A robot elevator boarding method, device, medium, and electronic device

Abstract

Embodiments of the present application disclose a robot elevator taking method, device, medium and electronic equipment. The method comprises: querying a working state of a target elevator according to a state query request of the target elevator; if the working state of the target elevator is an occupied state, generating an elevator taking waiting instruction and sending the elevator taking waiting instruction to a waiting robot associated with the state query request for the waiting robot to feed back an elevator taking task; adding the elevator taking task as a to-be-processed elevator taking task to a task processing queue, and updating a task processing order of the to-be-processed elevator taking task in the task processing queue in the case that the target elevator is unoccupied; and processing the to-be-processed elevator taking task in the task processing queue based on the updated task processing order. The technical solution of the present application can improve the elevator taking efficiency of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method, apparatus, medium, and electronic device for robot elevator use. Background Technology

[0002] With the development of artificial intelligence technology, robots are widely used in various industries, saving significant labor costs. In some service settings, robots may be needed to work across floors and autonomously use elevators. Within the same building, there is often a need for multiple robots to use elevators simultaneously.

[0003] In related technologies, a queuing system is generally used to control robot elevator access. This means that other robots can only call for the elevator after the current robot has completed its task and released the elevator's occupancy status. While the current robot's task is ongoing, other robots, unable to know when the current robot will release the occupancy status, can only poll the elevator at set time intervals to check for availability. Only after the elevator IoT system reports an available elevator can the robot gain access. This results in low robot elevator access efficiency. Summary of the Invention

[0004] This application provides a robot elevator riding method, device, medium, and electronic equipment, which can be applied to situations where robots perform cross-floor operations and can improve elevator riding efficiency.

[0005] According to a first aspect of this application, a robot elevator riding method is provided, the method comprising:

[0006] Based on the status query request for the target elevator, query the working status of the target elevator;

[0007] If the target elevator is in an occupied state, an elevator waiting instruction is generated and sent to the elevator waiting robot associated with the status query request so that the elevator waiting robot can provide feedback on the elevator task.

[0008] The elevator ride task is added to the task processing queue as an elevator ride task to be processed, and the task processing order of the elevator ride tasks to be processed in the task processing queue is updated when the target elevator is released from occupancy.

[0009] Based on the updated task processing order, the elevator-taking tasks pending in the task processing queue are processed.

[0010] According to a second aspect of this application, a robotic elevator device is provided, the device comprising:

[0011] The working status query module is used to query the working status of the target elevator based on the status query request of the target elevator;

[0012] The waiting instruction sending module is used to generate an elevator waiting instruction if the working status of the target elevator is occupied, and send the elevator waiting instruction to the elevator waiting robot associated with the status query request so that the elevator waiting robot can provide feedback on the elevator task.

[0013] The processing order update module is used to add the elevator ride task as a pending elevator ride task to the task processing queue, and update the task processing order of the pending elevator ride tasks in the task processing queue when the target elevator is released from occupancy.

[0014] The elevator task processing module is used to process the elevator tasks to be processed in the task processing queue based on the updated task processing order.

[0015] According to a third aspect of the present invention, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the robot elevator riding method as described in embodiments of this application.

[0016] According to a fourth aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the robot elevator method as described in the embodiments of the present application.

[0017] This application's technical solution establishes a task processing queue within the elevator IoT system. When the target elevator is occupied, the elevator-riding task reported by the waiting robot is added to the task processing queue as a pending task. This allows the waiting robot to still call for the elevator even when it is occupied. When the target elevator becomes available, the elevator IoT system updates the task processing order of the pending tasks in the queue. Based on this updated order, the pending tasks are processed, achieving unified management of elevator-riding tasks by the elevator IoT system. The system schedules the target elevator based on the task processing order and notifies the corresponding waiting robot to use it. The waiting robot no longer needs to constantly poll the elevator's status, avoiding situations where it fails to know when the target elevator will become available, thus preventing the elevator from being called away and effectively improving the robot's elevator-riding efficiency.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of the robot elevator riding method provided in Embodiment 1;

[0021] Figure 2 This is a flowchart of the robot elevator riding method provided in Embodiment 2;

[0022] Figure 3 This is a flowchart of the robot elevator riding method provided in Embodiment 3;

[0023] Figure 4 This is a schematic diagram of the robot elevator device provided in Embodiment 4 of this application;

[0024] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of this application. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," "target," and "candidate," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] Figure 1This is a flowchart of the robot elevator riding method provided in Embodiment 1. This embodiment is applicable to situations where robots perform cross-floor operations. The method can be executed by a robot elevator riding device, which is configured in the elevator IoT system. It can be implemented in hardware and / or software and can be integrated into the electronic device running this system.

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

[0030] S110. Query the working status of the target elevator according to the status query request of the target elevator.

[0031] The status query request is used to request the elevator IoT system to query the working status of the corresponding elevator. The status query request is generated when a waiting robot has a need to take an elevator. The target elevator refers to the elevator that the waiting robot needs to take. A target elevator can carry at least two robots.

