Control method, device and equipment of distribution robot and storage medium

Abstract

The embodiment of the invention discloses a distribution robot control method and device, equipment and a storage medium, and the method and device are used for a distribution robot, and the method comprises the steps: analyzing a received task instruction, and determining a target floor; executing a corresponding delivery task when the current floor is the same as the target floor; when the current floor is different from the target floor, the elevator is moved to an elevator area, a first request is sent to an elevator controller, so that the elevator controller determines a target elevator with the fastest head to the current floor according to the first request, the car of the target elevator is controlled to move to the current floor, and target elevator information is returned to the distribution robot; the distribution robot goes to a corresponding elevator door according to the received target elevator information; when an elevator door is opened, the elevator is controlled to enter a car of a target elevator, and a first instruction is sent to an elevator controller to control the car of the target elevator to move to a target floor; the problem that the distribution robot is low in distribution efficiency is solved, and the distribution efficiency of the distribution robot is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of delivery robots, and in particular, to a control method, device, equipment and storage medium for a delivery robot. Background Art

[0002] Delivery robots deliver corresponding items to corresponding target locations in an automated and intelligent way. Delivery robots have been widely used in the logistics industry, catering industry and medical industry. For example, in the medical industry, delivery robots can be used to deliver medicines, meals, transport recycled bedding and medical waste, and other delivery tasks.

[0003] Existing delivery robots usually use elevators with people. During use, they may not be able to get out of the elevator at the corresponding target floor, affecting the execution of their delivery tasks. When a delivery robot gets into an elevator error, it can usually only report an error to the corresponding management personnel and cannot continue to execute the corresponding delivery task, which makes the delivery robot's delivery efficiency low. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, equipment and storage medium for a delivery robot, which can solve the technical problem of low delivery efficiency of the delivery robot and improve the delivery efficiency of the delivery robot.

[0005] In a first aspect, an embodiment of the present application provides a control method for a delivery robot, which is used for the delivery robot. The control method for the delivery robot includes:

[0006] Receive task instructions, parse the received task instructions, and determine the target floor;

[0007] When the current floor is the same as the target floor, the corresponding delivery task is executed. The current floor is pre-stored by the delivery robot.

[0008] When the current floor is different from the target floor, the robot moves to the elevator area and sends a first request to the elevator controller, wherein the first request is used to request the elevator car to go to the current floor. When the elevator controller receives the first request, it determines the target elevator with the fastest corresponding car to go to the current floor, controls the car of the target elevator to move to the current floor, and returns the target elevator information to the corresponding delivery robot;

[0009] Receive the target elevator information returned by the elevator controller, and go to the elevator door of the corresponding target elevator according to the target elevator information;

[0010] When it is detected that the elevator door of the target elevator is opened, the elevator controls itself to enter the car of the target elevator and sends a first instruction to the elevator controller. The first instruction includes information about the target floor. When the elevator controller receives the first instruction, it controls the car of the target elevator to move to the target floor.

[0011] In one embodiment, the delivery robot includes an RFID reader;

[0012] When the elevator door of the target elevator is detected to be open, the control unit enters the elevator car of the target elevator and sends a first instruction to the elevator controller, including:

[0013] When it detects that it is outside the target elevator, it scans the RFID tag on the top of the elevator door with the RFID reader to determine the current floor;

[0014] When the current floor is the same as the target floor, the corresponding delivery task is executed;

[0015] When the current floor is different from the target floor, the first request is resent to the elevator controller.

[0016] In one embodiment, when it is detected that the elevator door of the target elevator is opened, the control unit enters the elevator car of the target elevator and sends a first instruction to the elevator controller, including:

[0017] Receive the first floor information sent by the elevator controller, where the first floor information is the floor information where the car of the target elevator is about to stop;

[0018] When the first floor information is the same as the target floor, when it is detected that the elevator door of the target elevator is opened, it controls itself to move out of the car of the target elevator and executes the corresponding delivery task.

[0019] In one embodiment, receiving a task instruction, parsing the received task instruction, and determining a target floor include:

[0020] Receive task instructions, parse the received task instructions, and confirm the delivery tasks and task priorities;

[0021] Generate a list of tasks to be executed based on the delivery tasks in descending order of task priority;

[0022] According to the list of tasks to be executed, determine the target floor of the current delivery task to be executed.

[0023] In one embodiment, the current floor is determined by scanning the RFID electronic tag on the top of the elevator door with an RFID reader, including:

[0024] Scan the RFID electronic tag on the top of the elevator door with the RFID reader;

[0025] The current floor is determined according to the scanned RFID tag and a preset mapping table, where the preset mapping table is a mapping table of the RFID tag and floor information.

