Moving method and device of self-moving equipment, medium and self-moving equipment

Abstract

The invention discloses a moving method and device of self-moving equipment, a medium and the self-moving equipment. The method comprises the steps that a current point location, a target point location, an elevator capable of being taken and a reachable floor of the self-moving equipment are obtained; the ridable elevator is an elevator which can be taken by the self-moving equipment on each floor, the reachable floor refers to a reachable floor when the self-moving equipment takes the ridable elevator, and the ridable elevator is provided with a corresponding switching point position on the reachable floor; determining an elevator node path of the self-moving equipment according to the current floor of the current point location, the target floor of the target point location, the elevator capable of being taken and the reachable floor; determining a point location path of the self-moving equipment according to the current point location, the target point location, the elevator node path and the switching point location; according to the point location path, controlling the self-moving device to move from the current point location to the target point location; according to the invention, the moving path of the self-moving device can be determined based on the plurality of key points, the task execution efficiency is improved, the path planning process in a complex scene is simplified, and the accuracy of the planned path is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of self - moving device control. Specifically, it particularly relates to a moving method, device, medium and self - moving device of a self - moving device. Background Art

[0002] With the continuous progress of artificial intelligence technology, self - moving devices have become indispensable devices in modern life, and moving across floors and buildings has also become the norm in the daily operation of self - moving devices. However, in the case of complex scheduling of multiple self - moving devices and multiple scenarios, the self - moving devices in the related art often have problems such as task interruption or downtime, resulting in low task execution efficiency and unable to meet the user's usage requirements.

[0003] It should be noted that the information disclosed in the above background art section is only used to strengthen the understanding of the background of the present application. Therefore, it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a moving method, device, medium and self - moving device of a self - moving device, which is used to solve the problem of low execution efficiency of self - moving devices in complex scheduling situations.

[0005] According to one aspect of the embodiments of the present application, a moving method of a self - moving device is provided. The method includes:

[0006] Obtain the current position, target position, available elevators and reachable floors of the self - moving device; the available elevators are the elevators that the self - moving device can take on each floor, the reachable floors refer to the floors that the self - moving device can reach when taking the available elevators, and the available elevators have corresponding switching points on the reachable floors;

[0007] Determine the elevator node path of the self - moving device according to the current floor of the current position, the target floor of the target position, the available elevators and the reachable floors;

[0008] Determine the position path of the self - moving device according to the current position, target position, elevator node path and switching points;

[0009] Control the self - moving device to move from the current position to the target position according to the position path.

[0010] In some embodiments of the present application, determining an elevator node path of a self - moving device according to the current floor of the current position, the target floor of the target position, available elevators, and reachable floors includes: determining the floors passed by the self - moving device according to the current floor and the target floor; determining multiple candidate node paths of the self - moving device based on the available elevators on the passed floors and the reachable floors of each available elevator; determining the path weights of each candidate node path based on the weights of each path node in the candidate node paths; and taking the candidate node path with the minimum path weight as the elevator node path.

[0011] In some embodiments of the present application, determining an elevator node path of a self - moving device according to the current floor of the current position, the target floor of the target position, available elevators, and reachable floors includes: taking the elevator nodes on each floor from the current floor to the target floor as intermediate nodes; obtaining the node weights of the intermediate nodes; the node weights are related to the available elevators and the reachable floors; calculating the path weight corresponding to the node path composed of the intermediate nodes; and taking the node path with the minimum path weight as the elevator node path.

[0012] In some embodiments of the present application, determining a position path of a self - moving device according to the elevator node path and the switching positions includes: obtaining the in - elevator positions in the elevator node path; connecting the current position, the target position, the in - elevator positions, and the switching positions in the traveling order to obtain the position path of the self - moving device.

[0013] In some embodiments of the present application, controlling the self - moving device to move from the current position to the target position according to the position path includes: obtaining the initial in - elevator position and the ending in - elevator position in the position path; determining a first path from the current position to the initial in - elevator position and a second path from the target position to the ending in - elevator position; and controlling the self - moving device to move from the current position to the target position according to the position path, the first path, and the second path.

