Elevator taking decision optimization method, system and device based on intelligent robot and medium

Abstract

The invention discloses an elevator taking decision optimization method, system and device based on an intelligent robot and a storage medium, and the method comprises the following steps: obtaining the first time when the robot moves from the current position to a departure floor elevator hall and a first elevator set of elevators which can be taken in a current building, second time required for each elevator in the first elevator set to arrive at the robot departure floor is determined; based on the first time and the second time, a second elevator set is extracted from the first elevator set; wherein the second time of each elevator in the second elevator set is greater than or equal to the first time; and the second time corresponding to any two elevators in the second elevator set is compared, and the target elevator to be taken by the robot is determined from the second elevator set according to the comparison result. The method can be widely applied to the technical field of elevator control.

Description

Technical Field

[0001] The present application relates to the field of elevator control technology, and in particular to an elevator riding decision optimization method, system, device and storage medium based on an intelligent robot. Background Art

[0002] With the rapid development of artificial intelligence and robotics technology, intelligent service robots such as delivery robots, welcoming robots, cleaning robots, inspection robots, etc. are widely used in public scenes such as hotels, office buildings, and hospitals, freeing people from tedious and repetitive physical labor.

[0003] In the service process, the robot inevitably needs to take the elevator. In the prior art, each robot is generally equipped with an elevator for service, and the robot can only take the elevator after the designated elevator arrives. When the robot needs to take the elevator, it needs to first reach the elevator hall and then send a request to call the elevator. The elevator control system receives the request and immediately summons the elevator to the floor where the robot is located. After the elevator door opens, the robot identifies whether there is enough space for entering the elevator, and then determines whether to enter the elevator. If there is enough space, the robot enters the elevator and lights up the target floor button through the elevator control system. After reaching the target floor, the robot exits the elevator to continue the remaining tasks; if there is insufficient space, the robot gives up taking the elevator and waits for the next elevator call.

[0004] At present, many robot or elevator control manufacturers basically implement the robot elevator demand according to the above scheme. However, as the number and types of robots in the same place gradually increase, and the carrying resources of each elevator are limited, as well as the mixed use of robots and people in the elevator, it may lead to the situation that the public resources of the elevator cannot be reasonably allocated. For example, after the robot has an elevator task, the robot needs to reach the elevator hall before calling the elevator. In this way, the robot needs to wait for the elevator to arrive, which increases the overall task execution time; after the elevator calls to the floor where the robot is located, the robot still needs to determine whether there is enough space, that is, the elevator door needs to be opened. If the space is occupied, the elevator call is invalid and the next call is required. In this way, the opening and closing of the elevator door not only delays the normal elevator time of the people in the elevator, but also affects the overall work efficiency of the robot. Therefore, there are still technical problems that need to be solved in the relevant technology. Summary of the invention

[0005] The purpose of this application is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0006] To this end, one purpose of an embodiment of the present application is to provide a method, system, device and storage medium for optimizing elevator decisions based on an intelligent robot. This solution can reduce the request processing pressure of the server and improve the stability and efficiency of the optimization of elevator decisions based on an intelligent robot.

[0007] In order to achieve the above technical objectives, the technical solution adopted by the embodiment of the present application includes: a method for optimizing elevator decision-making based on an intelligent robot, comprising the following steps: obtaining a first time for the robot to move from a current position to an elevator hall on a departure floor and a first set of elevators that can be taken in the current building, and determining a second time required for each elevator in the first set of elevators to reach the robot's departure floor;

[0008] Based on the first time and the second time, extracting a second elevator set from the first elevator set; wherein the second time of each elevator in the second elevator set is greater than or equal to the first time;

[0009] The second times corresponding to any two elevators in the second elevator set are compared, and a target elevator for the robot to take is determined from the second elevator set according to the comparison result.