[0026] In one embodiment, the delivery robot includes an infrared sensor;

[0027] When the elevator door of the target elevator is detected to be open, the vehicle controls itself to enter the elevator car of the target elevator, including:

[0028] The infrared sensor is used to detect the opening and closing of the elevator door of the target elevator. When the elevator door is detected to be open, the robot controls itself to enter the elevator car of the target elevator.

[0029] In one embodiment, the delivery robot includes an infrared sensor;

[0030] When the system detects that it is outside the target elevator, it scans the RFID tag on the top of the elevator door with the RFID reader to determine the current floor, including:

[0031] The infrared sensor detects the distance information of the surrounding environment, and when the distance information is detected to be greater than a preset value, it is determined that the vehicle is outside the elevator car of the target elevator;

[0032] Scan the RFID tag on the top of the elevator door with the RFID reader;

[0033] The current floor is determined based on the scanned RFID tag.

[0034] In a second aspect, an embodiment of the present application provides a control device of a delivery robot, which is used for the delivery robot. The control device of the delivery robot includes:

[0035] A task receiving module is used to receive task instructions, parse the received task instructions, and determine the target floor;

[0036] The task execution module is used to execute the corresponding delivery task when the current floor is the same as the target floor. The current floor is pre-stored by the delivery robot;

[0037] A first request sending module is used to move to the elevator area and send a first request to the elevator controller when the current floor is different from the target floor. The first request is used to request the elevator car to go to the current floor. When the elevator controller receives the first request, it is used to determine the target elevator with the fastest corresponding car to the current floor, control the car of the target elevator to move to the current floor, and return the target elevator information to the corresponding delivery robot;

[0038] The target elevator information receiving module is used to receive the target elevator information returned by the elevator controller and go to the elevator door of the corresponding target elevator according to the target elevator information;

[0039] The first instruction sending module is used to control itself to enter the car of the target elevator when it detects that the elevator door of the target elevator is opened, and send a first instruction to the elevator controller. The first instruction includes information about the target floor. When the elevator controller receives the first instruction, it controls the car of the target elevator to move to the target floor.

[0040] In a third aspect, an embodiment of the present application provides a control device for a delivery robot, comprising:

[0041] memory and one or more processors;

[0042] A memory for storing one or more programs;

[0043] When one or more programs are executed by one or more processors, the one or more processors implement the control method of the delivery robot as in the first aspect.

[0044] In a fourth aspect, an embodiment of the present application provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the control method of the delivery robot as in the first aspect.

[0045] The embodiment of the present application determines the target floor by parsing the received task instructions when the delivery robot performs the delivery task, and executes the corresponding delivery task when the current floor and the target floor are the same. When the current floor and the target floor are not the same, the delivery robot moves to the elevator area and sends a first request to the elevator controller to request the elevator car to go to the current floor, receives the target elevator information returned by the elevator controller, and goes to the elevator door of the corresponding target elevator according to the target elevator information. When detecting that the elevator door of the target elevator is open, the delivery robot controls itself to enter the car of the target elevator, and sends a first instruction to the elevator controller to control the car of the target elevator to move to the target floor. By adopting the above-mentioned technical means, when the current floor and the target floor of the delivery task to be performed are different, the first request can be used to request the elevator car to go to the current floor, and after the delivery robot enters the elevator car, the corresponding car can be controlled to go to the target floor through the first instruction, thereby avoiding the technical problem of low delivery efficiency of the delivery robot. Compared with the existing delivery robot that can only report errors at the wrong floor, the delivery robot provided in this embodiment can interact with the elevator controller to request the elevator car to go to the current floor and after the delivery robot enters the elevator car, the corresponding car can be controlled to go to the target floor based on the first instruction, so that the delivery robot can perform the corresponding delivery task at the target floor, thereby improving the delivery automation, avoiding the need for manual intervention to continue to perform the delivery task, and thus improving the delivery speed and delivery accuracy of the delivery robot.

[0046] The beneficial effects of the control device of the delivery robot, the control equipment of the delivery robot, and the storage medium provided above can refer to the beneficial effects of the control method of the delivery robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of a control method of a delivery robot provided in an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of a connection between an elevator controller and an elevator provided in an embodiment of the present application;

[0049] Figure 3 It is a structural schematic diagram of a control device of a delivery robot provided in an embodiment of the present application;

[0050] Figure 4 It is a structural schematic diagram of a control device of a delivery robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0052] Existing delivery robots usually use elevators with people. During use, they may not be able to get out of the elevator at the corresponding target floor, affecting the execution of their delivery tasks. If a delivery robot gets into the wrong elevator or is stuck in the elevator car, it can usually only report an error to the corresponding management personnel and cannot continue to execute the corresponding delivery task. The management personnel interact with the elevator controller based on the corresponding interactive device, so that the elevator car sends the corresponding delivery robot to the target floor, and the delivery robot can then perform the corresponding delivery task as a group, which makes the delivery efficiency of the delivery robot low.

