Robot elevator control method

Abstract

The application discloses a robot elevator control method, comprising: step S1, selecting a motion parameter in vertical direction for describing the robot and the elevator; step S2, determining an evaluation mode for evaluating the consistency between first data and second data, wherein the first data is a motion parameter value of the elevator, and the second data is a motion parameter value of the robot; step S3, synchronously acquiring the first data and the second data; step S4, continuously monitoring the consistency between the first data and the second data by using the evaluation mode; step S5, determining an inconsistent time when the inconsistency is monitored, and obtaining a second time by moving forward a time variation amount on the basis of the inconsistent time; and step S6, taking a floor where the robot boards the elevator at the second time as a current floor of the robot and sending the current floor to the robot. The robot elevator control method can simply and quickly realize the repositioning of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevator technology, in particular to a robot taking an elevator control method. BACKGROUND

[0002] At present, the application range of service robots, freight robots and the like is expanding year by year, and these robots often need to provide cross-floor services in the process of executing tasks, so the robot taking an elevator technology is involved, which has become a research hotspot in the field of elevators, such as the public documents CN202211129437.6, CN202210515949.X and the like.

[0003] If the robot is accidentally separated from the car before reaching the destination floor due to being pushed out or moved out by people, etc., the robot cannot determine its current floor, resulting in positioning failure due to the inability to load the map of the corresponding floor, thereby losing the ability of automatic positioning and navigation, and further losing the corresponding service function. At this time, the robot needs to be repositioned so that the robot can obtain its floor again.

[0004] For the problem of robot repositioning, document 1 (CN202211312073.5) discloses a robot repositioning method by controlling the elevator to generate test signals during the stopping period at each stopping floor, and the robot receives the test signals and takes the floor corresponding to the strongest test signal as its current floor. Although this method can make the robot obtain its floor information again, it needs the elevator to stop at each floor, so it has the disadvantages of long time consumption, low efficiency, and affecting the use of the elevator by other elevator users. Documents 2 and 3 (CN202211290601.1, CN202211290605.X) propose a robot floor positioning method that determines the actual floor information of the robot according to the corresponding air pressure information of the robot; this method can theoretically realize the positioning of the robot floor, but in specific implementation, it will have the disadvantages of low accuracy of positioning results due to the fact that the air pressure becomes less obvious and is easily affected by external interference factors. Document 4 (CN202210785348.0) proposes that by comparing the first timestamp when the robot exits the elevator with the second timestamp when the elevator stops at each floor, the target second timestamp within the preset time range of the first timestamp is obtained, and the floor information corresponding to the target second timestamp is determined as the exit floor of the robot; similar to the solution of document 1, this method also needs the elevator to stop at each floor, so it also has the disadvantages of long time consumption, low efficiency, and affecting the use of the elevator by other elevator users.

[0005] Therefore, how to simply and quickly realize the repositioning of the robot has become a technical problem to be solved. SUMMARY

[0006] The technical problem solved by the present application is to provide a method for repositioning a robot simply and quickly.

[0007] To solve the above technical problem, the robot elevator control method provided by the present application comprises the following steps:

[0008] Step S1, selecting a motion parameter in the vertical direction for describing the robot and the elevator;

[0009] Step S2, determining an evaluation method for evaluating the consistency between first data and second data, the first data being the motion parameter value of the elevator, the second data being the motion parameter value of the robot, and the first data and the second data forming a corresponding relationship with respect to time;

[0010] Step S3, synchronously acquiring the first data and the second data;

[0011] Step S4, continuously monitoring the consistency between the first data and the second data by applying the evaluation method, and when inconsistency is monitored, proceeding to the next step;

[0012] Step S5, determining the inconsistent time when the inconsistency is monitored, and obtaining a second time by advancing a time variation from the inconsistent time;

[0013] Step S6, taking the floor where the robot boards the elevator at the second time as the current floor of the robot and sending it to the robot.

[0014] Preferably, the motion parameter is at least one of acceleration, speed and position.

[0015] Preferably, the time variation is such that the second time satisfies condition 1, the elevator stops at the landing at the second time; and condition 2, the second time is in the current running direction during the stop period closest to the current time among all stop periods when the elevator stops at each floor or in the stop period when the elevator last stops at a floor.

[0016] Preferably, the evaluation method comprises at least one of the following cases: case 1, the difference between the motion parameter values is less than a threshold value; case 2, the integral value of the difference between the motion parameter values within a given length time window is less than a threshold value; and case 3, the change rule or trend of the motion parameter values with respect to time is the same.

[0017] Preferably, between step S4 and step S5, there is further included step A1, judging whether the elevator is in a motion state at the inconsistent time, if yes, proceeding to the next step, otherwise outputting a warning information of robot sensor failure and ending.

[0018] Preferably, the motion state is such that the motion parameter of the elevator in the motion state is different from the motion parameter of the elevator in the stationary state.

