A method, device, equipment and medium for determining a waiting position of a plurality of robots

Abstract

The application discloses a method, device and equipment for determining a waiting position of multiple robots, and a medium. The method comprises the following steps: when receiving a taking elevator instruction sent by at least one robot, determining a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and an available space capacity of at least one carrying elevator; for each target carrying elevator, determining a target in-elevator stopping point according to a number of robots corresponding to the target carrying elevator and in-elevator object distribution information; and determining a waiting position of the at least one robot based on the target in-elevator stopping point. The application can intelligently determine a carrying elevator to be taken by a robot and a specific position for waiting in a complex human-robot coexistence situation, realizes orderly taking of multiple robots, and improves the taking elevator efficiency of the robots.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robotics, and in particular to a method, device, equipment and medium for determining a waiting position of multiple robots. BACKGROUND

[0002] With the development of artificial intelligence, the application of intelligent robots is becoming more and more widespread. At present, robots can already take the elevator autonomously.

[0003] At present, a complex robot walking route network information in the elevator is pre-deployed to arrange the robot sequence taking the elevator by the scheduling system. However, in the human-robot coexistence environment, multiple robots take the elevator, which is difficult to cope with the complex human-robot coexistence environment, and cannot accurately determine the waiting position of multiple robots, thus existing the technical problem of low efficiency of taking the elevator scheduling. SUMMARY

[0004] The present application provides a method, device, equipment and medium for determining a waiting position of multiple robots to improve the efficiency of robot elevator scheduling.

[0005] According to a first aspect of the present application, a method for determining a waiting position of multiple robots is provided, which comprises:

[0006] Upon receiving a taking elevator instruction sent by at least one robot, determining a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and an available space capacity of at least one carrying elevator;

[0007] For each target carrying elevator, determining a target in-elevator stopping point according to a number of robots corresponding to the target carrying elevator and in-elevator object distribution information;

[0008] Determining a waiting position of the at least one robot based on the target in-elevator stopping point.

[0009] According to a second aspect of the present application, a device for determining a waiting position is provided, which comprises:

[0010] A target carrying elevator determining module is configured to, upon receiving a taking elevator instruction sent by at least one robot, determine a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and an available space capacity of at least one carrying elevator;

[0011] An in-elevator stopping point determining module is configured to, for each target carrying elevator, determine a target in-elevator stopping point according to a number of robots corresponding to the target carrying elevator and in-elevator object distribution information;

[0012] A waiting position determination module is configured to determine the waiting position of the at least one robot based on the target in-elevator stop point.

[0013] According to a third aspect of the present application, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and a memory connected with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method for determining the waiting position of a plurality of robots according to any one of the embodiments of the present application.

[0015] According to a fourth aspect of the present application, a computer readable storage medium is provided, the computer readable storage medium stores computer instructions for enabling a processor to implement the method for determining the waiting position of a plurality of robots according to any one of the embodiments of the present application when executed by the processor.

[0016] The technical solution of the embodiments of the present application, when receiving the boarding instruction sent by the at least one robot, determines the target carrying elevator matched with the at least one robot based on the emergency level of the at least one robot carrying task and the available space capacity of the at least one carrying elevator, further, for each target carrying elevator, determines the target in-elevator stop point according to the number of robots corresponding to the target carrying elevator and the in-elevator object distribution information, and then determines the waiting position of the at least one robot based on the target in-elevator stop point. The technical solution provided by the embodiments of the present application can intelligently determine the carrying elevator and the specific position for waiting in the elevator for the robot to ride in the complex human-robot coexistence situation, and realizes the orderly boarding of the plurality of robots and improves the boarding efficiency of the robots.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is a flowchart of a method for determining the waiting position of a plurality of robots according to an embodiment of the present application;

[0020] Figure 2 is a preset in-elevator stop point schematic diagram according to an embodiment of the present application;

[0021] Figure 3 is a flow chart of a method for determining a waiting position of a plurality of robots according to an embodiment of the present application;