[0010] The present application can obtain the first time when the robot moves from the current position to the elevator hall of the departure floor and the first set of elevators that can be taken in the current building, and determine the second time required for each elevator in the first set of elevators to reach the robot's departure floor; based on the first time and the second time, extract the second set of elevators from the first set of elevators; wherein the second time of each elevator in the second set of elevators is greater than or equal to the first time; compare the second times corresponding to any two elevators in the second set of elevators, and determine the target elevator to be taken by the robot from the second set of elevators based on the comparison result. The new algorithm of the present application comprehensively considers the first time when the robot moves to the elevator hall of the departure floor, the set of elevators that can be taken, and the second time required for each elevator in the set to reach the robot's departure floor, and finally determines the target elevator to be taken by the robot. The present application can improve the stability and efficiency of elevator riding based on intelligent robots.

[0011] In addition, the elevator decision optimization method based on an intelligent robot according to the above embodiment of the present invention may also have the following additional technical features:

[0012] Further, in the embodiment of the present application, obtaining the first time when the robot moves from the current position to the elevator hall of the departure floor specifically includes:

[0013] Extract the first distance that the robot moves from its current position to the elevator hall of the departure floor;

[0014] The first time for the robot to move from a current position to an elevator hall on a departure floor is determined based on a first preset speed of the robot and the first distance.

[0015] Further, in the embodiment of the present application, determining the second time required for each elevator in the first elevator set to reach the robot's departure floor specifically includes:

[0016] Extract the second distance from each elevator to the robot's departure floor;

[0017] The second time for each elevator to arrive at the robot's departure floor is determined based on the second preset speed of the elevator and the second distance.

[0018] Further, in the embodiment of the present application, extracting the second elevator set from the first elevator set based on the first time and the second time specifically includes:

[0019] Compare the second time corresponding to each elevator with the first time to obtain a plurality of first comparison results;

[0020] A second elevator set is extracted from the first elevator set according to the plurality of first comparison results.

[0021] Further, in the embodiment of the present application, extracting the second elevator set from the first elevator set according to the plurality of first comparison results specifically includes:

[0022] A set of all elevators whose second time is greater than or equal to the first time is determined as a second elevator set.

[0023] Further, in the embodiment of the present application, comparing the second times corresponding to any two elevators in the second elevator set, and determining the target elevator to be taken by the robot from the second elevator set according to the comparison result, specifically includes:

[0024] The second times corresponding to any two elevators in the second elevator set are compared, and the elevator corresponding to the smallest second time in the second elevator set is determined as the target elevator to be boarded by the robot.

[0025] Furthermore, in the embodiment of the present application, the method further includes:

[0026] The robot is controlled to enter the target elevator to update the occupancy status of available elevators in the current building.

[0027] On the other hand, the embodiment of the present application also provides an elevator decision optimization system based on an intelligent robot, comprising:

[0028] A first processing unit is used to obtain a first time for the robot to move from a current position to an elevator hall on a departure floor and a first set of elevators in the current building that can be taken, and determine a second time required for each elevator in the first set of elevators to reach the robot's departure floor;

[0029] A second processing unit is configured to extract a second elevator set from the first elevator set based on the first time and the second time; wherein the second time of each elevator in the second elevator set is greater than or equal to the first time;

[0030] The third processing unit is used to compare the second times corresponding to any two elevators in the second elevator set, and determine a target elevator for the robot to take from the second elevator set according to the comparison result.

[0031] On the other hand, the present application also provides an elevator decision optimization device based on an intelligent robot, comprising:

[0032] at least one processor;

[0033] at least one memory for storing at least one program;

[0034] When the at least one program is executed by the at least one processor, the at least one processor implements an elevator decision optimization method based on an intelligent robot as described in any one of the invention contents.

[0035] In addition, the present application also provides a computer-readable storage medium, which stores processor-executable instructions. When the processor-executable instructions are executed by the processor, they are used to execute an elevator decision optimization method based on an intelligent robot as described in any of the above items.

