CN110482342B - Robot-based elevator calling method and related equipment - Google Patents
Robot-based elevator calling method and related equipment Download PDFInfo
- Publication number
- CN110482342B CN110482342B CN201910779553.4A CN201910779553A CN110482342B CN 110482342 B CN110482342 B CN 110482342B CN 201910779553 A CN201910779553 A CN 201910779553A CN 110482342 B CN110482342 B CN 110482342B
- Authority
- CN
- China
- Prior art keywords
- elevator
- robot
- delivery
- time
- floor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/46—Adaptations of switches or switchgear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/405—Details of the change of control mode by input of special passenger or passenger group
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a robot-based elevator calling method and related equipment, and relates to the technical field of intelligent control, wherein the robot-based elevator calling method comprises the following steps: determining a delivery floor corresponding to a delivery object, and acquiring elevator operation information; planning a delivery floor sequence according to the elevator operation information and the delivery floor; determining a first delivery floor based on the delivery floor sequence; and sending a calling request to the elevator according to the first delivery floor, wherein the calling request is used for calling the elevator to the floor where the robot is located. The invention can effectively reduce the waiting time of the robot and improve the delivery efficiency of the robot.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a robot-based elevator calling method and related equipment.
Background
With the rapid development of artificial intelligence, robots have been able to replace humans to engage in basic work, such as delivering expressages, carrying goods, etc.
With the popularization of robots, the application of the robots to elevator riding is more and more extensive, for example, the robots can reach high floors by the elevator riding so as to quickly send goods to be sent to specific positions of consignees located on the high floors. At present, the robot calling elevator scheme is that the robot starts calling the elevator after coming to an elevator waiting hall. Thus greatly increasing the waiting time of the robot. If the robot needs to go to a plurality of floors to deliver files or express, the delivery efficiency of the robot is affected, and the delivery efficiency of the files or the express is reduced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a robot-based elevator calling method and related devices, so as to reduce elevator waiting time of a robot and solve the problem of low delivery efficiency of the robot in the prior art.
In a first aspect, an embodiment of the present invention provides a robot-based elevator calling method, including: determining a delivery floor corresponding to a delivery object, and acquiring elevator operation information; planning a delivery floor sequence according to the elevator operation information and the delivery floor; determining a first delivery floor based on the delivery floor sequence; and sending a calling request to the elevator according to the first delivery floor, wherein the calling request is used for calling the elevator to the floor where the robot is located.
Optionally, the method further includes: after the robot leaves the elevator, determining the predicted time for returning to the elevator waiting hall according to the electronic map; and sending a calling elevator reservation request to the elevator according to the estimated time.
Optionally, the method further includes: importing an electronic map, wherein the electronic map is generated according to the floor structure layout and the specific positions of the personnel on each floor; and determining a delivery position corresponding to the delivery object. Wherein the determining the estimated time of returning to the hall according to the electronic map comprises: calculating distance information between the delivery position and the elevator waiting hall based on the electronic map; determining the sign-in time of the delivery object according to the delivery position; and determining the predicted time based on the speed information of the robot, the distance information and the sign-in time of the delivery object.
Optionally, the method further includes: in the process that the robot returns to the elevator waiting hall from the delivery position, the time for arriving at the elevator waiting hall is predicted according to the current position of the robot and the speed information of the robot; and sending the arrival time of the elevator waiting hall to the elevator.
Optionally, before sending the time of arriving at the elevator waiting hall to the elevator, the method further comprises judging whether the time of arriving at the elevator waiting hall is the same as the predicted time; and if the arrival time of the elevator waiting hall is different from the predicted time, executing the step of sending the arrival time of the elevator waiting hall to the elevator.
Optionally, the method further includes: receiving an elevator arrival time; and adjusting the speed information of the robot according to the elevator arrival time and the elevator arrival waiting hall time until the adjusted elevator arrival waiting hall time is consistent with the elevator arrival time.
In a second aspect, an embodiment of the present invention further provides another robot-based elevator calling method, including:
obtaining elevator running information and sending the calling information to a robot;
receiving a calling request, wherein the calling request is sent by the robot according to a first delivery floor, the first delivery floor is determined by the robot according to a delivery floor sequence, and the delivery floor sequence is planned according to a delivery floor corresponding to a delivery object and the elevator operation information;
and dispatching an elevator car to the floor where the robot is located according to the elevator calling request.
Optionally, the method further includes: receiving a calling reservation request, wherein the calling reservation request is sent by the robot according to the predicted time of returning to a waiting hall after leaving the elevator; and aiming at the elevator calling reservation request, determining a reserved elevator according to elevator running information, and dispatching the elevator car of the reserved elevator to the floor where the robot is located.
Optionally, the method further includes: receiving the time of arriving at a waiting hall sent by the robot; determining whether the elevator needs to be reserved again according to the arrival time of the elevator waiting hall; and if the elevator needs to be reserved again, determining a heavy elevator according to the time of arriving at the elevator waiting hall and the elevator running information, and dispatching the cage of the heavy elevator to the floor where the robot is located.
