Robot elevator taking control method, elevator control device and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, in particular to a robot elevator taking control method, an elevator control device and a storage medium, the method is applied to the elevator control device, a robot comprises an inertia measurement module, and in the embodiment of the invention, when the robot fails to enter an elevator and is located in the elevator, state data is obtained through measurement of the inertia measurement module; the running state of the robot is determined to generate a corresponding state instruction, and the state instruction is sent to the elevator control device, so that after the elevator control device receives the state instruction, the state instruction is analyzed to obtain the running state of the robot, and the robot is controlled to execute corresponding operation according to the running state. The elevator retreating operation can be correctly executed, the situation that the robot is brought to other wrong floors by the elevator to go out of the elevator is reduced, and the task executing efficiency of the robot is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot technology, and in particular to a robot elevator control method, an elevator control device and a storage medium. Background Art

[0002] Robots are mechanical devices that can automatically perform tasks. They can run pre-programmed programs to complete a variety of different types of tasks. With the development of mobile Internet and artificial intelligence technology, robots are widely used in various service places to provide customers with services such as navigation, item delivery, reception consultation, collaborative operations, and sales of goods. In the process of providing services, robots often need to take elevators.

[0003] At present, in scenarios such as hotels and KTVs, robots may fail to enter the elevator when delivering goods. In related technologies, if the robot fails to enter the elevator, it will directly trigger the robot to exit the elevator and then re-enter the elevator. However, due to obstacles, pedestrians and other factors, the robot fails to exit the elevator and is taken to the wrong floor by the elevator, which reduces the efficiency of the robot's task execution and may even cause the task to fail. Summary of the invention

[0004] In view of this, an object of an embodiment of the present invention is to provide a robot elevator control method, an elevator control device and a storage medium to solve the technical problem in the prior art that the robot fails to correctly execute the operation of exiting the elevator and is taken to other wrong floors by the elevator.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a robot elevator control method, which is applied to an elevator control device, wherein the robot includes an inertial measurement module, and the method includes:

[0007] In response to receiving a status instruction sent by the robot, the robot is configured to obtain the running status of the robot according to the status instruction, if the robot fails to enter the elevator and is located in the elevator, obtain status data through the inertial measurement module, determine the running status of the robot according to the status data, generate a corresponding status instruction according to the running status, and send the status instruction to the elevator control device, wherein the status data includes the acceleration and speed of the robot;

[0008] Based on the operating state, the robot is controlled to perform an operation corresponding to the operating state.

[0009] In some embodiments, the running state of the robot includes a first state, and based on the running state, controlling the robot to perform an operation corresponding to the running state includes:

[0010] If the running state is the first state, sending a pause exit command to the robot, so that the robot pauses execution and then exits the elevator operation after receiving the pause exit command;

[0011] Wherein, the robot is further configured to: when the acceleration and speed of the robot both change from a zero value to a non-zero value, determine that the running state of the robot is a first state.

[0012] In some embodiments, the method further comprises:

[0013] If the time from sending the pause exiting-elevator command has passed a preset time and the robot's operating state is still the first state, a resume exiting-elevator command is sent to the robot, so that the robot resumes execution and exits the elevator operation after receiving the resume exiting-elevator command.

[0014] In some embodiments, the running state of the robot includes a second state, and based on the running state, controlling the robot to perform an operation corresponding to the running state further includes:

[0015] If the running state is the second state, sending an elevator entry instruction to the robot, so that the robot moves to a designated position in the elevator after receiving the elevator entry instruction;

[0016] Wherein, the robot is also configured to: after the acceleration and speed of the robot both change from zero value to non-zero value, the acceleration of the robot changes from non-zero value to zero value again, and the robot runs at a constant speed of a non-zero value of the first speed, determine that the running state of the robot is the second state.

[0017] In some embodiments, the method further comprises:

[0018] In response to a successful elevator entry instruction, obtaining a target floor corresponding to the current task of the robot, wherein the successful elevator entry instruction indicates that the robot has arrived at and stopped at a designated position in the elevator;

[0019] Sending a target floor instruction to the boarding elevator, so that the boarding elevator runs to the target floor after receiving the target floor instruction;

[0020] A map switching instruction is sent to the robot, so that the robot switches the navigation map to the target map corresponding to the target floor after receiving the map switching instruction.

[0021] In some embodiments, the running state of the robot includes a third state, and based on the running state, controlling the robot to perform an operation corresponding to the running state further includes:

[0022] If the running state is the third state, sending an elevator entry command to the robot, so that the robot drives to a designated position in the elevator after receiving the elevator entry command;

[0023] Wherein, the robot is further configured as follows: when the acceleration and speed of the robot both change from zero value to non-zero value, the acceleration of the robot changes from non-zero value to zero value, the robot runs at a constant speed of a non-zero value of a first speed, the acceleration of the robot changes from zero value to non-zero value, and the speed of the robot changes from the non-zero value of the first speed to zero value, the operating state of the robot is determined to be the third state.

[0024] In some embodiments, the method further comprises:

[0025] Obtain the target floor corresponding to the current task of the robot;

[0026] Sending a target floor instruction to the boarding elevator, so that the boarding elevator runs to the target floor after receiving the target floor instruction;

[0027] A map switching instruction is sent to the robot, so that the robot switches the navigation map to the target map corresponding to the target floor after receiving the map switching instruction.