[0036] The advantages and benefits of the present application will be partially given in the following description, and partially become apparent from the following description, or be understood through the practice of the present application:

[0037] The present application can obtain the first time when the robot moves from the current position to the elevator hall of the departure floor and the first set of elevators that can be taken in the current building, and determine the second time required for each elevator in the first set of elevators to reach the robot's departure floor; based on the first time and the second time, extract the second set of elevators from the first set of elevators; wherein the second time of each elevator in the second set of elevators is greater than or equal to the first time; compare the second times corresponding to any two elevators in the second set of elevators, and determine the target elevator to be taken by the robot from the second set of elevators based on the comparison result. The new algorithm of the present application comprehensively considers the first time when the robot moves to the elevator hall of the departure floor, the set of elevators that can be taken, and the second time required for each elevator in the set to reach the robot's departure floor, and finally determines the target elevator to be taken by the robot. The present application can improve the stability and efficiency of elevator riding based on intelligent robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A schematic diagram of the steps of an elevator decision optimization method based on an intelligent robot in a specific embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the steps for obtaining the first time for a robot to move from a current position to an elevator hall on a departure floor in a specific embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the steps of determining the second time required for each elevator in the first elevator set to reach the robot's departure floor in a specific embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of steps of extracting a second elevator set from a first elevator set based on a first time and a second time in another specific embodiment of the present invention;

[0042] Figure 5 A schematic diagram of a system of an elevator decision optimization method system based on an intelligent robot in a specific embodiment of the present invention;

[0043] Figure 6 It is a flowchart of an elevator decision optimization method based on an intelligent robot in a specific embodiment of the present invention;

[0044] Figure 7 It is a structural schematic diagram of an elevator decision optimization system based on an intelligent robot in another specific embodiment of the present invention;

[0045] Figure 8 It is a structural schematic diagram of an elevator decision optimization device based on an intelligent robot in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following describes in detail the embodiments of the present invention in conjunction with the accompanying drawings to illustrate the principles and processes of the intelligent robot-based elevator decision optimization method, system, device and storage medium in the embodiments of the present invention.

[0047] With the rapid development of artificial intelligence and robotics technology, intelligent service robots such as delivery robots, welcoming robots, cleaning robots, inspection robots, etc. are widely used in public scenes such as hotels, office buildings, and hospitals, freeing people from tedious and repetitive physical labor.

[0048] In the service process, the robot inevitably needs to take the elevator. In the prior art, each robot is generally equipped with an elevator for service, and the robot can only take the elevator after the designated elevator arrives. When the robot needs to take the elevator, it needs to first reach the elevator hall and then send a request to call the elevator. The elevator control system receives the request and immediately summons the elevator to the floor where the robot is located. After the elevator door opens, the robot identifies whether there is enough space for entering the elevator, and then determines whether to enter the elevator. If there is enough space, the robot enters the elevator and lights up the target floor button through the elevator control system. After reaching the target floor, the robot exits the elevator to continue the remaining tasks; if there is insufficient space, the robot gives up taking the elevator and waits for the next elevator call.

[0049] Currently, many robot or elevator control manufacturers basically implement the above solution to meet the needs of robot elevator riding. However, as the number and types of robots in the same place gradually increase, and the carrying resources of each elevator are limited, as well as the mixed use of robots and people in elevators, the following problems will inevitably arise:

[0050] (1) When there are multiple elevators or multiple robots, the elevator public resources cannot be reasonably allocated;

[0051] (2) After the robot has an elevator task, it needs to reach the elevator hall before calling the elevator. In this way, the robot needs to wait for the elevator to arrive, which increases the overall task execution time.

[0052] (3) After the elevator calls the robot's floor, the robot still needs to determine whether there is enough space, that is, the elevator door needs to be opened. If the space is occupied, the elevator call is invalid and the next call is required. In this way, the opening and closing of the elevator door not only delays the normal time for people in the elevator to take the elevator, but also affects the overall work efficiency of the robot. Therefore, there are still technical problems that need to be solved in the relevant technology.

[0053] In view of the above-mentioned defects of the prior art, Figure 1 , this application provides an elevator decision optimization method based on an intelligent robot. Figure 1 In the method, the method may include the following steps S101-S103.

[0054] S101, obtaining the first time for the robot to move from the current position to the elevator hall of the departure floor and the first set of elevators that can be taken in the current building, and determining the second time required for each elevator in the first set of elevators to reach the robot's departure floor.

[0055] S102: extracting a second elevator set from the first elevator set based on the first time and the second time; wherein the second time of each elevator in the second elevator set is greater than or equal to the first time.

[0056] S103: Compare the second times corresponding to any two elevators in the second elevator set, and determine a target elevator for the robot to take from the second elevator set according to the comparison result.

