Robot elevator call method and electronic device

Abstract

The application relates to the technical field of robots, and discloses a robot elevator-riding method and electronic equipment. The robot elevator-riding method comprises the following steps: obtaining a task instruction, wherein the task instruction comprises a floor number of a target floor; controlling the robot to ride an elevator to the target floor according to the task instruction; if an abnormal situation occurs in the process of the robot riding the elevator, determining the type of the abnormal situation; and controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor. According to the type of the abnormal situation occurring in the process of the robot riding the elevator, the robot is controlled to perform a corresponding action, so that the robot reaches the target floor. The application can control the robot to complete elevator riding when multiple types of abnormal situations occur, thereby improving the elevator-riding success rate of the robot.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of robots, in particular to a robot elevator taking method and an electronic device. BACKGROUND

[0002] A robot is a common name of an automatic control machine, including all machines simulating human behavior or thought and simulating other creatures. When a robot works in a multi-floor scene, the robot needs to be linked with an elevator control system to complete autonomous elevator taking. In the robot elevator taking process, if an abnormal situation occurs, the robot elevator taking fails, thereby reducing the efficiency of the robot in executing related tasks.

[0003] The prior art determines whether the robot has an abnormal situation by judging whether the robot and a dispatch management system controlling the action of the robot can normally communicate, however, this method cannot judge other abnormal situations, so that the robot cannot autonomously handle the other abnormal situations, and the success rate of the robot elevator taking is low. SUMMARY

[0004] The embodiment of the application provides a robot elevator taking method and an electronic device to control the robot to complete elevator taking when multiple types of abnormal situations occur, thereby improving the success rate of the robot elevator taking.

[0005] The embodiment of the application provides the following technical solutions:

[0006] In a first aspect, the embodiment of the application provides a robot elevator taking method applied to a robot, and the robot elevator taking method comprises the following steps.

[0007] Obtaining a task instruction, wherein the task instruction comprises a floor number of a target floor;

[0008] Controlling the robot to take an elevator to the target floor according to the task instruction;

[0009] If an abnormal situation occurs in the process of the robot taking the elevator, determining a type of the abnormal situation;

[0010] Controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor.

[0011] In some embodiments, the task instruction further comprises a position of a target point;

[0012] The step of controlling the robot to take the elevator to the target floor according to the task instruction comprises the following steps.

[0013] Determining an elevator corresponding to a floor area where the target point is located according to the position of the target point;

[0014] Controlling the robot to establish a communication connection with an elevator control system corresponding to the elevator.

[0015] After the robot establishes a communication connection with the elevator control system, the robot is controlled to move to a waiting point at an initial floor;

[0016] After the robot reaches the waiting point, a first request is sent to the elevator control system to make the corresponding elevator of the elevator control system run to the initial floor;

[0017] If the elevator reaches the initial floor and the elevator is in a stationary state, an open door holding instruction is sent to the elevator control system to make the elevator keep an open door state, and the robot is controlled to enter the elevator;

[0018] After the robot enters the elevator, a door closing instruction is sent to the elevator control system to make the elevator door of the elevator close;

[0019] The map of the initial floor used by the robot is switched to a map of a target floor, and a second request is sent to the elevator control system to make the elevator run to the target floor.

[0020] In some embodiments, after the step of sending the first request to the elevator control system to make the corresponding elevator of the elevator control system run to the initial floor after the robot reaches the waiting point, the method further comprises:

[0021] If the first information replied by the elevator control system is received, a query instruction is sent to the elevator control system, wherein the first information is used to determine whether the elevator control system receives the first request, the query instruction is used to query the floor number where the elevator is currently located and the state of the elevator, and the state of the elevator includes a running state and a stationary state;

[0022] If the second information replied by the elevator control system is received, and the floor number in the second information is the floor number of the initial floor, and the state of the elevator in the second information is the stationary state, it is determined that the elevator reaches the initial floor and the elevator is in the stationary state, wherein the second information is different from the first information, and the second information includes the floor number where the elevator is currently located and the state of the elevator.

[0023] In some embodiments, the robot includes a middle robot;

[0024] The step of controlling the robot to move to the waiting point at the initial floor includes:

[0025] A navigation instruction is sent to the middle robot to make the middle robot control the robot to move to the waiting point at the initial floor according to the navigation instruction;

[0026] After the step of sending the second request to the elevator control system to make the elevator run to the target floor, the method further comprises:

[0027] If the elevator runs to the target floor and the elevator is in a static state, the robot is controlled to leave the elevator based on the map of the target floor, and after the robot leaves the elevator, a release instruction is sent to the elevator control system to make the elevator control system execute corresponding tasks in response to input instructions of other users.

[0028] In some embodiments, the type of abnormal situation includes at least one of a communication abnormality, an elevator abnormality, a robot abnormality, an external instruction abnormality, an elevator entry abnormality, an elevator exit abnormality, a task abnormality, and a position abnormality, and the robot further includes a laser radar;

[0029] If an abnormal situation occurs to the robot during the process of taking the elevator, the step of determining the type of the abnormal situation includes:

[0030] During the process of the robot entering the elevator, the state of the elevator door of the elevator is determined according to the point cloud data of the laser radar, and / or the number of personnel in the elevator is determined, wherein the state of the elevator door includes an open state and a closed state;

[0031] If the state of the elevator door is the open state and the number of personnel in the elevator is less than or equal to a first number threshold, the robot is controlled to enter the elevator;

[0032] If the state of the elevator door is the closed state or the number of personnel in the elevator is greater than the first number threshold, it is determined that the type of the abnormal situation is an elevator entry abnormality;

[0033] During the process of the robot leaving the elevator, the state of the elevator door of the elevator is determined according to the point cloud data of the laser radar, and / or the number of personnel in front of the robot is determined;

[0034] If the state of the elevator door is the open state and the number of personnel in front of the robot is less than or equal to a second number threshold, the robot is controlled to leave the elevator;

[0035] If the state of the elevator door is the closed state or the number of personnel in front of the robot is greater than the second number threshold, it is determined that the type of the abnormal situation is an elevator exit abnormality.

[0036] In some embodiments, the robot includes an emergency stop button and a display interface, the emergency stop button is used to control the robot to stop executing a current action, and the display interface is used to input a user instruction;

[0037] If an abnormal situation occurs to the robot during the process of taking the elevator, the step of determining the type of the abnormal situation further includes:

[0038] If no information replied by the elevator control system is received within a preset time after the robot sends the first request or query instruction to the elevator control system, it is determined that the type of the abnormal situation is a communication abnormality;

[0039] If the elevator does not run to the initial floor within the first time threshold after the first request is sent to the elevator control system, or the elevator does not run to the target floor from the initial floor within the second time threshold after the second request is sent to the elevator control system, the type of the abnormal situation is determined as an elevator abnormality;

[0040] If the robot fails during the process of entering the elevator or in the elevator, the type of the abnormal situation is determined as a robot abnormality;

[0041] If the robot is in the process of arriving at the target floor by the elevator, and a pressing operation of the emergency stop button is responded, the type of the abnormal situation is determined as an external instruction abnormality;

[0042] If the robot is in the process of arriving at the target floor by the elevator, and a cancel task operation of the display interface is responded, the type of the abnormal situation is determined as a task abnormality;

[0043] If the robot is in the process of leaving the elevator, and the floor number of the current floor of the robot is different from the floor number of the target floor, the type of the abnormal situation is determined as a position abnormality.

[0044] In some embodiments, the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation so as to make the robot arrive at the target floor comprises:

[0045] If the type of the abnormal situation is a communication abnormality, and the robot is located outside the elevator, the first request is periodically sent to the elevator control system until the elevator control system replies within a preset time;

[0046] If the number of times of sending the first request is greater than a first preset number, after the communication connection with the elevator control system is re-established, the first request is sent to the elevator control system;

[0047] If the information replied by the elevator control system is not received within the preset time, and the robot is located outside the elevator at the initial floor, the robot is controlled to return to the initial position;

[0048] If the type of the abnormal situation is an elevator abnormality, and the robot is located outside the elevator, the first request is periodically sent to the elevator control system until the elevator runs to the initial floor within the first time threshold;

[0049] If the number of times of sending the first request is greater than a second preset number, and the robot is located outside the elevator at the initial floor, the robot is controlled to return to the initial position;

[0050] If the type of the abnormal situation is an elevator abnormality, and the robot is located inside the elevator, the second request is periodically sent to the elevator control system until the elevator runs to the target floor within the second time threshold;

[0051] If the type of the abnormal situation is a task abnormality and the robot is outside the elevator at the initial floor, the robot is controlled to return to the initial position, and a release instruction is sent to the elevator control system to make the elevator control system execute a corresponding task in response to an input instruction of another user;

[0052] If the type of the abnormal situation is a task abnormality and the robot is inside the elevator, a third request is sent to the elevator control system to make the elevator run to the initial floor;

[0053] After the elevator runs to the initial floor, the robot is controlled to return to the initial position.