[0028] In some embodiments, the running state of the robot includes a fourth state, and based on the running state, controlling the robot to perform an operation corresponding to the running state further includes:

[0029] If the running state is the fourth state, sending an exit-elevator command to the robot, so that the robot executes an exit-elevator operation after receiving the exit-elevator command;

[0030] Among them, the robot is also configured to: obtain the first position of the elevator car door, determine the target distance between the robot and the elevator car door based on the current position of the robot and the first position, and when the target distance is less than or equal to a preset distance threshold, determine that the operating state of the robot is the fourth state.

[0031] In a second aspect, an embodiment of the present invention provides a ladder control device, comprising:

[0032] A processor and a memory communicatively connected to the processor;

[0033] The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the robot elevator control methods proposed in the first aspect.

[0034] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored, and when the computer program instructions are called by the processor, the processor executes any one of the robot elevator control methods proposed in the first aspect.

[0035] The embodiments of the present invention have the following beneficial effects: Different from the prior art, the robot elevator control method provided by the embodiments of the present invention is applied to an elevator control device, the robot includes an inertial measurement module, and the method includes: in response to receiving a status instruction sent by the robot, obtaining the operating status of the robot according to the status instruction, the robot is configured as follows: if the robot fails to enter the elevator and is located in the elevator, then obtaining status data through the inertial measurement module, determining the operating status of the robot according to the status data, generating corresponding status instructions according to the operating status, and sending the status instructions to the elevator control device, the status data includes the acceleration and speed of the robot, and based on the operating status, controlling the robot to perform operations corresponding to the operating status.

[0036] In an embodiment of the present invention, when the robot fails to enter the elevator and is inside the elevator, the inertial measurement module is used to measure and obtain status data, determine the operating status of the robot, generate corresponding status instructions, and send the status instructions to the elevator control device, so that after receiving the status instructions, the elevator control device parses the status instructions to obtain the operating status of the robot, and controls the robot to perform corresponding operations according to the operating status. This ensures that when the robot fails to enter the elevator, it can correctly execute the operation of exiting the elevator, reduce the occurrence of the robot being taken to other wrong floors by the elevator to exit the elevator, and improve the efficiency of the robot in performing tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following is a brief introduction to the drawings required for the description of the prior art or the embodiments. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0038] Figure 1 It is a schematic diagram of an application scenario of a robot elevator control method provided by some embodiments of the present invention;

[0039] Figure 2 is a schematic diagram of the structure of a ladder control device provided by some embodiments of the present invention;

[0040] Figure 3 is a flow chart of a robot elevator control method provided by some embodiments of the present invention;

[0041] Figure 4 is a schematic diagram of the structure of a robot elevator control device provided by some embodiments of the present invention;

[0042] Figure 5 It is a schematic diagram of the structure of a robot elevator control device provided in other embodiments of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device, or in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0045] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0046] See also Figure 1 , Figure 1 A schematic diagram of an application scenario of a robot taking an elevator in some embodiments of the present invention is schematically shown.

[0047] like Figure 1 As shown, the application scenario includes a robot 10 and an elevator 20, and the elevator 20 is equipped with an elevator control device ( Figure 1 ), the robot 10 is equipped with an inertial measurement module ( Figure 1 The inertial measurement module is used to sense the status data of the robot 10 (including the acceleration and speed of the robot 10), and the elevator control device is connected to the robot 10 through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. In some embodiments, the elevator control device can also be installed in any other suitable place, and the embodiments of the present invention do not limit this.

[0048] Specifically, the robot 10 needs to take the elevator frequently in the process of performing work tasks. In some cases, after the robot 10 encounters a failure to enter the elevator, it performs the back-out elevator operation according to the preset elevator logic. In the process of performing the back-out elevator operation, the robot 10 detects and determines that it is still in the elevator 20 through various sensors equipped with itself (such as laser radar, camera, infrared sensor, etc.), and the robot 10 obtains the acceleration and speed of the robot 10 through the inertial measurement module equipped with itself. The robot 10 determines its current operating state based on the changes in its own acceleration and speed, generates a corresponding state instruction based on the operating state, and sends the state instruction to the elevator control device through the network.

[0049] In some embodiments, after receiving the status instruction sent by the robot 10, the elevator control device responds to the received status instruction, parses the status instruction to obtain the operating status of the robot 10, and controls the robot 10 to perform operations corresponding to the operating status according to the operating status of the robot 10, such as pausing the execution and then exiting the elevator operation, driving to a specified position in the elevator 20, or switching the navigation map to a target map corresponding to the target floor, etc.

[0050] In an embodiment of the present invention, the robot 10 may be a mobile robot based on a SLAM system, for example, a cleaning robot, a delivery robot, a pet robot, a handling robot, a nursing robot, and a remote monitoring robot, among which the cleaning robot includes but is not limited to a sweeping robot, a vacuuming robot, a mopping robot, and a floor washing robot, among others.