In a third aspect, an embodiment of the present invention further provides a robot, including: the elevator calling method comprises a robot body, a robot control device and a driving device, wherein the driving device drives the robot body to move, and the robot control device realizes the elevator calling method based on the robot in the first aspect.
In a fourth aspect, embodiments of the present invention also provide a readable storage medium, where instructions when executed by a processor of an apparatus enable the apparatus to perform the robot-based elevator calling method according to the first aspect.
In a fifth aspect, an embodiment of the present invention further provides an elevator control system, including: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the elevator control system to perform the robot-based elevator calling method of the second aspect.
In a sixth aspect, the present invention further provides a readable storage medium, wherein the instructions of the storage medium, when executed by a processor of an apparatus, enable the apparatus to perform the robot-based elevator calling method according to the second aspect.
The embodiment of the invention can plan the delivery floor sequence according to the delivery floor corresponding to the delivery object and the elevator operation information, can determine the first delivery floor based on the delivery floor sequence, and can send the calling request according to the first delivery floor, thereby solving the problem of long waiting time caused by calling after the robot arrives at the elevator waiting hall in the prior art, effectively reducing the waiting time of the robot and improving the delivery efficiency of the robot.
Drawings
Fig. 1 is a flowchart of a robot-based elevator calling method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the steps of a robot-based elevator calling method in an alternative embodiment of the present invention;
FIG. 3 is a flow chart illustrating steps of another robot-based elevator calling method in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a robot-based elevator calling method according to an embodiment of the present invention, where the embodiment is applicable to a robot-based elevator calling situation, and the method may be executed by a robot-based elevator calling apparatus, and the robot-based elevator calling apparatus may be implemented in a software and/or hardware manner. Specifically, as shown in fig. 1, the robot-based elevator calling method specifically includes the following steps:
and step 110, determining a delivery floor corresponding to the delivery object, and acquiring elevator running information.
In this embodiment, the delivery object may refer to an object that the robot needs to deliver, such as a file, an express delivery, a cargo, and the like that the robot needs to deliver, which is not specifically limited in this embodiment. Specifically, when the robot needs to dispatch the dispatch object carried by the robot, the delivery floor corresponding to the dispatch object can be determined according to the information carried by the dispatch object, such as the information of the consignee, the consignee address, the barcode of the dispatch object, and the like. The delivery floor corresponding to the delivery object may be a floor to which the delivery object needs to be delivered, for example, a floor where a consignee of the delivery object is located.
In addition, the robot in the embodiment of the invention can communicate with the elevator control system and can acquire the elevator operation information from the elevator control system based on the communication. The elevator operation information may include information about actual operation of the elevator, and may determine actual operation conditions of the elevator, such as which floor the elevator is currently operated to, which destination floor the elevator is to be operated to stay at, and the like, which is not particularly limited in this embodiment. In the actual processing, the elevator operation information can be determined according to the calling information of the elevator, and the calling information can comprise the calling information in the elevator and the calling information out of the elevator; the elevator calling information can represent the elevator calling condition; the elevator calling information can indicate the calling condition of waiting personnel outside the elevator hall.
And step 120, planning a delivery floor sequence according to the elevator operation information and the delivery floor.
Specifically, in this embodiment, after the obtained elevator operation information, the order of the delivery floors of the robot can be planned according to the elevator calling situation and the hall waiting personnel situation based on the elevator operation information. The delivery floor sequence may represent the sequence of delivery floors.
Specifically, in this embodiment, after the delivery floor sequence is planned, the floor whose sequence is the first in the delivery floor sequence may be determined as the first delivery floor, so that the elevator calling may be performed for the first delivery floor in the following step, that is, step 140 is performed. The first delivery floor may represent a floor to which the first dispatch is required to reach, which is determined in the order of delivery floors, and for example, in the case where the order of delivery floors is 12 th, 9 th, and 8 th, 12 th may be used as the first delivery floor.
And step 140, sending a calling request to the elevator according to the first delivery floor, wherein the calling request is used for calling the elevator to the floor where the robot is located.
Specifically, after the first delivery floor is determined, the elevator calling request may be generated directly according to information of the first delivery floor, such as a floor number of the first delivery floor, and the elevator calling request may be sent to the elevator control system, that is, the elevator calling request is sent to the elevator, so that the elevator control system may receive the elevator calling request to trigger the elevator control system to dispatch the car of the elevator to the floor where the robot is located, thereby solving the problem of long elevator waiting time caused by the fact that the robot calls the elevator after arriving at the elevator waiting hall.