[0053] Based on this, a control method, device, equipment and storage medium for the delivery robot of the embodiment of the present application are provided, aiming at, when the delivery robot performs a delivery task, determining the target floor by parsing the received task instructions, and executing the corresponding delivery task when the current floor and the target floor are the same, and when the current floor and the target floor are different, moving to the elevator area and sending a first request to the elevator controller to request the elevator car to go to the current floor, receiving the target elevator information returned by the elevator controller, and going to the elevator door of the corresponding target elevator according to the target elevator information, and when detecting that the elevator door of the target elevator is open, controlling itself to enter the car of the target elevator, and sending a first instruction to the elevator controller to control the car of the target elevator to move to the target floor. By adopting the above-mentioned technical means, when the current floor and the target floor of the delivery task to be performed are different, the first request can be used to request the elevator car to go to the current floor, and after the delivery robot enters the elevator car, the corresponding car can be controlled to go to the target floor through the first instruction, thereby avoiding the technical problem of low delivery efficiency of the delivery robot. Compared with the existing delivery robot that can only report errors at the wrong floor, the delivery robot provided in this embodiment can interact with the elevator controller to request the elevator car to go to the current floor and after the delivery robot enters the elevator car, the corresponding car can be controlled to go to the target floor based on the first instruction, so that the delivery robot can perform the corresponding delivery task at the target floor, thereby improving the delivery automation, avoiding the need for manual intervention to continue to perform the delivery task, and thus improving the delivery speed and delivery accuracy of the delivery robot.

[0054] Figure 1 A flow chart of a control method for a delivery robot provided in an embodiment of the present application is given. The control method for the delivery robot provided in this embodiment can be executed by a control device of the delivery robot. The control device of the delivery robot can be implemented by software and / or hardware. The control device of the delivery robot can be composed of two or more physical entities, or can be composed of one physical entity. Generally speaking, the control device of the delivery robot can be a robot controller.

[0055] The following description will be made by taking the robot controller as an example of the main body of the control method for executing the delivery robot. Figure 1 The control method of the delivery robot is used for the delivery robot, and the control method of the delivery robot specifically includes:

[0056] S101, receiving a task instruction, parsing the received task instruction, and determining a target floor.

[0057] A delivery robot is an automated device that can autonomously navigate and avoid obstacles to safely deliver items to the corresponding target location. Delivery robots can be widely used in the fields of logistics and express delivery, catering and takeaway, and medical delivery. Taking the medical delivery field as an example, delivery robots can be used to deliver medicines, meals, and transport recycled bedding and medical waste. These delivery tasks usually involve traveling back and forth between different floors.

[0058] When a delivery robot is required to perform a corresponding delivery task, a task instruction can be sent to the corresponding delivery robot. The task instruction contains the corresponding target location (target floor and target room, etc.) and the specific content of the delivery task. The delivery robot receives the task instruction, parses the task instruction, and determines the target floor of the corresponding delivery task. Subsequently, the delivery robot can compare its current floor with the target floor to determine whether it needs to take the elevator.

[0059] Exemplarily, the delivery robot receives task instructions sent from the scheduling system or the user terminal through the built-in communication module. The task instructions include the target location and the content of the delivery task (including information such as the type and quantity of items). The delivery robot parses the received task instructions to determine the delivery task and task priority. For example, task priorities can be divided into ordinary delivery and emergency delivery. According to the delivery tasks, a list of tasks to be executed is generated in order from high to low task priority. Delivery tasks with high task priorities are put in front to ensure that delivery tasks with high task priorities are executed first. According to the list of tasks to be executed, the current delivery task to be executed, that is, the delivery task with the highest current task priority, is selected to determine the target floor corresponding to the delivery task.

[0060] S102. When the current floor is the same as the target floor, the corresponding delivery task is executed. The current floor is pre-stored by the delivery robot.

[0061] The delivery robot determines the current floor it is on based on the pre-stored current location information. When the current floor and the target floor are the same, for example, the current floor is the 2nd floor and the corresponding target floor is also the 2nd floor, it means that the corresponding delivery task can be performed without taking an elevator, and the corresponding delivery task can be performed directly. Exemplarily, the target location (such as the room number) is determined according to the task instruction, and the optimal path is determined by plane path planning based on the target location, and the corresponding delivery task is performed according to the optimal path to the target location.

[0062] S103. When the current floor is different from the target floor, move to the elevator area and send a first request to the elevator controller. The first request is used to request the elevator car to go to the current floor. When the elevator controller receives the first request, it determines the target elevator with the fastest car going to the current floor, controls the car of the target elevator to move to the current floor, and returns the target elevator information to the corresponding delivery robot.

