A method for multiple robots to travel in an elevator and a method for multiple robots to travel across floors.

Abstract

A method for multi-robot elevator passage and a method for multi-robot cross-floor passage include the following steps: determining whether the elevator has a designated spot; if not, setting a designated spot inside the elevator and binding the robot to the elevator; after the robot enters the elevator and crosses floors, it leaves the elevator, removes the designated spot inside the elevator, and unbinds the robot from the elevator; if so, the robot waits outside the elevator. This technical solution effectively avoids the idleness and waste of elevator resources, ensures the rational allocation and use of elevator resources, and improves the efficiency of multi-robot elevator passage. This method is easy to implement, does not require complex data interaction with the elevator system or other equipment, and is not dependent on the number or type of robots, thus it is applicable to elevator systems of various sizes and different application scenarios.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a method for multiple robots to travel in an elevator and a method for multiple robots to travel across floors. Background Technology

[0002] With the rapid development of technology, robotics has become a vital force driving social progress. To meet the demands of human society, the modes of robot movement are becoming increasingly diverse. Robots that operate on a single floor can no longer satisfy human needs; therefore, how robots can move across floors through manipulation is gradually becoming a focal point. However, this scenario of multiple robots moving across floors to perform tasks is prone to chaos and collisions, reducing robot efficiency. Therefore, it is necessary to rationally plan the use of elevators for robots to ensure efficient operation while avoiding collisions. Enabling multiple robots to move orderly and quickly to their destinations via corresponding elevators to perform tasks is an urgent problem to be solved.

[0003] See CN113104683A for a multi-robot-based elevator scheduling method and apparatus. This method discloses the following steps: based on received elevator waiting information from calling robots, determining all elevators whose uncompleted journeys (i.e., a second set of elevators) have passed through the floor where the calling robot is located (based on the second set of elevators received); calculating a third set of elevators to be called based on the first and second sets of elevators received; determining all elevators whose journeys overlap with the calling robot's based on the waiting information from the calling robot (based on the fourth set of elevators); and calculating the available elevators for the calling robot based on the third and fourth sets of elevators. This method avoids situations where a calling robot cannot board an elevator due to insufficient space, as the elevator is already occupied or a robot is about to board it, thus improving the operating efficiency of both the calling robot and the elevator. While the above technical solution can avoid situations where a calling robot cannot board an elevator due to insufficient space, it still improves the operating efficiency of both the calling robot and the elevator. However, it has the following drawbacks: First, it has high technical complexity; this method involves a large amount of data interaction and communication, including information transmission between the robot and the elevator, and data processing of the scheduling system. It involves complex algorithms and calculations, requiring high-precision data processing and algorithm optimization to ensure the accuracy and efficiency of scheduling. Second, it has poor flexibility; this method requires pre-setting information such as the robot's journey and destination. If the robot's journey changes or needs temporary adjustment, the scheduling system may need to recalculate and adjust. Third, it has poor versatility; this method requires pre-setting and scheduling information such as the robot's journey and destination, and has certain requirements on the number, type, and journey planning of robots, resulting in poor versatility. Summary of the Invention

[0004] In view of the above problems, this application provides a multi-robot elevator passage method to solve the problems of high technical complexity, poor flexibility and poor versatility of existing multi-robot elevator passage methods.

[0005] To achieve the above objectives, the inventors provide a method for multi-robot elevator passage, which includes the following steps:

[0006] Determine if the elevator is occupied;

[0007] If not, a placeholder is set inside the elevator, and the robot is bound to the elevator; after the robot enters the elevator and crosses floors, it leaves the elevator, the placeholder is removed, and the robot is unbound from the elevator.

[0008] If so, the robot will wait outside the elevator.

[0009] Furthermore, a detection point is set up outside the elevator. Before the robot enters the elevator, it determines at the detection point whether the elevator is currently occupied.

[0010] Furthermore, the robot waits at the detection point.

[0011] Furthermore, the step of determining whether an elevator is occupied includes the following steps:

[0012] Determine the length of the elevator;

[0013] Define the direction of travel and set the initial value of the elevator door position;

[0014] Based on the initial value of the elevator door position, calculate whether the occupant point is inside the elevator.

[0015] Furthermore, the occupancy point is a region with a radius of 1m.

[0016] A method for navigating a multi-robot elevator includes the following steps:

[0017] Determine if there are any elevators in a multi-elevator configuration that are not occupied.

[0018] If so, a staking point is set inside the elevator, and the robot is bound to the elevator; after the robot enters the elevator and crosses floors, it leaves the elevator, the staking point inside the elevator is removed, and the robot is unbound from the elevator.