As an example of the present invention, when a robot needs to deliver an express or a file, the floor where all receiving persons needing to be delivered are located, that is, the delivery floor corresponding to a delivery object is determined, elevator operation information is obtained from an elevator control system based on communication between elevator control systems, so as to determine the actual operation condition of an elevator based on the elevator operation information, so that the delivery floor sequence can be planned according to the actual operation condition, for example, an elevator calling condition and an out-of-hall waiting person condition can be determined based on the actual operation condition of the elevator, so as to plan the delivery floor sequence in advance by combining the elevator calling condition and the out-of-hall waiting person condition, then a first delivery floor can be determined based on the delivery floor sequence, so as to send a calling request according to the first delivery floor, that is, calling the first sequence floor is performed, and further, an elevator control system can be triggered to dispatch a car of the elevator to the floor where the robot is located, when the robot arrives at the elevator waiting hall of the floor, the robot can arrive at the first delivery floor by taking the elevator to carry out express delivery or document delivery, the elevator waiting time is reduced, and the delivery efficiency of the documents or the express delivery is improved, namely the delivery efficiency of the robot is improved.
Furthermore, after the robot leaves the elevator, the time required for the robot to return to the elevator after delivering the file or express can be predicted through the electronic map, and the elevator calling can be reserved according to the predicted time. Optionally, the robot-based elevator calling method provided in the embodiment of the present invention may further include: after leaving the elevator, determining the predicted time for returning to the elevator waiting hall according to the electronic map; and sending a calling elevator reservation request to the elevator according to the estimated time. The reservation request can be used for reserving and calling the elevator to trigger the elevator control system to pre-dispatch the elevator according to the elevator time running condition, so that the elevator waiting time of the robot is reduced, and the delivery efficiency of the robot is improved.
It should be noted that the electronic map in this embodiment may be pre-imported into the robot, so that the robot may determine the distance between the arrival point of each delivery location and the elevator waiting hall according to the electronic map. The electronic map may be generated based on the internal structural layout of the building for which the robot is responsible for delivery, and may include the specific locations of the various people in the building.
On the basis of the above technical solution, the embodiment of the present invention may further include: importing an electronic map, wherein the electronic map is generated according to the floor structure layout and the specific positions of the personnel on each floor; and determining a delivery position corresponding to the delivery object. The delivery location corresponding to the delivery object may be a specific location to which the delivery object needs to be delivered, such as a specific location of a consignee. Wherein, the determining the predicted time of returning to the elevator waiting hall according to the electronic map comprises: calculating distance information between the delivery position and the elevator waiting hall based on the electronic map; determining the sign-in time of the delivery object according to the delivery position; and determining the predicted time based on the speed information of the robot, the distance information and the sign-in time of the delivery object. The estimated time may refer to the time expected to be required to deliver the dispatch to the delivery location and return to the lobby. The delivery object signing-in time may represent a time when the consignee signs in the delivery object, for example, the consignee signs in the express delivery or the document.
In the actual processing, an electronic map of the interior of the building can be generated according to the floor structure layout of the interior of the building, and the electronic map can contain the specific positions of the personnel on each floor in the building. Wherein, the floor structure layout can represent the internal structure layout of the building; the specific location of a floor person may refer to a specific location of a person within a building, such as may be the specific location of each person working within the building. After the electronic map of the interior of the building is generated, the electronic map can be imported into the robot, so that the robot can calculate the distance from each delivery position to the elevator waiting hall through the electronic map, and then a path can be planned according to the distance between each delivery position (namely the delivery position corresponding to a delivery object) and the elevator waiting hall during delivery, and the delivery efficiency is improved.
Specifically, when the robot needs to dispatch, the floor and the position information of all people needing to be dispatched can be determined according to the dispatching object needing to be dispatched, namely the dispatching floor and the delivery position corresponding to the dispatching object are determined; the method can obtain elevator operation information, plans the sequence of the delivery floors in advance according to the actual operation condition of the elevator based on the elevator operation information, namely plans the sequence of the delivery floors according to the elevator operation information and the delivery floors corresponding to the delivery objects, and then calls the elevator according to the first sequence of the floors, namely sends elevator calling requests to the elevator according to the first delivery floors to call the elevator to the floor where the robot is located, so that the robot can deliver the elevator by taking the elevator to the first delivery floors, and the elevator waiting time of the robot can be effectively reduced.
When the robot reaches a first delivery floor and leaves the elevator, namely after the robot reaches a target floor and leaves the elevator, the robot can predict the time for delivering the delivery object to the delivery position and returning to the elevator waiting hall through the electronic map, and then can call the elevator in a reservation mode according to the predicted time, namely send an elevator calling reservation request to the elevator, so that an elevator control system can receive the elevator calling reservation request and can pre-dispatch the elevator according to the actual situation of the elevator aiming at the elevator calling reservation request, the aim of reducing the elevator waiting time of the robot is fulfilled, and the delivery efficiency of the robot is further improved.
In the process of returning the robot, the embodiment of the invention can also predict the time when the robot reaches the elevator waiting hall again and send the predicted time to the elevator, so that the elevator can determine the time when the robot reaches the elevator waiting hall according to the predicted time again, and can recalculate whether the robot can deliver goods according to the originally planned floor sequence according to the time when the robot reaches the elevator waiting hall, namely determine whether the robot delivers goods according to the pre-planned delivery floor sequence and determine that the robot needs to re-deliver the elevator. Optionally, the robot-based elevator calling method provided in the embodiment of the present invention may further include: in the process that the robot returns to the elevator waiting hall from the delivery position, the time for arriving at the elevator waiting hall is predicted according to the current position of the robot and the speed information of the robot; and sending the arrival time of the elevator waiting hall to the elevator. Wherein the speed information of the robot may represent the speed at which the robot moves.