[0063] When the current floor and the target floor are different, for example, the current floor is the 2nd floor and the target floor is the 3rd floor, it means that the delivery robot needs to take the elevator to reach the target floor. Therefore, the delivery robot can first move to the elevator area and then send a first request to the elevator controller. The first request is used to request the elevator car to go to the current floor, which is equivalent to pressing the up button of the corresponding elevator. It should be noted that the pressing of the button in this embodiment is implemented by software instructions, that is, the first request. When the elevator controller receives the first request, it determines the target elevator with the fastest corresponding car going to the current floor, controls the car of the target elevator to move to the current floor, and returns the target elevator information to the corresponding delivery robot.

[0064] Figure 2 This is a schematic diagram of a connection between an elevator controller and an elevator provided in an embodiment of the present application, referring to Figure 2 For example, there are three elevators in the elevator area where the delivery robot 1 is located, namely, elevator T1, elevator T2 and elevator T3. The elevator controller 2 is in communication with elevators T1, elevator T2 and elevator T3. When the elevator controller 2 receives the first request, for example, the current floor corresponding to the first request is the 2nd floor. The elevator controller 2 determines the floors where the cars of elevators T1, elevator T2 and elevator T3 are currently located, and determines the target elevators that the cars of elevators T1, elevator T2 and elevator T3 reach the 2nd floor the fastest. For example, the car of elevator T1 is on the 3rd floor, but the car of elevator T1 still needs to go to the 10th floor; the car of elevator 2 is on the 5th floor and currently has no other tasks to go to the floor; the car of elevator 3 is on the 15th floor and currently has no other tasks to go to the floor. Therefore, the elevator whose car reaches the 2nd floor the fastest is elevator T2, so elevator T2 is determined as the target elevator. The elevator controller 2 controls the car of elevator T2 to move to the 2nd floor, and returns the target elevator information (such as the mark information of elevator T2) to the corresponding delivery robot 1.

[0065] S104, receiving the target elevator information returned by the elevator controller, and going to the elevator door of the corresponding target elevator according to the target elevator information.

[0066] The delivery robot receives the target elevator information returned by the elevator controller, such as the marking information of elevator T2. The delivery robot goes to the elevator door of the corresponding target elevator according to the target elevator information, such as the elevator door of elevator T2.

[0067] Exemplarily, the delivery robot includes an RFID reader / writer, and the RFID reader / writer can be set at a preset position on the head of the delivery robot, so as to facilitate scanning by looking up and improve scanning efficiency. An RFID tag is set on the top of each elevator door, and there is a preset mapping relationship between each RFID tag and the corresponding floor information and elevator mark information, and a mapping table between the preset RFID tag and the corresponding floor information and elevator mark information is set. After the delivery robot moves to the corresponding elevator door, it scans the RFID electronic tag on the top of the elevator door through the RFID reader / writer, determines the elevator mark information of the elevator currently facing according to the scanned RFID tag and the preset mapping table, compares the read elevator mark information with the target elevator information, and determines whether the elevator currently facing is the target elevator. If the elevator currently facing is the target elevator, just wait for the elevator to open the door; if the elevator currently facing is not the target elevator, move to another elevator door, and scan the RFID electronic tag on the top of the elevator door again through the RFID reader / writer until the corresponding elevator is determined to be the target elevator, and then wait for the elevator to open the door.

[0068] For example, refer to Figure 2 , the target elevator is elevator T2. When the delivery robot 1 moves to the door of elevator T1, the RFID reader 11 scans the RFID electronic tag 1 on the top of the door of elevator T1 to determine the elevator tag information, that is, to determine that it is elevator T1 at this time, and to determine that the elevator T1 currently facing is not the target elevator, then move to another elevator door. For example, when moving to elevator T2, the RFID reader 11 scans the RFID electronic tag 2 on the top of the door of elevator T2 to determine the elevator tag information, that is, to determine that it is elevator T2 at this time, and to determine that the elevator T2 currently facing is the target elevator, then stop at the door of elevator T2 and wait for elevator T2 to open its door.

[0069] S105. When detecting that the elevator door of the target elevator is opened, control the vehicle to enter the car of the target elevator and send a first instruction to the elevator controller. The first instruction includes information about the target floor. When receiving the first instruction, the elevator controller controls the car of the target elevator to move to the target floor.