[0014] In some embodiments of the present application, when the self - moving device takes an elevator, the method provided in the present application further includes: when the self - moving device moves from the target out - elevator position to the target mid - elevator position or from the target mid - elevator position to the target out - elevator position, controlling the target elevator to maintain the door - open state; the target out - elevator position is the elevator - taking position of the target elevator, and the target mid - elevator position is the mid - elevator position of the target elevator; when the self - moving device moves to the target mid - elevator position or the target out - elevator position, controlling the target elevator to close the door.

[0015] According to one aspect of the embodiments of the present application, there is provided a moving device for a self - moving device, and the device includes:

[0016] An acquisition module, configured to acquire the current position, target position, available elevators, and reachable floors of the self-mobile device; the available elevators are the elevators that the self-mobile device can take on each floor, and the reachable floors refer to the floors that the self-mobile device can reach when taking the available elevators. The available elevators have corresponding switching positions on the reachable floors.

[0017] A node path module, configured to determine the elevator node path of the self-mobile device according to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors.

[0018] A position path module, configured to determine the position path of the self-mobile device according to the elevator node path and the switching positions.

[0019] A control module, configured to control the self-mobile device to move from the current position to the target position according to the position path.

[0020] In some embodiments of the present application, the node path module includes: a passing floor determination unit, configured to determine the passing floors of the self-mobile device according to the current floor and the target floor; a candidate path unit, configured to determine multiple candidate node paths of the self-mobile device based on the available elevators on the passing floors and the reachable floors of each available elevator; a first weight calculation unit, configured to determine the path weights of each candidate node path based on the weights of each path node in the candidate node paths; a first node determination unit, configured to use the candidate node path with the minimum path weight as the elevator node path.

[0021] According to one aspect of the embodiments of the present application, there is provided a computer-readable medium, on which a computer program is stored. When the computer program is executed by a processor, the moving method of the self-mobile device provided in any embodiment of the present application is implemented.

[0022] According to one aspect of the embodiments of the present application, there is provided a self-mobile device, including: a processor; a memory, configured to store the executable instructions of the processor; the processor executes the executable instructions to enable the self-mobile device to implement the moving method of the self-mobile device provided in any embodiment of the present application.

[0023] In the technical solution of the present application, by obtaining the current position, target position, available elevators, and reachable floors of the self-mobile device; the available elevators are the elevators that the self-mobile device can take on each floor, and the reachable floors refer to the floors that the self-mobile device can reach when taking the available elevators, and the available elevators have corresponding switching points on the reachable floors; according to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors, determine the elevator node path of the self-mobile device; according to the current position, the target position, the elevator node path, and the switching points, determine the position path of the self-mobile device; control the self-mobile device to move from the current position to the target position according to the position path; in this way, the self-mobile device can be controlled to move to the target position by taking the specified elevator, and the specified elevator has corresponding switching points, so that the switching points when switching elevators can also be determined, that is, the movement path of the self-mobile device is determined based on multiple key positions, improving the execution efficiency of the movement task of the self-mobile device, and simplifying the path planning process in complex scenarios involving elevator transfers to ensure the accuracy of the planned path.

[0024] It should be understood in the present application that the above general description and subsequent detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0026] Figure 1 Schematically shows a flowchart of a method for moving a self-mobile device provided by an embodiment of the present application.

[0027] Figure 2 Schematically shows a schematic diagram of a path node provided by an embodiment of the present application.

[0028] Figure 3 Schematically shows a schematic diagram of path weights provided by an embodiment of the present application.

[0029] Figure 4 Schematically shows a block diagram of a structure of a moving device of a self-mobile device provided by an embodiment of the present application.

[0030] Figure 5 Schematically shows a schematic diagram of the structure of a self-mobile device provided by an embodiment of the present application.

[0031] Figure 6A computer system block diagram for implementing the self - moving device according to the embodiments of the present application is schematically shown. Detailed implementation manners

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0033] In addition, the features, structures, or characteristics described in this application can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of this application. However, those skilled in the art will realize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well - known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of this application.

