1. A ladder taking method in a multi-robot ladder taking system is applied to a robot which enters an elevator, and is characterized by comprising the following steps:

acquiring current floor information of a target elevator in real time;

judging whether the robot reaches a target floor or not according to the current floor information, and entering a lift-out process if the robot reaches the target floor; if the result is negative, the current movement speed of the target elevator is obtained in real time;

detecting the up-down speed of the robot according to a sensor of the robot;

judging whether the current movement speed of the target elevator is matched with the up-down speed of the robot or not, and if not, judging that the robot is abnormal in elevator taking; wherein the elevator taking abnormity comprises that the robot is positioned in other elevators except the target elevator and does not enter any elevator;

when the robot is judged to be positioned in other elevators except the target elevator, the robot is controlled to enter a wrong elevator entering mode, and a help-seeking signal is sent to wait for rescue; and if the robot does not enter any elevator, controlling the robot to enter a midway elevator exit mode, recovering the map of the robot to be the floor matched with the elevator at the last time, and reselecting the elevator.

2. The boarding method in the multi-robot boarding system according to claim 1, further comprising the steps of:

acquiring a robot registration list of the target elevator in real time;

and if the robot registration list is detected to be empty or the identity number of the current robot is not contained, controlling the current robot to enter an escape mode.

3. The boarding method in the multi-robot boarding system according to claim 1, further comprising the steps of:

acquiring a target floor registration list of the target elevator in real time;

and if the target floor registration list is detected to be empty or the target floor expected by the current robot is not contained, controlling the current robot to enter an escape mode.

4. The boarding method in the multi-robot boarding system according to any one of claims 2 or 3, characterized by comprising, in escape mode, the steps of:

circularly judging the door opening and closing state of the target elevator;

and if the target elevator is detected to be in the door opening in-place state, controlling the robot to go out of the elevator.

5. A ladder taking method in a multi-robot ladder taking system is applied to an elevator, and is characterized by comprising the following steps:

acquiring and judging whether the elevator taking state code of the robot is kept in an elevator taking state in real time;

if the result is holding, the registration state of the target floor expected by the robot is held, and a registration button of an elevator panel is clicked at preset time intervals;

if the result is no holding, the registration state of the target floor expected by the robot is cancelled, and the click of the registration button of the elevator panel is stopped.

6. The boarding method in the multi-robot boarding system according to claim 5, further comprising the steps of:

acquiring current floor information of the elevator in real time;

and judging whether the target floor expected by the robot is reached or not according to the current floor information, and if so, deleting the target floor from a target floor registration list.

7. An elevator riding device in a multi-robot elevator riding system, which is applied to a robot entering an elevator, and is characterized by comprising:

the elevator floor acquisition module is used for acquiring the current floor information of the target elevator in real time;

the target floor judging module is used for judging whether the robot reaches a target floor according to the current floor information, and if so, entering an elevator exit process; if the result is negative, the current movement speed of the target elevator is obtained in real time;

the up-down speed detection module is used for detecting the up-down speed of the robot according to a sensor of the robot;

the speed matching judgment module is used for judging whether the current movement speed of the target elevator is matched with the up-down speed of the robot or not, and if not, judging that the robot takes the elevator abnormally; wherein the elevator taking abnormity comprises that the robot is positioned in other elevators except the target elevator and does not enter any elevator;

when the robot is judged to be positioned in other elevators except the target elevator, the robot is controlled to enter a wrong elevator entering mode, and a help-seeking signal is sent to wait for rescue; and if the robot does not enter any elevator, controlling the robot to enter a midway elevator exit mode, recovering the map of the robot to be the floor matched with the elevator at the last time, and reselecting the elevator.

8. An elevator taking device in a multi-robot elevator taking system is applied to an elevator, and is characterized by comprising:

the robot state judgment module is used for acquiring and judging whether the elevator taking state code of the robot is kept in an elevator taking state in real time;

if the result is holding, the registration state of the target floor expected by the robot is held, and a registration button of an elevator panel is clicked at preset time intervals;

if the result is no holding, the registration state of the target floor expected by the robot is cancelled, and the click of the registration button of the elevator panel is stopped.