[0022] Figure 4 is a flow chart of a method for determining a waiting position of a plurality of robots according to an embodiment of the present application;

[0023] Figure 5 is a structural schematic diagram of a waiting position determination device according to an embodiment of the present application;

[0024] Figure 6 is a structural schematic diagram of an electronic device for implementing a method for determining a waiting position of a plurality of robots according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the person of ordinary skill in the art without creative labor should belong to the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0027] Embodiment one

[0028] Figure 1is a flowchart of a method for determining a waiting position of a plurality of robots according to an embodiment of the present application. The embodiment can be applied to a situation where a waiting position of a robot to be taken to an elevator is determined in a complex human-robot coexistence environment. The method can be executed by a waiting position determination device, which can be implemented in the form of hardware and / or software, and can be configured in a terminal and / or a server. As shown in Figure 1 the method includes the following steps.

[0029] S110, upon receiving a taking elevator instruction sent by at least one robot, determining a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and an available space capacity of at least one carrying elevator.

[0030] The robot can be a wheeled mobile robot, which mainly relies on a system file configured in the vehicle to realize the function of moving and distributing goods without human control. The robot can perceive the environment around the vehicle by using a vehicle-mounted sensor, so as to control the steering angle and speed of the robot according to the perceived road, vehicle position and obstacle information.

[0031] The taking elevator instruction can carry the information of the floor where the robot is currently located, the position information of the destination to be reached, and the emergency level of the task to be carried. The task to be carried is the task to be completed by the robot soon, for example, in the scenario of the robot transporting goods, the task to be carried can be the goods to be delivered carried on the robot. The goods to be delivered can be food, fresh vegetables, seafood, clothes, books and documents, etc. Different types of goods to be delivered correspond to different emergency levels.

[0032] The available space capacity is the total capacity of the remaining space of the carrying elevator. The target carrying elevator is the elevator to be taken by the at least one robot. The robot needs to travel to the area range associated with the target carrying elevator to wait for the target carrying elevator to arrive.

[0033] Specifically, the available space capacity of the carrying elevator can be determined in real time. For example, the available space capacity of the carrying elevator can be estimated by the current load of the carrying elevator, or the available space capacity of the carrying elevator can be determined based on the corresponding video image inside the carrying elevator by image analysis technology. Since the emergency level of the robot carrying task is included in the elevator instruction, the emergency level of the robot carrying task can be directly obtained when the robot sends the elevator instruction. Based on this, according to the available space capacity of at least one carrying elevator, it can be determined which carrying elevator can complete the task of carrying the robot, and how many robots can be carried by the carrying elevator that can complete the task of carrying the robot. Further, according to the emergency level of the robot carrying task, the carrying elevator with large available space capacity is preferentially configured as the target carrying elevator for the robot with high emergency level of carrying task, so as to ensure that the robot with high emergency level of carrying task can complete the delivery task with the maximum probability.

[0034] For example, there are three carrying elevators, namely carrying elevator 1, carrying elevator 2 and carrying elevator 3, and the available space capacity of each carrying elevator is determined in real time. Currently, three robots will perform corresponding delivery tasks, for example, the three robots are robot A, robot B and robot C, and each robot can send a corresponding elevator instruction. After the server cloud receives the elevator instruction, it can determine the emergency level of each robot carrying task. It is assumed that robot A corresponds to a first emergency level, robot B corresponds to a second emergency level, and robot C corresponds to a third emergency level, wherein the first emergency level is the highest and is the emergency level corresponding to the carrying task that needs to be completed preferentially. When receiving the elevator instructions sent by the three robots, the available space capacity of each carrying elevator at the current time is obtained. If the available space capacity of carrying elevator 1 is 2 robots, the available space capacity of carrying elevator 2 is 1 robot, and the available space capacity of carrying elevator 3 is 0 robot, in order to make the robot with high emergency level enter the carrying elevator with the maximum probability, carrying elevator 1 is determined as the target carrying elevator of robot A and robot B, and carrying elevator 2 is determined as the target carrying elevator of robot C.