[0054] In some embodiments, the robot further comprises a scanning device for scanning and identifying an identification code inside or outside the elevator;

[0055] The step of controlling the robot to execute a corresponding action according to the type of the abnormal situation to make the robot arrive at the target floor further comprises:

[0056] If the type of the abnormal situation is a robot abnormality and the robot is in the process of entering the elevator, the robot is controlled to stop entering the elevator, the type of the fault of the robot is determined, and a door closing instruction is sent to the elevator control system to make the elevator door of the elevator close, wherein the type of the fault of the robot includes a recoverable fault and an unrecoverable fault;

[0057] If the type of the fault of the robot is a recoverable fault, the robot is controlled to move to an avoidance point, and a first request is sent to the elevator control system after a third time threshold to make the robot re-enter the elevator;

[0058] If the type of the abnormal situation is a robot abnormality and the robot is inside the elevator, a second request is sent to the elevator control system to make the elevator run to the target floor after the fault of the robot disappears;

[0059] If the type of the abnormal situation is a position abnormality and the robot is outside the elevator, the identification code is identified by the scanning device to obtain the floor number of the floor where the robot is currently located and the position coordinates of the robot;

[0060] The position of the robot is repositioned to update the floor number of the floor where the robot is currently located, and a first request is sent to the elevator control system to make the elevator run to the floor where the robot is currently located.

[0061] In some embodiments, the step of controlling the robot to execute a corresponding action according to the type of the abnormal situation to make the robot arrive at the target floor further comprises:

[0062] If the type of the abnormal situation is an entering elevator abnormal situation, or the type of the abnormal situation is an external instruction abnormal situation during the process in which the robot enters the elevator, the robot is controlled to move to an avoiding point, and a release instruction is sent to the elevator control system, so that the elevator control system performs a corresponding task in response to an input instruction of another user;

[0063] The first request and / or the door opening keeping instruction are periodically sent to the elevator control system after a fourth time threshold, until the robot enters the elevator;

[0064] If the number of times of sending the first request is greater than a third preset number or the number of times of sending the door opening keeping instruction is greater than a fourth preset number, and the robot is located outside the elevator at the initial floor, the robot is controlled to return to the initial position;

[0065] If the type of the abnormal situation is a leaving elevator abnormal situation, or the type of the abnormal situation is an external instruction abnormal situation during the process in which the robot leaves the elevator, the robot is controlled to keep a stationary state, and a door closing instruction is sent to the elevator control system, so that the elevator door of the elevator is closed;

[0066] The second request is periodically sent to the elevator control system after a fifth time threshold, until the elevator runs to the target floor, and the robot is controlled to leave the elevator.

[0067] In a second aspect, an embodiment of the present application provides a robot elevator riding device, applied to a robot, and the robot elevator riding device comprises:

[0068] An instruction obtaining unit is configured to obtain a task instruction, wherein the task instruction comprises a floor number of a target floor;

[0069] An elevator riding control unit is configured to control the robot to ride an elevator to the target floor according to the task instruction;

[0070] A type determining unit is configured to determine a type of an abnormal situation if the robot appears the abnormal situation during the process of riding the elevator;

[0071] An action control unit is configured to control the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor.

[0072] In a third aspect, an embodiment of the present application provides an electronic device, comprising:

[0073] A memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the robot elevator riding method of the first aspect when executing the computer program.

[0074] In a fourth aspect, an embodiment of the present application provides a nonvolatile computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the robot elevator taking method of the first aspect.

[0075] The embodiment of the present application has the following beneficial effects: Different from the prior art, the embodiment of the present application provides a robot elevator taking method applied to a robot. The robot elevator taking method comprises the following steps: obtaining a task instruction, wherein the task instruction comprises a floor number of a target floor; controlling the robot to take an elevator to the target floor according to the task instruction; determining a type of an abnormal situation if the robot encounters the abnormal situation in the process of taking the elevator; and controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor. According to the type of the abnormal situation encountered by the robot in the process of taking the elevator, the robot is controlled to perform a corresponding action, so that the robot reaches the target floor. The robot can still complete elevator taking when multiple types of abnormal situations occur, thereby improving the success rate of elevator taking of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0076] One or more embodiments are illustrated by way of example in the accompanying drawings, which are not intended to be limiting of the embodiments, and which do not constitute a complete description of all possible embodiments. Like reference numbers in the figures indicate like elements, and the figures are not necessarily drawn to scale. In the drawings:

[0077] FIG. 1 FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0078] FIG. 2 FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0079] FIG. 3 FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0080] FIG. 4 FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0081] BRIEF DESCRIPTION OF DRAWINGS

[0082] Reference Signs Names Reference Signs Names 100 Application Environment 302 Lift Control Unit 10 Robot 303 Type Determining Unit 20 Elevator 304 Action Control Unit 30 Terminal 400 Electronic Device 300 Robot Lift Device 401 Processor 301 Instruction Acquisition Unit 402 Memory DETAILED DESCRIPTION

[0083] For the convenience of understanding the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right", and similar expressions used in the present specification are for illustrative purposes only.

[0084] Unless otherwise defined, all technical and scientific terms used in the present specification are the same as the meanings commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the present specification includes any and all combinations of one or more of the associated listed items.

[0085] The technical solutions of the present application will be described in detail below in conjunction with the accompanying drawings of the specification:

[0086] Please refer to FIG. 1 , FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application.

[0087] As FIG. 1 shown, the application environment 100 includes a robot 10, an elevator 20, and a terminal 30. The robot 10 and the elevator control system corresponding to the elevator 20 are connected through network communication, and the robot 10 and the terminal 30 are connected through network communication, wherein the network includes wired network and / or wireless network. It can be understood that the network includes 2G, 3G, 4G, 5G, wireless local area network, Bluetooth, etc. wireless network, and can also include serial line, network cable, etc. wired network.

[0088] In an embodiment of the present application, the robot 10 can be a mobile robot, such as a hotel robot, a delivery robot, a cleaning robot, a pet robot, a carrying robot, a nursing robot, a remote monitoring robot, a sweeping robot, etc. The present application does not limit the shape and function of the robot 10.

[0089] Exemplarily, the robot includes an upper computer and a middle computer, wherein the upper computer and the middle computer are connected through Controller Area Network (CAN) bus communication. The upper computer serves as the control core of the robot, is used to acquire the task instruction sent by the terminal 30, and controls the robot to reach the target floor by taking the elevator according to the task instruction, or sends an instruction to the middle computer. The middle computer is used to control the movement of the robot according to the instruction sent by the upper computer.

[0090] In the embodiment of the present application, the elevator 20 includes a power-driven car elevator, such as a passenger elevator, a cargo elevator, a service elevator, etc. The number of elevators 20 is at least one, and each elevator corresponds to an elevator control system. The elevator 20 stops at at least two floors to enable the robot to board to different floors.

[0091] In the embodiment of the present application, the terminal 30 is communicatively connected to the robot 10, configured to send a task instruction to the robot 10, or receive notification information sent by the robot 10 to notify relevant staff to handle abnormal situations. The terminal 30 includes but is not limited to a communication device, a personal computer device, or other electronic devices with Internet access function. Alternatively, the host computer serves as a window for human-computer interaction, configured to receive a task instruction input by a user for the robot to execute.

[0092] Please refer to FIG. 2 , FIG. 2 is a flowchart of a robot elevator riding method provided by the embodiment of the present application.

[0093] In a first aspect, the embodiment of the present application provides a robot elevator riding method, which is applied to an electronic device, for example, a robot as shown in FIG. 1 , and specifically, the execution subject of the robot elevator riding method is the host computer of the robot.

[0094] As shown in FIG. 2 , the robot elevator riding method includes steps S201-S204:

[0095] Step S201: Obtain a task instruction.

[0096] Specifically, the task instruction includes a floor number of a target floor, and the host computer of the robot receives a task instruction sent by a terminal to control the robot to board an elevator to reach the target floor according to the task instruction.

[0097] Step S202: Control the robot to board an elevator to reach a target floor according to the task instruction.

[0098] Specifically, the task instruction further includes a position of a target point. After receiving the task instruction, the host computer of the robot determines an elevator corresponding to a floor area where the target point is located, and establishes a communication connection with an elevator control system corresponding to the elevator to control the robot to board the elevator to reach the target floor. The target point is a final location that the robot needs to reach for this task, and the target floor is a floor where the target point is located. Optionally, the target point is a room on the target floor.