[0051] It is worth noting that the elevator control device can be any suitable type of equipment, device or component with certain control and computing capabilities. For example, the elevator control device can be a desktop computer, a laptop computer, a tablet computer, a smart phone, a single-chip microcomputer and a microcontroller, etc. The elevator control device can be set in any suitable place according to actual needs to cooperate with controlling the robot 10 to take the elevator. It should be understood that Figure 1The elevator control device in the illustrated application scenario does not impose any limitation on the structure, type, quantity, etc. of the elevator control devices in other application scenarios or embodiments.

[0052] In order to facilitate understanding of the robot elevator control method provided by the embodiment of the present invention, the elevator control device provided by the embodiment of the present invention is first introduced in detail.

[0053] See also Figure 2 , Figure 2 The structural diagram of the ladder control device 100 provided in some embodiments of the present invention is schematically shown.

[0054] like Figure 2 As shown, the elevator control device 100 includes at least one processor 110 and a memory 120 that are communicatively connected. Figure 2 In the example, the bus system 130 is connected to a processor. The various components in the elevator control device 100 are coupled together through the bus system 130, and the bus system 130 is used to realize the connection and communication between these components. It is easy to understand that the bus system 130 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 2 In the figure, various buses are labeled as bus system 130. It can be understood that Figure 2 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the above-mentioned elevator control device 100. For example, the above-mentioned elevator control device 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0055] Specifically, the processor 110 is used to provide computing and control capabilities to control the elevator control device 100 to perform corresponding tasks. For example, the above-mentioned elevator control device 100 is controlled to perform any one of the robot elevator control methods provided in the embodiments of the present invention, or to perform any one of the steps in any possible implementation of any one of the robot elevator control methods provided in the embodiments of the present invention. It is easy to understand that the processor 110 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0056] The memory 120, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the robot elevator control method in the embodiment of the present invention. In some embodiments, the memory 120 may include a program storage area and a data storage area, and the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the processor 110, etc. The processor 110 executes various functional applications and data processing of the elevator control device 100 by running the non-transitory software programs, instructions and modules stored in the memory 120, so as to implement any robot elevator control method provided in the embodiment of the present invention, or execute any possible implementation of any robot elevator control method provided in the embodiment of the present invention. Among them, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 120 may also include a memory remotely arranged relative to the processor 110, and these remote memories may be connected to the processor 110 through a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0057] It can be understood from the above that the implementation subject of any robot elevator control method provided in the embodiments of the present invention can be any suitable type of elevator control device with certain computing and control capabilities, for example, it can be implemented by the above-mentioned elevator control device 100. In some feasible implementations, any robot elevator control method provided in the embodiments of the present invention can be implemented by a processor calling a computer program instruction stored in a memory.

[0058] The robot elevator control method provided by the embodiment of the present invention will be described in detail below in conjunction with the exemplary application and implementation of the elevator control device provided by the embodiment of the present invention.

[0059] See also Figure 3 , Figure 3 The flowchart of the robot elevator control method provided by some embodiments of the present invention is schematically shown.

[0060] Those skilled in the art can understand that the robot elevator control method provided by the embodiment of the present invention can be applied to the above elevator control device (for example, the elevator control device 100). Specifically, the robot elevator control method is executed by one or at least two processors of the elevator control device.

[0061] like Figure 3As shown, the robot elevator control method includes but is not limited to the following steps S100-S200:

[0062] S100: In response to receiving a status instruction sent by the robot, the robot's operating status is obtained according to the status instruction. The robot is configured as follows: if the robot fails to enter the elevator and is located inside the elevator, status data is obtained through an inertial measurement module, the robot's operating status is determined according to the status data, a corresponding status instruction is generated according to the operating status, and the status instruction is sent to the elevator control device. The status data includes the acceleration and speed of the robot.

[0063] In some embodiments, when the robot is performing a work task and taking the elevator, if it encounters a failure to enter the elevator, the robot will perform a backward exit operation according to the preset elevator logic. During the backward exit operation, the robot uses various sensors (such as lidar, camera, infrared sensor, etc.) equipped with itself to detect and determine that it is still in the elevator. The robot uses the inertial measurement module equipped with itself to sense and obtain the acceleration and speed of the robot to determine whether it is correctly performing the backward exit operation according to the expected trajectory or action (for example, whether it deviates from the predetermined exit path, whether it is in a stationary state, and whether it follows the elevator up or down). The robot determines the current operating state based on its own state data (i.e., acceleration and speed), generates a corresponding state instruction based on the operating state, and sends the state instruction to the elevator control device through the network to inform the elevator control device of the current operating state through the state instruction.

[0064] It is easy to understand that the inertial measurement module can be an accelerometer, gyroscope or other device or component. In the embodiment of the present invention, what is sensed and acquired by the inertial measurement module is the acceleration and speed in the vertical direction of the robot. Of course, the inertial measurement module can also be any other suitable equipment, device or component, and the embodiment of the present invention does not impose any limitation on this.

[0065] Specifically, the elevator control device receives status instructions sent by the robot through the network. The status instructions include the robot's operating status information (such as the robot's current position, whether it has reached the target position, the robot's current speed and acceleration, whether the elevator door is closed, whether it is possible to enter the elevator, etc.), and responds to the received status instructions, parses the status instructions to extract the robot's operating status information, and thus obtains the robot's operating status.

[0066] S200: Based on the running state, control the robot to perform operations corresponding to the running state.