In addition, in the return trip process of the robot, the elevator can inform the robot of the predicted arrival time, so that the robot can adjust the speed according to the arrival time of the elevator and the calculated arrival time of the elevator waiting hall, the robot and the elevator can arrive at the same time, and the situation that the robot misses the elevator due to the fact that the elevator arrives too early is avoided. Further, the robot-based elevator calling method provided by the embodiment of the present invention may further include: receiving an elevator arrival time; and adjusting the speed information of the robot according to the elevator arrival time and the elevator arrival waiting hall time until the adjusted elevator arrival waiting hall time is consistent with the elevator arrival time. Wherein the elevator arrival time may represent the time at which the elevator is expected to arrive at the floor on which the robot is located.
Referring to fig. 2, a flow chart of the steps of a robot-based elevator calling method in an alternative embodiment of the present invention is shown. The robot-based elevator calling method can be applied to robots and specifically comprises the following steps:
and step 210, importing the electronic map.
In the embodiment of the invention, the robot can import the electronic map so as to calculate the distance from each delivery position to the point diagram elevator hall through the electronic map when delivering goods in the following process. The electronic map is generated according to the floor structure layout and the specific positions of the persons on each floor, and may include the specific positions of the persons in the building, that is, the electronic map may be used to determine the specific positions of the consignees (i.e., delivery positions).
And step 220, determining a delivery floor and a delivery position corresponding to the delivery object, and acquiring elevator operation information.
Specifically, when the robot needs to dispatch goods, the floor and the position information of all people needing to be dispatched can be determined according to the dispatching object, namely the dispatching floor and the dispatching position are determined, and the communication connection can be established with the elevator control system, so that the elevator operation information sent by the elevator control system is received based on the communication connection, namely the elevator operation information is obtained from the elevator control system.
In this embodiment, after obtaining elevator operation information, the robot can determine the in-elevator call situation and the out-of-hall waiting personnel situation based on the elevator operation information, and then can plan the delivery floor sequence in advance according to the in-elevator call situation and the out-of-hall waiting personnel situation to call the elevator according to the delivery floor sequence. Specifically, when the robot needs to dispatch goods, a first delivery floor can be determined based on the delivery floor sequence, a calling request can be generated based on the first delivery floor, and then the calling request can be sent to the elevator based on the communication connection established with the elevator control system, so that the elevator can be called to the floor where the robot is located, and the problem that the robot calls the elevator again after arriving at an elevator waiting hall to cause long waiting time is avoided.
And step 240, determining the expected time for returning to the elevator waiting hall according to the electronic map, and sending an elevator calling reservation request according to the expected time.
Specifically, after the robot arrives at the first delivery floor by taking an elevator, the robot can leave the elevator to arrive at the delivery position to dispatch the goods. In addition, after the robot leaves the elevator, the distance information between the delivery position and the elevator waiting hall can be calculated based on the electronic map; and then, according to the calculated distance information, determining the time required for the delivery object to sign for and return to the elevator waiting hall after the delivery of the goods at the delivery position of the first delivery floor is finished by combining the speed of the delivery object, namely determining the expected time for returning to the elevator waiting hall based on the speed information of the robot, the distance information and the time required for the delivery object to sign for, so that an elevator calling reservation request can be generated based on the expected time, and the elevator calling reservation request is sent to the elevator to trigger the elevator to pre-dispatch the elevator according to the actual running condition. For example, when the elevator receives an elevator calling reservation request, an elevator car can be reserved to run to the floor where the robot is located after the predicted time according to the predicted time carried in the elevator calling reservation request and the actual running condition, so that the robot can take the elevator car when returning to the elevator waiting hall, and the elevator waiting time of the robot is reduced.
And 250, in the process of returning to the elevator waiting hall from the delivery position, predicting the time of arriving at the elevator waiting hall according to the current position of the robot and the speed information of the robot, and sending the time of arriving at the elevator waiting hall to the elevator.
The current position of the robot may refer to a specific position where the robot is currently located, and the speed information may be represented as a moving speed of the robot. Specifically, when the robot returns to the elevator waiting hall, the specific position where the robot is currently located and the current moving speed of the robot can be acquired, calculation can be performed according to the acquired specific position and the acquired moving speed to predict the time for returning to the elevator waiting hall again, namely the time for arriving at the elevator waiting hall is predicted, and then the time for arriving at the elevator waiting hall which is predicted again can be sent to the elevator, so that the elevator can re-determine whether the robot carries out delivery according to the originally planned delivery floor sequence and determines whether elevator re-dispatching is needed according to the time for arriving at the elevator waiting hall. For example, upon receiving the predicted arrival time at the lobby anew by the robot, the elevator may compare the arrival time to the time at which the scheduled elevator car reached the floor on which the robot was located to determine if the robot arrived at the same time as the scheduled elevator car. If the robot arrives at the same time with the reserved elevator car, the floor required to arrive by the reserved elevator car can be compared with the delivery floor required to arrive by the robot to determine the target floor required to be delivered by the robot next time, so that whether the robot delivers goods according to the sequence of the delivery floors planned originally can be determined based on the target floor. If the robot can not arrive at the reserved elevator car at the same time, the elevator is reassigned according to the predicted arrival time of the robot to the elevator waiting hall, namely, another elevator car is reserved again to run to the floor where the robot is located, so that the robot can arrive at the delivery floor by taking another elevator car to deliver goods. Optionally, the floor required to be reached by another newly reserved elevator car may be compared with the delivery floor required to be reached by the robot to determine the destination floor required to be reached by the robot next time, so that whether the robot delivers goods according to the originally planned delivery floor sequence may be determined based on the destination floor.