[0032] Optionally, the elevator IoT system includes a main control module, a storage module, and an elevator control communication module. The main control module of the elevator IoT system is configured with sequence adjustment logic. The main control module is communicatively connected to both the elevator control communication module and the storage module, and is used to implement the robot elevator riding method provided in this embodiment. The elevator control communication module is connected to the main control module, enabling the elevator IoT system to interact with the waiting robot or a backend server. The storage module is communicatively connected to the main control module and is used to store the task processing queue. For example, the storage module can be a register.

[0033] The main control module of the elevator IoT system obtains the status query request of the target elevator through the elevator control communication module. Optionally, the status query request includes the elevator identifier. Based on the elevator identifier in the status query request, the elevator IoT system can determine the target elevator that the waiting robot needs to take from the candidate elevators.

[0034] Status query requests can be obtained from the elevator robot or from the backend server. Status query requests can be passively obtained by the elevator IoT system, for example, by the elevator robot or the backend server sending the status query request to the elevator IoT system. Status query requests can also be actively retrieved by the elevator IoT system from the elevator robot or the backend server. The source and method of obtaining status query requests are not limited here; they will be determined based on the specific circumstances.

[0035] The elevator IoT system queries the working status of the target elevator based on the status query request.

[0036] S120. If the target elevator is in an occupied state, a waiting indication is generated and sent to the waiting robot associated with the status query request so that the waiting robot can provide feedback on the elevator task.

[0037] The target elevator's operating status includes occupied and idle status. If the target elevator is occupied, the elevator IoT system generates a waiting instruction based on the target elevator's status query request.

[0038] The elevator waiting indicator is used to notify the elevator waiting robot that the target elevator is occupied and waiting is required. The elevator IoT system sends the elevator waiting indicator to the associated elevator waiting robot via a status query request. Optionally, the elevator IoT system can feed back the elevator waiting indicator to the cloud server or the elevator waiting robot via the elevator control communication module. The elevator waiting robot then reports the elevator task to the elevator IoT system.

[0039] The task floor for each candidate robot can be determined based on its feedback regarding the elevator-riding task. Optionally, the task floor includes the expected departure floor and the expected arrival floor.

[0040] S130. Add the elevator ride task as a pending elevator ride task to the task processing queue, and update the task processing order of the pending elevator ride tasks in the task processing queue when the target elevator is released from occupancy.

[0041] Optionally, the elevator waiting robot sends its elevator-riding task to the elevator IoT system via a communication module. The elevator IoT system adds the elevator waiting robot's elevator-riding task as a pending elevator-riding task to the task processing queue. The task processing queue is stored in the storage module of the elevator IoT system, such as a register.

[0042] The task processing queue stores elevator travel tasks. Unprocessed elevator travel tasks in the task processing queue refer to those that have not yet been processed.

[0043] The processing order of pending elevator ride tasks in the task processing queue is not fixed. Optionally, after an elevator ride task is added to the task processing queue as a pending elevator ride task, the elevator IoT system continuously queries the working status of the target elevator. If the target elevator changes from an occupied state to an idle state, that is, the target elevator is released from occupancy, the task processing order of pending elevator ride tasks in the task processing queue is updated.

[0044] The removal of the target elevator from the queue indicates that the current elevator ride task has been completed, the right to use the target elevator has been released, and the elevator IoT system needs to process the next elevator ride task. Specifically, the elevator IoT system determines the next elevator ride task from the pending elevator ride tasks according to the updated task execution order.

[0045] The reason for updating the task processing order of pending elevator rides in the task processing queue when the target elevator is released is that new elevator rides were added to the queue during the time the target elevator was occupied. Different elevator rides may have different task attributes, such as urgency, queuing time, and elevator type. Furthermore, the floor where the target elevator is located may change after a elevator ride task is completed. To optimize elevator capacity utilization and improve business coordination, a sequence adjustment logic is configured in the elevator IoT system to adjust the task execution order. The pending elevator rides in the task processing queue are then updated based on this sequence adjustment logic.

[0046] S140. Based on the updated task processing order, process the elevator-taking tasks to be processed in the task processing queue.

[0047] The elevator IoT system processes the pending elevator ride tasks in the task processing queue based on the updated task processing order.

[0048] This application's technical solution establishes a task processing queue within the elevator IoT system. When the target elevator is occupied, the elevator-riding task reported by the waiting robot is added to the task processing queue as a pending task. This allows the waiting robot to still call for the elevator even when it is occupied. When the target elevator becomes available, the elevator IoT system updates the task processing order of the pending tasks in the queue. Based on this updated order, the pending tasks are processed, achieving unified management of elevator-riding tasks by the elevator IoT system. The system schedules the target elevator based on the task processing order and notifies the corresponding waiting robot to use it. The waiting robot no longer needs to constantly poll the elevator's status, avoiding situations where it fails to know when the target elevator will become available, thus preventing the elevator from being called away and effectively improving the robot's elevator-riding efficiency.

[0049] In an optional embodiment, processing the pending elevator-riding tasks in the task processing queue based on the updated task processing order includes: determining a target elevator-riding task from the pending elevator-riding tasks in the task processing queue based on the updated task processing order; determining the expected departure floor of the waiting robot based on the target elevator-riding task; controlling the target elevator to go to the expected departure floor of the waiting robot, and generating a pre-ride message based on the target elevator-riding task; and sending the pre-ride message to the waiting robot to instruct the waiting robot to take the elevator.