[0070] The delivery robot includes infrared sensors (e.g. Figure 2Infrared sensor 12 in). While waiting for the elevator door of the target elevator to open, the opening and closing of the elevator door of the target elevator can be detected by the infrared sensor. When the elevator door is detected to be open, the robot is controlled to enter the car of the target elevator. After the delivery robot enters the car of the target elevator, it sends a first instruction to the elevator controller. The first instruction includes the target floor information, such as the 3rd floor. The first instruction can be understood as pressing the corresponding floor button in the car, such as pressing the floor button for the 3rd floor. It should be noted that the button pressing in this embodiment is implemented by software instructions, that is, the first instruction. The elevator controller is used to control the car of the target elevator to move to the target floor when receiving the first instruction, for example, controlling the car of elevator T2 to move to the 3rd floor.

[0071] Since the delivery robot and people share the elevator, after the delivery robot enters the elevator car of the target elevator and sends the first instruction, there may be no one riding the elevator together, and the elevator door will open after reaching the target floor; it is also possible that the delivery robot rides the elevator together with people, and the elevator floor pressed by others may arrive faster than the target floor of the delivery robot. For example, if others press the 3rd floor, and the delivery robot presses the 4th floor based on the first instruction, the elevator door may be opened once when it reaches the 3rd floor. It is also possible that the target floor of the delivery robot is the 3rd floor, and others press the 4th floor. Therefore, before the elevator car of the target elevator is about to stop, the elevator controller generates the first floor information based on the floor information about the floor to be stopped, and sends the first floor information to the delivery robot. The delivery robot receives the first floor information sent by the elevator controller, compares the first floor information with the target floor information, and when the first floor information is different from the target information, it means that the floor about to stop by the elevator car is not the target floor, and there is no need to get out when the elevator door opens. When the first floor information is the same as the target floor, the floor where the car is about to stop is the target floor. Therefore, the delivery robot can continue to detect the opening and closing of the elevator door through the infrared sensor. When the elevator door is detected to be open, it controls itself to move out of the car of the target elevator and perform the corresponding delivery task. In order to further improve the accuracy of delivery, after moving out of the car, the delivery robot can scan the RFID electronic tag on the top of the elevator door through the RFID reader to determine the current floor. The current floor can be determined based on the scanned RFID tag and the preset mapping table, for example, the current floor is determined to be the 3rd floor. When the current floor is the same as the target floor, the corresponding delivery task is performed. For example, if the current floor is the 3rd floor and the corresponding target floor is also the 3rd floor, the plane path planning is directly performed according to the target location (such as the room number) corresponding to the delivery task to determine the optimal path, and the corresponding target location is reached according to the left and right paths to perform the corresponding delivery task. When the current floor is different from the target floor, it means that the first floor information received previously is incorrect. For example, the current floor is the 3rd floor and the target floor is the 4th floor, which means that the wrong floor is reached and the elevator needs to be re-taken to the target floor. Then, the first request is sent to the elevator controller again to request the corresponding car to go to the current floor. The steps after sending the first request are the same as the aforementioned S103-S105 and are not repeated here. Through the above steps, after the delivery robot exits the elevator car, the RFID reader scans the RFID electronic tag at the top of the elevator door to obtain that the current floor and the target floor are the same, and then the corresponding delivery task is executed.

[0072] Since the delivery robot and people share the elevator, after the delivery robot enters the elevator of the target elevator and sends the first command, it may be riding the elevator with people, but has not yet reached the corresponding target floor, but has been squeezed out of the elevator by people. Therefore, the delivery robot can detect the distance information of the surrounding environment through the infrared sensor, and when the distance information is detected to be greater than the preset value, it determines that it is outside the elevator, which means that it is squeezed out of the elevator. The delivery robot can scan the RFID tag on the top of the elevator door through the RFID reader, and determine the current floor according to the scanned RFID tag. The current floor can be determined according to the scanned RFID tag and the preset mapping table, for example, the current floor is determined to be the 3rd floor. When the current floor is the same as the target floor, the corresponding delivery task is executed. For example, if the current floor is the 3rd floor and the corresponding target floor is also the 3rd floor, the plane path planning is directly performed according to the target location (such as the room number) corresponding to the delivery task to determine the optimal path, and the corresponding target location is reached according to the left and right paths to execute the corresponding delivery task. When the current floor is different from the target floor, for example, the current floor is the 3rd floor and the target floor is the 4th floor, it means that the wrong floor has been reached and the elevator needs to be re-taken to the target floor. Then, the first request is sent to the elevator controller again to request the corresponding car to go to the current floor. The steps after sending the first request are the same as the aforementioned S103-S105 and are not described here. Through the above steps, after the delivery robot exits the elevator car, the RFID reader scans the RFID electronic tag at the top of the elevator door to obtain that the current floor and the target floor are the same, and then the corresponding delivery task is executed.