[0019] If not, the robot waits outside the elevator.

[0020] Furthermore, a detection point is set up outside the elevator. Before the robot enters the elevator, it determines at the detection point whether the elevator is currently occupied.

[0021] Furthermore, the step of determining whether any elevator among multiple elevators has an unoccupied space includes determining whether each elevator has an occupied space, specifically including the following steps:

[0022] Determine the length of the elevator;

[0023] Define the direction of travel and set the initial value of the elevator door position;

[0024] Based on the initial value of the elevator door position, calculate whether the occupant point is inside the elevator.

[0025] Furthermore, the occupancy point is a region with a radius of 1m.

[0026] A method for multi-robot cross-floor passage, applying the above-mentioned multi-robot elevator passage method, includes the following steps:

[0027] When there are no available occupation points in either the elevator or the robot's task points, occupation points are set in both the elevator and the robot's task points, and the elevator is bound to them.

[0028] The robot enters the elevator, crosses floors via the elevator, leaves the elevator, removes the occupant inside the elevator, and unties the robot to the elevator.

[0029] The robot drove towards the mission point.

[0030] Unlike existing technologies, the above-mentioned solution primarily involves setting up occupant points inside the elevator. These occupant points determine whether the elevator is idle and whether a robot should enter. This effectively avoids the idleness and waste of elevator resources. When there are no occupant points, the robot can set up an occupant point and bind to the elevator. By binding, the robot obtains information such as the elevator's location, status, and buttons, enabling it to control the elevator autonomously and move between floors. When there are occupant points inside the elevator, the robot waits outside, avoiding congestion and collisions caused by blind entry, thus preventing unnecessary waiting time. This ensures the rational allocation and use of elevator resources and improves the efficiency of multi-robot elevator passage. This method is easy to implement, does not require complex data interaction with the elevator system or other equipment, and is independent of the number or type of robots, making it suitable for elevator systems of various sizes and different application scenarios.

[0031] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0032] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of the present invention and other related contents, and should not be considered as limitations on this application.

[0033] In the accompanying drawings of the instruction manual:

[0034] Figure 1 This is a flowchart illustrating the multi-robot elevator passage method described in a specific implementation. Detailed Implementation

[0035] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0036] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0037] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0038] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0039] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0040] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0041] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0042] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0043] See Figure 1 As shown, a multi-robot elevator access method aims to improve the efficiency and safety of elevator access. It primarily involves setting up designated spots inside the elevator to determine if the elevator is idle and whether a robot should enter. This effectively avoids idle and wasted elevator resources. When there are no designated spots, a robot can set a spot and bind itself to the elevator. By binding, the robot obtains information such as the elevator's location, status, and buttons, enabling it to control the elevator autonomously and move between floors. When there are designated spots inside the elevator, the robot waits outside, avoiding congestion and collisions caused by blind entry, thus preventing unnecessary waiting time. This ensures the rational allocation and use of elevator resources and improves the efficiency of multi-robot elevator access. This method is easy to implement, does not require complex data interaction with the elevator system or other equipment, and is independent of the number or type of robots, making it suitable for elevator systems of various sizes and different application scenarios.

[0044] Combination Figure 1 The present application provides an embodiment of a multi-robot elevator passage method, which includes the following steps:

[0045] Determine if the elevator is occupied;

[0046] If not, a placeholder is set inside the elevator, and the robot is bound to the elevator; after the robot enters the elevator and crosses floors, it leaves the elevator, the placeholder is removed, and the robot is unbound from the elevator.

[0047] If so, the robot will wait outside the elevator.

[0048] The aforementioned robot is any one of multiple robots. The elevator does not allow two or more robots to enter. Occupancy is indicated by a designated spot and binding mechanism. When other robots attempt to enter, a designated spot is detected, guiding them to wait outside, thus granting exclusive ownership to the bound robot. Once a robot completes its inter-floor movement and leaves the elevator, the designated spot is removed, and the robot is unbound from the elevator, indicating it is currently free. Simultaneously, other robots waiting outside are allowed to set designated spots and bind to the elevator. Multiple robots may wait outside the elevator. These robots can set designated spots and bind to the elevator in order of waiting. Alternatively, a priority strategy can be introduced, determining which robot has priority to set a designated spot and bind to the elevator based on task urgency, robot arrival time, or other predetermined rules, and then enter the elevator.

[0049] The robot is bound to the elevator. This involves assigning a unique identifier (such as an ID or name) to the elevator. Before entering the elevator, the robot identifies this identifier using its sensors or communication. After setting up a vacancy point inside the elevator, the robot binds itself to the elevator's identifier to confirm that it has occupied the vacancy. This prevents the robot from exhibiting contradictory behavior, such as failing to enter a vacancy point due to uncertainty about its own occupancy status. Simultaneously, by binding to the elevator information, the robot obtains the elevator's location, status, and button information, enabling it to control the elevator and achieve autonomous elevator use.

