the target elevator changes, the staggered floor risk score of the target robot is determined to be a second risk score; According to the staggered floor risk score of the target robot, the staggered floor risk level of the target robot is determined.

4. The method according to claim 1, wherein Obtaining the current position and motion data of the target elevator, including: Determining the current position of the target elevator according to the floor tag read by the tag reading device; Determining motion data of the target elevator according to the acceleration value detected by the target accelerometer; Wherein, the tag reading device and the target accelerometer are configured in the target elevator.

5. The method according to claim 4, characterized in that Determining the current position of the target elevator according to the floor tag read by the tag reading device includes: Determining the floor tags read by the tag reading device within a preset time period as candidate floor tags, and determining the occurrence frequency of the candidate floor tags; According to the occurrence frequency of the candidate floor labels, the candidate floor labels are filtered to obtain the target floor label; Based on the target floor tag, the current position of the target elevator is determined.

6. The method according to claim 1, wherein Controlling the target robot based on the staggered floor risk level to perform staggered floor protection on the target robot includes: Comparing the staggered floor risk level with a preset risk threshold, and generating a staggered floor risk prompt if the staggered floor risk level is higher than the preset risk threshold; The staggered floor risk prompt is sent to the target robot based on a set time interval until a read receipt for the staggered floor risk prompt is received from the target robot, so that the target robot responds to the staggered floor risk prompt and takes staggered floor measures based on its current stage of the elevator.

7. The method according to claim 6, characterized in that The target robot responds to the staggered floor risk prompt and takes staggered floor measures based on its current elevator stage, including: If the target robot is currently in the elevator entry stage and is still outside the elevator, it returns to the elevator waiting point outside the elevator and calls the target elevator again in an outbound call mode; If the target robot is currently in the elevator entry stage and is already in the elevator, it remains at the elevator entry point and calls the target elevator again in an internal call mode; If the target robot is currently in the elevator exit stage and is already outside the elevator, it moves to the elevator waiting point outside the elevator and calls the target elevator again by outbound calling; If the target robot is currently in the elevator exit stage and is still in the elevator, it returns to the elevator boarding point in the elevator and calls the target elevator again in an internal call mode.

8. A robot staggered protection device, characterized in that: Configured in an elevator control system, the device includes: a robot instruction module, configured to instruct the target robot to enter or exit the target elevator if the target elevator stops at the target robot's desired floor; and to perform a cross-floor task if the target robot needs to take the elevator; wherein the target robot is in communication with the elevator control system; an elevator data acquisition module, configured to acquire the current position and motion data of the target elevator while the target robot is entering or exiting the target elevator; wherein the current position of the target elevator refers to the actual landing floor of the target elevator; the current position of the target elevator is used to verify whether the actual landing floor of the target elevator is the desired floor of the target robot; and the motion state of the target elevator is used to determine whether the target robot has completed the elevator entry or exit operation; a staggered floor risk determination module, configured to determine a staggered floor risk level of a target robot based on the current position and motion data of the target elevator, and to control the target robot based on the staggered floor risk level to provide staggered floor protection for the target robot to prevent it from leaving the elevator from the wrong floor; wherein the staggered floor risk level is used to quantify the likelihood of a staggered floor accident and is related to the performance at different stages of a staggered floor accident; During the process of the target robot entering or exiting the target elevator, the target elevator should be in a stationary state; after the target robot completes the operation of entering or exiting the elevator, the motion state of the target elevator changes from a stationary state to a moving state.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the robot staggered floor protection method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein: When the processor executes the computer program, the robot staggered floor protection method according to any one of claims 1 to 7 is implemented.

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