[0067] Specifically, the operating status of the robot is analyzed to determine whether the robot has any unexpected movement conditions (for example, rapid acceleration, sudden stop, tilt, etc.), so as to determine whether it is necessary to control the robot to perform operations corresponding to the operating status, that is, to adjust the posture or position of the robot.

[0068] In some embodiments, if the running state of the robot deviates greatly from the expected value (for example, the acceleration is too large or the speed is too fast), the robot is controlled to maintain the current posture and position unchanged, stop and wait, and do not perform any action.

[0069] In some embodiments, if there is a reasonable deviation between the operating state of the robot and the expected value (for example, the acceleration and speed are both within a certain range threshold), the robot is controlled to maintain the current posture unchanged, drive to the designated parking position in the elevator, and park at the designated parking position, thereby ensuring that the robot successfully enters the elevator.

[0070] Through the above method, the robot is controlled to perform corresponding operations according to its operating status, so that the robot can effectively deal with the failure of entering the elevator encountered during the elevator riding process, thereby improving the reliability and safety of the robot taking the elevator, ensuring that the robot can take the elevator smoothly, and improving the efficiency of the robot's task execution.

[0071] Exemplarily, in some embodiments, based on the running state, the robot is controlled to perform operations corresponding to the running state, specifically including but not limited to the following steps S210:

[0072] S210: If the running state is the first state, a pause exiting-elevator command is sent to the robot, so that the robot pauses execution and exits the elevator operation after receiving the pause exiting-elevator command, wherein the robot is further configured to: when the acceleration and speed of the robot both change from zero value to non-zero value, determine that the running state of the robot is the first state.

[0073] In some embodiments, the running state of the robot includes a first state, wherein after acquiring its own state data, the robot determines its own state based on the state data. When its own acceleration and speed both change from zero to non-zero values, indicating that it begins to enter a motion state from a static state, the robot determines that its own running state is the first state.

[0074] Exemplarily, when the robot's operating state is obtained as the first state by parsing the received state instruction, the ladder control device sends a pause exit instruction to the robot through a suitable communication method (such as Bluetooth, Wi-Fi or Zigbee, etc.), so that the robot can suspend the execution of the rear exit operation being executed according to the preset elevator logic after receiving the pause exit instruction. The robot receives the pause exit instruction sent by the ladder control device through a suitable communication method (such as Wi-Fi, Bluetooth or Zigbee, etc.), and responds to the pause exit instruction, suspends the execution of the rear exit operation, stops and waits, and does not perform any action.

[0075] Exemplarily, in some embodiments, the robot elevator control method further includes but is not limited to the following steps S211:

[0076] S211: If the time from sending the pause exit command has exceeded the preset time and the robot's operating state is still in the first state, sending a resume exit command to the robot, so that the robot resumes execution and exits the elevator operation after receiving the resume exit command.

[0077] Specifically, when the elevator control device sends the pause exit instruction, it starts the timer built into itself to start timing, and obtains the first time of sending the pause exit instruction. If the timing duration of the timer exceeds the preset duration (that is, the current time is the preset duration from the first time of sending the pause exit instruction), and the operation state of the robot obtained by parsing the received state instruction is still the first state, it means that the operation state of the robot remains in the first state within the preset duration after sending the pause exit instruction, and fails to successfully enter a stable operation state within the preset duration, the elevator control device sends a restore exit instruction to the robot, so that the robot resumes the execution of the rear exit operation, that is, after receiving the restore exit instruction, the robot re-executes the rear exit operation according to the preset elevator logic. The robot receives the restore exit instruction sent by the elevator control device through a suitable communication method (such as Wi-Fi, Bluetooth or Zigbee, etc.), and responds to the restore exit instruction, starts working at the stop waiting position, and resumes the execution of the rear exit operation.

[0078] It should be understood that those skilled in the art may set the preset duration based on empirical data, experimental data, and actual needs. For example, the preset duration may be 5s, 10s, or other durations, and the embodiments of the present invention do not impose any limitation on this.

[0079] Exemplarily, in some embodiments, based on the running state, controlling the robot to perform operations corresponding to the running state specifically includes but is not limited to the following steps S220:

[0080] S220: If the running state is the second state, an elevator entry instruction is sent to the robot, so that the robot drives to the designated position in the elevator after receiving the elevator entry instruction, wherein the robot is also configured to: after the acceleration and speed of the robot both change from zero value to non-zero value, the acceleration of the robot changes from non-zero value to zero value, and the robot runs at a constant speed of the non-zero value of the first speed, determine that the running state of the robot is the second state.

[0081] In some embodiments, the running state of the robot includes a second state, wherein the robot determines the state it is in based on the state data after acquiring its own state data. After its own acceleration and speed both change from zero to non-zero values, its own acceleration changes from non-zero value to zero again, and the robot runs at a non-zero value of the first speed, it means that the robot accelerates from a stationary state to a moving state following the elevator, and after accelerating to the first speed, follows the elevator up or down at the first speed, the robot determines that its own running state is the second state.