[0057] It is understandable that the first elevator set and the second elevator set of the present application may be completely the same. In some embodiments, the second elevator set may also have fewer elements than the first elevator set.

[0058] In some feasible embodiments of the present application, the processor may first establish a wired or wireless connection with the acquisition module. After establishing the connection, the processor may first obtain the first time for the robot to move from the current position to the elevator hall of the departure floor and the first set of elevators that can be taken in the current building. After obtaining the first set of elevators, the processor may determine the second time required for each elevator in the first set of elevators to reach the robot's departure floor. After obtaining the first time and the second time, the processor may extract the second set of elevators from the first set of elevators based on the first time and the second time. Among them, the second time of each elevator in the second set of elevators is greater than or equal to the first time; after obtaining the second set of elevators, the processor may compare the second times corresponding to any two elevators in the second set of elevators, and determine the target elevator to be taken by the robot from the second set of elevators based on the comparison result.

[0059] It should be noted that the above-mentioned wired connection method may include a connection between a mobile device and a processing module, and may also include a connection between a processing module and a hardware device, as well as a wired connection between other devices currently known or to be developed in the future and the processing module; and the above-mentioned wireless connection method may include but is not limited to 3G / 4G / 5G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (Ultra Wide Band) connection, and other wireless connection methods currently known or to be developed in the future.

[0060] The present application can obtain the first time when the robot moves from the current position to the elevator hall of the departure floor and the first set of elevators that can be taken in the current building, and determine the second time required for each elevator in the first set of elevators to reach the robot's departure floor; based on the first time and the second time, extract the second set of elevators from the first set of elevators; wherein the second time of each elevator in the second set of elevators is greater than or equal to the first time; compare the second times corresponding to any two elevators in the second set of elevators, and determine the target elevator to be taken by the robot from the second set of elevators based on the comparison result. The new algorithm of the present application comprehensively considers the first time when the robot moves to the elevator hall of the departure floor, the set of elevators that can be taken, and the second time required for each elevator in the set to reach the robot's departure floor, and finally determines the target elevator to be taken by the robot. The present application can improve the stability and efficiency of elevator riding based on intelligent robots.

[0061] Further, refer to Figure 2 , Figure 2 This is a schematic diagram of the steps for obtaining the first time for the robot to move from the current position to the elevator hall of the departure floor in the embodiment of the present application. Figure 2 In the process, obtaining the first time when the robot moves from the current position to the elevator hall of the departure floor may specifically include steps S201 and S202.

[0062] S201, the extraction robot moves the first distance from the current position to the elevator hall of the departure floor.

[0063] S202: Determine a first time for the robot to move from a current position to an elevator hall on a departure floor based on a first preset speed and a first distance of the robot.

[0064] In some feasible embodiments of the present application, the processor may extract a first distance that the robot moves from the current position to the elevator hall of the departure floor. After obtaining the first distance, the processor may determine a first time for the robot to move from the current position to the elevator hall of the departure floor based on the first preset speed of the robot and the first distance.

[0065] Specifically, the processor can extract the first distance that the robot moves from the current position to the elevator hall of the departure floor and call the first preset speed. After obtaining the first distance and the first preset speed, the processor can input them into the first formula to obtain the first time for the robot to move from the current position to the elevator hall of the departure floor. The first formula is:

[0066] T a =S1 / V1

[0067] Among them, T a is the first time for the robot to move from the current position to the elevator hall of the departure floor, S1 is the first distance for the robot to move from the current position to the elevator hall of the departure floor, and V1 is the first preset speed.

[0068] Further, refer to Figure 3 , Figure 3 is a schematic diagram of the steps for determining the second time required for each elevator in the first elevator set to reach the robot's departure floor in an embodiment of the present application, Figure 3 Determining the second time required for each elevator in the first elevator set to reach the robot's departure floor may specifically include steps S301 and S302.

[0069] S301, extracting the second distance from each elevator to the robot's departure floor.

[0070] S302: Determine a second time for each elevator to arrive at the robot's departure floor based on a second preset speed and a second distance of the elevator.