[0035] S120, for each target carrying elevator, determining a target in-elevator stopping point according to the number of robots corresponding to the target carrying elevator and in-elevator object distribution information.

[0036] The target in-elevator stopping point is the position where the robot will stop in the carrying elevator. The in-elevator object distribution information is the distribution information of the objects currently carried by the target carrying elevator inside the elevator. For example, the in-elevator object distribution information can be represented in the form of distribution density, and the distribution density of the elevator door part is high.

[0037] Specifically, the target carrying elevator can determine the number of robots that can be carried according to the available space capacity of the target carrying elevator. According to the in-elevator object distribution information, it can be determined that the available space in which area of the target carrying elevator is larger, and then the target in-elevator stopping point corresponding to the number of robots is determined from the area with the largest available space.

[0038] In particular, in actual application, the in-elevator object is a person by default, that is, the in-elevator object is movable. In the process of the robot entering the elevator, the robot can play voice broadcast information such as "the robot is entering the elevator, please make way" through a voice playing module, so that the in-elevator object can move and make way for the robot. Therefore, in this embodiment, the situation that the fragmented space cannot carry the robot is not considered.

[0039] Optionally, determining the target in-elevator stopping point can specifically include:

[0040] (1) acquiring a plurality of preset in-elevator stopping points corresponding to the target carrying elevator.

[0041] The preset in-elevator stopping point is the position information of the robot stopping point in the carrying elevator preset in advance. Different preset in-elevator stopping points are set with different priority levels. In this embodiment, the position information of the robot stopping point in the carrying elevator is preset in advance, and when the target in-elevator stopping point is determined, the plurality of preset in-elevator stopping points corresponding to the target carrying elevator can be directly acquired.

[0042] For example, a schematic diagram of a preset in-elevator stopping point is shown in Figure 2 The carrying elevator includes six preset in-elevator stopping points, namely stopping point 1, stopping point 2, stopping point 3, stopping point 4, stopping point 5, and stopping point 6. Since it is expected that the robot stopping point in the elevator is as far away from the elevator door as possible and as close to the elevator wall as possible, the preset in-elevator stopping point priority level can be preset as: stopping point 1 = stopping point 3 > stopping point 2 > stopping point 4 = stopping point 5 > stopping point 6.

[0043] (2) determining a target in-elevator stopping point corresponding to the number of robots from the plurality of preset in-elevator stopping points based on the in-elevator object distribution information and the priority level of the preset in-elevator stopping point.

[0044] In this embodiment, the preset in-elevator stopping point with a high priority level in the area with a low in-elevator object distribution density is determined as the target in-elevator stopping point.

[0045] For example, the number of robots corresponding to the target carrying elevator is two, as shown in Figure 2As shown, the in-elevator object distribution information corresponding to region A and region B is different, for example, the in-elevator object distribution density of region B is lower than that of region A, then 2 target in-elevator stopping points are determined from the stopping point 4, the stopping point 5 and the stopping point 6 located in region B, since the preset priority level of the stopping point 4 and the stopping point 6 is higher than that of the stopping point 5, the stopping point 4 and the stopping point 6 can be determined as the target in-elevator stopping points.

[0046] S130, determining the boarding position of the at least one robot based on the target in-elevator stopping point.

[0047] Wherein, the boarding position is the specific position where the robot is about to stop and wait for the target carrying elevator.

[0048] In this embodiment, the selection of the boarding position needs the following two principles as the premise, the first is that the boarding position of the robot cannot hinder the objects inside the elevator from leaving the elevator, and the second is to ensure that the robot is directly opposite the target in-elevator stopping point. That is, it can be understood that the angle between the line connecting the center point of the robot and the target in-elevator stopping point and the elevator door is a right angle, which facilitates the robot to enter and exit the elevator directly.