9. A terminal, characterized in that the terminal comprises a memory, a processor and a boarding program stored in the memory and operable on the processor in a multi-robot boarding system, which when executed by the processor implements the steps of the boarding method in the multi-robot boarding system according to any one of claims 1-4.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores an elevator taking program in a multi-robot elevator taking system, which elevator taking program, when executed by a processor, implements the steps of the elevator taking method in the multi-robot elevator taking system according to any one of claims 1-4.

[ background of the invention ]

With the development of robotics, robots with autonomous movement capabilities have become more and more unmanned, automated, remote, and the like. When the robot takes the elevator in the building, the robot has the problem that the robot cannot enter the elevator or enters the elevator by mistake. However, in the prior art, the problem cannot be effectively solved, so that the robot can quickly judge whether the elevator is taken correctly, and the task execution condition of the robot is prevented from being influenced.

In view of the above, it is desirable to provide an elevator taking method, an apparatus, a terminal and a storage medium in a multi-robot elevator taking system to overcome the above-mentioned drawbacks.

[ summary of the invention ]

The invention aims to provide a ladder taking method, a device, a terminal and a storage medium in a multi-robot ladder taking system, aiming at solving the problem of how to quickly judge whether the ladder is taken correctly by a robot and avoiding influencing the task execution condition of the robot.

In order to achieve the above object, a first aspect of the present invention provides an elevator riding method in a multi-robot elevator riding system, applied to a robot that has entered an elevator, comprising the steps of:

acquiring current floor information of a target elevator in real time;

judging whether the robot reaches a target floor or not according to the current floor information, and entering a lift-out process if the robot reaches the target floor; if the result is negative, the current movement speed of the target elevator is obtained in real time;

detecting the up-down speed of the robot according to a sensor of the robot;

judging whether the current movement speed of the target elevator is matched with the up-down speed of the robot or not, and if not, judging that the robot is abnormal in elevator taking; wherein the elevator taking abnormity comprises that the robot is positioned in other elevators except the target elevator and does not enter any elevator;

when the robot is judged to be positioned in other elevators except the target elevator, the robot is controlled to enter a wrong elevator entering mode, and a help-seeking signal is sent to wait for rescue; and if the robot does not enter any elevator, controlling the robot to enter a midway elevator exit mode, recovering the map of the robot to be the floor matched with the elevator at the last time, and reselecting the elevator.

In a preferred embodiment, the method further comprises the following steps:

acquiring a robot registration list of the target elevator in real time;

and if the robot registration list is detected to be empty or the identity number of the current robot is not contained, controlling the current robot to enter an escape mode.

In a preferred embodiment, the method further comprises the following steps:

acquiring a target floor registration list of the target elevator in real time;

and if the target floor registration list is detected to be empty or the target floor expected by the current robot is not contained, controlling the current robot to enter an escape mode.

In a preferred embodiment, in the escape mode, the following steps are included:

circularly judging the door opening and closing state of the target elevator;

and if the target elevator is detected to be in the door opening in-place state, controlling the robot to go out of the elevator.

The second aspect of the present invention provides an elevator taking method in a multi-robot elevator taking system, which is applied to an elevator and comprises the following steps:

acquiring and judging whether the elevator taking state code of the robot is kept in an elevator taking state in real time;

if the result is holding, the registration state of the target floor expected by the robot is held, and a registration button of an elevator panel is clicked at preset time intervals;

if the result is no holding, the registration state of the target floor expected by the robot is cancelled, and the click of the registration button of the elevator panel is stopped.

In a preferred embodiment, the method further comprises the following steps:

acquiring current floor information of the elevator in real time;

and judging whether the target floor expected by the robot is reached or not according to the current floor information, and if so, deleting the target floor from a target floor registration list.