[0034] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0035] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the content and operations / steps, nor do they necessarily have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0036] At present, when a self-mobile device moves inside a building, due to objective factors such as weak signal strength inside the building, it is unable to determine the position of the self-mobile device relying on satellite positioning signals. Moreover, there is a problem of overlapping positions in multi-story buildings. Even if it can receive satellite positioning signals, it is impossible to determine which floor the self-mobile device is on. Therefore, identification points are usually preset in the working area so that the self-mobile device can accurately determine its location when performing tasks. It should be understood that presetting identification points can refer to setting physical identifications on the ground, ceiling, or wall, etc. Or a position determination device is set on the passage of the working area of the self-mobile device. The communication distance between the position determination devices at each point and the self-mobile device is limited. For example, the position determination device is equipped with a camera to determine the device ID of the self-mobile device by scanning the identification code of the self-mobile device, or the position determination device is equipped with an identifier, and the self-mobile device can only be identified within the specified range of the position determination device, thereby avoiding the problem that multiple position determination devices simultaneously identify the self-mobile device. The position of the self-mobile device is determined by the communication between the self-mobile device and the position determination device. The position determination information sent by the position determination device to the self-mobile device can be understood as a kind of preset identification point. It should be understood that the above are some examples of determining the position of the self-mobile device, and the present application does not make specific limitations on this.

[0037] As Figure 1 shown, the present application provides a moving method for a self-mobile device. The method includes S110 to S140, and the specific process is as follows.

[0038] S110. Obtain the current position, target position, available elevators, and reachable floors of the self-mobile device.

[0039] Specifically, the position is a pre-set movable position of the self-mobile device. The current position is the position where the self-mobile device is located when starting to execute the moving task, and the target position is the position to which the self-mobile device needs to move during the task. For example, if the user issues an instruction to move from position a to position b, then the current position is position a and the target position is position b. The available elevators are the elevators that the self-mobile device can take on each floor. The reachable floors refer to the floors that the self-mobile device can reach when taking the available elevators. The available elevators have corresponding switching positions on the reachable floors. It should be understood that in order to match the user needs on different floors, the self-mobile devices configured on different floors are not the same. Therefore, the reachable floors of each self-mobile device are not the same. And elevators can include working elevators, ordinary elevators, and emergency elevators, etc. According to reasons such as the priority of the task, the busyness of the elevator, or the type of the elevator, the self-mobile device changing elevators on certain floors can improve the execution efficiency of the task. As Figure 2As shown in the figure, a certain building includes multiple floors, multiple elevators, and multiple self - moving devices. The elevators that the self - moving device A can take are Elevator 1, Elevator 2, and Elevator 3. The floors that the self - moving device A can reach by taking Elevator 1 are Floor 1 and Floor 2. The floors that the self - moving device A can reach by taking Elevator 2 are Floor 2, Floor 3, Floor 4, and Floor 5. The floors that the self - moving device A can reach by taking Elevator 3 are Floor 3, Floor 4, and Floor 5. The switching point of the self - moving device A on Floor 2 when taking Elevator 1 can be marked as A12.

[0040] S120. Determine the elevator node path of the self - moving device according to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors.

[0041] Specifically, the elevator node path is a sequence formed by arranging the elevators taken by the self - moving device in the order of taking. If the current floor and the target floor are not on the same floor, first determine the way of taking the elevator to move from the current floor to the target floor. For example, after taking Elevator 1 from the current floor to the 2nd floor and then transferring to Elevator 2 to reach the 5th floor, the elevator node path is (Elevator 1, Elevator 2). If the current floor and the target floor are on the same floor, there is no need to determine the available elevators and the reachable floors, and it is only necessary to determine the moving path of the self - moving device based on the current position and the target position.

[0042] In some embodiments of the present application, determining the elevator node path of the self - moving device according to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors includes: determining the floors passed by the self - moving device according to the current floor and the target floor; determining multiple candidate node paths of the self - moving device based on the available elevators of the passed floors and the reachable floors of each available elevator; determining the path weights of each candidate node path based on the weights of each path node in the candidate node paths; and taking the candidate node path with the minimum path weight as the elevator node path.