[0073] Since the delivery robot and people share the elevator, after the delivery robot enters the car of the target elevator and sends the first instruction, it may take the elevator with people. After arriving at the corresponding target floor, due to the large number of people, the delivery robot failed to get out of the elevator in time and was stranded in the elevator. The delivery robot can detect the distance information of the surrounding environment through an infrared sensor. After detecting that the distance information is less than or equal to a preset value, it determines that it is in the car. After the length of time in the car exceeds a preset threshold, it re-sends the first instruction to the elevator controller to control the car of the target elevator to move to the target floor. Alternatively, if the first floor information sent by the elevator controller is not received within the preset time, the first instruction is re-sent to the elevator controller to control the car of the target elevator to move to the target floor.

[0074] As mentioned above, after the delivery robot enters the elevator car, it determines that it is outside the car through the detection of the infrared sensor, and then scans the RFID tag on the top of the elevator door through the RFID reader to determine whether the current floor is the target floor; or after detecting that the elevator door is opened and moving out of the car through the infrared sensor, it scans the RFID tag on the top of the elevator door through the RFID reader to determine whether the current floor is the target floor; in this way, the wrong floor is prevented. After the wrong floor is determined, that is, the current floor and the target floor are different, the elevator is re-loaded through the first request and the first instruction until the target floor is reached, avoiding the situation where the delivery task cannot be performed due to the wrong floor, thereby improving the delivery accuracy and efficiency of the delivery robot.

[0075] As described above, when the delivery robot performs the delivery task, it parses the received task instructions to determine the target floor, and when the current floor and the target floor are the same, it executes the corresponding delivery task. When the current floor and the target floor are different, it moves to the elevator area and sends a first request to the elevator controller to request the elevator car to go to the current floor, receives the target elevator information returned by the elevator controller, and goes to the elevator door of the corresponding target elevator according to the target elevator information. When it detects that the elevator door of the target elevator is open, it controls itself to enter the car of the target elevator, and sends a first instruction to the elevator controller to control the car of the target elevator to move to the target floor. By adopting the above-mentioned technical means, when the current floor and the target floor of the delivery task to be performed are different, the first request can be used to request the elevator car to go to the current floor, and after the delivery robot enters the elevator car, the corresponding car can be controlled to go to the target floor through the first instruction, thereby avoiding the technical problem of low delivery efficiency of the delivery robot. Compared with the existing delivery robot that can only report errors at the wrong floor, the delivery robot provided in this embodiment can interact with the elevator controller to request the elevator car to go to the current floor and after the delivery robot enters the elevator car, the corresponding car can be controlled to go to the target floor based on the first instruction, so that the delivery robot can perform the corresponding delivery task at the target floor, thereby improving the delivery automation, avoiding the need for manual intervention to continue to perform the delivery task, and thus improving the delivery speed and delivery accuracy of the delivery robot.

[0076] Based on the above embodiments, Figure 3 This is a schematic diagram of the structure of a control device for a delivery robot provided in an embodiment of the present application. Figure 3 The control device of the delivery robot provided in this embodiment is used for the delivery robot, and the control device of the delivery robot specifically includes: a task receiving module 21, a task execution module 22, a first request sending module 23, a target elevator information receiving module 24 and a first instruction sending module 25.

[0077] The task receiving module 21 is used to receive the task instruction, analyze the received task instruction, and determine the target floor;

[0078] The task execution module 22 is used to execute the corresponding delivery task when the current floor is the same as the target floor, and the current floor is pre-stored by the delivery robot;

[0079] A first request sending module 23 is used to move to the elevator area and send a first request to the elevator controller when the current floor is different from the target floor. The first request is used to request the elevator car to go to the current floor. When receiving the first request, the elevator controller is used to determine the target elevator with the fastest corresponding car to the current floor, control the car of the target elevator to move to the current floor, and return the target elevator information to the corresponding delivery robot;

[0080] The target elevator information receiving module 24 is used to receive the target elevator information returned by the elevator controller and go to the elevator door of the corresponding target elevator according to the target elevator information;

[0081] The first instruction sending module 25 is used to control itself to enter the car of the target elevator when it detects that the elevator door of the target elevator is opened, and send a first instruction to the elevator controller. The first instruction includes information about the target floor. When the elevator controller receives the first instruction, it controls the car of the target elevator to move to the target floor.

[0082] In one embodiment, the delivery robot includes an RFID reader;

[0083] The control device of the delivery robot also includes: a current floor determination module;

[0084] The current floor determination module is used to determine the current floor by scanning the RFID tag on the top of the elevator door through the RFID reader when it detects that it is outside the car of the target elevator;

[0085] Based on the above implementation, the task execution module 22 is further used to execute the corresponding delivery task when the current floor and the target floor are the same;

[0086] Based on the above implementation, the first request sending module 23 is further used to resend the first request to the elevator controller when the current floor is different from the target floor.