[0049] Specifically, if the number of robots issuing the boarding instruction is one, then in the area greater than the preset distance from the elevator door, the target site directly opposite the target in-elevator stopping point is determined, and the target site is determined as the boarding position of the robot. If the number of robots issuing the boarding instruction is multiple, then in the area greater than the preset distance from the elevator door, multiple target sites directly opposite the target in-elevator stopping point are determined, and the target in-elevator stopping point corresponding to each robot is determined based on the priority level of the target in-elevator stopping point and the emergency level of the robot. Further, for each robot, the target site of the target in-elevator stopping point corresponding thereto is determined as the boarding position of the robot.

[0050] For example, robot A and robot B send a boarding instruction, the emergency level corresponding to robot A is higher than that of robot B, see Figure 2 , the determined target in-elevator stopping points are the stopping point 1 and the stopping point 6, the stopping point with high priority level is determined as the boarding position of the robot with high emergency level, since the priority level corresponding to the stopping point 1 is higher than that of the stopping point 6, the stopping point 1 is the target in-elevator stopping point of robot A, and the stopping point 6 is the target in-elevator stopping point of robot B. Based on this, the target site 1 is the boarding position of robot A, and the target site 2 is the boarding position of robot B.

[0051] The technical scheme of the embodiment of the present application, when receiving the elevator boarding instruction sent by at least one robot, determines the target carrying elevator matched with the at least one robot based on the emergency level of the at least one robot carrying a task and the available space capacity of at least one carrying elevator, further, for each target carrying elevator, determines the target in-elevator stopping point according to the number of robots corresponding to the target carrying elevator and the in-elevator object distribution information, so as to determine the boarding position of the at least one robot based on the target in-elevator stopping point. The technical scheme provided by the embodiment of the present application can intelligently determine the carrying elevator and the specific boarding position of the robot in the complex human-robot coexistence situation, realize the orderly boarding of multiple robots, and improve the robot boarding efficiency.

[0052] Embodiment two

[0053] Figure 3 is a flowchart of a method for determining the boarding position of multiple robots provided by the second embodiment of the present application, which describes in detail how to determine the available space capacity of at least one carrying elevator and the in-elevator object distribution information on the basis of the foregoing embodiment. The same or corresponding technical terms as in the foregoing embodiment are not described again here.

[0054] As Figure 3 shown, the method comprises:

[0055] S210, determining the available space capacity of at least one carrying elevator and the in-elevator object distribution information.

[0056] In this embodiment, the available space capacity of at least one carrying elevator and the in-elevator object distribution information can be determined based on the image recognition mode.

[0057] Optionally, specifically comprising:

[0058] (1) For each carrying elevator, based on the panoramic camera device deployed in the carrying elevator, the corresponding in-elevator panoramic image of the carrying elevator is collected.

[0059] The panoramic camera device is a wide-angle camera for shooting in-elevator panoramic images. The in-elevator panoramic image is a panoramic image of the scene inside the carrying elevator.

[0060] In this embodiment, the panoramic camera device can be deployed in the carrying elevator in advance. In the specific application process, the panoramic image device collects the corresponding in-elevator panoramic image of the carrying elevator in real time, and stores these in-elevator panoramic images in a preset storage unit. When the elevator boarding instruction of the robot is received, the in-elevator panoramic image of each carrying elevator at the current time is directly obtained from the preset storage unit.

[0061] (2) determining available space capacity of the elevator and in-elevator object distribution information based on the panoramic image inside the elevator.

[0062] Specifically, the panoramic image inside the elevator is input into a pre-trained object recognition model to obtain the in-elevator object distribution information of the elevator; and based on the in-elevator object distribution information and a preset elevator space, the available space capacity of the elevator is determined.

[0063] The object recognition model is pre-trained and used to identify objects carried by the elevator. The preset elevator space is a parameter calibrated when the elevator is manufactured and can be directly obtained.

[0064] In this embodiment, the panoramic image inside the elevator is input into a pre-trained object recognition model, which identifies and labels objects inside the elevator, thereby outputting a recognition box of objects inside the elevator, so as to determine the in-elevator object distribution information. The available space capacity of the elevator is the difference between the preset elevator space and the space occupied by the objects.

[0065] S220, upon receiving the elevator-riding instruction sent by at least one robot, determining a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and available space capacity of at least one carrying elevator.