[0099] In some embodiments, the step of controlling the robot to board an elevator to reach a target floor according to a task instruction includes:

[0100] According to the position of the target point, determine the corresponding elevator of the floor area where the target point is located; control the robot to establish a communication connection with the elevator control system corresponding to the elevator; after the robot establishes a communication connection with the elevator control system, control the robot to move to the waiting point of the initial floor; after the robot arrives at the waiting point, send a first request to the elevator control system to make the elevator corresponding to the elevator control system run to the initial floor; if the elevator arrives at the initial floor and the elevator is in a stationary state, send an open door holding instruction to the elevator control system to make the elevator keep the open door state, and control the robot to enter the elevator; after the robot enters the elevator, send a door closing instruction to the elevator control system to make the elevator door close; switch the map of the initial floor used by the robot to the map of the target floor, and send a second request to the elevator control system to make the elevator run to the target floor.

[0101] Specifically, different floor areas correspond to different elevators, and each elevator corresponds to an elevator control system. The host computer of the robot determines the area code of the floor area where the target point is located according to the position of the target point, and determines the corresponding elevator and elevator control system according to the area code, thereby directly establishing a communication connection with the elevator control system, or the robot communicates with the elevator control system through a server. Wherein, the area code is a sequence code used to represent different floor areas, and each area code corresponds to an elevator and an elevator control system.

[0102] The robot further comprises a middle computer, which is used to control the movement of the robot according to the instructions sent by the host computer. After the host computer of the robot establishes a communication connection with the elevator control system, the step of controlling the robot to move to the waiting point of the initial floor comprises: sending a navigation instruction to the middle computer to make the middle computer control the robot to move to the waiting point of the initial floor according to the navigation instruction. Specifically, the host computer sends a navigation instruction to the middle computer to make the middle computer control the robot to move to the waiting point of the initial floor according to the navigation instruction, wherein the navigation instruction is used to instruct the middle computer to control the robot to move to the waiting point of the initial floor, and the initial floor is the floor where the robot is currently located. Each elevator has a waiting point in each floor.

[0103] After the robot arrives at the waiting point, the host computer sends a first request to the elevator control system to make the elevator corresponding to the elevator control system run to the initial floor, wherein the first request is used to call the elevator corresponding to the elevator control system to run to the initial floor.

[0104] After the robot reaches the waiting point, the robot takes the elevator method further comprises the following steps: after the step of sending the first request to the elevator control system to make the corresponding elevator of the elevator control system run to the initial floor, if the first information replied by the elevator control system is received, a query instruction is sent to the elevator control system; if the second information replied by the elevator control system is received, and the floor number in the second information is the floor number of the initial floor, and the state of the elevator in the second information is a static state, it is determined that the elevator reaches the initial floor and the elevator is in a static state, wherein the second information is different from the first information, and the second information includes the floor number where the elevator is currently located and the state of the elevator.

[0105] Specifically, the first information is used to determine whether the elevator control system receives the first request, the query instruction is used to query the floor number where the elevator is currently located and the state of the elevator, the state of the elevator includes a running state and a static state, and the second information is used to determine the floor number where the elevator is currently located and the state of the elevator. If the host computer receives the first information replied by the elevator control system after sending the first request to the elevator control system, the host computer sends a query instruction to the elevator control system; if the host computer receives the second information replied by the elevator control system after sending the query instruction to the elevator control system, and the floor number in the second information is the floor number of the initial floor, and the state of the elevator in the second information is a static state, the host computer determines that the elevator reaches the initial floor and the elevator is in a static state.

[0106] If the host computer does not receive the information replied by the elevator control system within a preset time after sending the first request or the query instruction to the elevator control system, the host computer determines that an abnormal situation occurs in the robot during the elevator taking process, and the type of the abnormal situation is a communication abnormality, wherein the preset time is used to determine whether the host computer receives the information replied by the elevator control system, and the preset time can be set by a person skilled in the art according to actual conditions, which is not limited in the embodiments of the present application.

[0107] If the host computer receives the second information replied by the elevator control system after sending the query instruction to the elevator control system, the floor number in the second information is not the floor number of the initial floor, or the state of the elevator in the second information is a running state, the elevator is in the process of running to the initial floor, and the host computer periodically sends a query instruction to the elevator control system until the host computer receives the second information in which the floor number is the floor number of the initial floor and the state of the elevator is a static state.

[0108] When the host computer determines that the elevator reaches the initial floor and the elevator is in a static state, the host computer sends an open door maintaining instruction to the elevator control system to make the elevator maintain an open door state, and sends a first moving instruction to the intermediate computer to make the intermediate computer navigate the robot to enter the elevator according to the first moving instruction, wherein the open door maintaining instruction is used to instruct the elevator control system to control the elevator door of the elevator to open, and the first moving instruction is used to instruct the intermediate computer to control the robot to enter the elevator.

[0109] After the robot enters the elevator, the host computer sends a door closing instruction to the elevator control system to make the elevator door of the elevator close, and sends a map switching instruction to the intermediate computer to make the intermediate computer switch the map of the initial floor used by the robot to the map of the target floor according to the map switching instruction, wherein the door closing instruction is used to instruct the elevator control system to control the elevator door of the elevator to close, and the map switching instruction is used to instruct the intermediate computer to switch the map of the initial floor used by the robot to the map of the target floor, and the map of each floor is pre-stored in the memory of the robot.

[0110] After the map of the initial floor used by the robot is switched to the map of the target floor, the host computer sends a second request to the elevator control system to make the elevator run to the target floor, wherein the second request is used to call the corresponding elevator of the elevator control system to run to the target floor. If the host computer receives third information replied by the elevator control system after sending the second request to the elevator control system, the host computer sends a query instruction to the elevator control system; if the host computer receives fourth information replied by the elevator control system after sending the query instruction to the elevator control system, and the floor number in the fourth information is the floor number of the target floor and the state of the elevator in the fourth information is a static state, the host computer determines that the elevator reaches the target floor and the elevator is in the static state. The third information is used to determine whether the second request is received by the elevator control system, the query instruction is used to query the floor number where the elevator is currently located and the state of the elevator, and the fourth information is used to determine the floor number where the elevator is currently located and the state of the elevator.

[0111] If the host computer does not receive information replied by the elevator control system within a preset time after sending the second request or the query instruction to the elevator control system, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is communication abnormality. If the host computer receives the fourth information replied by the elevator control system after sending the query instruction to the elevator control system, and the floor number in the fourth information is not the floor number of the target floor or the state of the elevator in the fourth information is a running state, the elevator is in the process of running from the initial floor to the target floor, and the host computer periodically sends the query instruction to the elevator control system until the host computer receives the fourth information in which the floor number is the floor number of the target floor and the state of the elevator is the static state.

[0112] After the step of sending a second request to the elevator control system to make the elevator run to the target floor, the robot taking an elevator method further comprises: if the elevator runs to the target floor and the elevator is in a stationary state, controlling the robot to leave the elevator based on a map of the target floor, and after the robot leaves the elevator, sending a release instruction to the elevator control system to make the elevator control system perform corresponding tasks in response to input instructions of other users.

[0113] Specifically, after the host computer determines that the elevator runs to the target floor and the elevator is in a stationary state, the host computer sends an open door holding instruction to the elevator control system to make the elevator keep an open door state, and sends a second movement instruction to the intermediate computer to make the intermediate computer control the robot to leave the elevator based on a map of the target floor according to the second movement instruction, and reach a target point. The map used in positioning navigation is an environment map pre-constructed based on a simultaneous localization and mapping (SLAM) technology. After the robot leaves the elevator, the host computer sends a release instruction to the elevator control system to make the elevator control system perform corresponding tasks in response to input instructions of other users. The second movement instruction is used to instruct the intermediate computer to control the robot to leave the elevator based on the map of the target floor, and the release instruction is used to instruct the elevator control system to perform corresponding tasks in response to input instructions of other users. It can be understood that, in the process of the robot taking an elevator, if the robot does not send a release instruction to the elevator control system, the elevator control system cannot respond to input instructions of other users.

[0114] Step S203: If an abnormal situation occurs in the process of the robot taking an elevator, determining the type of the abnormal situation.

[0115] Specifically, the host computer determines the type of the abnormal situation according to the abnormal situation occurring in the process of the robot taking an elevator, and the type of the abnormal situation includes at least one of a communication abnormality, an elevator abnormality, a robot abnormality, an external instruction abnormality, an entering elevator abnormality, a leaving elevator abnormality, a task abnormality, and a position abnormality. The robot further comprises a laser radar, and the host computer, the intermediate computer, and the laser radar are connected based on a CAN bus communication.

[0116] In some embodiments, if an abnormal situation occurs in the process of the robot taking an elevator, the step of determining the type of the abnormal situation comprises:

[0117] In the process of entering the elevator by the robot, the state of the elevator door of the elevator is determined according to the point cloud data of the laser radar, and / or the number of personnel in the elevator is determined, wherein the state of the elevator door includes an open state and a closed state; if the state of the elevator door is the open state and the number of personnel in the elevator is less than or equal to a first number threshold, the robot is controlled to enter the elevator; if the state of the elevator door is the closed state or the number of personnel in the elevator is greater than the first number threshold, it is determined that the type of the abnormal situation is an entering elevator abnormality; in the process of leaving the elevator by the robot, the state of the elevator door of the elevator is determined according to the point cloud data of the laser radar, and / or the number of personnel in front of the robot is determined; if the state of the elevator door is the open state and the number of personnel in front of the robot is less than or equal to a second number threshold, the robot is controlled to leave the elevator; if the state of the elevator door is the closed state or the number of personnel in front of the robot is greater than the second number threshold, it is determined that the type of the abnormal situation is a leaving elevator abnormality.