[0082] Exemplarily, when the robot's operating state is obtained as the second state by parsing the received state instruction, the elevator control device sends an elevator entry instruction to the robot through a suitable communication method (such as Bluetooth, Wi-Fi or Zigbee, etc.), so that after receiving the elevator entry instruction, the robot suspends the execution of the rear elevator exit operation being executed according to the preset elevator logic, and performs the elevator entry operation, that is, drives to the designated position in the elevator. The robot receives the elevator entry instruction sent by the elevator control device through a suitable communication method (such as Wi-Fi, Bluetooth or Zigbee, etc.), responds to the elevator entry instruction, suspends the execution of the rear elevator exit operation, performs the elevator entry operation, moves to the designated position in the elevator, drives to the designated position in the elevator, and stops at the designated position to complete the elevator entry operation. It is easy to understand that those skilled in the art can set the designated position at any suitable place in the elevator according to actual needs, and the embodiments of the present invention do not impose any limitation on this.

[0083] Exemplarily, in some embodiments, the robot elevator control method further includes but is not limited to the following steps S221-S223:

[0084] S221: In response to a successful elevator entry instruction, the target floor corresponding to the current task of the robot is obtained, where the successful elevator entry instruction indicates that the robot has arrived at and stopped at a designated position in the elevator.

[0085] Specifically, after responding to the elevator entering command and completing the elevator entering operation (i.e., the robot drives to and stops at the designated position in the elevator), it generates a successful elevator entering command and sends the successful elevator entering command to the elevator control device through a communication network (such as Wi-Fi, Bluetooth or Zigbee, etc.), wherein the successful elevator entering command indicates that the robot drives to and stops at the designated position in the elevator, and successfully completes the elevator entering operation.

[0086] In some embodiments, the elevator control device receives the successful elevator entry command sent by the robot through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee), and responds to the successful elevator entry command to obtain the target floor information corresponding to the work task currently performed by the robot, that is, the destination floor to which the robot wants to go.

[0087] It can be understood that the target floor information corresponding to the work task currently performed by the robot can be stored in the local storage of the elevator control device, and the elevator control device can obtain the target floor information corresponding to the current task of the robot from the local storage.

[0088] In some embodiments, the target floor information corresponding to the work task currently performed by the robot can be stored in the cloud or server, and the elevator control device can communicate with the cloud or server through a suitable communication network (for example, Wi-Fi, Bluetooth or USB wired connection, etc.) to obtain the target floor information corresponding to the current task of the robot from the cloud or server.

[0089] S222: Send a target floor instruction to the elevator, so that the elevator runs to the target floor after receiving the target floor instruction.

[0090] Specifically, after obtaining the target floor corresponding to the robot's current task, the elevator control device generates a target floor instruction corresponding to the target floor, and sends the target floor instruction to the control system of the elevator that the robot is currently riding through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee, etc.). After the control system receives the target floor instruction, it presses the target floor corresponding to the target floor instruction to make the elevator run to the specified target floor.

[0091] S223: Sending a map switching instruction to the robot, so that the robot switches the navigation map to a target map corresponding to the target floor after receiving the map switching instruction.

[0092] Specifically, after obtaining the target floor corresponding to the robot's current task, the elevator control device generates a map switching instruction, and sends the map switching instruction to the robot through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee, etc.), so that the robot switches to the navigation map corresponding to the target floor (that is, the target map corresponding to the target floor) after receiving the map switching instruction. The robot receives the map switching instruction sent by the elevator control device through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee, etc.), and in response to the map switching instruction, switches the navigation map to the target map corresponding to the target floor, that is, loads the target map data corresponding to the target floor from the cloud or local storage, so that the robot can perform navigation, positioning and path planning according to the target map on the target floor, and perform subsequent work tasks.

[0093] Exemplarily, in some embodiments, based on the running state, controlling the robot to perform operations corresponding to the running state specifically includes but is not limited to the following steps S230:

[0094] S230: If the running state is the third state, an elevator entry command is sent to the robot, so that the robot drives to the designated position in the elevator after receiving the elevator entry command, wherein the robot is also configured as follows: when the acceleration and speed of the robot both change from zero to non-zero values, the acceleration of the robot changes from a non-zero value to zero, the robot runs at a constant speed at a non-zero value of the first speed, the acceleration of the robot changes from zero to a non-zero value, and the speed of the robot changes from the non-zero value of the first speed to zero, it is determined that the running state of the robot is the third state.

[0095] In some embodiments, the running state of the robot includes a third state, wherein the robot determines the state it is in based on the state data after acquiring its own state data. After its own acceleration and speed both change from zero to non-zero values, its own acceleration changes from non-zero value to zero value, the robot runs at a constant speed at a non-zero value of the first speed, its own acceleration changes from zero value to non-zero value, and its own speed changes from a non-zero value of the first speed to zero value, it indicates that the robot accelerates from a stationary state to a moving state following the elevator, and after accelerating to the first speed, follows the elevator up or down at the first speed, then decelerates following the elevator, the acceleration changes from zero value to non-zero value, the speed changes from the first speed to zero value, and the robot stops running following the elevator, and the robot determines that its own running state is the third state.