[0050] The task processing order determines the execution order of pending elevator ride tasks in the task processing queue. The target elevator ride task is executed first. Specifically, the elevator IoT system selects the first-order pending elevator ride task from the task processing queue as the target elevator ride task.

[0051] The elevator IoT system generates a pre-ride message based on the target elevator ride task and sends it to the waiting robot associated with the target elevator ride task. The pre-ride message notifies the waiting robot to prepare to ride the elevator and instructs it to do so. Optionally, the elevator IoT system can send the pre-ride message to the waiting robot associated with the target elevator ride task wirelessly via an elevator control communication module, using methods such as LoRa, UWB, or WIFI.

[0052] Optionally, the expected departure floor and expected arrival floor of the elevator-waiting robot can be determined based on the target elevator-riding task. The elevator-waiting robot typically waits at the expected departure floor. The elevator IoT system controls the target elevator to proceed to the expected departure floor of the elevator-waiting robot, and after the elevator-waiting robot successfully enters the elevator, it controls the target elevator to deliver the elevator-waiting robot to the expected arrival floor.

[0053] Optionally, after the elevator robot exits the elevator at the expected floor, it generates an elevator ride completion message. This message is sent to the elevator IoT system, which then removes the target elevator ride task from its task processing queue based on the message, reducing the consumption of storage resources within the elevator IoT system. Alternatively, without considering storage resource utilization, the target elevator ride task in the task processing queue can be marked as processed. Optionally, in response to the elevator ride completion message, the elevator IoT system releases the target elevator from occupied to idle status.

[0054] The above technical solution uses an elevator IoT system to determine the target elevator task from the pending elevator tasks in the task processing queue. When executing the target elevator task, a pre-boarding message is generated for the waiting robot, instructing the robot to board the elevator. With unified management of elevator tasks by the elevator IoT system, waiting robots do not need to compete for elevator resources, which helps improve elevator efficiency.

[0055] Optionally, if the target elevator is in an idle state, indicating that it is not processing any passenger tasks and is not occupied by other robots, the system retrieves the passenger task corresponding to the status query request and processes the current passenger task through the elevator IoT system. Specifically, the elevator IoT system determines the expected departure floor of the waiting robot based on the passenger task. It then controls the target elevator to proceed to the expected departure floor of the waiting robot and generates a pre-boarding message based on the target passenger task; this message is then sent to the waiting robot to instruct it to board the elevator.

[0056] Example 2

[0057] Figure 2 This is a flowchart of the robot elevator riding method provided in Embodiment 2. This embodiment further optimizes the above embodiment, specifically refining the operation of "updating the task processing order of the elevator riding tasks to be processed in the task processing queue".

[0058] like Figure 2 As shown, the method includes:

[0059] S210. Query the working status of the target elevator according to the status query request of the target elevator.

[0060] S220. If the target elevator is in an occupied state, a waiting indication is generated and sent to the waiting robot associated with the status query request so that the waiting robot can provide feedback on the elevator task.

[0061] S230. Add the elevator-riding task as an unprocessed elevator-riding task to the task processing queue, and when the target elevator is released from occupancy, determine the expected movement direction and expected departure floor of the waiting robot according to the unprocessed elevator-riding tasks in the task processing queue.

[0062] The expected movement direction includes both upward and downward travel, and the expected departure floor refers to the floor where the elevator robot is waiting. The expected movement direction and expected departure floor are used to determine the task execution order of the pending elevator-riding tasks; both are key reference data for determining the task execution order.

[0063] In an optional embodiment, determining the expected movement direction and expected departure floor of the elevator-waiting robot based on the pending elevator-riding tasks in the task processing queue includes: determining the task floor of the elevator-waiting robot based on the pending elevator-riding tasks in the task processing queue; and determining the expected departure floor and expected movement direction of the elevator-waiting robot based on the task floor. The above technical solution provides a practical method for determining elevator-riding robot data, used to determine the expected movement direction and expected departure floor of the elevator-waiting robot, providing a data foundation for determining the task execution order of pending elevator-riding tasks.

[0064] The task floors include the expected departure floor and the expected arrival floor. The expected movement direction of the elevator robot can be determined based on the expected departure floor and the expected arrival floor.

[0065] S240. Determine the current floor and current direction of travel of the target elevator.

[0066] The current floor of the target elevator refers to the floor where the target elevator is actually stopped. The current direction of travel includes both upward and downward travel. The current floor of the target elevator is not fixed; it is related to the previous elevator ride. Generally, the target elevator stops at the expected arrival floor associated with the previous elevator ride.

[0067] S250. Update the task processing order of the pending elevator tasks in the task processing queue according to the expected movement direction and expected departure floor of the elevator waiting robot, as well as the current floor and current running direction of the target elevator.

[0068] Optionally, the elevator IoT system compares the expected movement direction and expected departure floor of the waiting robot with the current running direction and current floor of the target elevator to obtain the floor comparison result and the direction comparison result. The task processing order of the elevator riding task to be processed is determined by combining the floor comparison result and the direction comparison result.