[0118] Specifically, in the process of entering the elevator by the robot, the host computer controls the middle computer to determine the state of the elevator door of the elevator and / or the number of personnel in the elevator according to the point cloud data of the laser radar, and receives the information of the state of the elevator door and / or the number of personnel in the elevator sent by the middle computer. Wherein the middle computer determines the state of the elevator door according to the point cloud data including the elevator door obtained by the laser radar and the geometric characteristics of the elevator door, such as symmetry, and the discontinuity of the point cloud in front of the robot when the door is opened; the middle computer determines the number of personnel in the elevator according to the density of the point cloud data.

[0119] For example: if the point cloud data is continuous and symmetrical, the middle computer determines that the elevator door is in the closed state; if the point cloud data is discontinuous and has a gap, the middle computer determines that the elevator door is in the open state; if the density of the point cloud data is greater than a first density, the middle computer determines that the number of personnel in the elevator is greater than a first number threshold; if the density of the point cloud data is less than or equal to the first density, the middle computer determines that the number of personnel in the elevator is less than or equal to the first number threshold.

[0120] Wherein, the first density is the density of the point cloud data when the number of personnel in the elevator is the first number threshold, and the first number threshold is the number of personnel in the elevator when there is no robot entering the space, and the first density and the first number threshold can be set by those skilled in the art according to the actual situation, which is not limited in the embodiment of the application.

[0121] After the host computer receives the information that the state of the elevator door is open and the number of people in the elevator is less than or equal to the first number threshold from the intermediate computer, the host computer sends a first movement instruction to the intermediate computer, so that the intermediate computer navigates and controls the robot to enter the elevator according to the first movement instruction. After the host computer receives the information that the state of the elevator door is closed or the number of people in the elevator is greater than the first number threshold from the intermediate computer, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is an elevator entry abnormality. The elevator entry abnormality is an abnormal situation when the state of the elevator door is closed or the number of people in the elevator is greater than the first number threshold.

[0122] In the process of the robot leaving the elevator, the host computer controls the intermediate computer to determine the state of the elevator door of the elevator and / or the number of people in front of the robot according to the point cloud data of the laser radar, and receives the information about the state of the elevator door and / or the number of people in front of the robot sent by the intermediate computer. The specific implementation manner of the intermediate computer to determine the number of people in front of the robot is similar to that of determining the number of people in the elevator, which will not be described here.

[0123] After the host computer receives the information that the state of the elevator door is open and the number of people in front of the robot is less than or equal to the second number threshold from the intermediate computer, the host computer sends a second movement instruction to the intermediate computer, so that the intermediate computer navigates and controls the robot to leave the elevator according to the second movement instruction. After the host computer receives the information that the state of the elevator door is closed or the number of people in front of the robot is greater than the second number threshold from the intermediate computer, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is an elevator exit abnormality. The second number threshold is the number of people in front of the robot when the space in front of the robot satisfies the space required for the robot to leave the elevator. The second number threshold can be set by those skilled in the art according to actual conditions, and the present application is not limited in the embodiments. The elevator exit abnormality is an abnormal situation when the state of the elevator door is closed or the number of people in front of the robot is greater than the second number threshold.

[0124] In other embodiments, if an abnormal situation occurs in the process of the robot taking the elevator, the step of determining the type of the abnormal situation further includes:

[0125] If the information replied by the elevator control system is not received within a preset time after the robot sends the first request or query instruction to the elevator control system, it is determined that the type of the abnormal situation is a communication abnormality. If the elevator does not run to the initial floor within a first time threshold after the first request is sent to the elevator control system, or the elevator does not run from the initial floor to the target floor within a second time threshold after the second request is sent to the elevator control system, it is determined that the type of the abnormal situation is an elevator abnormality.

[0126] Specifically, if the host computer does not receive the information replied by the elevator control system within the preset time after sending the first request or the query instruction to the elevator control system, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is communication abnormality. The preset time is used to determine whether the host computer receives the information replied by the elevator control system, and the communication abnormality is the abnormal situation when the host computer does not receive the information replied by the elevator control system within the preset time.

[0127] For example, when the robot is too far away from the elevator control system, or the communication between the robot and the elevator control system is interfered by a signal, or the communication module of the robot is abnormal, the host computer does not receive the first information replied by the elevator control system within the preset time after sending the first request to the elevator control system, or the host computer does not receive the second information replied by the elevator control system within the preset time after sending the query instruction to the elevator control system, and the host computer determines that the type of the abnormal situation is communication abnormality. The first information is used to determine whether the elevator control system receives the first request, the second information is used to reply the query instruction sent by the robot outside the elevator, and the communication module is used for communication between the host computer and the elevator control system.

[0128] In some other embodiments, if the host computer does not receive the information replied by the elevator control system within the preset time after sending the second request or the query instruction to the elevator control system, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is communication abnormality.

[0129] For example, when the robot is too far away from the elevator control system, or the communication between the robot and the elevator control system is interfered by a signal, or the communication module of the robot is abnormal, the host computer does not receive the third information replied by the elevator control system within the preset time after sending the second request to the elevator control system, or the host computer does not receive the fourth information replied by the elevator control system within the preset time after sending the query instruction to the elevator control system, and the host computer determines that the type of the abnormal situation is communication abnormality. The third information is used to determine whether the elevator control system receives the second request, and the fourth information is used to reply the query instruction sent by the robot inside the elevator.

[0130] In some embodiments, after the host computer sends the first request and the query instruction to the elevator control system, the host computer determines the first time threshold according to the floor number of the current floor of the elevator and the floor number of the initial floor in the second information returned by the elevator control system. If the elevator does not run to the initial floor within the first time threshold, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is elevator abnormality. The first time threshold is equal to the difference between the floor number of the current floor of the elevator and the floor number of the initial floor multiplied by the height of one floor divided by the running speed of the elevator. The height of one floor and the running speed of the elevator are both pre-set in the memory of the host computer.

[0131] Alternatively, after the host computer sends the second request and the query instruction to the elevator control system, the host computer determines the second time threshold according to the floor number of the current floor of the elevator and the floor number of the target floor in the fourth information returned by the elevator control system. If the elevator does not run from the initial floor to the target floor within the second time threshold, the host computer determines that an abnormal situation occurs in the process of the robot taking the elevator, and the type of the abnormal situation is elevator abnormality. The second time threshold is equal to the difference between the floor number of the current floor of the elevator and the floor number of the target floor multiplied by the height of one floor divided by the running speed of the elevator. The elevator abnormality is the abnormal situation that the elevator does not run to the initial floor within the first time threshold or the elevator does not run from the initial floor to the target floor within the second time threshold.

[0132] For example, when the elevator is out of order, or the elevator is faulty, or the elevator stays at a certain floor for a long time without receiving the release instruction, after the host computer sends the first request to the elevator control system, the elevator does not run to the initial floor within the first time threshold, or after the host computer sends the second request to the elevator control system, the elevator does not run from the initial floor to the target floor within the second time threshold, the host computer determines that the type of the abnormal situation is elevator abnormality.

[0133] In other embodiments, if an abnormal situation occurs in the process of the robot taking the elevator, the step of determining the type of the abnormal situation further comprises:

[0134] If the robot fails in the process of entering the elevator or in the elevator, the type of the abnormal situation is determined to be robot abnormality. If the robot responds to the pressing operation of the emergency stop button in the process of taking the elevator to the target floor, the type of the abnormal situation is determined to be external instruction abnormality. If the robot responds to the cancel task operation of the display interface in the process of taking the elevator to the target floor, the type of the abnormal situation is determined to be task abnormality. If the robot is in the process of leaving the elevator and the floor number of the current floor of the robot is different from the floor number of the target floor, the type of the abnormal situation is determined to be position abnormality.

[0135] Specifically, the robot further comprises a chassis, and the upper computer, the middle computer and the chassis each comprises a fault diagnosis module, each of which is configured to diagnose a fault during operation of the robot. For example, the upper computer fault diagnosis module is configured to diagnose whether the upper computer has a fault, the middle computer fault diagnosis module is configured to diagnose whether the middle computer has a fault, and the chassis fault diagnosis module is configured to diagnose whether the chassis has a fault. During the process in which the robot enters the elevator or when the robot is inside the elevator, if the fault diagnosis module of the robot determines that the upper computer, the middle computer or the chassis has a fault, the upper computer determines that the type of abnormal situation is a robot abnormality. The robot abnormality is an abnormal situation in which the robot has a fault.