[0043] Specifically, the floors passed through are the floors passed during the process of moving from the current floor to the target floor. For example, if the current floor is 1 and the target floor is 5, then the floors passed through by the mobile device include: 1, 2, 3, 4, and 5. The mobile device A can reach floors 1 and 2 through elevator 1, and can reach floors 2, 3, 4, and 5 through elevator 2, and can reach floors 3, 4, and 5 through elevator 3. Then the candidate node paths of the mobile device include: (A112,A225), (A112,A223,A335), (A112,A224,A345), and (A112,A223,A334,A245). The first letter A in A112 represents the ID of the mobile device, the second digit 1 represents the elevator number, the third digit 1 represents the departure floor of taking elevator 1, and the fourth digit 2 represents the arrival floor of taking elevator 1, that is, it means the mobile device A takes elevator 1 from the 1st floor to the 2nd floor. The weights of the respective path nodes in the candidate node paths are related to the elevators that the mobile device can take and the floors that can be reached. For example Figure 2 As shown, the path nodes of the candidate node path (A112,A225) include: path node A11, path node A12, path node A22, path node A23, path node A24, and path node A25. Among them, path node A11 represents the position of the mobile device A on the 1st floor when taking elevator 1, path node A12 represents the position of the mobile device A on the 2nd floor when taking elevator 1, and path node A22 represents the position of the mobile device A reaching the 2nd floor when taking elevator 2. Path node A11 is the starting point of the path of the current floor of the mobile device A, so the weight of path node A11 is set to 0. Moreover, path node A12 is the reachable floor of the mobile device A taking the same elevator, so the weight of path node A12 can be set to 1, that is, the weights of the path nodes of the reachable floors on the same elevator are all 1. After the mobile device A takes elevator 1 to reach the 2nd floor, it needs to transfer to elevator 2, and transferring elevators will increase the task execution time. Therefore, the weight of the first path node A22 after transferring elevators can be set to 100. As Figure 3As shown, when the weight of the self - moving device A reaches the path node A22, the path weight is 0 + 1+100 = 101. The weights of other path nodes on the same elevator as the path node A22 are also 1. For example, the weights of the path nodes A23, A24, and A25 are all 1. If the self - moving device makes a secondary transfer, such as the candidate node path (A112, A223, A335), the weight of the first path node A33 after the secondary transfer elevator is also equal to 100, and the weights of other path nodes on elevator 3 are also equal to 1. For example, the weights of the path nodes A34 and A35 are also equal to 1. Then, the weights of each path node in the candidate node path are added together to obtain the path weight of the candidate node path. For example, the path weight of the candidate node path (A112, A225) is 0 + 1+100 + 1+1+1 = 104, and the path weight of the candidate node path (A112, A223, A335) is 0 + 1+100 + 1+100 + 1+1 = 204. The path weights of each candidate node path are calculated in turn, and finally the candidate node path (A112, A225) with the smallest path weight is used as the elevator node path.

[0044] In some embodiments of the present application, to determine the elevator node path of the self - moving device according to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors, the method includes: taking the elevator nodes of each floor from the current floor to the target floor as intermediate nodes; obtaining the node weights of the intermediate nodes; the node weights are related to the available elevators and the reachable floors; calculating the path weight corresponding to the node path composed of the intermediate nodes; and taking the node path with the smallest path weight as the elevator node path.

[0045] Specifically, if the elevator does not stop before reaching the transfer floor or the target floor of the self - moving device, then the fewer the number of transfers during the movement of the self - moving device, the faster the self - moving device reaches the target floor. The following example is used to explain the process of determining the elevator node path. The numerical values of the node weights are only examples, and the present application does not specifically limit the numerical values of the node weights. Here, only specific numerical values are used to explain the setting principle. As Figure 2As shown in the figure, assume that the current floor of the self - moving device A is the 1st floor and the target floor is the 5th floor. The elevator includes Elevator 1, Elevator 2, and Elevator 3. Then, Elevator 1 includes intermediate nodes A11, A12, A13, A14, and A15. The intermediate nodes A11 and A12 are reachable nodes for the self - moving device A, while the intermediate nodes A13, A14, and A15 are non - accessible nodes for the self - moving device A. If the current floor of the self - moving device A is 1, the weight of the intermediate node A11 can be set to 0, the weight of the intermediate node A12 is equal to 1, and the weights of other non - accessible nodes are infinite. Then, for Elevator 2, the 1st and 2nd floors are non - accessible floors, and the 3rd to 5th floors are reachable floors. One can transfer from Elevator 1 to Elevator 2. Since transferring elevators increases the time consumption, the weight of the first intermediate node A22 when transferring to Elevator 2 can be set to 100, the weights of other feasible nodes except the transfer node are equal to 1, and the weights of non - accessible nodes on Elevator 2 are equal to infinite. For Elevator 3, the reachable floors are 3, 4, and 5. The self - moving device A also needs to transfer from Elevator 2 to Elevator 3. Therefore, the weight of the first intermediate node A33 or A34 when taking Elevator 3 can be set to 100, and the weights of other intermediate nodes on Elevator 3 are equal to 1. Thus, based on the available elevators and reachable floors for the self - moving device to perform tasks, the node weights of each intermediate node can be obtained, and then the path weights of each node path formed by the intermediate nodes can be calculated. As Figure 3 shown, for example, for the node path (A11, A12, A13, A14, A15), its path weight is 0 + 1+∞+∞+∞ = ∞; for the node path (A11, A12, A22, A23, A24, A25), its path weight is 0 + 1+100 + 1+1+1 = 104; for the node path (A11, A12, A22, A23, A33, A34, A35), its path weight is 0 + 1+100 + 1+100 + 1+1 = 204. It can be seen that if there are non - accessible nodes on the node path, the path weight of the node path is ∞; and the more transfer times there are in the node path, the greater its path weight. Therefore, the node path with the minimum path weight is the path that the self - moving device is allowed to pass through and has a relatively high moving efficiency. Taking this node path as the elevator node path can improve the efficiency of the self - moving device in performing tasks and can also plan the elevator node path in a complex scenario with multiple elevators and multiple floors.