[0050] Determining whether an elevator is currently occupied is performed before the robot enters the elevator to prevent conflicts and collisions between multiple robots inside. To prevent congestion at the elevator entrance, a detection point can be set up at the entrance. Before entering the elevator, the robot checks at this point whether an empty space is available. The detection point is typically located near the elevator entrance to ensure the robot has sufficient time and space to make its judgment and decision before entering. Specifically, the detection point can be a fixed sensor location where the robot begins to acquire real-time occupancy information within the elevator, thereby making a decision on whether to enter. Alternatively, the robot can wait at the detection point to ensure sufficient space at the elevator entrance for other robots to pass through.

[0051] The steps described above for determining whether an elevator is occupied can specifically include the following steps:

[0052] Determine the length of the elevator; that is, the distance between the elevator door and the side wall opposite the elevator door.

[0053] Define the direction of travel and set the initial value of the elevator door position; for example, set the direction of entering the elevator as the positive direction and the direction of leaving the elevator as the negative direction.

[0054] Based on the initial position of the elevator door, calculate whether the occupant is inside the elevator; that is, based on the initial position of the elevator door, calculate the current position value of the occupant to determine whether the occupant is inside the elevator.

[0055] For example, if the length of the elevator is determined to be 2m, the direction of entering the elevator is set to the positive direction, and the direction of leaving the elevator is set to the negative direction; and the initial value of the elevator entrance position is set to 0; then if the current position of the occupant is between 0 and 2m, it means that there is an occupant inside the elevator door; otherwise, there is no occupant inside the elevator.

[0056] The occupancy point can be set as an area with a radius of 1m; the 1-meter radius provides a safe buffer zone for the robot, ensuring that even if a small positioning error or path deviation is predicted during the robot's movement, it will not directly contact other robots or obstacles, thereby greatly reducing the risk of collision.

[0057] This application also provides a method for multi-robot elevator passage in the case of multiple elevators, which includes the following steps:

[0058] Determine if there are any elevators in a multi-elevator configuration that are not occupied.

[0059] If so, a staking point is set inside the elevator, and the robot is bound to the elevator; after the robot enters the elevator and crosses floors, it leaves the elevator, the staking point inside the elevator is removed, and the robot is unbound from the elevator.

[0060] If not, the robot waits outside the elevator.

[0061] Similarly, the aforementioned robot is any one of multiple robots; the elevator does not allow two or more robots to enter. Occupancy is indicated by placeholders and binding, and when other robots attempt to enter, a placeholder is detected inside, guiding them to wait outside, thus giving the bound robot exclusive ownership. Once a robot inside the elevator completes its inter-floor movement and leaves, the placeholder is removed, and the robot is unbound from the elevator, indicating it is currently free. Simultaneously, other robots waiting outside are allowed to set placeholders and bind to the elevator. Of course, multiple robots may wait outside the elevator. These waiting robots can set placeholders and bind to the elevator in order of waiting. Alternatively, a priority strategy can be introduced, determining which robot has priority to set placeholders and bind to the elevator based on task urgency, robot arrival time, or other predetermined rules, and then enter the elevator.

[0062] The above method for determining whether any elevator in a multi-elevator configuration lacks a designated spot can be either: if only one elevator lacks a designated spot, then a designated spot is set on that elevator and the robot is bound to that elevator; or if multiple elevators lack designated spots, then one elevator (the one closest to the robot) can be selected to set a designated spot and the robot is bound to that elevator.

[0063] The robot is bound to the elevator. This involves assigning a unique identifier (such as an ID or name) to the elevator. Before entering the elevator, the robot identifies this identifier using its sensors or communication. After setting up a vacancy point inside the elevator, the robot binds itself to the elevator's identifier to confirm that it has occupied the vacancy. This prevents the robot from exhibiting contradictory behavior, such as failing to enter a vacancy point due to uncertainty about its own occupancy status. Simultaneously, by binding to the elevator information, the robot obtains the elevator's location, status, and button information, enabling it to control the elevator and achieve autonomous elevator use.

[0064] Determining whether an elevator is currently occupied is performed before the robot enters the elevator to prevent conflicts and collisions between multiple robots inside. To prevent congestion at the elevator entrance, a detection point can be set up at the entrance. Before entering the elevator, the robot checks at this point whether an empty space is available. The detection point is typically located near the elevator entrance to ensure the robot has sufficient time and space to make its judgment and decision before entering. Specifically, the detection point can be a fixed sensor location where the robot begins to acquire real-time occupancy information within the elevator, thereby making a decision on whether to enter. Alternatively, the robot can wait at the detection point to ensure sufficient space at the elevator entrance for other robots to pass through.