A third aspect of the present invention is a boarding device in a multi-robot boarding system applied to a robot that has entered an elevator, including:

the elevator floor acquisition module is used for acquiring the current floor information of the target elevator in real time;

the target floor judging module is used for judging whether the robot reaches a target floor according to the current floor information, and if so, entering an elevator exit process; if the result is negative, the current movement speed of the target elevator is obtained in real time;

the up-down speed detection module is used for detecting the up-down speed of the robot according to a sensor of the robot;

the speed matching judgment module is used for judging whether the current movement speed of the target elevator is matched with the up-down speed of the robot or not, and if not, judging that the robot takes the elevator abnormally; wherein the elevator taking abnormity comprises that the robot is positioned in other elevators except the target elevator and does not enter any elevator;

when the robot is judged to be positioned in other elevators except the target elevator, the robot is controlled to enter a wrong elevator entering mode, and a help-seeking signal is sent to wait for rescue; and if the robot does not enter any elevator, controlling the robot to enter a midway elevator exit mode, recovering the map of the robot to be the floor matched with the elevator at the last time, and reselecting the elevator.

A fourth aspect of the present invention provides an elevator riding apparatus in a multi-robot elevator riding system, applied to an elevator, including:

the robot state judgment module is used for acquiring and judging whether the elevator taking state code of the robot is kept in an elevator taking state in real time;

if the result is holding, the registration state of the target floor expected by the robot is held, and a registration button of an elevator panel is clicked at preset time intervals;

if the result is no holding, the registration state of the target floor expected by the robot is cancelled, and the click of the registration button of the elevator panel is stopped.

A fifth aspect of the present invention provides a terminal, where the terminal includes a memory, a processor, and an elevator taking program stored in the memory and executable on the processor in a multi-robot elevator taking system, and the elevator taking program in the multi-robot elevator taking system, when executed by the processor, implements the steps of the elevator taking method in the multi-robot elevator taking system according to any one of the above embodiments.

A sixth aspect of the present invention provides a computer-readable storage medium storing an elevator taking program in a multi-robot elevator taking system, the elevator taking program in the multi-robot elevator taking system being executed by a processor to implement the steps of the elevator taking method in the multi-robot elevator taking system according to any one of the above embodiments.

The elevator taking method in the multi-robot elevator taking system provided by the invention has the advantages that the running speed of the target elevator is detected when the target elevator runs, the up-down running speed of the robot is detected through the sensor of the robot, and whether the robot is positioned in the target elevator is judged by matching the speed of the robot with the speed of the target elevator, so that the effect of quickly judging whether the robot takes the elevator correctly is realized, and the task execution condition of the robot is prevented from being influenced.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a flowchart of an elevator taking method applied to a multi-robot elevator taking system at a robot end according to the present invention;

fig. 2 is a flowchart of an elevator taking method applied to a multi-robot elevator taking system at an elevator end according to the present invention;

fig. 3 is a frame diagram of an elevator riding device in the multi-robot elevator riding system provided by the invention.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In an embodiment of the present invention, a first aspect provides an elevator taking method in a multi-robot elevator taking system, which is applied to a robot that has entered an elevator, and is used for providing processing logic for the robot to encounter problems while taking the elevator, so that the robot can automatically handle the corresponding problems while encountering the problems, and the automation degree of the robot is improved.

As shown in fig. 1, at the robot end, the elevator taking method in the multi-robot elevator taking system includes the following steps S11-S14.

And step S11, acquiring the current floor information of the target elevator in real time. That is, when the processing system of the robot recognizes that the elevator has entered to start boarding, it is necessary to constantly observe the change of the floor of the elevator. In this case, the robot can acquire the operation state of the elevator through a wireless connection with all elevators in advance, and can also acquire which floor the elevator arrives at by recognizing the change of the floor number on the display interface of the elevator.

Step S12, judging whether the robot reaches the target floor according to the current floor information, if so, entering the elevator exit process; and if the result is negative, acquiring the current movement speed of the target elevator in real time.

Specifically, if the robot observes that the current floor of the elevator where the robot is located is consistent with the expected target floor and the elevator speed is zero, the robot ends the elevator taking process and enters the subsequent elevator leaving process. Otherwise, the robot continuously and remotely obtains the current movement speed of the target elevator in a wireless connection mode with the elevator system background of the building, namely the actual movement speed of the target elevator.