[0096] Exemplarily, when the robot's operating state is obtained as the third state after parsing the received state instruction, the elevator control device sends an elevator entry instruction to the robot through a suitable communication network (such as Bluetooth, Wi-Fi or Zigbee, etc.), so that after receiving the elevator entry instruction, the robot suspends the execution of the back-exit elevator operation being executed according to the preset elevator logic, and performs the elevator entry operation, that is, drives to the designated position in the elevator. The robot receives the elevator entry instruction sent by the elevator control device through a suitable communication method (such as Wi-Fi, Bluetooth or Zigbee, etc.), responds to the elevator entry instruction, suspends the execution of the back-exit elevator operation, performs the elevator entry operation, moves to the designated position in the elevator, drives to the designated position in the elevator, and stops at the designated position to complete the elevator entry operation.

[0097] Exemplarily, in some embodiments, the robot elevator control method further includes but is not limited to the following steps S231-S233:

[0098] S231: Obtain the target floor corresponding to the robot's current task.

[0099] Specifically, after determining that the operating state is the third state and executing the elevator entering operation, the robot does not need to generate a successful elevator entering command and send the successful elevator entering command to the elevator control device. The elevator control device directly obtains the target floor information corresponding to the work task currently performed by the robot through a suitable communication network (such as Bluetooth, Wi-Fi or Zigbee, etc.), that is, the destination floor that the robot wants to go to.

[0100] In some embodiments, the target floor information corresponding to the work task currently performed by the robot may be stored in the local storage of the elevator control device, and the elevator control device may obtain the target floor information corresponding to the current task of the robot from the local storage.

[0101] In some embodiments, the target floor information corresponding to the work task currently performed by the robot can be stored in the cloud or server, and the elevator control device can communicate with the cloud or server through a suitable communication network (for example, Wi-Fi, Bluetooth or USB wired connection, etc.) to obtain the target floor information corresponding to the current task of the robot from the cloud or server.

[0102] S232: Send a target floor instruction to the elevator, so that the elevator runs to the target floor after receiving the target floor instruction.

[0103] Specifically, after obtaining the target floor corresponding to the robot's current task, the elevator control device generates a target floor instruction corresponding to the target floor, and sends the target floor instruction to the control system of the elevator that the robot is currently riding through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee, etc.). After the control system receives the target floor instruction, it presses the target floor corresponding to the target floor instruction to make the elevator run to the specified target floor.

[0104] S233: Sending a map switching instruction to the robot, so that the robot switches the navigation map to a target map corresponding to the target floor after receiving the map switching instruction.

[0105] Specifically, after obtaining the target floor corresponding to the robot's current task, the elevator control device generates a map switching instruction, and sends the map switching instruction to the robot through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee, etc.), so that the robot switches to the navigation map corresponding to the target floor (that is, the target map corresponding to the target floor) after receiving the map switching instruction. The robot receives the map switching instruction sent by the elevator control device through a suitable communication network (for example, Wi-Fi, Bluetooth or Zigbee, etc.), and in response to the map switching instruction, switches the navigation map to the target map corresponding to the target floor, that is, loads the target map data corresponding to the target floor from the cloud or local storage, so that the robot can perform navigation, positioning and path planning according to the target map on the target floor, and perform subsequent work tasks.

[0106] Exemplarily, in some embodiments, based on the running state, controlling the robot to perform operations corresponding to the running state specifically includes but is not limited to the following steps S240:

[0107] S240: If the operating state is the fourth state, an exit-elevator command is sent to the robot, so that the robot executes an exit-elevator operation after receiving the exit-elevator command, wherein the robot is further configured to: obtain a first position of the elevator car door, determine a target distance between the robot and the elevator car door based on the robot's current position and the first position, and when the target distance is less than or equal to a preset distance threshold, determine that the robot's operating state is the fourth state.

[0108] In some embodiments, the operating state of the robot includes a fourth state. In the process of performing a work task and taking an elevator, if the robot fails to enter the elevator, the robot performs a backward exit operation according to the preset elevator logic. In the process of performing the backward exit operation, the robot detects and obtains the first position of the elevator car door through the sensor equipped with itself (such as a lidar, a camera, an infrared sensor, etc.), and obtains the current position of the robot based on the SLAM positioning technology. According to the current position of the robot and the first position of the car door, the target distance between the robot and the elevator car door is calculated, and the target distance is compared with the preset distance threshold. If the target distance is less than or equal to the preset distance threshold, it means that the robot is very close to the elevator car door, that is, the robot retreats to a longer distance, and the robot determines that the operating state is the fourth state.

[0109] Exemplarily, when the robot's operating state is obtained as the fourth state after parsing the received state command, the elevator control device sends an exit command to the robot through a suitable communication network (such as Bluetooth, Wi-Fi or Zigbee, etc.), so that after receiving the exit command, the robot continues to perform the rear exit operation according to the preset elevator logic and leaves the elevator car along a predetermined path. The robot receives the exit command sent by the elevator control device through a communication network (such as Wi-Fi, Bluetooth or Zigbee, etc.), responds to the exit command, continues to perform the rear exit operation, moves toward the elevator car door, and leaves the elevator car to complete the exit operation.

[0110] To summarize, the robot elevator control method provided in the embodiment of the present invention is applied to an elevator control device, and the robot includes an inertial measurement module. The method includes: in response to receiving a status instruction sent by the robot, obtaining the operating status of the robot according to the status instruction, and the robot is configured as follows: if the robot fails to enter the elevator and is located in the elevator, then obtaining status data through the inertial measurement module, determining the operating status of the robot according to the status data, generating corresponding status instructions according to the operating status, and sending the status instructions to the elevator control device, the status data includes the acceleration and speed of the robot, and based on the operating status, controlling the robot to perform operations corresponding to the operating status.