[0087] In one embodiment, the control device of the delivery robot further includes: a first floor information receiving module;

[0088] A first floor information receiving module, used to receive first floor information sent by the elevator controller, the first floor information being information about the floor where the car of the target elevator is about to stop;

[0089] Based on the above implementation, the task execution module 22 is also used to control itself to move out of the car of the target elevator and execute the corresponding delivery task when the first floor information is the same as the target floor and the elevator door of the target elevator is detected to be open.

[0090] In one embodiment, the task receiving module 21 includes: a parsing submodule, a task list generating submodule and a target floor determining submodule;

[0091] The parsing submodule is used to receive task instructions, parse the received task instructions, and confirm the delivery tasks and task priorities;

[0092] The task list generation submodule is used to generate a list of tasks to be executed according to the delivery tasks in descending order of task priority;

[0093] The target floor determination submodule is used to determine the target floor of the current delivery task to be executed based on the list of tasks to be executed.

[0094] In one embodiment, the current floor determination module includes: a scanning submodule and a floor confirmation submodule;

[0095] The scanning submodule is used to scan the RFID electronic tag on the top of the elevator door through the RFID reader;

[0096] The floor confirmation submodule is used to determine the current floor according to the scanned RFID tag and a preset mapping table, where the preset mapping table is a mapping table of RFID tags and floor information.

[0097] In one embodiment, the delivery robot includes an infrared sensor;

[0098] The first instruction sending module 25 includes: a first infrared detection submodule;

[0099] The first infrared detection submodule is used to detect the opening and closing of the elevator door of the target elevator through an infrared sensor, and when it is detected that the elevator door is opened, control itself to enter the elevator car of the target elevator.

[0100] In one embodiment, the delivery robot includes an infrared sensor;

[0101] The current floor determination module also includes: an environmental distance determination submodule;

[0102] The environmental distance determination submodule is used to detect the distance information of the surrounding environment through an infrared sensor, and when the distance information is detected to be greater than a preset value, it is determined that the device is outside the car of the target elevator;

[0103] Based on the above implementation, the scanning submodule is used to scan the RFID tag on the top of the elevator door through the RFID reader;

[0104] Based on the above implementation, the floor confirmation submodule is used to determine the current floor according to the scanned RFID tag.

[0105] The control device of the delivery robot provided in the embodiment of the present application can be used to execute the control method of the delivery robot provided in the above embodiment, and has corresponding functions and beneficial effects.

[0106] The present application embodiment provides a control device for a delivery robot, referring to Figure 4 The control device of the delivery robot includes: a processor 31, a memory 32, a communication module 33, an input device 34 and an output device 35. The number of processors in the control device of the delivery robot can be one or more, and the number of memories in the control device of the delivery robot can be one or more. The processor, memory, communication module, input device and output device of the control device of the delivery robot can be connected through a bus or other methods.

[0107] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the control method of the delivery robot in any embodiment of the present application (for example, the task receiving module, the task execution module, the first request sending module, the target elevator information receiving module and the first instruction sending module in the control device of the delivery robot). The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0108] The communication module 33 is used for data transmission.

[0109] The processor 31 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory, that is, realizes the control method of the above-mentioned delivery robot.

[0110] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0111] The control device of the delivery robot provided above can be used to execute the control method of the delivery robot provided in the above embodiment, and has corresponding functions and beneficial effects.

[0112] The embodiment of the present application also provides a storage medium storing computer executable instructions, which are used to execute a control method for a delivery robot when executed by a computer processor. The control method for the delivery robot includes: receiving a task instruction, parsing the received task instruction, and determining a target floor; when the current floor is the same as the target floor, executing the corresponding delivery task, and the current floor is pre-stored by the delivery robot; when the current floor is different from the target floor, moving to the elevator area and sending a first request to the elevator controller, the first request is used to request the elevator car to go to the current floor, and the elevator controller is used to determine the fastest target elevator with the corresponding car going to the current floor when receiving the first request, and control the car of the target elevator to move to the current floor and return the target elevator information to the corresponding delivery robot; receiving the target elevator information returned by the elevator controller, and going to the elevator door of the corresponding target elevator according to the target elevator information; when detecting that the elevator door of the target elevator is open, controlling itself to enter the car of the target elevator, and sending a first instruction to the elevator controller, the first instruction includes information of the target floor, and the elevator controller is used to control the car of the target elevator to move to the target floor when receiving the first instruction.

[0113] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0114] Of course, the storage medium storing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the control method of the delivery robot as described above, can also execute related operations in the control method of the delivery robot provided in any embodiment of the present application.

[0115] The control device, storage medium and control equipment of the delivery robot provided in the above embodiments can execute the control method of the delivery robot provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the control method of the delivery robot provided in any embodiment of the present application.