In step S13, the up-down speed of the robot is detected by the sensor of the robot itself. The uplink and downlink speeds include an uplink speed and a downlink speed, that is, an upper operation direction and a lower operation direction.

And step S14, judging whether the current movement speed of the target elevator is matched with the up-down speed of the robot, if the current movement speed of the target elevator is not matched with the up-down speed of the robot, for example, the speed direction of the target elevator is opposite to the speed direction of the robot, or the speeds of the target elevator and the robot are not consistent, judging that the robot has abnormal elevator riding. The elevator taking abnormity comprises that the robot is positioned in other elevators except the target elevator and does not enter any elevator. It can be understood that both of these situations can result in the speed of the robot itself not matching the speed of the target elevator.

Specifically, when the robot is judged to be located in other elevators except the target elevator, namely the speed of the robot is not zero and is in a moving state, and the speed of the target elevator is another value, the robot is controlled to enter a wrong elevator entering mode, and a help seeking signal is sent to wait for rescue. And if the robot does not enter any elevator, namely the speed of the robot is zero for a long time, and the speed of the target elevator is not zero, controlling the robot to enter a midway elevator exit mode, so that an elevator exit operation is executed in a processing system of the robot, the robot is indicated to be out of the elevator, the self map is restored to be the floor matched with the previous elevator (the floor where the robot is located is indicated to be unchanged), and the elevator is selected again.

Further, the method also comprises the following steps at the robot end:

first, a robot registration list of a target elevator is acquired in real time. It can be appreciated that the robot can obtain operational information for any elevator including operational status of the elevator, operational speed, robot registration list and destination floor registration list, etc. through a remote connection to the building elevator system.

If the robot registration list is detected to be empty or the identity number of the current robot is not contained, the target elevator does not receive an elevator taking instruction sent by the robot, if the robot is always in the target elevator, task execution of the robot may be delayed, and at the moment, the current robot is controlled to enter an escape mode.

Further, the method also comprises the following steps at the robot end:

first, a target floor registration list of a target elevator is acquired in real time.

If the target floor registration list is detected to be empty or the target floor expected by the current robot is not included, namely the target elevator cannot stop in the target floor expected by the robot within a certain time, the current robot is controlled to enter an escape mode at the moment.

It should be noted that, in the escape mode, the following steps are included:

first, the open/close state of the target elevator is judged cyclically. Specifically, after the robot enters the escape mode, the robot needs to circularly judge the door opening and closing state of the elevator, so that the elevator can be immediately taken out after the elevator stops at any floor.

If the situation that the target elevator is opened in place is detected, the elevator is already in a certain floor level, and the robot is controlled to go out of the elevator at the moment, namely the robot finishes the elevator taking process and enters an abnormal elevator going-out process.

The invention provides a multi-robot elevator taking system, which is applied to an elevator, so that the elevator taking state of a robot is monitored in real time in the elevator taking process of the robot, and the elevator taking fault of the robot in the elevator is avoided, thereby influencing the task execution of the robot.

As shown in fig. 2, the elevator boarding method in the multi-robot elevator boarding system at the elevator end includes the following steps S21-S23.

Step S21, the elevator riding status code of the robot is acquired in real time and is judged whether to be kept in the "elevator riding" status. Wherein, the elevator needs to judge the state of the robot continuously in the process of taking the elevator by the robot. It can be understood that the elevator can also acquire the running state in the system of the robot in a wireless connection mode, so as to judge whether the elevator taking state code in the system of the robot enters and is kept in the elevator taking process.

In step S22, if the result is hold, the robot maintains the registration state of the desired destination floor, and clicks the registration button of the elevator panel every predetermined time, so that the destination floor of the robot is always on the robot registration list of the elevator, thereby preventing the robot from being removed from the registration list for other reasons before reaching the destination floor, and affecting the boarding effect of the robot.

And step S23, if the result is no hold, indicating that the robot system considers that the robot is not in the elevator taking state, canceling the registration state of the target floor expected by the robot, and stopping clicking the registration button of the elevator panel, thereby avoiding occupying the running resources of the elevator when the robot goes out of the elevator or goes into the elevator by mistake.