[0066] S230, for each target carrying elevator, determining a target in-elevator stop point according to a number of robots corresponding to the target carrying elevator and in-elevator object distribution information.

[0067] S240, determining a waiting position of the at least one robot based on the target in-elevator stop point.

[0068] The technical scheme of the embodiment of the application first determines the available space capacity of at least one carrying elevator and in-elevator object distribution information, specifically including: for each carrying elevator, based on a panoramic camera device deployed inside the carrying elevator, collecting a panoramic image inside the elevator corresponding to the carrying elevator, and based on the panoramic image inside the elevator, determining the available space capacity of the elevator and the in-elevator object distribution information.

[0069] Embodiment three

[0070] Figure 4 is a flowchart of a method for determining a waiting position of a plurality of robots according to the third embodiment of the application, which is further refined on the basis of the foregoing embodiments. The same or corresponding technical terms as those in the foregoing embodiments are not described here.

[0071] As Figure 4As shown, the method comprises:

[0072] S310, for the at least one carrying elevator, the carrying elevator with the available space capacity greater than or equal to the available space threshold value is taken as a to-be-riding elevator.

[0073] The available space threshold value is predetermined and can be directly obtained by application. The available space threshold value is determined based on the space occupied by the robot and a preset space error.

[0074] In this embodiment, the size of the space occupied by the robot is the volume of the physical model of the robot. It can be understood that the space occupied by the robot is easy to obtain. In order to ensure that the robot can smoothly enter and exit the carrying elevator, a certain space needs to be reserved based on the space occupied by the robot. Therefore, the available space threshold value is determined based on the space occupied by the robot and a preset space error.

[0075] In the specific application process, the number of carrying elevators can be multiple, but the available space capacity of some carrying elevators cannot accommodate a robot. Therefore, it is necessary to select the to-be-riding elevator with sufficient accommodation space from the multiple carrying elevators, that is, to take the carrying elevator with the available space capacity greater than or equal to the available space threshold value as the to-be-riding elevator.

[0076] S320, based on the available space capacity of the to-be-riding elevator, determining the number of robots that can be carried by the to-be-riding elevator.

[0077] In this embodiment, the space occupied by one robot is a determined amount. Based on the available space capacity of the to-be-riding elevator, the number of robots that can be carried by the available space capacity can be determined, and based on this, the number of robots that can be carried by the to-be-riding elevator can be determined.

[0078] S330, based on the emergency level of the task carried by the at least one robot and the number of robots that can be carried, determining the target carrying elevator matched with the at least one robot.

[0079] In this embodiment, according to the emergency level of the task carried by the robot, the carrying elevator with large available space capacity is preferentially configured as the target carrying elevator for the robot with high emergency level of carrying task, so as to ensure that the robot with high emergency level of carrying task can complete the distribution task with the maximum probability.

[0080] For example, three robots are robot A, robot B and robot C respectively, robot A corresponds to the first emergency level, robot B corresponds to the second emergency level, and robot C corresponds to the third emergency level. Two elevators to be carried are determined as carrying elevator 1 and carrying elevator 2, the available space capacity corresponding to carrying elevator 1 is 2 robots, and the available space capacity corresponding to carrying elevator 2 is 1 robot. In order to make the robot with high emergency level enter the carrying elevator as much as possible, carrying elevator 1 is determined as the target carrying elevator of robot A and robot B, and carrying elevator 2 is determined as the target carrying elevator of robot C.

[0081] S340, for each target carrying elevator, determining a target in-elevator stopping point according to the number of robots corresponding to the target carrying elevator and the in-elevator object distribution information.

[0082] S350, in a region greater than a preset distance from the exit position of the target carrying elevator, determining a to-be-matched site opposite to each target in-elevator stopping point.

[0083] The preset distance is a preset distance length, for example, the preset distance is 50 cm. The to-be-matched site is a point opposite to the target in-elevator stopping point outside the elevator. The number of to-be-matched sites can be multiple.