[0136] In some embodiments, the robot comprises an emergency stop button configured to control the robot to stop performing a current action. If, during the process in which the robot takes the elevator to the target floor, the upper computer stops performing the current action in response to a pressing operation of the emergency stop button, and determines that an abnormal situation occurs, and the type of abnormal situation is an external instruction abnormality. The external instruction abnormality is an abnormal situation in which the emergency stop button is pressed.

[0137] In other embodiments, the robot comprises a display interface configured to input a user instruction. If, during the process in which the robot takes the elevator to the target floor, the upper computer determines that an abnormal situation occurs in response to a cancel task operation of the display interface, and the type of abnormal situation is a task abnormality. The task abnormality is an abnormal situation in which the user cancels the task.

[0138] In other embodiments, the robot further comprises a scanning device, for example, the scanning device is a camera or a code scanning gun, and the scanning device is configured to scan and identify an identification code inside or outside the elevator, for example, the identification code is a two-dimensional code or a bar code, etc. Optionally, the scanning device is arranged on the top of the robot. When the robot scans and identifies the identification code through the scanning device, the position information of the identification code is obtained, wherein the position information of the identification code is the position information of the identification code in the map, and the position information of the identification code comprises a floor number of a floor where the identification code is currently located. In this embodiment, the position information of the identification code is stored in the two-dimensional code information corresponding to the identification code. If the robot is in the process of leaving the elevator, and the floor number of the floor where the robot is currently located obtained by the robot through the scanning device is different from the floor number of the target floor, the upper computer determines that an abnormal situation occurs, and the type of abnormal situation is a position abnormality. The position abnormality is an abnormal situation in which the floor number of the floor where the robot is currently located is different from the floor number of the target floor during the process in which the robot leaves the elevator.

[0139] For example, when the robot is pushed out of the elevator by a person and reaches outside the elevator, the floor number of the floor where the robot is currently located obtained by the robot through the scanning device is different from the floor number of the target floor, and the upper computer determines that the type of abnormal situation is a position abnormality.

[0140] In some embodiments, the host computer periodically sends a query instruction to the elevator control system to receive fifth information replied by the elevator control system during the process that the robot leaves the elevator, and determines whether the floor number of the floor where the robot is currently located is the floor number of the target floor according to the fifth information. If the floor number of the floor where the robot is currently located is the floor number of the target floor, the host computer controls the robot to leave the elevator and reach the target point; if the floor number of the floor where the robot is currently located is not the floor number of the target floor, the host computer determines that an abnormal situation occurs, and the type of the abnormal situation is position abnormality. The fifth information includes the floor where the elevator is currently located and the state of the elevator, and the fifth information is used to reply the query instruction sent by the robot during the process that the robot leaves the elevator.

[0141] Step S204: controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor.

[0142] Specifically, the host computer controls the robot to perform a corresponding action according to the type of the abnormal situation, so as to control the robot to complete the task of taking the elevator to reach the target floor, and control the robot to leave the elevator and move to the target point after the robot reaches the target floor.

[0143] In some embodiments, the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation so that the robot reaches the target floor includes:

[0144] If the type of the abnormal situation is communication abnormality, the corresponding action is to periodically send a first request to the elevator control system until the elevator control system replies information within a preset time; if the number of times of sending the first request is greater than a first preset number, the corresponding action includes: after re-establishing a communication connection with the elevator control system, sending the first request to the elevator control system; if the information replied by the elevator control system is not received within the preset time, and the robot is located outside the elevator at the initial floor, the corresponding action includes: controlling the robot to return to the initial position.

[0145] Specifically, if the host computer determines that the type of the abnormal situation is a communication abnormality and the robot is located outside the elevator, the host computer periodically sends a first request to the elevator control system until the elevator control system replies with first information within a preset time, and after the elevator control system replies with the first information, the host computer continues to execute step S202 to make the robot take the elevator to the target floor. If the number of times the host computer sends the first request is greater than a first preset number, after the communication module of the robot re-establishes a communication connection with the elevator control system, the host computer sends the first request to the elevator control system, and if the host computer does not receive the first information replied by the elevator control system within the preset time and the robot is located outside the elevator at the initial floor, the host computer controls the robot to return to the initial position and sends notification information to the terminal to notify relevant staff to handle the abnormal situation. The initial position is the position of the robot when the task instruction is received. Alternatively, the initial position is a charging point. The first preset number is used to determine whether the host computer needs to re-establish a communication connection with the elevator control system. The first preset number can be set by a person skilled in the art according to actual conditions, which is not limited in the embodiment of the present application.

[0146] In some other embodiments, if the host computer determines that the type of the abnormal situation is a communication abnormality and the robot is located inside the elevator, the host computer periodically sends a second request to the elevator control system until the elevator control system replies with third information within a preset time, and after the elevator control system replies with the third information, the host computer continues to execute step S202 to make the robot take the elevator to the target floor. If the number of times the host computer sends the second request is greater than a first preset number, after the communication module of the robot re-establishes a communication connection with the elevator control system, the host computer sends the second request to the elevator control system, and if the host computer does not receive the third information replied by the elevator control system within the preset time, the host computer sends notification information to the terminal to notify relevant staff to handle.

[0147] In some other embodiments, the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation to make the robot reach the target floor further includes:

[0148] If the type of the abnormal situation is an elevator abnormality and the robot is located outside the elevator, the corresponding action is to periodically send a first request to the elevator control system until the elevator runs to the initial floor within a first time threshold. If the number of times the first request is sent is greater than a second preset number and the robot is located outside the elevator at the initial floor, the corresponding action includes controlling the robot to return to the initial position. If the type of the abnormal situation is an elevator abnormality and the robot is located inside the elevator, the corresponding action is to periodically send a second request to the elevator control system until the elevator runs to the target floor within a second time threshold.

[0149] Specifically, if the host computer determines that the type of the abnormal situation is an elevator abnormality and the robot is outside the elevator, the host computer periodically sends a first request to the elevator control system until the elevator runs to the initial floor within a first time threshold, and after the elevator runs to the initial floor, the host computer continues to perform step S202 to make the robot take the elevator to the target floor. If the number of times the host computer sends the first request is greater than a second preset number, and the robot is outside the elevator at the initial floor, the host computer controls the robot to return to the initial position. If the number of times the host computer sends the first request is greater than the second preset number, and the robot is not outside the elevator at the initial floor, the host computer sends notification information to the terminal to notify relevant staff to handle. The second preset number is used to determine whether the host computer needs to continue to send a request to the elevator control system, and the second preset number can be set by a person skilled in the art according to actual conditions, which is not limited in the embodiments of the present application.

[0150] In some other embodiments, if the host computer determines that the type of the abnormal situation is an elevator abnormality and the robot is inside the elevator, the host computer periodically sends a second request to the elevator control system until the elevator runs to the target floor within a second time threshold, and after the elevator runs to the target floor, the host computer continues to perform step S202 to make the robot take the elevator to the target floor. If the number of times the host computer sends the second request is greater than the second preset number, the host computer sends notification information to the terminal to notify relevant staff to handle.

[0151] In some other embodiments, the step of controlling the robot to perform a corresponding action to make the robot reach the target floor according to the type of the abnormal situation further includes:

[0152] If the type of the abnormal situation is a task abnormality and the robot is outside the elevator at the initial floor, the corresponding action is to control the robot to return to the initial position and send a release instruction to the elevator control system to make the elevator control system perform a corresponding task in response to an input instruction of another user. If the type of the abnormal situation is a task abnormality and the robot is inside the elevator, the corresponding action is to send a third request to the elevator control system to make the elevator run to the initial floor. After the elevator runs to the initial floor, the corresponding action includes controlling the robot to return to the initial position.

[0153] Specifically, if the host computer determines that the type of the abnormal situation is a task abnormality and the robot is outside the elevator at the initial floor, the host computer controls the robot to return to the initial position and sends a release instruction to the elevator control system, so that the elevator control system executes a corresponding task in response to an input instruction of another user. If the host computer determines that the type of the abnormal situation is a task abnormality and the robot is inside the elevator, the host computer sends a third request to the elevator control system to make the elevator run to the initial floor, and after the elevator runs to the initial floor, the host computer controls the robot to return to the initial position. The third request is used to instruct the elevator control system to make the corresponding elevator run to the initial floor.

[0154] In some embodiments, the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation so that the robot reaches the target floor further includes:

[0155] If the type of the abnormal situation is a robot abnormality and the robot is in the process of entering the elevator, the corresponding action is to control the robot to stop entering the elevator, determine the type of the fault of the robot, and send a door closing instruction to the elevator control system to make the elevator door close. The type of the fault of the robot includes a recoverable fault and an unrecoverable fault. If the type of the fault of the robot is a recoverable fault, the corresponding action includes controlling the robot to move to an avoidance point and sending a first request to the elevator control system after a third time threshold to make the robot re-enter the elevator. If the type of the abnormal situation is a robot abnormality and the robot is inside the elevator, after the fault of the robot disappears, the corresponding action includes sending a second request to the elevator control system to make the elevator run to the target floor.