[0071] In some feasible embodiments of the present application, the processor may extract the second distance of each elevator to the robot's departure floor. After obtaining the second distance, the processor may determine the second time of each elevator to the robot's departure floor based on the second preset speed of the elevator and the second distance.

[0072] Specifically, the processor can extract the second distance of each elevator to the robot's departure floor and call the second preset speed. After obtaining the second distance and the second preset speed, the processor can input each second distance and the same second preset speed into the second formula in turn to obtain the second time for each elevator to reach the robot's departure floor. The second formula is:

[0073] T bi =S2 / V2

[0074] Among them, T bi S2 is the second time for each elevator to reach the robot's departure floor, S2 is the second distance for each elevator to reach the robot's departure floor, and V2 is the second preset speed.

[0075] Further, refer to Figure 4 , Figure 4 is a schematic diagram of the steps of extracting the second elevator set from the first elevator set based on the first time and the second time in an embodiment of the present application, Figure 4 In the process, based on the first time and the second time, extracting the second elevator set from the first elevator set may specifically include steps S401 and S402.

[0076] S401. Compare the second time corresponding to each elevator with the first time to obtain a plurality of first comparison results.

[0077] S402: Extract a second elevator set from the first elevator set according to the plurality of first comparison results.

[0078] In some feasible embodiments of the present application, the processor may compare each second time corresponding to each elevator with the first time to obtain a plurality of first comparison results. After obtaining the plurality of results, the processor may extract the second elevator set from the first elevator set according to the plurality of first comparison results.

[0079] Further, in the embodiment of the present application, the step of extracting the second elevator set from the first elevator set according to the plurality of first comparison results may specifically include:

[0080] A set of all elevators whose second time is greater than or equal to the first time is determined as a second elevator set.

[0081] Specifically, the processor may screen out all elevators whose second time is greater than or equal to the first time in the first elevator set to obtain a number of screened elevators, and determine the number of screened elevators as the second elevator set.

[0082] Further, in some feasible embodiments of the present application, the step of comparing the second times corresponding to any two elevators in the second elevator set and determining the target elevator to be taken by the robot from the second elevator set according to the comparison result may specifically include:

[0083] The second times corresponding to any two elevators in the second elevator set are compared, and the elevator corresponding to the smallest second time in the second elevator set is determined as the target elevator to be boarded by the robot.

[0084] Specifically, by comparing the second times corresponding to any two elevators in the second elevator set, the elevator with the smallest second time among all the elevators in the second elevator set can be screened out, and the elevator with the smallest second time is used as the target elevator for the robot to take.

[0085] Furthermore, in some feasible embodiments of the present application, the elevator taking decision optimization method based on the intelligent robot may also include step S104.

[0086] S104: Control the robot to enter the target elevator to update the occupancy status of available elevators in the current building.

[0087] Specifically, after determining the target elevator that the robot is to take, the processor can control the robot to enter the target elevator and simultaneously update the occupancy status of available elevators in the current building.

[0088] The following is combined with Figure 5 and attached Figure 6 The principle of this application is explained.

[0089] Reference Figure 5 The system structure of this embodiment mainly includes: a robot scheduling cloud platform, an intelligent robot and an elevator control system. The intelligent robot and the elevator control system are both connected to the robot scheduling cloud platform. Among them, the elevator control system may include an elevator control gateway, a floor control module, a perception module, a camera and supporting components. The floor control module, the perception module, the camera and the supporting components are all connected to the robot scheduling cloud platform through the elevator control gateway.

[0090] This embodiment mainly describes the decision-making method of the robot in selecting the elevator, waiting for the elevator, and entering the elevator during the elevator task. Figure 6 The optimization control method of this embodiment may include six steps. First, the first to fourth steps mainly illustrate the optimal elevator selection strategy and the advance elevator call decision implementation process, and the fifth to sixth steps describe the robot elevator entry auxiliary decision process.