[0019] The present application also provides a robot elevator control method, comprising the following steps:

[0020] Step T1, selecting a motion parameter in the vertical direction for describing the robot and the elevators, wherein the elevators are multiple;

[0021] Step T2, determining an evaluation method for evaluating the consistency between the first data and the second data, wherein the first data is the motion parameter value of the elevator, the second data is the motion parameter value of the robot, and the first data and the second data form a corresponding relationship with respect to time;

[0022] Step T3, synchronously acquiring the first data and the second data of each elevator;

[0023] Step T4, determining that the robot is currently located in the elevator car or in the vertical direction moving state according to the second data;

[0024] Step T5, continuously monitoring the consistency between the first data and the second data of each elevator by applying the evaluation method, and selecting the first data consistent with the second data;

[0025] Step T6, taking the elevator corresponding to the first data consistent with the second data as the boarding elevator of the robot.

[0026] Preferably, the step T6 further comprises:

[0027] Step T7, judging whether the boarding elevator is the same as the target elevator assigned to the robot, and ending when the judgment result is the same, otherwise, proceeding to the next step;

[0028] Step T8, adding the destination floor information of the robot to the list of the stop floors of the boarding elevator, and deleting the destination floor information of the robot from the list of the stop floors of the target elevator, and ending.

[0029] Beneficial technical effects

[0030] The robot elevator control method of the present application can simply and quickly realize the repositioning of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The figure is a step schematic diagram of the robot elevator control method of Example 1. DETAILED DESCRIPTION

[0032] The advantages and effects of the present application can be fully understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied in different specific embodiments, and the details in the present specification can be applied based on different views, with various modifications or changes made without departing from the general design idea of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. The following exemplary embodiments of the present application can be implemented in various forms, and should not be interpreted as being limited to the specific embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present application complete and complete, and to fully convey the technical solutions of these exemplary embodiments to those skilled in the art. The present application actually aims to solve two problems, one is how to determine the repositioning problem in the robot taking the elevator process, and the other is how to determine the distribution of the target elevator to which the robot enters in the case of multiple elevators.

[0033] Embodiment 1

[0034] The present embodiment is mainly aimed at the first problem described above.

[0035] The robot elevator control method provided by the present embodiment comprises the following steps:

[0036] Step S1, selecting a motion parameter in the vertical direction for describing the robot and the elevator;

[0037] Step S2, determining an evaluation method for evaluating the consistency between first data and second data, the first data being the motion parameter value of the elevator, the second data being the motion parameter value of the robot, and the first data and the second data forming a corresponding relationship with respect to time;

[0038] Step S3, synchronously acquiring the first data and the second data;

[0039] Step S4, continuously monitoring the consistency between the first data and the second data by applying the evaluation method, and when inconsistency is monitored, proceeding to the next step;

[0040] Step S5, determining the inconsistent time when the inconsistency is monitored, and obtaining a second time by advancing a time variation from the inconsistent time;

[0041] Step S6, taking the floor where the robot is picked up by the elevator at the second time as the current floor of the robot and sending it to the robot.

[0042] Here, the motion parameter is at least one of acceleration, speed and position in the vertical direction. The motion parameter of the elevator car can be detected or obtained from the elevator drive control system, while the motion parameter of the robot is obtained from detection devices such as acceleration sensors configured in the robot itself.

[0043] The time variation amount is such that the second time satisfies:

[0044] Condition 1, the elevator stops at the landing at the second time;

[0045] Condition 2, the second time is in the current running direction, the closest to the current time among all stop periods when the elevator stops at each floor, or in the stop period when the elevator last stops at the floor in the current running direction.

[0046] Since there can be multiple second times at which the elevator stops at the landing, the required time variation amount should be the closest to the current time among the multiple second times at which the elevator stops at the landing, i.e. the second time corresponding to the last time the elevator stops at the landing.

[0047] The time variation amount is calculated according to the rated acceleration of the elevator and the running speed of the elevator at the inconsistent time.

[0048] The aforementioned evaluation mode includes at least one of the following cases:

[0049] Case 1, the difference between the motion parameter values is less than a threshold value;

[0050] Case 2, the integral value of the difference between the motion parameter values within a given length time window is less than a threshold value;

[0051] Case 3, the change rule or trend of the motion parameter values with respect to time is the same.

[0052] Embodiment 2

[0053] This embodiment further realizes diagnosis of the robot sensor on the basis of Embodiment 1.

[0054] The robot elevator control method provided in this embodiment further includes, between step S4 and step S5:

[0055] Step A1, determining whether the elevator is in a motion state at the inconsistent time, if yes, proceeding to the next step, otherwise outputting warning information of robot sensor failure and ending.

[0056] The motion state can be determined according to the first data.

[0057] It should be noted that the motion state in the above step A1 is determined by the motion parameter, and the motion state corresponding to different motion parameters can be different, i.e., the motion parameter of the elevator in the motion state is different from the motion parameter of the elevator in the stationary state.