[0046] S130. Determine the point path of the self - moving device according to the current point, the target point, the elevator node path, and the switching point.

[0047] Specifically, the switching points are designated points when taking the elevator and exiting the elevator, such as the waiting point of the mobile device when the elevator has not arrived, and the designated point when the mobile device exits from the in-elevator point in the elevator to outside the elevator. The nodes in the elevator node path refer to the in-elevator points of the elevator that the mobile device takes on the reachable floors. Therefore, obtain the in-elevator points in the elevator node path; connect the current point, the target point, the in-elevator points, and the switching points in the traveling order of the mobile device to obtain the point path of the mobile device. For example, the elevator node path of mobile device A is: the in-elevator point A of Elevator 1 on the 1st floor 11内 , the in-elevator point A of Elevator 1 on the 2nd floor 12内 , the in-elevator point A of Elevator 2 on the 2nd floor 22内 and the in-elevator point A of Elevator 2 on the 5th floor 25内 . Among them, before entering the in-elevator point A of Elevator 1 on the 1st floor 11内 , mobile device A needs to first move to the outside point A of Elevator 1 on the 1st floor 11外 , and before mobile device A transfers to the in-elevator point A of Elevator 2 on the 2nd floor 22内 , it needs to first retreat from the in-elevator point A of Elevator 1 on the 2nd floor 12内 to the outside point A of Elevator 1 on the 2nd floor 12外 , then move to the outside point A of Elevator 2 on the 2nd floor 22外 , and then enter the in-elevator point A of Elevator 2 on the 2nd floor 22内 . Therefore, by connecting the current point, the target point, the in-elevator points, and the switching points in the traveling order, the point path (current point, A 11外 , A 11内 , A 12内 , A 12外 , A 22外 , A 22内 , A 25内 , A 25外 , target point) can be obtained.

[0048] S140. Control the mobile device to move from the current point to the target point according to the point path.

[0049] Specifically, each point in the point path is a key point in the movement path of the mobile device from the current point to the target point. By controlling the mobile device to move to the points in the point path in sequence, the mobile device can be made to move from the current point to the target point.

[0050] In the technical solution of this application, by obtaining the current position, target position, available elevators, and reachable floors of the self-mobile device; the available elevators are the elevators that the self-mobile device can take on each floor, and the reachable floors refer to the floors that the self-mobile device can reach when taking the available elevators. The available elevators have corresponding switching points at the reachable floors; according to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors, determine the elevator node path of the self-mobile device; according to the current position, the target position, the elevator node path, and the switching points, determine the position path of the self-mobile device; according to the position path, control the self-mobile device to move from the current position to the target position; in this way, the self-mobile device can be controlled to move to the target position by taking the specified elevator, and the specified elevator has corresponding switching points, so that the switching points when switching elevators can also be determined, that is, the movement path of the self-mobile device is determined based on multiple key positions, improving the execution efficiency of the movement task of the self-mobile device, and simplifying the path planning process in complex scenarios involving elevator transfers to ensure the accuracy of the planned path.