[0091] Step 1: Calculate the time T for the robot to move from the current position to the elevator hall on the departure floor a When the robot receives a mobile task request such as delivery, guidance or cleaning from the user on the robot's interactive screen or the robot scheduling cloud platform, the robot can locate and measure the robot's current position and the elevator hall position on the departure floor through various sensors integrated in the robot and the spatial modeling map created and stored in advance, and then calculate the time T for the robot to move from the current position to the elevator hall position on the departure floor according to the preset moving speed. a And through the robot's communication module, such as 4G, WiFi and other network standards, T a Upload to the robot scheduling cloud platform. If the robot itself does not have the distance measurement computing capability, the robot can also upload the current position and moving speed to the cloud platform, and the cloud platform will calculate T a .

[0092] Step 2: Get the set of multiple elevators in the current building that can be taken, and calculate the time T required for these elevators to reach the robot's departure floor bi Through the camera in the elevator car, based on the image recognition algorithm of the elevator control system, the occupancy status of all controllable elevators can be quickly determined, and the set of elevators that the robot can take E = {E1, E2, .., E i ,…,E n}, where i = 1, 2, ..., n, n is the number of available elevators. Based on a large amount of data collected from historical elevator rides, including but not limited to the floor height of each elevator from any floor to any other floor in different time periods, elevator running speed, elevator running acceleration and deceleration, elevator up and down directions, floor stop time, internal call list, external call list, space load conditions and other data, an elevator running time data model is established based on deep learning training, and the model is continuously updated and optimized based on evaluation results and new data. The elevator control system uploads the elevator-related parameters to the cloud platform in real time through the MQTT protocol through the perception module in the car, and synchronizes them to the elevator running time data model for calling. By inputting the relevant parameters of all the current available elevators, the time required for each available elevator to reach the robot's departure floor can be calculated in real time.

[0093] Step 3: Establish a candidate elevator set E′={E ... j |j∈{1,2,…,n} and T bj ≥T a}, and based on the elevator running time data model, the required time T for each selected elevator to run from the departure floor to the target floor is calculatedcj It should be noted that if the robot has the function of remotely adjusting the moving speed, the time difference parameter T can be introduced. e , then the set of elevators to be selected E′={E j |j∈{1,2,…,n} and T bj ≥T a -T e}, and based on the set time difference parameter T e , you can adjust and increase the robot's current moving speed to ensure that the robot arrives at the designated waiting point before the elevator reaches the departure floor. This can reduce the robot's waiting time for the elevator and prevent the elevator from arriving before the robot, thereby affecting the riding experience of the people in the elevator.

[0094] Step 4: Select the time T required to run from the departure floor to the target floor in the set of elevators to be selected E′ cj The shortest elevator is used as the optimal elevator. The robot is notified of the optimal elevator number through the robot scheduling cloud platform, and the robot moves to the waiting point of the optimal elevator. At the same time, the elevator control system is notified to call the optimal elevator in advance to the robot's departure floor.

[0095] Step 5: During the elevator call operation, the camera in the elevator car is used to determine the occupancy status of the elevator car in real time based on the image recognition algorithm carried by the elevator control system, and the occupancy information is uploaded to the cloud platform for robot-assisted decision-making on elevator entry.

[0096] Step 6: Based on the implementation of step 5, there should be two situations. The first is that when the elevator runs to the robot's departure floor, the elevator car is well occupied and there is enough space for the robot to enter the elevator. After the elevator reaches the robot's departure floor, the floor control module locks the elevator door opening button, and the robot enters the elevator. After it is completely in the elevator car, it notifies the cloud platform of the current task status. The cloud platform notifies the elevator control system to release the elevator door opening button and lights up the target floor button. Then the robot takes the elevator to the target floor; the second is that when the elevator runs to the robot's departure floor, the elevator car is fully occupied and it is judged that there is not enough space for the robot to enter the elevator. At this time, the cloud platform notifies the robot of the decision result and executes steps 1 to 5 again, switching to another optimal elevator to call the elevator. The robot moves to the new optimal elevator waiting point until the elevator reaches the departure floor, and the robot performs the elevator entry task.

[0097] Step 7: After the robot reaches the target floor, the floor control module of the elevator control system locks the elevator door opening button, and the robot exits the elevator. After completely exiting the elevator, the robot notifies the cloud platform of the current task status. The cloud platform notifies the elevator control system to release the elevator door opening button, the elevator door closes and the elevator occupancy status is released. The robot completes this elevator mission and continues with the subsequent movement mission.