[0084] For example, in a region outside 50 cm from the exit position of the target carrying elevator, a to-be-matched site opposite to each target in-elevator stopping point is determined.

[0085] S360, determining a target site matched with each robot from the to-be-matched sites based on the priority level of the target in-elevator stopping point and the emergency level of the robot.

[0086] In the previous step, one or more to-be-matched sites can be obtained. For multiple robots, it is not determined which to-be-matched site each robot corresponds to. In this step, it is further determined which to-be-matched site each robot corresponds to.

[0087] Specifically, determining a target site matched with each robot from the to-be-matched sites comprises:

[0088] (1) determining sequence information of each robot entering the target carrying elevator based on the emergency level of the robot.

[0089] The sequence information is the order of multiple robots entering the target carrying elevator.

[0090] In this embodiment, in order to ensure that the robot with high emergency level has priority to take the elevator, the robots are sorted from high to low according to the emergency level, that is, the sequence information of each robot entering the target carrying elevator.

[0091] (2) According to the sequence information and the priority of the target in-train stop point, determine the target site corresponding to each robot from the to-be-matched sites.

[0092] In this embodiment, according to the priority of the target in-train stop point, the target site corresponding to the target in-train stop point with high priority is matched to the robot with earlier sequence information. Thus, the target site corresponding to each robot is determined.

[0093] S370, for each robot, determine the target site as a waiting position.

[0094] The technical scheme of the embodiment of the present application is that, for at least one carrying elevator, the carrying elevator with available space capacity greater than or equal to the available space threshold is taken as a to-be-boarding elevator; based on the available space capacity of the to-be-boarding elevator, the number of robots that can be carried by the to-be-boarding elevator is determined; based on the emergency level of the task carried by at least one robot and the number of robots that can be carried, the target carrying elevator matched with the at least one robot is determined; for each target carrying elevator, according to the number of robots corresponding to the target carrying elevator and the in-train object distribution information, the target in-train stop point is determined; in the area greater than the preset distance from the exit part of the target carrying elevator, the to-be-matched site opposite to each target in-train stop point is determined; based on the priority of the target in-train stop point and the emergency level of the robot, the target site matched with each robot is determined from the to-be-matched sites; for each robot, the target site is determined as a waiting position. The technical scheme provided by the embodiment of the present application follows the principle that the robot with high emergency level is given priority to board the carrying elevator, and intelligently determines the carrying elevator to be boarded by the robot. In order to ensure that the robot can enter and exit the target carrying elevator in a straight line, first, the target in-train stop point corresponding to each robot is determined, and then the target site opposite to the target in-train stop point is determined as a waiting position, realizing orderly boarding of multiple robots and further improving the boarding efficiency of the robot.

[0095] Embodiment Four

[0096] Figure 5 is a structural schematic diagram of a waiting position determination device provided by Embodiment Four of the present application. As shown in the figure, the device comprises: a target carrying elevator determination module 410, an in-train stop point determination module 420, and a waiting position determination module 430. Figure 5

[0097] The target carrying elevator determination module 410 is configured to, when receiving the boarding instruction sent by at least one robot, determine the target carrying elevator matched with the at least one robot based on the emergency level of the task carried by the at least one robot and the available space capacity of at least one carrying elevator.

[0098] ​The in-elevator stopping point determination module 420 is configured to determine, for each target carrying elevator, a target in-elevator stopping point according to the number of robots corresponding to the target carrying elevator and in-elevator object distribution information.

[0099] The waiting position determination module 430 is configured to determine a waiting position of the at least one robot based on the target in-elevator stopping point.

[0100] The technical scheme of the embodiment of the present application, when receiving a taking elevator instruction sent by at least one robot, determines a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and an available space capacity of at least one carrying elevator, further determines, for each target carrying elevator, a target in-elevator stopping point according to the number of robots corresponding to the target carrying elevator and in-elevator object distribution information, and determines a waiting position of the at least one robot based on the target in-elevator stopping point. The technical scheme provided by the embodiment of the present application can intelligently determine a carrying elevator and a specific position for waiting of a robot in a complex human-robot coexistence situation, realizes orderly taking elevator of multiple robots, and improves robot taking elevator efficiency.