[0051] In some embodiments of this application, controlling the self-mobile device to move from the current position to the target position according to the position path includes: obtaining the initial elevator-taking position and the end elevator-taking position in the position path; determining the first path from the current position to the initial elevator-taking position and the second path from the target position to the end elevator-taking position; controlling the self-mobile device to move from the current position to the target position according to the position path, the first path, and the second path.

[0052] Specifically, the initial elevator-taking position refers to the initial position for taking the elevator, and the end elevator-taking position refers to the end position of taking the elevator or the position where the elevator-taking process is completed. For example, in the node path (A11, A12, A22, A23, A24, A25), the initial elevator-taking position is A11, and the end elevator-taking position is A25. Before taking the elevator, it is necessary to control the self-mobile device to move to the initial elevator-taking position, so it is necessary to first determine the first path from the current position to the initial elevator-taking position. And after completing the elevator-taking, if it is still necessary to control the self-mobile device to move from the end elevator-taking position to the target position, it is necessary to first determine the second path from the end elevator-taking position to the target position. Finally, control the self-mobile device to move sequentially along the first path, the position path, and the second path, so that the self-mobile device moves from the current position to the target position.

[0053] In some embodiments of this application, when the self-mobile device takes the elevator, the method provided by this application further includes: when the self-mobile device moves from the outside position of the target elevator to the middle position of the target elevator, or from the middle position of the target elevator to the outside position of the target elevator, controlling the target elevator to maintain the open door state; when the self-mobile device moves to the middle position of the target elevator or the outside position of the target elevator, controlling the target elevator to close the door.

[0054] Specifically, the target out-of-elevator point is the elevator-taking point corresponding to the target elevator, and the target mid-elevator point is the mid-elevator point corresponding to the target elevator. The target elevator includes the elevator taken for the first time and also the elevator after transfer. The self-moving device entering the mid-elevator point from the target out-of-elevator point means the self-moving device entering the elevator from outside the elevator; the self-moving device moving from the target mid-elevator point to the target out-of-elevator point means the self-moving device exiting the elevator to outside the elevator; that is, when the self-moving device enters the elevator from outside the elevator or exits the elevator to outside the elevator, the target elevator is controlled to maintain the door open state so that the self-moving device can enter and exit the elevator smoothly. Correspondingly, when the self-moving device moves to the target mid-elevator point or the target out-of-elevator point, the target elevator is controlled to close the door so that the elevator can continue the subsequent carrying task.

[0055] The following introduces the device embodiments of the present application. The moving device of the self-moving device provided by the present application is as Figure 4 shown, and the modules included in the device are specifically as follows.

[0056] An acquisition module 410, configured to acquire the current point, target point, available elevators, and reachable floors of the self-moving device; the available elevators are the elevators that the self-moving device can take on each floor, and the reachable floors refer to the floors that the self-moving device can reach when taking the available elevators, and the available elevators have corresponding switching points on the reachable floors.

[0057] A node path module 420, configured to determine the elevator node path of the self-moving device according to the current floor of the current point, the target floor of the target point, the available elevators, and the reachable floors.

[0058] A point path module 430, configured to determine the point path of the self-moving device according to the current point, the target point, the elevator node path, and the switching point.

[0059] A control module 440, configured to control the self-moving device to move from the current point to the target point according to the point path.

[0060] In some embodiments of the present application, the node path module 420 includes: a passing floor determination unit, configured to determine the passing floors of the self-moving device according to the current floor and the target floor; a candidate path unit, configured to determine multiple candidate node paths of the self-moving device based on the available elevators on the passing floors and the reachable floors of each available elevator; a first weight calculation unit, configured to determine the path weights of each candidate node path based on the weights of each path node in the candidate node paths; a first node determination unit, configured to use the candidate node path with the smallest path weight as the elevator node path.

[0061] In some embodiments of the present application, the node path module 420 includes: a node determination unit configured to use the elevator nodes on each floor from the current floor to the target floor as intermediate nodes; a weight acquisition unit configured to acquire the node weights of the intermediate nodes; the node weights are related to the available elevators and reachable floors; a second weight calculation unit configured to calculate the path weight corresponding to the node path composed of the intermediate nodes; a second node determination unit configured to use the node path with the minimum path weight as the elevator node path.