[0156] Specifically, if the host computer determines that the type of the abnormal situation is a robot abnormality and the robot is in the process of entering the elevator, the host computer controls the robot to stop entering the elevator, determines the type of the fault of the robot, and sends a door closing instruction to the elevator control system to make the elevator door close. If the type of the fault of the robot is a recoverable fault, the host computer controls the corresponding fault diagnosis module to process the recoverable fault so that the recoverable fault disappears, and controls the robot to move to an avoidance point, sends a first request to the elevator control system after a third time threshold to make the robot re-enter the elevator, and after the robot re-enters the elevator, continues to execute step S202 to make the robot ride the elevator to the target floor. If the type of the fault of the robot is an unrecoverable fault, or the robot fails to process the recoverable fault, the recoverable fault does not disappear within the third time threshold, and the recoverable fault turns into an unrecoverable fault, the host computer sends notification information to the terminal to notify relevant staff to process.

[0157] Wherein, the recoverable fault is a fault that can disappear after being processed by the fault diagnosis module, the unrecoverable fault is a fault that cannot disappear after being processed by the fault diagnosis module, the elevator has an avoidance point at each floor, the avoidance point is different from the waiting point, the third time threshold is a time for the fault diagnosis module to process the recoverable fault so that the recoverable fault disappears, and the third time threshold can be set by a person skilled in the art according to actual conditions, which is not limited in the embodiment of the present application.

[0158] In other embodiments, if the host computer determines that the type of the abnormal situation is a robot abnormality and the robot is located in the elevator, the host computer sends a second request to the elevator control system to make the elevator run to the target floor after the fault of the robot disappears. If the host computer determines that the type of the abnormal situation is a robot abnormality and the robot is located in the elevator, and the type of the fault of the robot is an unrecoverable fault, the host computer sends notification information to the terminal to notify the relevant staff to handle.

[0159] In other embodiments, the step of controlling the robot to perform a corresponding action to make the robot reach the target floor according to the type of the abnormal situation further comprises:

[0160] If the type of the abnormal situation is a position abnormality, the corresponding action is to identify the identification code by the scanning device to obtain the floor number of the floor where the robot is currently located and the position coordinates of the robot. The corresponding action comprises: repositioning the position of the robot to update the floor number of the floor where the robot is currently located, and sending a first request to the elevator control system to make the elevator run to the floor where the robot is currently located.

[0161] Specifically, if the host computer determines that the type of the abnormal situation is a position abnormality and the robot is located outside the elevator, the host computer identifies the identification code by the scanning device to obtain the position information of the identification code, and obtains the floor number of the floor where the robot is currently located and the position coordinates of the robot. The host computer repositions the position of the robot based on the SLAM algorithm and the obtained position coordinates of the robot to update the floor number of the floor where the robot is currently located, takes the updated floor number as the floor number of the initial floor, sends a first request to the elevator control system to make the elevator run to the floor where the robot is currently located, and after the elevator runs to the floor where the robot is currently located, continues to perform step S202 to make the robot ride the elevator to the target floor.

[0162] In other embodiments, if the host computer determines that the type of the abnormal situation is a position abnormality and the robot is located inside the elevator, the host computer controls the robot to remain in a stationary state and sends a door closing instruction to the elevator control system to make the elevator door of the elevator close. After the elevator door is closed, the host computer periodically sends a second request to the elevator control system until the elevator runs to the target floor.

[0163] In some embodiments, the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation so as to make the robot reach the target floor further comprises:

[0164] If the type of the abnormal situation is the entering elevator abnormal situation, or the type of the abnormal situation is the external instruction abnormal situation during the process that the robot enters the elevator, the corresponding action is to control the robot to move to the avoidance point, and send a release instruction to the elevator control system so that the elevator control system performs a corresponding task in response to an input instruction of another user; the corresponding action comprises periodically sending a first request and / or a door holding instruction to the elevator control system after a fourth time threshold, until the robot enters the elevator; if the number of times of sending the first request is greater than a third preset number or the number of times of sending the door holding instruction is greater than a fourth preset number, and the robot is located outside the elevator at the initial floor, the corresponding action comprises controlling the robot to return to the initial position.

[0165] Specifically, if the host computer determines that the type of the abnormal situation is the entering elevator abnormal situation, or the type of the abnormal situation is the external instruction abnormal situation during the process that the robot enters the elevator, the host computer controls the robot to move to the avoidance point, and sends a release instruction to the elevator control system so that the elevator control system performs a corresponding task in response to an input instruction of another user. If the elevator runs to another floor after the fourth time threshold, the host computer periodically sends a first request to the elevator control system until the elevator runs to the floor where the robot is currently located, and periodically sends a door holding instruction to the elevator control system after the elevator reaches the floor where the robot is currently located, until the robot successfully enters the elevator. If the elevator stays at the floor where the robot is currently located after the fourth time threshold, and the elevator door remains closed, the host computer periodically sends a door holding instruction to the elevator control system until the robot successfully enters the elevator. After the robot successfully enters the elevator, the host computer continues to perform the step S202 so as to make the robot reach the target floor by taking the elevator.

[0166] The fourth time threshold is the time elapsed between the time when the host computer sends the release instruction to the elevator control system and the time when the host computer starts to send the first request or the door holding instruction to the elevator control system, and the fourth time threshold can be set by those skilled in the art according to actual conditions, which is not limited in the embodiments of the present application.

[0167] If the number of times the host computer sends the first request is greater than the third preset number or the number of times the host computer sends the open door maintaining instruction is greater than the fourth preset number, and the robot is outside the elevator at the initial floor, the host computer controls the robot to return to the initial position. If the number of times the host computer sends the first request is greater than the third preset number or the number of times the host computer sends the open door maintaining instruction is greater than the fourth preset number, and the robot is not outside the elevator at the initial floor, the host computer sends notification information to the terminal to inform the relevant staff to handle. The third preset number is used to determine whether the host computer needs to continue to send the first request to the elevator control system, and the fourth preset number is used to determine whether the host computer needs to continue to send the open door maintaining instruction to the elevator control system. The third preset number and the fourth preset number can be set by a person skilled in the art according to actual conditions, and are not limited in the embodiments of the present application.

[0168] In some other embodiments, the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation to make the robot reach the target floor further comprises:

[0169] If the type of the abnormal situation is the leaving elevator abnormality, or the type of the abnormal situation is the external instruction abnormality during the process that the robot leaves the elevator, the corresponding action is to control the robot to remain in a stationary state, and send a door closing instruction to the elevator control system to make the elevator door of the elevator close; the corresponding action comprises periodically sending a second request to the elevator control system after a fifth time threshold, until the elevator runs to the target floor, and controlling the robot to leave the elevator.

[0170] Specifically, if the host computer determines that the type of the abnormal situation is the leaving elevator abnormality, or the type of the abnormal situation is the external instruction abnormality during the process that the robot leaves the elevator, the host computer controls the robot to remain in a stationary state, and sends a door closing instruction to the elevator control system to make the elevator door of the elevator close. Since the host computer does not send a release instruction to the elevator control system, the elevator cannot respond to the input instructions of other users within the fifth time threshold. The host computer periodically sends a second request to the elevator control system after the fifth time threshold, until the elevator runs to the target floor. The fifth time threshold is the time elapsed between the time when the host computer sends the door closing instruction to the elevator control system and the time when the host computer starts to send the second request to the elevator control system. The fifth time threshold can be set by a person skilled in the art according to actual conditions, and is not limited in the embodiments of the present application.

[0171] By controlling the robot to perform a corresponding action according to the type of the abnormal situation that occurs during the process that the robot takes the elevator to make the robot reach the target floor, the present application can control the robot to complete the elevator ride even when multiple types of abnormal situations occur, thereby improving the success rate of the robot taking the elevator.

[0172] After the host computer controls the robot to perform corresponding actions according to the type of the abnormal situation so that the robot reaches the target floor, if the host computer determines that the elevator runs to the target floor and the elevator is in a stationary state, the host computer sends an open door holding instruction to the elevator control system to make the elevator keep an open door state, and controls the robot to leave the elevator based on the map of the target floor to reach a target point. After the robot leaves the elevator, the host computer sends a release instruction to the elevator control system to make the elevator control system perform corresponding tasks in response to input instructions of other users.

[0173] Please refer to FIG. 3 , FIG. 3 is a structural schematic diagram of a robot elevator device provided by an embodiment of the present application.

[0174] In a second aspect, an embodiment of the present application provides a robot elevator device. The robot elevator device is applied to an electronic device, for example, a robot. Specifically, the robot elevator device is configured in the robot.