[0069] The floor comparison result measures the distance the target elevator needs to travel from its current floor to its expected departure floor. The direction comparison result measures the degree of direction matching between the target elevator and the waiting robot.

[0070] It is known that the distance the target elevator needs to travel, and the degree of directional matching between the target elevator and the waiting robot, are key factors affecting elevator capacity utilization. Using these as data references for updating the task processing order can help improve elevator capacity utilization and increase the robot's elevator riding efficiency.

[0071] S260. Based on the updated task processing order, process the elevator-taking tasks to be processed in the task processing queue.

[0072] In this embodiment, the task processing order of the pending elevator-riding tasks in the task processing queue is updated according to the expected movement direction and expected departure floor of the elevator-waiting robot, as well as the current floor and current running direction of the target elevator. Based on the updated task processing order, the pending elevator-riding tasks in the task processing queue are processed, thereby improving the elevator capacity utilization rate and effectively improving the robot's elevator-riding efficiency.

[0073] In an optional embodiment, the task processing order of the pending elevator ride tasks in the task processing queue is updated based on the expected movement direction and expected departure floor of the elevator waiting robot, and the current floor and current running direction of the target elevator. This includes: if the expected movement direction of the elevator waiting robot is consistent with the current running direction of the target elevator, and the target elevator can pass the expected departure floor of the elevator waiting robot from its current floor according to its current running direction, then the task execution order of the pending elevator ride tasks is determined as the first priority; or, if the current running direction of the target elevator is directionless, then the relative floor distance between the current departure floor of the target elevator and the expected departure floor of the elevator waiting robot is determined, the pending elevator ride task with the closest relative floor distance is selected, and the task execution order of the pending elevator ride task is determined as the first priority.

[0074] Specifically, if the expected movement direction of the elevator-waiting robot is consistent with the current operating direction of the target elevator, and the target elevator, following its current operating direction, can pass through the expected departure floor of the elevator-waiting robot from its current floor, it indicates that the elevator-waiting robot and the target elevator are aligned in direction, and the target elevator can reach the elevator-waiting robot's current floor without changing its current operating direction. In this case, the elevator IoT system will determine the task execution order of the pending elevator-riding task as the first priority.

[0075] Alternatively, if the target elevator's current direction of travel is unknown, it indicates that the target elevator is stationary and can either go up or down. In this case, the elevator IoT system determines the relative floor distance between the target elevator's current departure floor and the expected departure floor of the waiting robot, selects the elevator-riding task with the closest relative floor distance, and determines that task as the first priority for execution.

[0076] If the target elevator's current direction of travel is opposite to the waiting robot's expected direction of travel—for example, if the target elevator departs from the robot's intended departure floor—the elevator IoT system will determine the task execution order of the pending elevator rides as the second priority. Alternatively, if the target elevator completes its current ride task, and its current direction of travel is unknown, or if the waiting robot's expected direction of travel is the same as the target elevator's current direction of travel—for example, if the target elevator moves towards the robot's intended departure floor—the task processing order of its associated pending elevator rides will be updated to the second priority.

[0077] The task execution order is as follows: the pending elevator ride task is executed first and has the highest priority in the task processing queue. The second-ranked task has a lower execution priority than the first-ranked task. After the previous elevator ride task is completed, the elevator IoT system immediately registers the pending elevator ride task that is executed first in the task processing queue and immediately processes that task.

[0078] The above technical solution, from the perspective of improving elevator capacity utilization, provides a practical and feasible method for updating the task processing order. Based on the expected movement direction and expected departure floor of the waiting robot, as well as the current floor and current running direction of the target elevator, the task processing order of the pending elevator-riding tasks in the task processing queue is updated. Based on the updated task processing order, the pending elevator-riding tasks in the task processing queue are processed, which effectively improves the robot's elevator-riding efficiency.

[0079] Example 3

[0080] Figure 3 This is a flowchart of the robot elevator riding method provided in Embodiment 3. This embodiment further optimizes the above embodiments, specifically refining the operation of "updating the task processing order of the elevator riding tasks to be processed in the task processing queue".

[0081] like Figure 3 As shown, the method includes:

[0082] S310. Query the working status of the target elevator according to the status query request of the target elevator;

[0083] S320. If the target elevator is in an occupied state, a waiting indication is generated and sent to the waiting robot associated with the status query request so that the waiting robot can provide feedback on the elevator task.

[0084] S330. Add the elevator ride task as a pending elevator ride task to the task processing queue, and determine the task attributes of the pending elevator ride tasks in the task processing queue when the target elevator is released from occupancy.

[0085] The pending elevator ride tasks are associated with task attributes, which are optional. The task attributes of the pending elevator ride tasks include the task urgency, robot model, and task queuing time.

[0086] S340. Based on the task attributes of the pending elevator ride tasks, update the task processing order of the pending elevator ride tasks in the task processing queue.