[0101] Optionally, the waiting position determination apparatus further comprises an in-elevator information determination module, and the in-elevator information determination module comprises:

[0102] The panoramic image acquisition submodule is configured to acquire, for each carrying elevator, an elevator interior panoramic image corresponding to the carrying elevator based on a panoramic camera device arranged in the carrying elevator.

[0103] The available space determination submodule is configured to determine an available space capacity and in-elevator object distribution information of the carrying elevator based on the elevator interior panoramic image.

[0104] Optionally, the available space determination submodule comprises:

[0105] The object distribution information determination unit is configured to input the elevator interior panoramic image into a pre-trained object recognition model to obtain in-elevator object distribution information of the carrying elevator.

[0106] The available space determination unit is configured to determine the available space capacity of the carrying elevator based on the in-elevator object distribution information and a preset elevator space.

[0107] Optionally, the target carrying elevator determination module 410 comprises:

[0108] The elevator to be taken determination submodule is configured to, for the at least one carrying elevator, take a carrying elevator with an available space capacity greater than or equal to an available space threshold value as an elevator to be taken, wherein the available space threshold value is determined based on a robot-occupied space and a preset space error.

[0109] The number of robots to be carried is determined based on the available space capacity of the elevator to be boarded.

[0110] The target elevator determination sub-module is configured to determine a target carrying elevator matched with the at least one robot based on the emergency level of the at least one robot carrying task and the number of robots to be carried.

[0111] Optionally, the in-elevator stopping point determination module 420 comprises:

[0112] The preset stopping point acquisition sub-module is configured to acquire a plurality of preset in-elevator stopping points corresponding to the target carrying elevator; and the plurality of preset in-elevator stopping points correspond to different priority levels.

[0113] The target stopping point determination sub-module is configured to determine a target in-elevator stopping point corresponding to the number of robots from the plurality of preset in-elevator stopping points based on the available space capacity and the priority level of the preset in-elevator stopping point.

[0114] Optionally, the waiting position determination module 430 comprises:

[0115] The to-be-matched site determination sub-module is configured to determine a to-be-matched site opposite to each target in-elevator stopping point in an area greater than a preset distance from an exit site of the target carrying elevator.

[0116] The target site determination sub-module is configured to determine a target site matched with each robot from the to-be-matched site based on the priority level of the target in-elevator stopping point and the emergency level of the robot.

[0117] The waiting position determination sub-module is configured to determine the target site as a waiting position of each robot.

[0118] Optionally, the target site determination sub-module comprises:

[0119] The entering sequence determination unit is configured to determine sequence information of each robot entering the target carrying elevator based on the emergency level of the robot.

[0120] The target site determination unit is configured to determine a target site corresponding to each robot from the to-be-matched site according to the sequence information and the priority level of the target in-elevator stopping point.

[0121] The waiting position determination device provided in the embodiments of the present application can perform the method for determining the waiting position of the plurality of robots provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0122] Embodiment five

[0123] Figure 6 A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0124] As shown in Figure 6 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected to the at least one processor 11 in communication, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0126] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the waiting position determination method for multiple robots.

[0127] In some embodiments, the method of determining the boarding position of the plurality of robots can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, part or all of the computer program can be loaded onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the method of determining the boarding position of the plurality of robots described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the method of determining the boarding position of the plurality of robots by any other suitable means, e.g., by means of firmware.

[0128] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0129] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0130] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0132] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0133] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0134] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0135] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining a landing position of a plurality of robots, characterized by, The method comprises the following steps: Upon receiving the elevator-boarding instruction sent by at least one robot, determining the target carrying elevator matched with the at least one robot based on the emergency level of the task carried by the at least one robot and the available space capacity of at least one carrying elevator; For each target carrying elevator, determining the target in-elevator stop point according to the number of robots corresponding to the target carrying elevator and in-elevator object distribution information; Based on the target in-elevator stop point, determining the boarding position of the at least one robot, comprising: In the area greater than the preset distance from the exit part of the target carrying elevator, determining the to-be-matched site opposite to each target in-elevator stop point; Based on the priority level of the target in-elevator stop point and the emergency level of the robot, determining the target site matched with each robot from the to-be-matched site; For each robot, determining the target site as the boarding position.