[0175] As shown in FIG. 3 , the robot elevator device 300 includes:

[0176] An instruction obtaining unit 301 is configured to obtain a task instruction. The task instruction includes a floor number of a target floor.

[0177] An elevator control unit 302 is configured to control the robot to take an elevator to the target floor according to the task instruction.

[0178] A type determining unit 303 is configured to determine a type of an abnormal situation if the robot encounters the abnormal situation in the process of taking the elevator.

[0179] An action control unit 304 is configured to control the robot to perform corresponding actions according to the type of the abnormal situation so that the robot reaches the target floor.

[0180] In some embodiments of the present application, the task instruction further includes a position of a target point. The elevator control unit 302 is specifically configured to: determine an elevator corresponding to a floor area where the target point is located according to the position of the target point; control the robot to establish a communication connection with an elevator control system corresponding to the elevator; after the robot establishes the communication connection with the elevator control system, control the robot to move to a waiting point at an initial floor; and after the robot reaches the waiting point, send a first request to the elevator control system to make an elevator corresponding to the elevator control system run to the initial floor.

[0181] In some embodiments of the application, the elevator control unit 302 is further configured to: if the elevator arrives at the initial floor and the elevator is in a stationary state, send an open door maintaining instruction to the elevator control system to maintain the elevator in an open door state, and control the robot to enter the elevator; after the robot enters the elevator, send a close door instruction to the elevator control system to close the elevator door of the elevator; switch the map of the initial floor used by the robot to the map of the target floor, and send a second request to the elevator control system to make the elevator run to the target floor.

[0182] In some embodiments of the application, the elevator control unit 302 is further configured to: if the first information replied by the elevator control system is received, send a query instruction to the elevator control system, wherein the first information is used to determine whether the elevator control system receives the first request, the query instruction is used to query the floor number where the elevator is currently located and the state of the elevator, and the state of the elevator includes a running state and a stationary state; if the second information replied by the elevator control system is received, and the floor number in the second information is the floor number of the initial floor, and the state of the elevator in the second information is a stationary state, it is determined that the elevator arrives at the initial floor and the elevator is in a stationary state, wherein the second information is different from the first information, and the second information includes the floor number where the elevator is currently located and the state of the elevator.

[0183] In some embodiments of the application, the robot includes a mid-position machine, and the elevator control unit 302 is further configured to: if the elevator runs to the target floor and the elevator is in a stationary state, control the robot to leave the elevator based on the map of the target floor, and after the robot leaves the elevator, send a release instruction to the elevator control system to make the elevator control system perform corresponding tasks in response to input instructions of other users.

[0184] In some embodiments of the application, the type of abnormal situation includes at least one of a communication abnormality, an elevator abnormality, a robot abnormality, an external instruction abnormality, an elevator entry abnormality, an elevator exit abnormality, a task abnormality, and a position abnormality, and the robot further includes a laser radar. The type determination unit 303 is specifically configured to: during the process of the robot entering the elevator, determine the state of the elevator door of the elevator and / or the number of personnel in the elevator according to the point cloud data of the laser radar, wherein the state of the elevator door includes an open state and a closed state; if the state of the elevator door is in an open state and the number of personnel in the elevator is less than or equal to a first number threshold, control the robot to enter the elevator; if the state of the elevator door is in a closed state or the number of personnel in the elevator is greater than the first number threshold, determine that the type of abnormal situation is an elevator entry abnormality.

[0185] In some embodiments of the present application, the type determining unit 303 is further configured to: determine, during the process that the robot leaves the elevator, a state of an elevator door of the elevator according to the point cloud data of the laser radar, and / or determine a number of personnel in front of the robot; if the state of the elevator door is an open state and the number of personnel in front of the robot is less than or equal to a second number threshold, control the robot to leave the elevator; if the state of the elevator door is a closed state or the number of personnel in front of the robot is greater than the second number threshold, determine that the type of the abnormal situation is an elevator leaving abnormality.

[0186] In some embodiments of the present application, the robot comprises an emergency stop button and a display interface, the emergency stop button is configured to control the robot to stop performing a current action, and the display interface is configured to input a user instruction. The type determining unit 303 is further configured to: if no information replied by the elevator control system is received within a preset time after the robot sends the first request or the query instruction to the elevator control system, determine that the type of the abnormal situation is a communication abnormality; if the elevator does not run to the initial floor within a first time threshold after the first request is sent to the elevator control system, or the elevator does not run from the initial floor to the target floor within a second time threshold after the second request is sent to the elevator control system, determine that the type of the abnormal situation is an elevator abnormality.

[0187] In some embodiments of the present application, the type determining unit 303 is further configured to: if the robot fails during the process that the robot enters the elevator or in the elevator, determine that the type of the abnormal situation is a robot abnormality; if the robot is in the process of riding the elevator to the target floor, and a pressing operation of the emergency stop button is responded, determine that the type of the abnormal situation is an external instruction abnormality; if the robot is in the process of riding the elevator to the target floor, and a cancel task operation of the display interface is responded, determine that the type of the abnormal situation is a task abnormality; if the robot is in the process of leaving the elevator, and a floor number of a floor where the robot is currently located is different from a floor number of the target floor, determine that the type of the abnormal situation is a position abnormality.

[0188] In some embodiments of the present application, the action control unit 304 is specifically configured to: if the type of the abnormal situation is the communication abnormality and the robot is located outside the elevator, periodically send the first request to the elevator control system until the elevator control system replies the information within the preset time; if the number of times of sending the first request is greater than a first preset number, after a communication connection with the elevator control system is re-established, send the first request to the elevator control system; if no information replied by the elevator control system is received within the preset time and the robot is located outside the elevator at the initial floor, control the robot to return to the initial position.

[0189] In some embodiments of the present application, the action control unit 304 is further configured to: if the type of the abnormal situation is an elevator abnormality and the robot is outside the elevator, periodically send a first request to the elevator control system until the elevator runs to the initial floor within a first time threshold; if the number of times of sending the first request is greater than a second preset number and the robot is outside the elevator at the initial floor, control the robot to return to the initial position; if the type of the abnormal situation is an elevator abnormality and the robot is inside the elevator, periodically send a second request to the elevator control system until the elevator runs to the target floor within a second time threshold.

[0190] In some embodiments of the present application, the action control unit 304 is further configured to: if the type of the abnormal situation is a task abnormality and the robot is outside the elevator at the initial floor, control the robot to return to the initial position and send a release instruction to the elevator control system to enable the elevator control system to perform a corresponding task in response to an input instruction of another user; if the type of the abnormal situation is a task abnormality and the robot is inside the elevator, send a third request to the elevator control system to enable the elevator to run to the initial floor; after the elevator runs to the initial floor, control the robot to return to the initial position.

[0191] In some embodiments of the present application, the action control unit 304 is further configured to: if the type of the abnormal situation is a robot abnormality and the robot is in the process of entering the elevator, control the robot to stop entering the elevator, determine the type of the fault of the robot, and send a door closing instruction to the elevator control system to enable the elevator door to close, wherein the type of the fault of the robot includes a recoverable fault and an unrecoverable fault; if the type of the fault of the robot is the recoverable fault, control the robot to move to an avoidance point and send a first request to the elevator control system after a third time threshold to enable the robot to re-enter the elevator.

[0192] In some embodiments of the present application, the robot further comprises a scanning device configured to scan and identify an identification code inside or outside the elevator, and the action control unit 304 is further configured to: if the type of the abnormal situation is a robot abnormality and the robot is inside the elevator, after the fault of the robot disappears, send a second request to the elevator control system to enable the elevator to run to the target floor; if the type of the abnormal situation is a position abnormality and the robot is outside the elevator, identify the identification code by the scanning device to obtain the floor number of the floor where the robot is currently located and the position coordinates of the robot; reposition the position of the robot to update the floor number of the floor where the robot is currently located, and send a first request to the elevator control system to enable the elevator to run to the floor where the robot is currently located.

[0193] In some embodiments of the present application, the action control unit 304 is further configured to: if the type of the abnormal situation is an entering elevator abnormal situation, or the type of the abnormal situation is an external instruction abnormal situation during the process of the robot entering the elevator, control the robot to move to an avoidance point, and send a release instruction to the elevator control system, so that the elevator control system performs a corresponding task in response to an input instruction of another user; periodically send a first request and / or a door holding open instruction to the elevator control system after a fourth time threshold, until the robot enters the elevator; if the number of times of sending the first request is greater than a third preset number or the number of times of sending the door holding open instruction is greater than a fourth preset number, and the robot is outside the elevator at the initial floor, control the robot to return to the initial position.