[0062] In some embodiments of the present application, the point path module 430 includes: a point acquisition unit configured to acquire the in-elevator points in the elevator node path; a node connection unit configured to connect the in-elevator points and the switching points in the traveling order to obtain the point path of the self-moving device.

[0063] In some embodiments of the present application, the control module 440 includes: a boarding point acquisition unit configured to acquire the initial boarding point and the ending boarding point in the point path; a path determination unit configured to determine a first path from the current point to the initial boarding point and a second path from the target point to the ending boarding point; a control unit configured to control the self-moving device to move from the current point to the target point according to the point path, the first path, and the second path.

[0064] In some embodiments of the present application, the device provided in the present application further includes: a door control module configured to, when the self-moving device is boarding an elevator, control the target elevator to maintain an open state when the self-moving device moves from the target out-of-elevator point to the target mid-elevator point or from the target mid-elevator point to the target out-of-elevator point; the target out-of-elevator point is the boarding point of the target elevator, and the target mid-elevator point is the mid-elevator point of the target elevator; when the self-moving device moves to the target mid-elevator point, control the target elevator to close the door.

[0065] It should be noted that the specific implementation details of the moving device of the self-moving device in the present application have been explained in detail in the corresponding method embodiments and will not be elaborated here.

[0066] The following introduces the self-moving device of the present application, such as Figure 5 As shown, the present application provides a self-moving device 500, which includes: a processor 510 and a memory 520, and the memory 520 is used to store the executable instructions of the processor; the processor 510 executes the executable instructions to enable the self-moving device to implement the moving method of the self-moving device provided in any embodiment of the present application.

[0067] Specifically, the moving method of the self - moving device provided in this application is stored in the memory 520 of the self - moving device. The processor 510 is used to execute the operations of obtaining the current position, target position, available elevators, and reachable floors of the self - moving device. The available elevators are the elevators that the self - moving device can take on each floor, and the reachable floors refer to the floors that the self - moving device can reach when taking the available elevators. The available elevators have corresponding switching points on the reachable floors. According to the current floor of the current position, the target floor of the target position, the available elevators, and the reachable floors, determine the elevator node path of the self - moving device. According to the current position, target position, elevator node path, and switching points, determine the position path of the self - moving device. According to the position path, control the self - moving device to move from the current position to the target position, thereby controlling the self - moving device to take a specified elevator to move to the target position, and the specified elevator has a corresponding switching point. Thus, the switching point when switching elevators can also be determined, that is, determine the moving path of the self - moving device based on multiple key positions, improve the execution efficiency of the moving task of the self - moving device, and simplify the path planning process in complex scenarios involving elevator transfers to ensure the accuracy of the planned path.

[0068] It should be noted that the specific implementation details of the self - moving device in this application have been explained in detail in the corresponding method embodiments and will not be elaborated here.

[0069] Figure 6 Schematically shows a block diagram of the computer system for implementing the self - moving device of the embodiments of this application.

[0070] It should be noted that Figure 6 The shown computer system 600 of the self - moving device is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0071] As Figure 6 shown, the computer system 600 includes a processor 601. The processor 601 can be a CPU (Central Processing Unit) or an MCU (Microcontroller Unit). The processor 601 can execute various appropriate actions and processes according to the program stored in the read - only memory 602 (Read - Only Memory, ROM) or the program loaded from the storage section 608 into the random access memory 603 (Random Access Memory, RAM). In the random access memory 603, various programs and data required for system operation are also stored. The processor 601, the read - only memory 602, and the random access memory 603 are connected to each other through a bus 604. The input / output interface 605 (Input / Output interface, i.e., I / O interface) is also connected to the bus 604.

[0072] The following components are connected to the input / output interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a local area network card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the input / output interface 605 as required. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as required so that a computer program read from it is installed into the storage section 608 as required.

[0073] Specifically, according to an embodiment of the present application, the processes described in each method flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 609, and / or installed from the removable medium 611. When the computer program is executed by the processor 601, various functions defined in the system of the present application are executed.

[0074] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0076] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0077] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute according to the embodiments of the present application.

[0078] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application.