[0098] It should be noted that the above technical solution is not only applicable to the multi-elevator scenario in the embodiment, but also to the single-elevator scenario. Compared with the multi-elevator scenario which requires decision-making to select the optimal elevator, the single-elevator scenario can omit the relevant implementation steps and focus on judging the elevator occupancy situation. If it is judged based on the fifth and sixth steps that the elevator does not have sufficient space to allow the robot to enter the elevator, the elevator call is directly canceled, and the elevator call is requested again after the occupancy situation is good. This can avoid the robot waiting in vain and will not affect the elevator experience of people.

[0099] In summary, the elevator decision optimization method based on intelligent robots in this application has the following advantages:

[0100] 1. This application uses an elevator operation time data model established on the cloud to estimate the time it takes for each elevator to reach any other floor from any floor in real time, thereby determining the optimal elevator for the robot to take the elevator, optimizing the robot elevator scheduling method, greatly reducing the robot's waiting time and elevator riding time, and improving the robot's overall work efficiency.

[0101] 2. Unlike conventional robot elevator riding solutions, which require the elevator to open its door after reaching the departure floor and use robot perception to determine whether there is enough space in the elevator to enter, the present invention uses the image recognition algorithm of the elevator control system to determine the occupancy status without opening the elevator door, thereby avoiding ineffective waiting of the robot and not delaying the elevator ride time of people in the elevator car.

[0102] 3. The post-installed non-intrusive elevator control system based on the robot dispatching cloud platform of this application does not modify the existing elevator control system, and is compatible with intelligent robots of different brands and categories, and has good feasibility of solution implementation in actual projects.

[0103] In addition, refer to Figure 7 ,and Figure 1 Corresponding to the method, an embodiment of the present application also provides an elevator decision optimization system based on an intelligent robot. The system may include a first processing unit 1001, a second processing unit 1002, and a third processing unit 1003. Among them, the first processing unit 1001 can be used to obtain the first time for the robot to move from the current position to the elevator hall of the departure floor and the first set of elevators that can be taken in the current building, and determine the second time required for each elevator in the first set of elevators to reach the robot's departure floor. The second processing unit 1002 can be used to extract the second set of elevators from the first set of elevators based on the first time and the second time; wherein the second time of each elevator in the second set of elevators is greater than or equal to the first time, and the third processing unit 1003 can be used to compare the second times corresponding to any two elevators in the second set of elevators, and determine the target elevator to be taken by the robot from the second set of elevators according to the comparison result.

[0104] It should be noted that the first processing unit may be any integrated circuit unit or microprocessor unit obtained by integrating a chip having a processing function and its peripheral circuits through existing integration technology. The first processing unit and the second processing unit may also be any integrated circuit module or microprocessor module obtained by integrating a chip having a processing function and its peripheral circuits through existing integration technology. The first processing unit and the second processing unit may also include one or more memories.

[0105] It should be noted that the contents of the above-mentioned embodiments of the elevator decision-making optimization method based on intelligent robots are all applicable to the embodiments of the present elevator decision-making optimization system based on intelligent robots. The functions specifically implemented by the embodiments of the present elevator decision-making optimization system based on intelligent robots are the same as those of the above-mentioned embodiments of the elevator decision-making optimization method based on intelligent robots, and the beneficial effects achieved are also the same as those achieved by the above-mentioned embodiments of the elevator decision-making optimization method based on intelligent robots.

[0106] and Figure 1 Corresponding to the method, the embodiment of the present application also provides an elevator decision optimization device based on an intelligent robot, and its specific structure can be referred to Figure 8 ,include:

[0107] at least one processor 1011;

[0108] At least one memory 1012, used to store at least one program;

[0109] When the at least one program is executed by the at least one processor, the at least one processor implements the elevator taking decision optimization method based on the intelligent robot.

[0110] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0111] and Figure 1 Corresponding to the method, an embodiment of the present application further provides a computer-readable storage medium, which stores processor-executable instructions, and the processor-executable instructions are used to execute the elevator decision optimization method based on the intelligent robot when executed by the processor.