In an optional implementation manner, before sending the arrival waiting hall time to an elevator, the embodiment of the invention may further include judging whether the arrival waiting hall time is the same as the predicted time; and if the arrival time of the elevator waiting hall is different from the predicted time, executing the step of sending the arrival time of the elevator waiting hall to the elevator. If the arrival time of the elevator waiting hall is the same as the predicted time, the arrival time of the elevator waiting hall is ignored, and the arrival time of the elevator waiting hall does not occur, so that the data transmission quantity is reduced, and the network resources are saved.
In the actual process, the elevator can send its expected arrival time, the elevator arrival time, to the robot so that the robot can receive the elevator arrival time.
And 270, adjusting the speed information of the robot according to the elevator arrival time and the elevator arrival waiting hall time until the adjusted elevator arrival waiting hall time is consistent with the elevator arrival time.
Specifically, the robot may compare the elevator arrival time with the arrival waiting hall time after receiving the elevator arrival time. If the arrival time of the elevator is inconsistent with the arrival time of the elevator waiting hall, the robot and the elevator can be determined not to arrive at the same time, the speed of the robot can be adjusted, namely the speed information of the robot is adjusted, so that the arrival time of the robot at the elevator waiting hall is adjusted until the adjusted arrival time of the robot at the elevator waiting hall is consistent with the arrival time of the elevator, the robot and the elevator can arrive at the same time, and the situation that the robot misses the elevator due to the fact that the elevator arrives too early is avoided.
Example two
Referring to fig. 3, a flowchart illustrating steps of another robot-based elevator calling method in an embodiment of the present invention is shown. Specifically, the robot-based elevator calling method specifically includes the following steps:
and 310, obtaining elevator running information and sending the elevator running information to the robot.
Specifically, the embodiment of the invention can acquire the elevator running information and send the elevator running information to the robot, so that the robot can determine the actual running condition of the elevator based on the elevator running information when dispatching goods, and further can plan the delivery floor sequence and call the elevator in advance according to the actual condition of the elevator, thereby realizing effective planning of the delivery path of the robot and improving the delivery efficiency of the robot.
The calling request is sent by the robot according to a first delivery floor, the first delivery floor is determined by the robot according to a delivery floor sequence, and the delivery floor sequence is planned according to a delivery floor corresponding to a delivery object and the elevator operation information.
And step 330, dispatching an elevator car to the floor where the robot is located according to the elevator calling request.
Specifically, after receiving a calling request sent by the robot, the embodiment can dispatch an elevator car to the floor where the robot is located according to the actual running condition of the elevator for the robot can reach the first delivery floor by taking the elevator to dispatch goods, thereby solving the problem of long waiting time caused by calling the elevator after the robot reaches the elevator waiting hall, effectively reducing the waiting time of the robot, and improving the delivery efficiency of the robot.
Further, the robot-based elevator calling method of the embodiment may further include: receiving a calling reservation request, wherein the calling reservation request is sent by the robot according to the predicted time of returning to a waiting hall after leaving the elevator; and aiming at the elevator calling reservation request, determining a reserved elevator according to elevator running information, and dispatching the elevator car of the reserved elevator to the floor where the robot is located. Wherein the elevator operation information can represent the actual operation situation of the elevator.
In practical processing, the other robot-based elevator calling method provided by the embodiment can be particularly applied to an elevator control system. After receiving the elevator calling reservation request sent by the robot, the elevator control system can perform pre-dispatching by combining the actual running condition of the elevator based on the predicted time carried in the elevator calling reservation request, namely determining the reserved elevator, and dispatching the cage of the reserved elevator to the floor where the robot is located after the predicted time, so that the robot can ride the cage of the reserved elevator when returning to the elevator waiting hall, and the elevator waiting time of the robot is reduced.
Optionally, another ladder calling method based on a robot provided in the embodiment of the present invention may further include: receiving the time of arriving at a waiting hall sent by the robot; determining whether the elevator needs to be reserved again according to the arrival time of the elevator waiting hall; and if the elevator needs to be reserved again, determining a heavy elevator according to the time of arriving at the elevator waiting hall and the elevator running information, and dispatching the cage of the heavy elevator to the floor where the robot is located.