[0111] In an embodiment of the present invention, when the robot fails to enter the elevator and is inside the elevator, the inertial measurement module is used to measure and obtain status data, determine the operating status of the robot, generate corresponding status instructions, and send the status instructions to the elevator control device, so that after receiving the status instructions, the elevator control device parses the status instructions to obtain the operating status of the robot, and controls the robot to perform corresponding operations according to the operating status. This ensures that when the robot fails to enter the elevator, it can correctly execute the operation of exiting the elevator, reduce the occurrence of the robot being taken to other wrong floors by the elevator to exit the elevator, and improve the efficiency of the robot in performing tasks.

[0112] The embodiment of the present invention also provides a corresponding robot elevator control device, wherein the robot elevator control device can be a software module, the software module includes a number of instructions, which are stored in a memory, and the processor can access the memory, call the instructions for execution, and complete the robot elevator control method described in each of the above embodiments.

[0113] In some embodiments, the robot elevator control device can also be constructed by hardware devices. For example, the robot elevator control device can be constructed by one or more chips, and each chip can work in coordination with each other to implement the robot elevator control method described in each of the above embodiments. In some embodiments, the robot elevator control device can also be constructed by various logic devices, such as: a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a single-chip microcomputer, a field programmable gate array (FPGA), an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination of these devices or components.

[0114] See also Figure 4 , Figure 4 The schematic diagram of the structure of the robot elevator control device provided by some embodiments of the present invention is shown schematically. It is easy to understand that the robot elevator control device can be configured in the elevator control device.

[0115] Specifically, Figure 4 As shown, the robot elevator control device 200 includes an acquisition module 210 and a control module 220. The acquisition module 210 is used to obtain the robot's operating state according to the state instruction in response to receiving the state instruction sent by the robot. The robot is configured as follows: if the robot fails to enter the elevator and is located in the elevator, the state data is obtained through the inertial measurement module, the robot's operating state is determined according to the state data, the corresponding state instruction is generated according to the operating state, and the state instruction is sent to the elevator control device. The state data includes the acceleration and speed of the robot. The control module 220 is used to control the robot to perform operations corresponding to the operating state based on the operating state.

[0116] In some embodiments, the operating state of the robot includes a first state, and the control module 220 is specifically used to: if the operating state is the first state, send a pause exit command to the robot, so that the robot pauses execution and exits the elevator operation after receiving the pause exit command, wherein the robot is also configured to: when the acceleration and speed of the robot both change from zero value to non-zero value, determine that the operating state of the robot is the first state.

[0117] See also Figure 5 In some embodiments, the robot elevator control device 200 further includes a first operating module 230. The first operating module 230 is used to send a resume elevator exit instruction to the robot if a preset time has passed since the time when the elevator exit pause instruction was sent and the robot's operating state is still in the first state, so that the robot resumes executing the elevator exit operation after receiving the resume elevator exit instruction.

[0118] In some embodiments, the operating state of the robot includes a second state, and the control module 220 is also specifically used to: if the operating state is the second state, send an elevator entry command to the robot, so that the robot drives to a designated position in the elevator after receiving the elevator entry command, wherein the robot is also configured to: after the acceleration and speed of the robot both change from zero value to non-zero value, the acceleration of the robot changes from non-zero value to zero value, and the robot runs at a constant speed of a non-zero value of the first speed, determine that the operating state of the robot is the second state.

[0119] See also Figure 5 In some embodiments, the robot elevator control device 200 further includes a second operation module 240. The second operation module 240 is used to obtain the target floor corresponding to the current task of the robot in response to the elevator entry success instruction, the elevator entry success instruction indicates that the robot has arrived at and stopped at a designated position in the elevator, send a target floor instruction to the elevator, so that the elevator runs to the target floor after receiving the target floor instruction, and send a map switching instruction to the robot, so that the robot switches the navigation map to the target map corresponding to the target floor after receiving the map switching instruction.

[0120] In some embodiments, the operating state of the robot includes a third state, and the control module 220 is also specifically used to: if the operating state is the third state, send an elevator entry command to the robot, so that the robot drives to a designated position in the elevator after receiving the elevator entry command, wherein the robot is also configured to: when the acceleration and speed of the robot both change from zero to non-zero values, the acceleration of the robot changes from a non-zero value to zero, the robot runs at a constant speed at a non-zero value of the first speed, the acceleration of the robot changes from zero to non-zero value, and the speed of the robot changes from the non-zero value of the first speed to zero, determine that the operating state of the robot is the third state.

[0121] See also Figure 5 In some embodiments, the robot elevator control device 200 further includes a third operation module 250. The third operation module 250 is used to obtain the target floor corresponding to the current task of the robot, send the target floor instruction to the elevator, so that the elevator runs to the target floor after receiving the target floor instruction, and send the map switching instruction to the robot, so that the robot switches the navigation map to the target map corresponding to the target floor after receiving the map switching instruction.