[0087] In determining the order of task execution, it is necessary to balance the planning and flexibility of the task processing sequence. From the perspective of elevator capacity utilization, determining the execution order of pending elevator rides ensures the planning aspect of the task processing sequence. The flexibility of the task execution sequence needs to be considered from the perspective of business coordination.

[0088] The task attributes of pending elevator ride tasks are related to business logic. The elevator control module determines the execution order of pending elevator ride tasks based on their task attributes, ensuring flexibility in task processing order.

[0089] S350. Based on the updated task processing order, process the elevator-taking tasks to be processed in the task processing queue.

[0090] Optionally, the elevator IoT system first determines candidate elevator ride tasks from the pending elevator ride tasks in the task processing queue, based on the elevator capacity utilization rate. Specifically, candidate elevator ride tasks are determined from the pending elevator ride tasks in the task processing queue based on the expected movement direction and expected departure floor of the elevator waiting robot, as well as the current floor and current running direction of the target elevator. If the number of candidate elevator ride tasks exceeds a preset threshold, the task execution order of the candidate elevator ride tasks can be further determined from the perspective of business coordination, based on the task attributes of each candidate elevator ride task.

[0091] It's understandable that we could first consider the business coordination aspect, determining candidate elevator-riding tasks from the pending tasks in the task processing queue based on their task attributes. If the number of candidate tasks exceeds a preset threshold, then we could consider elevator capacity utilization, determining the task execution order of the candidate tasks based on the expected movement direction and departure floor of the waiting robot, as well as the current floor and current direction of the target elevator.

[0092] In determining the order of task execution, the trade-off between business cooperation and elevator capacity utilization can be determined based on the actual situation and is not limited here.

[0093] This application provides a practical method for updating the task processing order from the perspective of business coordination. Based on the task attributes of the pending elevator-riding tasks, the method updates the task processing order of the pending elevator-riding tasks in the task processing queue. This ensures the flexibility of task execution order updates, improves the business coordination of the robot's elevator-riding method, and effectively improves the robot's elevator-riding efficiency.

[0094] In an optional embodiment, updating the task processing order of the pending elevator ride tasks in the task processing queue based on the task attributes of the pending elevator ride tasks includes: determining the model data of the elevator waiting robot associated with the pending elevator ride task according to the task attributes of the pending elevator ride task; and updating the task processing order of the pending elevator ride tasks in the task processing queue according to the model data of the elevator waiting robot and the elevator type data of the target elevator.

[0095] The "model data" refers to the robot model to which the elevator-waiting robot belongs. Model data can be the robot's dimensions, such as length and width, or total weight. It can also be the robot's function, such as disinfection, sweeping, or delivery. The "elevator type data" refers to the elevator model to which the target robot belongs. Elevator type data can be the elevator car dimensions, such as length and width, or standard load capacity.

[0096] The elevator IoT system determines the model data of the waiting robot associated with the elevator task based on the task attributes of the task to be processed. The elevator model data of the target elevator can be pre-configured in the backend server or in the elevator IoT system's storage module. The elevator IoT system can retrieve the target elevator model data from its storage module or the backend server.

[0097] The elevator IoT module updates the task processing order of pending elevator-riding tasks in the task processing queue based on the model data of the waiting robot and the elevator type data of the target elevator. For example, the elevator IoT module can determine the actual load and available dimensions of the target elevator based on the car dimensions and standard load capacity of the target elevator, as well as the body dimensions and total weight of the elevator-riding robot within the target elevator. Based on the actual load and available dimensions of the target elevator, and the model data of the waiting robot associated with each pending elevator-riding task, the module updates the task processing order of pending elevator-riding tasks in the task processing queue. This technical solution, by updating the task processing order of pending elevator-riding tasks in the task processing queue based on the model data of the waiting robot and the elevator type data of the target elevator, ensures the reliability of the robot elevator-riding method.

[0098] In an optional embodiment, updating the task processing order of the pending elevator ride tasks in the task processing queue based on the task attributes of the pending elevator ride tasks includes: determining the urgency of the pending elevator ride tasks based on the task attributes of the pending elevator ride tasks; and updating the task processing order of the pending elevator ride tasks in the task processing queue according to the urgency of the pending elevator ride tasks.

[0099] The urgency of the pending elevator ride tasks is determined based on actual business needs and is not limited here. The elevator IoT system updates the task processing order of pending elevator ride tasks in the task processing queue according to their urgency. For example, tasks with higher urgency are assigned higher execution priority. The above technical solution, by updating the task processing order of pending elevator ride tasks in the task processing queue according to their urgency, improves the flexibility of robot elevator use.

[0100] In one specific embodiment, the elevator IoT system further includes an elevator control internal call module, an elevator control communication module, a floor positioning module, and a car button module. The internal call module is communicatively connected to the floor positioning module, and can obtain the current floor and current direction of travel of the target elevator.

[0101] The internal call module also communicates with the car button module to control the elevator floor buttons and door open / close buttons. The back-end server interacts with the internal call module through the elevator control communication module, obtaining the current floor and direction of travel of the target elevator. The waiting robot can interact with the internal call module through the back-end server and the elevator control communication module to control the elevator floor buttons and door open / close buttons.

[0102] The floor positioning module can consist of an RFID reader installed on the elevator car top and corresponding floor tags fixed to the elevator shaft wall. By reading the floor tags with the RFID reader, the current floor of the target elevator can be determined. Based on the floor tags read within a certain period of time, changes in the floor tags can be determined to determine the current direction of travel of the target elevator. For example, if the floor tags read by the RFID reader in ascending order within a certain period of time, the current direction of travel of the target elevator is determined to be upward, and vice versa. If the same floor tag is read continuously within a certain period of time, the current direction of travel of the target elevator is determined to be directionless, corresponding to the target elevator being stationary. The floor positioning module can also be a barometric altimeter, which determines the current floor of the target elevator by preset air pressure values ​​for each floor, and determines the current direction of travel of the target elevator by air pressure changes.

[0103] Optionally, the car button module is connected in parallel to the floor button circuit and door open / close button circuit in the elevator car control panel. By activating the floor button circuit and door open / close button circuit in the elevator car control panel, the floor buttons and door open / close buttons in the elevator car are controlled and illuminated.

[0104] The elevator control call module can be installed on the top of the elevator car and connected to the floor positioning module and car button module via a wiring harness. It can also be connected to the communication device in the elevator IoT system via the wiring harness of the elevator traveling cable, or via wireless methods such as LoRa, UWB, and WIFI.

[0105] The elevator control communication module can be installed at the top of the elevator shaft or inside the elevator machine room. The backend server can be a cloud server, in which case the elevator control communication device can communicate with the backend server via 4G, Wi-Fi, or a wired network connection. Alternatively, the backend server can be a local server, in which case the elevator control communication module can communicate with it via wired connections or wirelessly via 4G, Wi-Fi, LoRa, or UWB. The elevator waiting robot can establish a connection and communicate with the backend server via 4G, Wi-Fi, or LoRa.

[0106] Optionally, the elevator control communication module of the elevator IoT system queries the operating status of the target elevator based on the status query request. If the target elevator is in an occupied state, the elevator IoT system generates an elevator waiting instruction and feeds it back. For example, the elevator waiting instruction can be fed back to the backend server, and then the backend server can wirelessly feed it back to the waiting robot.

[0107] Optionally, the waiting robot sends its elevator-riding task to the elevator control communication module of the elevator IoT system via the backend server. The elevator control communication module adds the waiting robot's elevator-riding task as a pending task to the task processing queue. When the target elevator is released from occupancy (the elevator control call module is idle), the main control module of the elevator IoT system updates the task processing order of the pending tasks in the task processing queue, and determines the target elevator-riding task from the pending tasks in the task processing queue based on the updated task processing order. Then, the target elevator-riding task is sent to the elevator control call module for floor registration. The elevator IoT system controls the target elevator to go to the expected departure floor of the waiting robot through the elevator control call module, and generates a pre-ride message based on the target elevator-riding task. The elevator control call module then feeds back the pre-ride message to the waiting robot via wireless communication (when it is close to the waiting robot), the elevator control communication module, or the backend server.

[0108] In an optional embodiment, the operating status of the target elevator can be obtained as follows: when the waiting robot and the elevator control call module use LoRa communication, the relative distance between the waiting robot and the elevator control call module is determined. When the distance between them is relatively close, for example, less than 20 meters, the waiting robot can attempt to preempt the elevator control call module to obtain elevator access to the target elevator. If the robot successfully preempts the access, it indicates that the target elevator is in an idle state; if it fails to preempt the access, it indicates that the target elevator is in an occupied state.

[0109] Example 4

[0110] Figure 4 This is a schematic diagram of the structure of the robot elevator device provided in Embodiment 4 of this application. This embodiment is applicable to situations where robots perform cross-floor operations. The device can be implemented by software and / or hardware and can be integrated into electronic devices such as smart terminals.

[0111] like Figure 4 As shown, the device may include: a working status query module 410, a waiting instruction sending module 420, a processing order update module 430, and an elevator task processing module 440.

[0112] The working status query module 410 is used to query the working status of the target elevator according to the status query request of the target elevator;

[0113] The waiting instruction sending module 420 is used to generate an elevator waiting instruction if the working status of the target elevator is occupied, and send the elevator waiting instruction to the elevator waiting robot associated with the status query request so that the elevator waiting robot can provide feedback on the elevator task.

[0114] The processing order update module 430 is used to add the elevator ride task as an elevator ride task to the task processing queue, and update the task processing order of the elevator ride tasks to be processed in the task processing queue when the target elevator is released from occupancy.

[0115] The elevator task processing module 440 is used to process the elevator tasks to be processed in the task processing queue based on the updated task processing order.

[0116] This technical solution establishes a task processing queue within the elevator IoT system. When the target elevator is occupied, the elevator-riding task reported by the waiting robot is added to the task processing queue as a pending task. This allows the waiting robot to still call for the elevator even when it is occupied. When the target elevator becomes available, the elevator IoT system updates the task processing order of the pending tasks in the queue. Based on this updated order, the pending tasks are processed, achieving unified management of elevator-riding tasks by the elevator IoT system. The system schedules the target elevator based on the task processing order and notifies the corresponding waiting robot to use it. The waiting robot no longer needs to constantly poll the elevator's status, avoiding situations where it fails to know when the target elevator will become available, thus preventing the elevator from being called away and effectively improving the robot's elevator-riding efficiency.