Specifically, during the robot return, the elevator control system may receive the arrival waiting hall time recalculated by the robot and may compare the arrival waiting hall time with the time for the car of the reserved elevator to reach the floor on which the robot is located to determine whether the car of the reserved elevator arrives at the same time as the robot. For example, in the case where the arrival time at the lobby is the same as the time at which the car of the reserved elevator reaches the floor on which the robot is, it can be determined that the car of the reserved elevator can arrive at the same time as the robot, i.e., without re-reserving the elevator. If the time of arriving at the elevator waiting hall is different from the time of arriving at the floor where the robot is located by the cage of the reserved elevator, the cage of the reserved elevator can be determined not to arrive at the same time with the robot, the elevator can be reserved again according to the time of arriving at the elevator waiting hall, namely, the elevator needs to be re-dispatched, so that the robot can arrive at the next delivery floor for delivering goods by taking the newly reserved elevator after returning to the elevator waiting hall, the elevator waiting time of the robot is reduced, and the delivery efficiency of the robot is improved.
To sum up, the embodiment of the invention can plan the delivery floor sequence according to the delivery floor corresponding to the delivery object and the elevator operation information, can determine the first delivery floor based on the delivery floor sequence, and can send the calling request according to the first delivery floor, thereby solving the problem of long waiting time caused by calling after the robot arrives at the elevator waiting hall in the prior art, effectively reducing the waiting time of the robot, effectively planning the delivery path of the robot, and improving the delivery efficiency of the robot.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention.
EXAMPLE III
On the basis of the embodiment, the embodiment of the invention also provides a robot. As shown in fig. 4, the robot 400 may include a robot body 410, a robot controller 420, and a driving device 430 communicating with the robot controller 420. The driving device drives the robot body 410 to move, and the robot control device 420 implements the robot-based elevator calling method according to any one of the first embodiment.
In a particular implementation, the robot control device 420 may include the following modules:
the determining and obtaining module is used for determining a delivery floor corresponding to the delivery object and obtaining elevator running information;
the floor sequence planning module is used for planning the sequence of the delivery floors according to the elevator operation information and the delivery floors;
a delivery floor determination module for determining a first delivery floor based on the delivery floor sequence;
and the calling request sending module is used for sending a calling request to the elevator according to the first delivery floor, and the calling request is used for calling the elevator to the floor where the robot is located.
In an alternative embodiment, the robot controller 420 may further include the following modules:
the estimated time determining module is used for determining the estimated time for returning to the elevator waiting hall according to the electronic map after the robot leaves the elevator;
and the reservation request sending module is used for sending an elevator calling reservation request to the elevator according to the estimated time.
In an alternative embodiment, the robot controller 420 may further include a map import module. The map importing module is used for importing an electronic map, and the electronic map is generated according to the floor structure layout and the specific positions of the personnel on each floor. The determining and obtaining module is further configured to determine a delivery location corresponding to the delivery object.
The estimated time determining module may include the following sub-modules:
the distance calculation submodule is used for calculating distance information between the delivery position and the elevator waiting hall based on the electronic map;
the receiving time determining submodule is used for determining the receiving time of the delivery object according to the delivery position;
and the time determining submodule is used for determining the predicted time based on the speed information of the robot, the distance information and the delivery object signing-in time.
In an alternative embodiment, the robot controller 420 may further include the following modules:
the arrival time prediction module is used for predicting arrival time of the robot at the elevator waiting hall according to the current position of the robot and the speed information of the robot in the process that the robot returns to the elevator waiting hall from the delivery position;
and the time sending module is used for sending the time of arriving at the elevator waiting hall to the elevator.
Optionally, the robot controller 420 may further include a time determination module. The time judging module is used for judging whether the arrival time of the elevator waiting hall is the same as the predicted time or not before the arrival time of the elevator waiting hall is sent to the elevator by the time sending module; and if the time for arriving at the elevator waiting hall is different from the predicted time, triggering a time sending module to send the time for arriving at the elevator waiting hall to the elevator.
Optionally, the robot controller 420 may further include the following modules:
the elevator arrival time receiving module is used for receiving the elevator arrival time;
and the speed adjusting module is used for adjusting the speed information of the robot according to the elevator arrival time and the elevator arrival waiting hall time until the adjusted elevator arrival waiting hall time is consistent with the elevator arrival time.
Example four
On the basis of the embodiment, the embodiment of the invention also provides an elevator control system. The elevator control system includes: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the elevator control system to perform the robot-based elevator calling method described in embodiment two above.
EXAMPLE five
Further, an embodiment of the present invention also provides a readable storage medium, where instructions executed by a processor of an apparatus enable the apparatus to perform any one of the robot-based elevator calling methods described in the above embodiments. For example, in the case of a readable storage medium applied in a robot, when the instructions in the storage medium are executed by a processor of the robot, the robot is enabled to perform the robot-based elevator calling method described in the first embodiment. As another example, in the case of an application of the readable storage medium in an elevator control system, when the instructions in the storage medium are executed by a processor of the elevator control system, the elevator control system is enabled to perform the robot-based elevator calling method described in embodiment two above.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, and the computer software product may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions to enable a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the elevator monitoring method according to any embodiment of the present invention.