[0116] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A control method for a delivery robot, characterized in that: For a delivery robot, the method comprises: Receiving a task instruction, parsing the received task instruction, and determining a target floor; When the current floor is the same as the target floor, executing the corresponding delivery task, the current floor is pre-stored by the delivery robot; When the current floor is different from the target floor, the robot moves to the elevator area and sends a first request to the elevator controller, wherein the first request is used to request the elevator car to go to the current floor. When the elevator controller receives the first request, it determines the target elevator with the fastest corresponding car to go to the current floor, controls the car of the target elevator to move to the current floor, and returns the target elevator information to the corresponding delivery robot; Receive the target elevator information returned by the elevator controller, and go to the elevator door of the corresponding target elevator according to the target elevator information; When it is detected that the elevator door of the target elevator is opened, the elevator controls itself to enter the car of the target elevator and sends a first instruction to the elevator controller, wherein the first instruction includes information of the target floor. When the elevator controller receives the first instruction, it controls the car of the target elevator to move to the target floor.

2. The method according to claim 1, characterized in that The delivery robot includes an RFID reader / writer; When the elevator door of the target elevator is detected to be open, the control unit enters the car of the target elevator and sends a first instruction to the elevator controller, comprising: When the user detects that the user is outside the elevator car of the target elevator, the user scans the RFID tag on the top of the elevator door through the RFID reader to determine the current floor; When the current floor is the same as the target floor, executing the corresponding delivery task; When the current floor is different from the target floor, the first request is resent to the elevator controller.

3. The method according to claim 1, characterized in that When the elevator door of the target elevator is detected to be open, the control unit enters the car of the target elevator and sends a first instruction to the elevator controller, comprising: Receiving first floor information sent by the elevator controller, where the first floor information is floor information at which a car of a target elevator is about to stop; When the first floor information is the same as the target floor, upon detecting that the elevator door of the target elevator is opened, the vehicle controls itself to move out of the car of the target elevator and performs the corresponding delivery task.

4. The method according to claim 2, characterized in that: The receiving task instruction, parsing the received task instruction, and determining the target floor includes: Receive task instructions, parse the received task instructions, and confirm the delivery tasks and task priorities; Generate a list of tasks to be executed according to the delivery tasks in descending order of task priority; According to the list of tasks to be executed, the target floor of the current delivery task to be executed is determined.

5. The method according to claim 2, characterized in that: The step of scanning the RFID electronic tag on the top of the elevator door by the RFID reader to determine the current floor includes: Scan the RFID electronic tag on the top of the elevator door by the RFID reader; The current floor is determined according to the scanned RFID tag and a preset mapping table, wherein the preset mapping table is a mapping table of the RFID tag and floor information.

6. The method according to claim 1, characterized in that The delivery robot includes an infrared sensor; When the elevator door of the target elevator is detected to be open, controlling the device to enter the car of the target elevator comprises: The infrared sensor is used to detect the opening and closing of the elevator door of the target elevator, and when it is detected that the elevator door is opened, the vehicle is controlled to enter the car of the target elevator.

7. The method according to claim 2, characterized in that The delivery robot includes an infrared sensor; When the user detects that the user is outside the elevator car of the target elevator, the user scans the RFID tag on the top of the elevator door with the RFID reader to determine the current floor, including: Detecting distance information of the surrounding environment by the infrared sensor, and determining that the device is outside the car of the target elevator when detecting that the distance information is greater than a preset value; Scan the RFID tag on the top of the elevator door with the RFID reader; The current floor is determined based on the scanned RFID tag.

8. A control device for a delivery robot, characterized in that: For use in a delivery robot, the device comprises: A task receiving module is used to receive a task instruction, analyze the received task instruction, and determine a target floor; A task execution module, used for executing a corresponding delivery task when the current floor is the same as the target floor, and the current floor is pre-stored by the delivery robot; A first request sending module is used to move to the elevator area and send a first request to the elevator controller when the current floor is different from the target floor, wherein the first request is used to request the elevator car to go to the current floor, and the elevator controller is used to determine the fastest target elevator with a corresponding car to go to the current floor upon receiving the first request, and control the car of the target elevator to move to the current floor and return the target elevator information to the corresponding delivery robot; A target elevator information receiving module, used to receive the target elevator information returned by the elevator controller, and go to the elevator door of the corresponding target elevator according to the target elevator information; The first instruction sending module is used to control itself to enter the car of the target elevator when it detects that the elevator door of the target elevator is opened, and send a first instruction to the elevator controller, wherein the first instruction includes information of the target floor, and the elevator controller is used to control the car of the target elevator to move to the target floor when receiving the first instruction.

9. A control device for a delivery robot, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to perform the method according to any one of claims 1 to 7 when executed by a processor.

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