[0079] It should be understood that the present application is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for moving a self-equipped device, characterized in that: include: Get the current location, target location, available elevators and accessible floors from the mobile device; The takeable elevator is an elevator that the self-moving device can take on each floor, and the reachable floor refers to a floor that the self-moving device can reach when taking the takeable elevator. The takeable elevator has a corresponding switching point on the reachable floor; Determine the elevator node path of the self-moving device according to the current floor of the current point, the target floor of the target point, the available elevators and the accessible floors; Determine the point path of the self-moving device according to the current point, the target point, the elevator node path and the switching point; According to the point path, the self-moving device is controlled to move from the current point to the target point.

2. The method for moving a self-moving device according to claim 1, characterized in that: The step of determining the elevator node path of the self-moving device according to the current floor of the current point, the target floor of the target point, the available elevators and the accessible floors includes: Determining the floors passed by the self-moving device according to the current floor and the target floor; Determine multiple candidate node paths of the self-moving device based on the available elevators of the floors passed through and the accessible floors of each of the available elevators; Determining the path weight of each candidate node path based on the weight of each path node in the candidate node path; The candidate node path with the smallest path weight is used as the elevator node path.

3. The method for moving a self-moving device according to claim 1, characterized in that: The step of determining the elevator node path of the self-moving device according to the current floor of the current point, the target floor of the target point, the available elevators and the accessible floors includes: Taking the elevator nodes of each floor from the current floor to the target floor as intermediate nodes; Obtaining a node weight of the intermediate node; the node weight is related to the available elevators and the accessible floors; Calculate and obtain the path weight corresponding to the node path composed of the intermediate nodes; The node path with the smallest path weight is used as the elevator node path.

4. The method for moving a self-moving device according to claim 1, wherein: The step of determining the point path of the self-moving device according to the current point, the target point, the elevator node path and the switching point includes: Obtaining a point position in the elevator node path; The current point, the target point, the point in the ladder and the switching point are connected in a moving order to obtain a point path of the self-moving device.

5. The method for moving a self-moving device according to claim 1, characterized in that: The step of controlling the self-moving device to move from the current point to the target point according to the point path includes: Obtaining the initial point and the end point of the elevator ride in the point path; Determine a first path from the current point to the initial point of the elevator ride, and a second path from the target point to the end point of the elevator ride; According to the point path, the first path and the second path, the self-moving device is controlled to move from the current point to the target point.

6. The method for moving a self-moving device according to claim 1, wherein: When the self-moving device is taking an elevator, the method further includes: When the self-moving device moves from the target elevator outside point to the target elevator middle point, or from the target elevator middle point to the target elevator outside point, the target elevator is controlled to maintain the door open state; the target elevator outside point is the elevator boarding point of the target elevator, and the target elevator middle point is the elevator middle point of the target elevator; When the self-moving device moves to the middle point of the target elevator or the outside point of the target elevator, the target elevator is controlled to close the door.

7. A mobile device for a mobile device, characterized in that: include: The acquisition module is used to obtain the current location, target location, available elevators and accessible floors from the mobile device; The takeable elevator is an elevator that the self-moving device can take on each floor, and the reachable floor refers to a floor that the self-moving device can reach when taking the takeable elevator. The takeable elevator has a corresponding switching point on the reachable floor; A node path module, used to determine the elevator node path of the self-moving device according to the current floor of the current point, the target floor of the target point, the available elevators and the accessible floors; A point path module, used to determine the point path of the self-moving device according to the elevator node path and the switching point; The control module is used to control the self-moving device to move from the current point to the target point according to the point path.

8. The mobile device of claim 7, wherein: The node path module includes: A route floor determination unit, used to determine the route floor of the self-moving device according to the current floor and the target floor; A candidate path unit is used to determine multiple candidate node paths of the self-mobile device based on the elevators that can be taken on the floors passed by and the floors that can be reached by each elevator; A first weight calculation unit, used to determine the path weight of each candidate node path based on the weight of each path node in the candidate node path; The first node determination unit is used to use the candidate node path with the smallest path weight as the elevator node path.

9. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for moving a self-equipped device as described in any one of claims 1 to 6 is implemented.

10. A self-propelled device, characterized in that: include: processor; A memory, configured to store executable instructions of the processor; The processor executes the executable instructions to enable the self-moving device to implement the self-moving device movement method as described in any one of claims 1 to 6.

Images