It should be noted that, in the embodiment of the robot and elevator control system, the units and modules included in the embodiment are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A robot-based elevator calling method is characterized by comprising the following steps:
determining a delivery floor corresponding to a delivery object, and acquiring elevator operation information;
planning a delivery floor sequence according to the elevator operation information and the delivery floor;
determining a first delivery floor based on the delivery floor sequence;
sending a calling request to the elevator according to the first delivery floor, wherein the calling request is used for calling the elevator to a floor where the robot is located;
further comprising:
according to the first delivery floor, after a calling request is sent to the elevator, the time when the robot reaches a waiting hall is estimated, and the time is sent to the elevator;
and determining whether the robot delivers goods according to a pre-planned delivery floor sequence according to the time, and judging whether the elevator needs to be reassigned.
2. The robot-based elevator calling method of claim 1, further comprising:
after the robot leaves the elevator, determining the predicted time for returning to the elevator waiting hall according to the electronic map;
and sending a calling elevator reservation request to the elevator according to the estimated time.
3. The robot-based elevator calling method of claim 2, further comprising:
importing an electronic map, wherein the electronic map is generated according to the floor structure layout and the specific positions of the personnel on each floor;
determining a delivery position corresponding to the delivery object;
wherein the determining the estimated time of returning to the hall according to the electronic map comprises:
calculating distance information between the delivery position and the elevator waiting hall based on the electronic map;
determining the sign-in time of the delivery object according to the delivery position;
and determining the predicted time based on the speed information of the robot, the distance information and the sign-in time of the delivery object.
4. The robot-based elevator calling method according to claim 2 or 3, further comprising:
in the process that the robot returns to the elevator waiting hall from the delivery position, the time for arriving at the elevator waiting hall is predicted according to the current position of the robot and the speed information of the robot;
and sending the arrival time of the elevator waiting hall to the elevator.
5. The robot-based elevator calling method of claim 4, further comprising, prior to sending the arrival lobby time to an elevator:
judging whether the arrival time of the elevator waiting hall is the same as the predicted time or not;
and if the arrival time of the elevator waiting hall is different from the predicted time, executing the step of sending the arrival time of the elevator waiting hall to the elevator.
6. The robot-based elevator calling method of claim 5, further comprising:
receiving an elevator arrival time;
and adjusting the speed information of the robot according to the elevator arrival time and the elevator arrival waiting hall time until the adjusted elevator arrival waiting hall time is consistent with the elevator arrival time.
7. A robot-based elevator calling method is characterized by comprising the following steps:
obtaining elevator running information and sending the elevator running information to a robot;
receiving a calling request, wherein the calling request is sent by the robot according to a first delivery floor, the first delivery floor is determined by the robot according to a delivery floor sequence, and the delivery floor sequence is planned according to a delivery floor corresponding to a delivery object and the elevator operation information;
dispatching an elevator car to a floor where the robot is located according to the elevator calling request;
receiving the time of arriving at a waiting hall sent by the robot;
determining whether the elevator needs to be reserved again according to the arrival time of the elevator waiting hall;
and if the elevator needs to be reserved again, determining a heavy elevator according to the time of arriving at the elevator waiting hall and the elevator running information, and dispatching the cage of the heavy elevator to the floor where the robot is located.
8. The robot-based elevator calling method of claim 7, further comprising:
receiving a calling reservation request, wherein the calling reservation request is sent by the robot according to the predicted time of returning to a waiting hall after leaving the elevator;
and aiming at the elevator calling reservation request, determining a reserved elevator according to elevator running information, and dispatching the elevator car of the reserved elevator to the floor where the robot is located.
9. A robot, comprising: the robot comprises a robot body, a robot control device and a driving device, wherein the driving device drives the robot body to move, and the robot control device realizes the robot-based elevator calling method in any one of claims 1-6.
10. A readable storage medium, wherein instructions in the storage medium, when executed by a processor of an apparatus, enable the apparatus to perform the robot-based elevator calling method of any of claims 1-6.
11. An elevator control system, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the elevator control system to perform the robot-based elevator calling method of any of claims 7-8.