Further, the method comprises the following steps at the elevator end: acquiring current floor information of an elevator in real time; and judging whether the target floor expected by the robot is reached or not according to the current floor information, and if so, deleting the target floor from the target floor registration list.

In summary, the elevator taking method in the multi-robot elevator taking system provided by the invention detects the running speed of the target elevator when the target elevator runs, detects the up-down speed of the robot through the sensor of the robot, and judges whether the robot is located in the target elevator by matching the speed of the robot with the speed of the target elevator, thereby realizing the effect of quickly judging whether the robot takes the elevator correctly, and avoiding influencing the task execution condition of the robot.

The elevator taking device 100 in the multi-robot elevator taking system is applied to the robot which enters the elevator, and is used for providing processing logic for the robot to encounter problems during elevator taking, so that the robot can automatically process the corresponding problems, and the automation degree of the robot is improved. It should be noted that the implementation principle and the implementation mode of the elevator taking device 100 applied to the robot end in the multi-robot elevator taking system are consistent with the elevator taking method applied to the robot end in the multi-robot elevator taking system, and therefore, the following description is omitted.

As shown in fig. 3, the elevator riding apparatus 100 in the multi-robot elevator riding system includes, when applied to a robot end:

the elevator floor acquisition module 10 is used for acquiring the current floor information of the target elevator in real time;

the target floor judging module 20 is used for judging whether the robot reaches the target floor according to the current floor information, and if so, entering the elevator exit process; if the result is negative, the current movement speed of the target elevator is obtained in real time;

an uplink and downlink speed detection module 30, configured to detect an uplink and downlink speed of the robot according to a sensor of the robot;

the speed matching judgment module 40 is used for judging whether the current movement speed of the target elevator is matched with the uplink and downlink speeds of the robot or not, and if not, judging that the robot takes the elevator abnormally; the elevator taking abnormity comprises that the robot is positioned in other elevators except the target elevator and does not enter any elevator;

when the robot is judged to be positioned in other elevators except the target elevator, the robot is controlled to enter a wrong elevator entering mode, and a help-seeking signal is sent to wait for rescue; and if the robot does not enter any elevator, controlling the robot to enter a midway elevator exit mode, recovering the map of the robot to be the floor matched with the elevator at the last time, and reselecting the elevator.

The invention provides a ladder taking device 100 in a multi-robot ladder taking system, which further comprises a part applied to an elevator, so that the elevator monitors the ladder taking state of a robot in real time in the ladder taking process of the robot, and the robot is prevented from having a ladder taking fault in the elevator, thereby influencing the task execution of the robot. It should be noted that the implementation principle and the implementation mode of the elevator taking device 100 in the multi-robot elevator taking system applied to the elevator end are the same as those of the above-mentioned elevator taking method in the multi-robot elevator taking system applied to the elevator end, and therefore, the following description is omitted.

As shown in fig. 3, the elevator riding apparatus 100 in the multi-robot elevator riding system further includes:

the robot state judging module 50 is used for acquiring and judging whether the elevator taking state code of the robot is kept in an elevator taking state in real time;

if the result is holding, the registration state of the target floor expected by the robot is maintained, and a registration button of an elevator panel is clicked at preset time intervals;

if the result is no hold, the registration state of the desired target floor of the robot is cancelled, and the click of the registration button of the elevator panel is stopped.

A fifth aspect of the present invention provides a terminal (not shown in the figures), wherein the terminal includes a memory, a processor, and an elevator taking program stored in the memory and operable on the processor, and the elevator taking program in the multi-robot elevator taking system, when executed by the processor, implements the steps of the elevator taking method in the multi-robot elevator taking system according to any one of the above embodiments.

A sixth aspect of the present invention provides a computer-readable storage medium (not shown in the drawings), wherein the computer-readable storage medium stores an elevator taking program in the multi-robot elevator taking system, and the elevator taking program in the multi-robot elevator taking system is executed by a processor to implement the steps of the elevator taking method in the multi-robot elevator taking system according to any one of the above embodiments.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.