[0117] Optionally, the processing order update module 430 includes: an elevator data determination submodule, used to determine the expected movement direction and expected departure floor of the waiting robot based on the pending elevator tasks in the task processing queue; an elevator operation data determination submodule, used to determine the current floor and current running direction of the target elevator; and a processing order update submodule, used to update the task processing order of the pending elevator tasks in the task processing queue based on the expected movement direction and expected departure floor of the waiting robot, and the current floor and current running direction of the target elevator.

[0118] Optionally, the processing order update submodule includes: a first processing order update unit, configured to: if the expected movement direction of the elevator waiting robot is consistent with the current running direction of the target elevator, and the target elevator, according to its current running direction, can pass through the expected departure floor of the elevator waiting robot from its current floor, then determine the task execution order of the pending elevator ride task as the first priority execution; or, if the current running direction of the target elevator is directionless, determine the relative floor distance between the current departure floor of the target elevator and the expected departure floor of the elevator waiting robot, select the pending elevator ride task with the closest relative floor distance, and determine the task execution order of the pending elevator ride task as the first priority execution.

[0119] Optionally, the processing order update module 430 includes: a task attribute determination submodule, used to determine the task attributes of the elevator-taking tasks to be processed in the task processing queue; and a task order update submodule, used to update the task processing order of the elevator-taking tasks to be processed in the task processing queue based on the task attributes of the elevator-taking tasks to be processed.

[0120] Optionally, the task order update submodule includes: a model data determination unit, used to determine the model data of the elevator waiting robot associated with the elevator waiting task based on the task attributes of the elevator waiting task; and a task order update unit, used to update the task processing order of the elevator waiting task in the task processing queue based on the model data of the elevator waiting robot and the elevator type data of the target elevator.

[0121] Optionally, the task order update submodule includes: an urgency determination unit, used to determine the urgency of the pending elevator ride task based on the task attributes of the pending elevator ride task; and a task order update unit, used to update the task processing order of the pending elevator ride tasks in the task processing queue according to the urgency of the pending elevator ride task.

[0122] Optionally, the elevator task processing module 440 includes: a target task determination submodule, used to determine a target elevator task from the pending elevator tasks in the task processing queue based on the updated task processing order; a departure floor determination submodule, used to determine the expected departure floor of the waiting robot according to the target elevator task; an elevator control submodule, used to control the target elevator to go to the expected departure floor of the waiting robot and generate a pre-ride message based on the target elevator task; and an elevator instruction submodule, used to send the pre-ride message to the waiting robot to instruct the waiting robot to take the elevator.

[0123] The robot elevator-riding device provided in the embodiments of the invention can execute the robot elevator-riding method provided in any embodiment of this application, and has the corresponding performance modules and beneficial effects for executing the robot elevator-riding method.

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

[0125] Example 5

[0126] Figure 5A schematic diagram of an electronic device 510, which can be implemented using an embodiment, is shown. The electronic device 510 includes at least one processor 511 and a memory, such as a read-only memory (ROM) 512, a random access memory (RAM) 513, etc., communicatively connected to the at least one processor 511. The memory stores computer programs executable by the at least one processor. The processor 511 can perform various appropriate actions and processes based on the computer program stored in the ROM 512 or loaded from storage unit 418 into the RAM 513. The RAM 513 may also store various programs and data required for the operation of the electronic device 510. The processor 511, ROM 512, and RAM 513 are interconnected via a bus 514. An input / output (I / O) interface 515 is also connected to the bus 514.

[0127] Multiple components in electronic device 510 are connected to I / O interface 515, including: input unit 516, such as keyboard, mouse, etc.; output unit 517, such as various types of displays, speakers, etc.; storage unit 518, such as disk, optical disk, etc.; and communication unit 519, such as network card, modem, wireless transceiver, etc. Communication unit 519 allows electronic device 510 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0128] Processor 511 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 511 performs the various methods and processes described above, such as the robot elevator method.

[0129] In some embodiments, the robot elevator riding method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 518. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 510 via ROM 512 and / or communication unit 519. When the computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the robot elevator riding method described above may be performed. Alternatively, in other embodiments, processor 511 may be configured to execute the robot elevator riding method by any other suitable means (e.g., by means of firmware).