[0065] The above steps for determining whether any elevator in a multi-elevator network is not occupied include determining whether each elevator has an occupied space, specifically including the following steps:

[0066] Determine the length of the elevator; that is, the distance between the elevator door and the side wall opposite the elevator door.

[0067] Define the direction of travel and set the initial value of the elevator door position; for example, set the direction of entering the elevator as the positive direction and the direction of leaving the elevator as the negative direction.

[0068] Based on the initial position of the elevator door, calculate whether the occupant is inside the elevator; that is, based on the initial position of the elevator door, calculate the current position value of the occupant to determine whether the occupant is inside the elevator.

[0069] The occupancy point can be set as an area with a radius of 1m; the 1-meter radius provides a safe buffer zone for the robot, ensuring that even if a small positioning error or path deviation is predicted during the robot's movement, it will not directly contact other robots or obstacles, thereby greatly reducing the risk of collision.

[0070] This application also provides a method for multiple robots to travel across floors. Applying the aforementioned method for multiple robots traveling in an elevator, in some embodiments, after a robot leaves the elevator, it can be determined whether there is a designated spot at the robot's task point. If there is a designated spot, the robot waits after leaving the elevator; otherwise, a designated spot is set at the task point, and the robot moves towards the task point. In some embodiments, it is simultaneously determined whether there are designated spots at both the elevator and the robot's task points. When there are no designated spots at either the elevator or the robot's task point (in the case of multiple elevators, the condition is met if at least one elevator has no designated spot), designated spots are set at both the elevator and the robot's task points, and the elevator is then bound to the designated spot.

[0071] After the robot enters the elevator and crosses floors, it leaves the elevator, removes the occupant from the elevator, and unties the robot to the elevator.

[0072] The robot drove towards the mission point.

[0073] Whether the robot has designated occupancy points for its tasks can be determined through an environmental map. This environmental map is typically built or acquired before the robot begins operation; it may include the location of the task points, obstacle information, and real-time updated occupancy point information. Alternatively, information can be shared wirelessly between the robot occupying the task points (by setting up occupancy points).

[0074] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A multi-robot elevator passing method characterized by comprising: The method comprises the following steps: determining whether there is an occupation point in the elevator; if not, setting an occupation point in the elevator and binding the robot with the elevator; the robot enters the elevator, and after completing the cross-floor through the elevator, the robot leaves the elevator, removes the occupation point in the elevator, and unbinds the robot with the elevator; if yes, the robot waits outside the elevator; setting a detection point outside the elevator, and determining whether there is an occupation point in the current elevator before the robot enters the elevator; the step of determining whether there is an occupation point in the elevator comprises the following steps: determining the length of the elevator; defining the passing direction and setting the initial value of the elevator door position; calculating whether the occupation point is in the elevator according to the initial value of the elevator door position.

2. The multi-robot elevator passage method according to claim 1, characterized by, The robot waits at the detection point.

3. The multi-robot elevator passage method according to claim 1, characterized by, The occupation point is an area with a radius of 1 m.

4. A multi-robot elevator passing method characterized by comprising: The method comprises the following steps: determining whether there is an occupation point in the elevator; if not, setting an occupation point in the elevator and binding the robot with the elevator; the robot enters the elevator, and after completing the cross-floor through the elevator, the robot leaves the elevator, removes the occupation point in the elevator, and unbinds the robot with the elevator; if yes, the robot waits outside the elevator; setting a detection point outside the elevator, and determining whether there is an occupation point in the current elevator before the robot enters the elevator; the step of determining whether there is an occupation point in the elevator comprises the following steps: determining the length of the elevator; defining the passing direction and setting the initial value of the elevator door position; calculating whether the occupation point is in the elevator according to the initial value of the elevator door position.

5. The multi-robot elevator passage method according to claim 4, characterized by, The occupation point is an area with a radius of 1 m.

6. A multi-robot cross-floor passing method, applying the multi-robot elevator passing method according to any one of claims 1-5, characterized in that, The method comprises the following steps: when there is no occupation point in the elevator and the task point of the robot, setting an occupation point in the elevator and the task point of the robot respectively, and binding the elevator; the robot enters the elevator, and after completing the cross-floor through the elevator, the robot leaves the elevator, removes the occupation point in the elevator, and unbinds the robot with the elevator; the robot drives to the task point.

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