2. The method of claim 1, wherein, Further comprising determining the available space capacity of at least one carrying elevator and in-elevator object distribution information; The determination of the available space capacity of at least one carrying elevator and in-elevator object distribution information comprises: For each carrying elevator, collecting the in-elevator panoramic image corresponding to the carrying elevator based on the panoramic camera deployed in the carrying elevator; Based on the in-elevator panoramic image, determining the available space capacity of the carrying elevator and in-elevator object distribution information.

3. The method of claim 2, wherein, The determination of the available space capacity of the carrying elevator and in-elevator object distribution information based on the in-elevator panoramic image comprises: Inputting the in-elevator panoramic image into a pre-trained object recognition model to obtain the in-elevator object distribution information of the carrying elevator; Based on the in-elevator object distribution information and the preset elevator space, determining the available space capacity of the carrying elevator.

4. The method of claim 1, wherein, The determination of the target carrying elevator matched with the at least one robot based on the emergency level of the task carried by the at least one robot and the available space capacity of at least one carrying elevator comprises: For the at least one carrying elevator, the carrying elevator with the available space capacity greater than or equal to the available space threshold is regarded as the to-be-boarding elevator, wherein the available space threshold is determined based on the space occupied by the robot and the preset space error; Based on the available space capacity of the to-be-boarding elevator, determining the number of robots that can be carried corresponding to the to-be-boarding elevator; Based on the emergency level of the task carried by the at least one robot and the number of robots that can be carried, determining the target carrying elevator matched with the at least one robot.

5. The method of claim 1, wherein, The determination of the target in-elevator stop point according to the number of robots corresponding to the target carrying elevator and in-elevator object distribution information comprises: Obtaining a plurality of preset in-elevator stop points corresponding to the target carrying elevator; wherein the plurality of preset in-elevator stop points correspond to different priority levels; Based on the in-elevator object distribution information and the priority level of the preset in-elevator stop point, determining the target in-elevator stop point corresponding to the number of robots from the plurality of preset in-elevator stop points.

6. The method of claim 1, wherein, The determination of the target site matched with each robot from the to-be-matched site based on the priority level of the target in-elevator stop point and the emergency level of the robot comprises: determine sequence information of each robot entering the target carrying elevator based on the emergency level of the robot; determine a target site corresponding to each robot from the to-be-matched sites according to the sequence information and the priority level of the target in-elevator stop point.

7. A platform waiting position determination apparatus characterized by comprising: The method comprises the following steps: a target carrying elevator determination module is configured to, when receiving a boarding instruction sent by at least one robot, determine a target carrying elevator matched with the at least one robot based on an emergency level of a task carried by the at least one robot and an available space capacity of at least one carrying elevator; an in-elevator stop point determination module is configured to, for each target carrying elevator, determine a target in-elevator stop point according to a number of robots corresponding to the target carrying elevator and in-elevator object distribution information; a waiting position determination module is configured to determine a waiting position of the at least one robot based on the target in-elevator stop point; the waiting position determination module comprises: a to-be-matched site determination submodule is configured to determine a to-be-matched site opposite to each target in-elevator stop point in a region greater than a preset distance from an exit of the target carrying elevator; a target site determination submodule is configured to determine a target site matched with each robot from the to-be-matched sites based on a priority level of the target in-elevator stop point and the emergency level of the robot; a waiting position determination submodule is configured to determine the target site as the waiting position of each robot.

8. An electronic device, comprising: An electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method for determining a waiting position of a plurality of robots according to any one of claims 1-6.

9. A storage medium containing computer executable instructions for executing the method for determining a waiting position of a plurality of robots according to any one of claims 1-6 when executed by a computer processor.

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