[0112] The contents of the above-mentioned embodiments of the elevator decision-making optimization method based on an intelligent robot are all applicable to the embodiments of this storage medium. The functions specifically implemented by this storage medium embodiment are the same as those in the above-mentioned embodiments of the elevator decision-making optimization method based on an intelligent robot, and the beneficial effects achieved are also the same as those achieved by the above-mentioned embodiments of the elevator decision-making optimization method based on an intelligent robot.

[0113] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0114] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional techniques of the engineer. Therefore, those skilled in the art can implement the present application set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0115] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0116] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing the logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution systems, devices or apparatuses.

[0117] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0118] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0119] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0120] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0121] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the described embodiments. Technical personnel familiar with the field may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. An elevator decision optimization method based on an intelligent robot, characterized in that: The following steps are involved: Obtaining a first time for the robot to move from a current position to an elevator hall on a departure floor and a first set of available elevators in the current building, and determining a second time required for each elevator in the first set of elevators to reach the robot's departure floor; Based on the first time and the second time, extracting a second elevator set from the first elevator set; wherein the second time of each elevator in the second elevator set is greater than or equal to the first time; The second times corresponding to any two elevators in the second elevator set are compared, and a target elevator for the robot to take is determined from the second elevator set according to the comparison result.

2. According to claim 1, a method for optimizing elevator decision-making based on an intelligent robot is characterized in that: The obtaining of the first time when the robot moves from the current position to the elevator hall of the departure floor specifically includes: Extract the first distance that the robot moves from its current position to the elevator hall of the departure floor; The first time for the robot to move from a current position to an elevator hall on a departure floor is determined based on a first preset speed of the robot and the first distance.

3. According to claim 1, a method for optimizing elevator decision-making based on an intelligent robot is characterized in that: The determining of the second time required for each elevator in the first elevator set to reach the robot's departure floor specifically includes: Extract the second distance from each elevator to the robot's departure floor; The second time for each elevator to arrive at the robot's departure floor is determined based on the second preset speed of the elevator and the second distance.

4. According to claim 1, a method for optimizing elevator decision-making based on an intelligent robot is characterized in that: The extracting the second elevator set from the first elevator set based on the first time and the second time specifically includes: Compare the second time corresponding to each elevator with the first time to obtain a plurality of first comparison results; A second elevator set is extracted from the first elevator set according to the plurality of first comparison results.

5. According to claim 4, a method for optimizing elevator decision-making based on an intelligent robot is characterized in that: The extracting a second elevator set from the first elevator set according to the plurality of first comparison results specifically includes: A set of all elevators whose second time is greater than or equal to the first time is determined as a second elevator set.

6. According to claim 1, the intelligent robot-based elevator decision optimization method is characterized in that: The comparing the second times corresponding to any two elevators in the second elevator set, and determining a target elevator for the robot to take from the second elevator set according to the comparison result, specifically includes: The second times corresponding to any two elevators in the second elevator set are compared, and the elevator corresponding to the smallest second time in the second elevator set is determined as the target elevator to be boarded by the robot.

7. According to claim 1, a method for optimizing elevator decision-making based on an intelligent robot is characterized in that: The method further comprises: The robot is controlled to enter the target elevator to update the occupancy status of available elevators in the current building.

8. An elevator decision optimization system based on intelligent robots, characterized in that: include: A first processing unit is used to obtain a first time for the robot to move from a current position to an elevator hall on a departure floor and a first set of elevators in the current building that can be taken, and determine a second time required for each elevator in the first set of elevators to reach the robot's departure floor; A second processing unit is configured to extract a second elevator set from the first elevator set based on the first time and the second time; wherein the second time of each elevator in the second elevator set is greater than or equal to the first time; The third processing unit is used to compare the second times corresponding to any two elevators in the second elevator set, and determine a target elevator for the robot to take from the second elevator set according to the comparison result.

9. An elevator decision optimization device based on an intelligent robot, characterized in that include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the elevator decision optimization method based on an intelligent robot as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing instructions executable by a processor, characterized in that: The processor executable instructions are used to execute an elevator decision optimization method based on an intelligent robot as described in any one of claims 1 to 7 when executed by the processor.

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