[0122] In some embodiments, the operating state of the robot includes a fourth state, and the control module 220 is also specifically used to: if the operating state is the fourth state, send an exit-elevator command to the robot, so that the robot executes an exit-elevator operation after receiving the exit-elevator command, wherein the robot is also configured to: obtain a first position of the elevator car door, determine a target distance between the robot and the elevator car door based on the current position and the first position of the robot, and when the target distance is less than or equal to a preset distance threshold, determine that the robot's operating state is the fourth state.

[0123] It should be noted that, for the sake of simplicity and brevity, the above-mentioned robot elevator control device 200 can execute the functional modules and beneficial effects corresponding to the robot elevator control method provided in the embodiment of the present invention. For technical details not fully described in the embodiment of the robot elevator control device 200, reference can be made to the robot elevator control method provided in the embodiment of the present invention. The specific working process of the above-mentioned robot elevator control device 200 can also refer to the specific execution process corresponding to the robot elevator control method provided in the above-mentioned embodiment of the present invention, and will not be described one by one here.

[0124] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the robot elevator control methods provided by the embodiment of the present invention, or executes the steps in any one of the possible implementation methods of any one of the robot elevator control methods provided by the embodiment of the present invention.

[0125] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0126] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0127] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0128] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0129] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0130] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0131] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A robot elevator control method, applied to an elevator control device, characterized in that: The robot includes an inertial measurement module, and the method includes: In response to receiving a status instruction sent by the robot, the robot is configured to obtain the running status of the robot according to the status instruction, if the robot fails to enter the elevator and is located in the elevator, obtain status data through the inertial measurement module, determine the running status of the robot according to the status data, generate a corresponding status instruction according to the running status, and send the status instruction to the elevator control device, wherein the status data includes the acceleration and speed of the robot; Based on the operating state, the robot is controlled to perform an operation corresponding to the operating state.

2. The method according to claim 1, characterized in that The running state of the robot includes a first state, and based on the running state, controlling the robot to perform an operation corresponding to the running state includes: If the running state is the first state, sending a pause exit command to the robot, so that the robot pauses execution and then exits the elevator operation after receiving the pause exit command; Wherein, the robot is further configured to: when the acceleration and speed of the robot both change from a zero value to a non-zero value, determine that the running state of the robot is a first state.

3. The method according to claim 2, characterized in that The method further comprises: If the time from sending the pause exiting-elevator command has passed a preset time and the robot's operating state is still the first state, a resume exiting-elevator command is sent to the robot, so that the robot resumes execution and exits the elevator operation after receiving the resume exiting-elevator command.

4. The method according to claim 1, characterized in that: The running state of the robot includes a second state, and based on the running state, controlling the robot to perform an operation corresponding to the running state further includes: If the running state is the second state, sending an elevator entry instruction to the robot, so that the robot moves to a designated position in the elevator after receiving the elevator entry instruction; Wherein, the robot is also configured to: after the acceleration and speed of the robot both change from zero value to non-zero value, the acceleration of the robot changes from non-zero value to zero value again, and the robot runs at a constant speed of a non-zero value of the first speed, determine that the running state of the robot is the second state.

5. The method according to claim 4, characterized in that The method further comprises: In response to a successful elevator entry instruction, obtaining a target floor corresponding to the current task of the robot, wherein the successful elevator entry instruction indicates that the robot has arrived at and stopped at a designated position in the elevator; Sending a target floor instruction to the boarding elevator, so that the boarding elevator runs to the target floor after receiving the target floor instruction; A map switching instruction is sent to the robot, so that the robot switches the navigation map to the target map corresponding to the target floor after receiving the map switching instruction.

6. The method according to claim 1, characterized in that The running state of the robot includes a third state, and based on the running state, controlling the robot to perform an operation corresponding to the running state further includes: If the running state is the third state, sending an elevator entry command to the robot, so that the robot drives to a designated position in the elevator after receiving the elevator entry command; Wherein, the robot is also configured as: when the acceleration and speed of the robot both change from zero value to non-zero value, the acceleration of the robot changes from non-zero value to zero value, the robot runs at a constant speed of a non-zero value of a first speed, the acceleration of the robot changes from zero value to non-zero value, and the speed of the robot changes from the non-zero value of the first speed to zero value, the operating state of the robot is determined to be the third state.

7. The method according to claim 6, characterized in that The method further comprises: Obtain the target floor corresponding to the current task of the robot; Sending a target floor instruction to the boarding elevator, so that the boarding elevator runs to the target floor after receiving the target floor instruction; A map switching instruction is sent to the robot, so that the robot switches the navigation map to the target map corresponding to the target floor after receiving the map switching instruction.

8. The method according to any one of claims 1 to 7, characterized in that: The running state of the robot includes a fourth state, and based on the running state, controlling the robot to perform an operation corresponding to the running state further includes: If the running state is the fourth state, sending an exit-elevator command to the robot, so that the robot executes an exit-elevator operation after receiving the exit-elevator command; Among them, the robot is also configured to: obtain the first position of the elevator car door, determine the target distance between the robot and the elevator car door based on the current position of the robot and the first position, and when the target distance is less than or equal to a preset distance threshold, determine that the operating state of the robot is the fourth state.

9. A ladder control device, characterized in that: include: A processor and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the robot elevator control method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the robot elevator control method as described in any one of claims 1-8.

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