[0058] The essence of the above condition for the motion state is that the motion parameter of the robot when the robot is located in the elevator car and moves together with the elevator car in the hoistway is different from the motion parameter during the elevator stops at the landing, so that whether the robot is located in the elevator car can be identified according to the motion parameter. Because as long as the robot is located in the elevator car, the first data and the second data will inevitably remain consistent, unless the robot sensor fails.

[0059] According to the above description, it can be determined that when the motion parameter is acceleration, the motion state is an acceleration or deceleration conveying state; when the motion parameter is speed or position, the motion state is a moving state of the elevator in the hoistway, i.e., other non-stationary states except for stopping at the landing (here, the regenerative state is not considered, and whether it is a regenerative state can be easily determined according to the elevator control information).

[0060] Embodiment 3

[0061] This embodiment is directed to the second problem described above.

[0062] When there are multiple elevators, the robot can enter a non-target elevator car due to various unexpected factors when entering the car from the landing. Therefore, it is necessary to provide a verification method for verifying whether the elevator car in which the robot enters is a target elevator car.

[0063] This embodiment provides a robot elevator control method, comprising the following steps:

[0064] Step T1, selecting a motion parameter for describing the motion of the robot and the elevator in the vertical direction, and the elevator is multiple;

[0065] Step T2, determining an evaluation method for evaluating the consistency between the first data and the second data, the first data is the motion parameter value of the elevator, the second data is the motion parameter value of the robot, and the first data and the second data form a corresponding relationship with respect to time;

[0066] Step T3, synchronously acquiring the first data and the second data of each elevator;

[0067] Step T4, determining whether the robot is currently located in the elevator car or in a vertical direction moving state according to the second data;

[0068] Step T5, continuously monitor the consistency between the first data and the second data of each elevator by using the evaluation method, and select the first data consistent with the second data;

[0069] Step T6, take the elevator corresponding to the first data consistent with the second data as the boarding elevator of the robot.

[0070] The evaluation method includes at least one of the following cases:

[0071] Case 1, the difference between the motion parameter values is less than a threshold value;

[0072] Case 2, the integral value of the difference between the motion parameter values within a given length time window is less than a threshold value;

[0073] Case 3, the change rule or trend of the motion parameter values with respect to time is the same.

[0074] The step T6 further includes:

[0075] Step T7, judge whether the boarding elevator is the same as the target elevator assigned to the robot, and end when the judgment result is the same, otherwise go to the next step;

[0076] Step T8, add the destination floor information of the robot to the list of the boarding elevator to be stopped, and delete the destination floor information of the robot from the list of the target elevator to be stopped, and end.

[0077] The above has been described in detail through specific embodiments and examples, but these do not constitute a limitation on the present application. Those skilled in the art can also make many modifications and improvements without departing from the principles of the present application, and these should also be considered as the protection scope of the present application.

Claims

1. A robot elevator control method, characterized in that, Includes the following steps: Step S1: Select the motion parameters used to describe the robot and elevator in the vertical direction; Step S2: Determine the evaluation method for evaluating the consistency between the first data and the second data, wherein the first data is the motion parameter value of the elevator, the second data is the motion parameter value of the robot, and the first data and the second data correspond to each other with respect to time. Step S3: Synchronously acquire the first data and the second data; Step S4: Continuously monitor the consistency between the first data and the second data using the evaluation method described above. When an inconsistency is detected, proceed to the next step. Step S5: Determine the moment of inconsistency when inconsistency is detected, and obtain the second moment by shifting the moment of inconsistency forward by one time change. Step S6: Take the floor where the robot was taking the elevator at the second moment as the robot's current floor and send it to the robot.

2. The robot elevator control method according to claim 1, characterized in that, The motion parameter is at least one of acceleration, velocity, and position.

3. The robot elevator control method according to claim 1, characterized in that, The change in time makes the following condition satisfied at the second moment: Condition 1: The elevator stops at the floor at the second moment; Condition 2: The second moment is the closest stopping time to the current moment among all stopping times of the elevator in the current direction of travel when it stops at each floor, or the stopping time of the elevator in the current direction of travel when it last stops at a floor.

4. The robot elevator control method according to claim 1, characterized in that, The evaluation method includes at least one of the following: Case 1: The difference between motion parameter values ​​is less than the threshold. Case 2: The integral value of the difference between motion parameter values ​​within a given time window is less than the threshold. Case 3: The motion parameter values ​​change in the same pattern or trend as time.

5. The robot elevator control method according to claim 1, characterized in that, Between step S4 and step S5, the following is also included: Step A1: Determine whether the elevator is in motion at the time of inconsistency. If yes, proceed to the next step; otherwise, output a warning message indicating a robot sensor malfunction and end the process.

6. The robot elevator control method according to claim 5, characterized in that, The motion state is such that the motion parameters of the elevator in this motion state are different from those of the elevator in the stationary state.

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