[0130] Various embodiments of the systems and techniques described above herein 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), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0131] Computer programs used to implement the methods of this 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 executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0132] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, 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 provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0134] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data processing servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0135] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0136] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

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

Claims

1. A method for a robot to ride an elevator, characterized in that, Applied to elevator IoT systems, the method includes: Based on the status query request for the target elevator, query the working status of the target elevator; If the target elevator is in an occupied state, an elevator waiting instruction is generated and sent to the elevator waiting robot associated with the status query request so that the elevator waiting robot can provide feedback on the elevator task. The elevator riding task is added to the task processing queue as a pending elevator riding task. While continuously querying the working status of the target elevator, when the working status of the target elevator changes from occupied to idle, the task processing order of the pending elevator riding tasks in the task processing queue is updated. The task processing order is adjusted based on a sequence adjustment logic, which is determined according to elevator capacity utilization and business cooperation. The elevator capacity utilization is determined based on the current floor and current direction of the target elevator, as well as the expected movement direction and expected departure floor of the waiting robot associated with each pending elevator riding task. The business cooperation is determined based on the task attributes of each pending elevator riding task. The task attributes include at least attribute information reflecting task priority and execution constraints. Based on the updated task processing order, the pending elevator-riding tasks in the task processing queue are processed, and the elevator IoT system notifies the corresponding waiting robot to ride the elevator, so that the waiting robot can complete the elevator scheduling without continuously querying the working status of the target elevator.

2. The method according to claim 1, characterized in that, The step of updating the task processing order of pending elevator-taking tasks in the task processing queue includes: Based on the pending elevator tasks in the task processing queue, determine the expected movement direction and expected departure floor of the elevator waiting robot; Determine the current floor and current direction of travel of the target elevator; Based on the expected movement direction and expected departure floor of the elevator waiting robot, as well as the current floor and current running direction of the target elevator, the task processing order of the pending elevator tasks in the task processing queue is updated.

3. The method according to claim 2, characterized in that, The step of updating the task processing order of the pending elevator-riding tasks in the task processing queue based on the expected movement direction and expected departure floor of the elevator-waiting robot, and the current floor and current running direction of the target elevator, includes: If the expected movement direction of the elevator waiting robot is consistent with the current running direction of the target elevator, and the target elevator can pass through the expected departure floor of the elevator waiting robot from its current floor according to its current running direction, then the task processing order of the elevator waiting task to be processed is determined as the first priority to be executed. Alternatively, if the current direction of the target elevator is directionless, the relative floor distance between the current departure floor of the target elevator and the expected departure floor of the waiting robot is determined, the elevator task with the closest relative floor distance is selected, and the task processing order of the elevator task is determined as the first priority for execution.

4. The method according to claim 1, characterized in that, The step of updating the task processing order of pending elevator-taking tasks in the task processing queue includes: Determine the task attributes of the elevator-taking tasks to be processed in the task processing queue; Based on the task attributes of the pending elevator ride tasks, the task processing order of the pending elevator ride tasks in the task processing queue is updated.

5. The method according to claim 4, characterized in that, The step of updating the task processing order of the pending elevator travel tasks in the task processing queue based on the task attributes of the pending elevator travel tasks includes: Based on the task attributes of the elevator-taking task to be processed, determine the model data of the elevator-waiting robot associated with the elevator-taking task to be processed; Based on the model data of the elevator waiting robot and the model data of the target elevator, the task processing order of the elevator-riding tasks to be processed in the task processing queue is updated.

6. The method according to claim 4, characterized in that, The step of updating the task processing order of the pending elevator travel tasks in the task processing queue based on the task attributes of the pending elevator travel tasks includes: Based on the task attributes of the elevator ride task to be processed, the urgency level of the elevator ride task to be processed is determined; The task processing order of the pending elevator ride tasks in the task processing queue is updated according to the urgency of the pending elevator ride tasks.

7. The method according to claim 1, characterized in that, The step of processing the pending elevator-taking tasks in the task processing queue based on the updated task processing order includes: Based on the updated task processing order, the target elevator task is determined from the pending elevator tasks in the task processing queue. The expected departure floor of the elevator waiting robot is determined based on the target elevator riding task; Control the target elevator to go to the expected departure floor of the waiting robot, and generate a pre-boarding message based on the target elevator task; The pre-boarding message is sent to the waiting robot to instruct it to board the elevator.

8. A robot elevator device, characterized in that, The device, configured in an elevator IoT system, includes: The working status query module is used to query the working status of the target elevator based on the status query request of the target elevator; The waiting instruction sending module is used to generate an elevator waiting instruction if the working status of the target elevator is occupied, and send the elevator waiting instruction to the elevator waiting robot associated with the status query request so that the elevator waiting robot can provide feedback on the elevator task. The processing order update module is used to add the elevator riding task as a pending elevator riding task to the task processing queue, and during the continuous query of the working status of the target elevator, when the working status of the target elevator changes from occupied to idle, update the task processing order of the pending elevator riding tasks in the task processing queue; the task processing order is adjusted based on the order adjustment logic, which is determined according to the elevator capacity utilization rate and business cooperation degree; wherein, the elevator capacity utilization rate is determined based on the current floor and current running direction of the target elevator, as well as the expected movement direction and expected departure floor of the waiting robot associated with each pending elevator riding task; the business cooperation degree is determined according to the task attributes of each pending elevator riding task; the task attributes include attribute information that reflects at least the task priority and execution constraints; The elevator task processing module is used to process the elevator tasks to be processed in the task processing queue based on the updated task processing order, and the elevator IoT system notifies the corresponding waiting robot to take the elevator, so that the waiting robot can complete the elevator scheduling without continuously querying the working status of the target elevator.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the robot elevator method as described in any one of claims 1-7.

10. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the robot elevator method as described in any one of claims 1-7.

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