[0194] In some embodiments of the present application, the action control unit 304 is further configured to: if the type of the abnormal situation is an entering elevator abnormal situation, or the type of the abnormal situation is an external instruction abnormal situation during the process of the robot entering the elevator, control the robot to move to an avoidance point, and send a release instruction to the elevator control system, so that the elevator control system performs a corresponding task in response to an input instruction of another user; periodically send a first request and / or a door holding open instruction to the elevator control system after a fourth time threshold, until the robot enters the elevator; if the number of times of sending the first request is greater than a third preset number or the number of times of sending the door holding open instruction is greater than a fourth preset number, and the robot is outside the elevator at the initial floor, control the robot to return to the initial position.

[0195] It can be understood that the implementation principle and technical effects of the robot elevator taking device 300 of the second aspect of the present application can be referred to the implementation principle and technical effects of the steps of the robot elevator taking method of the first aspect, which will not be repeated here.

[0196] Please refer to FIG. 4 , FIG. 4 FIG. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0197] As FIG. 4 shown, the electronic device 400 includes one or more processors 401 and a memory 402, and the electronic device 400 can be a mobile robot, an unmanned vehicle, etc. Among them, FIG. 4 herein, the processor 401 is taken as an example.

[0198] The processor 401 and the memory 402 can be connected through a bus or other means, FIG. 4 herein, the connection through the bus is taken as an example.

[0199] The processor 401 is configured to provide computing and control capabilities to control the electronic device 400 to perform corresponding tasks, for example, to control the electronic device 400 to perform the robot taking elevator method in any of the above method embodiments. The robot taking elevator method includes: obtaining a task instruction, wherein the task instruction includes a floor number of a target floor; controlling the robot to take an elevator to the target floor according to the task instruction; if an abnormal situation occurs in the process of the robot taking the elevator, determining a type of the abnormal situation; and controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor.

[0200] By controlling the robot to perform a corresponding action according to the type of the abnormal situation that occurs in the process of the robot taking the elevator, so that the robot reaches the target floor, the application can control the robot to complete taking the elevator even when multiple types of abnormal situations occur, thereby improving the success rate of the robot taking the elevator.

[0201] The processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0202] The memory 402, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the robot elevator taking method in the embodiments of the present application. The processor 401 can implement the robot elevator taking method in any of the method embodiments described above by running the non-transitory software programs, instructions and modules stored in the memory 402. Specifically, the memory 402 can include a volatile memory (VM), such as a random access memory (RAM); the memory 402 can also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD) or other non-transitory solid-state storage device; and the memory 402 can further include a combination of the above types of memories.

[0203] The memory 402 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 402 can optionally include a memory disposed remotely with respect to the processor 401, and these remote memories can be connected to the processor 401 through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0204] One or more modules are stored in the memory 402, and when executed by the one or more processors 401, perform the robot elevator taking method in any of the method embodiments described above, for example, perform the above-described FIG. 2 each step shown; the functions of each module or unit can also be implemented. FIG. 3

[0205] In the embodiments of the present application, the electronic device 400 can also have a wired or wireless network interface, a keyboard and an input / output interface, etc., to perform input / output, and the electronic device 400 can further include other components for implementing device functions, which are not described herein.

[0206] The robot of the embodiments of the present application exists in various forms, and when performing the above-described FIG. 2 each step shown; the functions of each unit can also be implemented. FIG. 3 include, but are not limited to, hotel robots, delivery robots, cleaning robots, service robots, remote monitoring robots, floor sweeping robots, etc. ​

[0207] The embodiments of the present application also provide a computer readable storage medium, for example, a memory including program codes, which can be executed by a processor to complete the robot taking elevator method in the above embodiments. For example, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CDROM), a magnetic tape, a floppy disk and an optical data storage device, etc.

[0208] The embodiments of the present application also provide a computer program product including one or more program codes stored in a computer readable storage medium. The processor of the electronic device reads the program codes from the computer readable storage medium, and the processor executes the program codes to complete the method steps of the robot taking elevator method provided in the above embodiments.

[0209] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by program codes related hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a Read-Only Memory, a magnetic disk or an optical disk, etc.

[0210] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above embodiments. The storage medium can be a magnetic disk, an optical disk, a Read-Only Memory (ROM) or a Random Access Memory (RAM), etc.

[0211] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; under the idea of the present application, the technical features in the above examples or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in detail for simplicity; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robotic elevator boarding method, characterized by, The method is applied to a robot, the robot comprising an emergency stop button and a display interface, the emergency stop button being used to control the robot to stop performing a current action, and the display interface being used to input a user instruction, the method comprising: obtaining a task instruction, wherein the task instruction comprises a floor number of a target floor; controlling the robot to take an elevator to the target floor according to the task instruction; if an abnormal situation occurs in the process of the robot taking the elevator, determining a type of the abnormal situation, the type of the abnormal situation comprising at least one of an external instruction abnormality and a task abnormality; controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor; wherein if an abnormal situation occurs in the process of the robot taking the elevator, the step of determining the type of the abnormal situation comprises: if, in the process of the robot taking the elevator to the target floor, a pressing operation of the emergency stop button is responded to, determining that the type of the abnormal situation is the external instruction abnormality; if, in the process of the robot taking the elevator to the target floor, a cancel task operation of the display interface is responded to, determining that the type of the abnormal situation is the task abnormality; wherein the step of controlling the robot to perform a corresponding action according to the type of the abnormal situation, so that the robot reaches the target floor, comprises: if the type of the abnormal situation is the task abnormality, and the robot is located outside an elevator at an initial floor, controlling the robot to return to an initial position, and sending a release instruction to the elevator control system, so that the elevator control system performs a corresponding task in response to an input instruction of another user; if the type of the abnormal situation is the task abnormality, and the robot is located inside the elevator, sending a third request to the elevator control system, so that the elevator runs to the initial floor; after the elevator runs to the initial floor, controlling the robot to return to the initial position; if the type of the abnormal situation is the external instruction abnormality in the process of the robot entering the elevator, controlling the robot to move to an avoidance point, and sending a release instruction to the elevator control system, so that the elevator control system performs a corresponding task in response to an input instruction of another user; periodically sending a first request and / or a door holding instruction to the elevator control system after a fourth time threshold, until the robot enters the elevator; if the number of times of sending the first request is greater than a third preset number or the number of times of sending the door holding instruction is greater than a fourth preset number, and the robot is located outside the elevator at the initial floor, controlling the robot to return to the initial position; if the type of the abnormal situation is the external instruction abnormality in the process of the robot leaving the elevator, controlling the robot to remain in a stationary state, and sending a door closing instruction to the elevator control system, so that the elevator door is closed; periodically sending a second request to the elevator control system after a fifth time threshold, until the elevator runs to the target floor, and controlling the robot to leave the elevator.

2. The method of claim 1, wherein, The task instruction further comprises a position of a target point. According to the task instruction, the step of controlling the robot to take an elevator to reach a target floor comprises: According to the position of the target point, determining an elevator corresponding to a floor area where the target point is located; Controlling the robot to establish a communication connection with an elevator control system corresponding to the elevator; After the robot establishes a communication connection with the elevator control system, controlling the robot to move to a waiting point on an initial floor; After the robot reaches the waiting point, sending a first request to the elevator control system to make an elevator corresponding to the elevator control system run to the initial floor; If the elevator reaches the initial floor and the elevator is in a stationary state, sending an open door holding instruction to the elevator control system to make the elevator keep an open door state, and controlling the robot to enter the elevator; After the robot enters the elevator, sending a door closing instruction to the elevator control system to make the elevator door of the elevator close; Switching a map of the initial floor used by the robot to a map of the target floor, and sending a second request to the elevator control system to make the elevator run to the target floor.

3. The method of claim 2, wherein, After the robot reaches the waiting point, the method further comprises: If first information replied by the elevator control system is received, sending a query instruction to the elevator control system, wherein the first information is used to determine whether the first request is received by the elevator control system, and the query instruction is used to query a floor number where the elevator is currently located and a state of the elevator, and the state of the elevator comprises a running state and a stationary state; If second information replied by the elevator control system is received, and the floor number in the second information is the floor number of the initial floor, and the state of the elevator in the second information is the stationary state, it is determined that the elevator reaches the initial floor and the elevator is in the stationary state, wherein the second information is different from the first information, and the second information comprises the floor number where the elevator is currently located and the state of the elevator.

4. The method of claim 2, wherein, The robot comprises a middle robot; The step of controlling the robot to move to a waiting point on an initial floor comprises: Sending a navigation instruction to the middle robot to make the middle robot control the robot to move to the waiting point on the initial floor according to the navigation instruction; After the step of sending the second request to the elevator control system to make the elevator run to the target floor, the method further comprises: If the elevator runs to the target floor and the elevator is in a stationary state, controlling the robot to leave the elevator based on the map of the target floor, and after the robot leaves the elevator, sending a release instruction to the elevator control system to make the elevator control system perform a corresponding task in response to an input instruction of other users.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor implements the steps of the robot elevator taking method according to any one of claims 1 to 4 when executing the computer program.

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