12. A readable storage medium, wherein instructions in the storage medium, when executed by a processor of an apparatus, enable the apparatus to perform the robot-based elevator calling method of any of claims 7-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910779553.4A CN110482342B (en) | 2019-08-22 | 2019-08-22 | Robot-based elevator calling method and related equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910779553.4A CN110482342B (en) | 2019-08-22 | 2019-08-22 | Robot-based elevator calling method and related equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110482342A CN110482342A (en) | 2019-11-22 |
| CN110482342B true CN110482342B (en) | 2021-12-17 |
Family
ID=68552956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910779553.4A Active CN110482342B (en) | 2019-08-22 | 2019-08-22 | Robot-based elevator calling method and related equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110482342B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877338B (en) * | 2019-11-29 | 2021-07-16 | 上海有个机器人有限公司 | Elevator dispatching method, medium, terminal and device for auxiliary robot |
| CN110861095B (en) * | 2019-12-09 | 2021-03-19 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
| EP4100351A1 (en) * | 2020-02-03 | 2022-12-14 | KONE Corporation | Generation of control signals |
| US11593747B2 (en) * | 2020-03-16 | 2023-02-28 | Otis Elevator Company | Automated sort area using robots |
| CN111232774A (en) * | 2020-03-27 | 2020-06-05 | 蓓安科仪（北京）技术有限公司 | Dispatching method and system for realizing interaction between autonomous mobile robot and elevator |
| CN112537704B (en) * | 2020-03-31 | 2022-10-25 | 深圳优地科技有限公司 | Robot elevator taking scheduling method, terminal and computer readable storage medium |
| CN112607538B (en) * | 2020-12-22 | 2022-11-04 | 深圳优地科技有限公司 | Elevator allocation method, device and equipment of robot and storage medium |
| CN112723054B (en) * | 2021-01-12 | 2022-12-13 | 深圳优地科技有限公司 | Robot-based freight transportation method and device and intelligent equipment |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204528951U (en) * | 2015-02-06 | 2015-08-05 | 苏州小牛信息科技有限公司 | A kind of elevator reservation system |
| JP6611685B2 (en) * | 2016-08-22 | 2019-11-27 | 株式会社日立製作所 | Elevator system |
| WO2018066056A1 (en) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | Elevator system |
| WO2018066057A1 (en) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | Elevator control device and autonomous moving body control device |
| CN106709582A (en) * | 2016-11-18 | 2017-05-24 | 福建我家网络科技有限公司 | Entrance guard, lift and household intelligent linkage system and application thereof |
| JP6767567B2 (en) * | 2017-03-28 | 2020-10-14 | 株式会社日立産機システム | Mapping system and robot system |
| CN108002151A (en) * | 2017-12-06 | 2018-05-08 | 昆山京都电梯有限公司 | A kind of elevator task control method and elevator based on robot |
| CN108163653B (en) * | 2017-12-11 | 2020-08-18 | 日立楼宇技术（广州）有限公司 | Elevator and method and device for robot to take elevator |
| KR20190096007A (en) * | 2018-02-08 | 2019-08-19 | 주영진 | Mobile robot device capable of automated transportation and operating method thereof |
| CN109573754B (en) * | 2018-10-17 | 2020-02-21 | 拉扎斯网络科技（上海）有限公司 | Elevator dispatching method, device, server and computer readable storage medium |
| CN109205406B (en) * | 2018-10-18 | 2020-10-23 | 日立楼宇技术（广州）有限公司 | Robot elevator taking method and device, computer equipment and readable storage medium |
| CN109164813B (en) * | 2018-10-31 | 2023-06-20 | 长安大学 | Unmanned express robot up-and-down elevator system and control method |
| CN109250593B (en) * | 2018-11-05 | 2021-01-05 | 上海木木聚枞机器人科技有限公司 | Scheduling method and system for multiple robots and multiple elevators |
-
2019
- 2019-08-22 CN CN201910779553.4A patent/CN110482342B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110482342A (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110482342B (en) | Robot-based elevator calling method and related equipment | |
| CN109636198B (en) | Scheduling method, scheduling apparatus, computer-readable storage medium, and electronic device | |
| CN111392530B (en) | Robot, robot calling method, elevator control method and device | |
| US11597600B2 (en) | Article picking method, server and system | |
| CN110963378B (en) | Multi-elevator scheduling method | |
| CN110414895A (en) | Vehicle dispatch system and method | |
| CN110606414B (en) | Robot elevator taking method and device, computer equipment and storage medium | |
| CN109471427A (en) | Carry the method, scheduling system and computer readable storage medium of article | |
| CN111332891A (en) | Elevator taking method and elevator taking device | |
| CN113033971B (en) | Server, and waybill scheduling method, medium and device of delivery robot | |
| US12019440B2 (en) | Control system for receiving an elevator call in conjunction with a request for an autonomous vehicle | |
| CN111079988A (en) | Task execution method and device, storage medium and electronic device | |
| CN112068544A (en) | Scheduling method, device, equipment and storage medium for autonomous mobile device | |
| CN113954067B (en) | Ladder taking method and device for robot, robot and storage medium | |
| US7591347B2 (en) | Control method and system for elevator | |
| JP2019218160A (en) | Scheduling system of elevator | |
| CN114692966A (en) | Cross-floor scheduling method, device and system for four-way shuttle | |
| CN113104683B (en) | Elevator dispatching method and device based on multiple robots | |
| JP7107068B2 (en) | dispatch system | |
| JP2018180652A (en) | Traffic system | |
| CN114330974A (en) | Robot scheduling method and device, electronic equipment and storage medium | |
| CN111652549A (en) | Logistics distribution simulation method and device | |
| CN112183850A (en) | Route planning method, device, equipment and storage medium | |
| CN113822573B (en) | Boarding management method, device, system and storage medium | |
| CN110902510A (en) | System and method for effecting transport by providing passenger handoff between multiple elevators |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |