WO2022116830A1 - Elevator-taking control method and device for robot, robot and medium - Google Patents

Elevator-taking control method and device for robot, robot and medium Download PDF

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Publication number
WO2022116830A1
WO2022116830A1 PCT/CN2021/131220 CN2021131220W WO2022116830A1 WO 2022116830 A1 WO2022116830 A1 WO 2022116830A1 CN 2021131220 W CN2021131220 W CN 2021131220W WO 2022116830 A1 WO2022116830 A1 WO 2022116830A1
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WIPO (PCT)
Prior art keywords
elevator
position information
information
robot
attribute
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Ceased
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PCT/CN2021/131220
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French (fr)
Chinese (zh)
Inventor
吴栋校
张涛
何科君
宋雷权
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Shenzhen Pudu Technology Co Ltd
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Shenzhen Pudu Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • 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
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3446—Data transmission or communication within the control system
    • B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
    • 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
    • B66B2201/46—Switches or switchgear
    • B66B2201/4607—Call registering systems
    • B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies

Definitions

  • the present application relates to the technical field of automatic control, and in particular, to a method, device, robot and medium for controlling a robot on an elevator.
  • At least one elevator zone is usually provided on the same floor, and at least one elevator is provided in the elevator zone.
  • a fixed elevator is configured for each robot, and the robot uses the configured elevator to move between different floors.
  • the prior art cannot schedule the elevator, which causes the robots to wait too long during the use of the elevator, and the situation of elevator competition is likely to occur.
  • a method for controlling an elevator ride of a robot including:
  • the optimal elevator is obtained according to the preset elevator control strategy
  • the boarding operation is performed according to the optimal elevator.
  • An elevator control device for a robot comprising:
  • the first acquisition module is used to acquire the initial position information and target position information of the robot when receiving the elevator operation task;
  • the second acquisition module is used to acquire the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;
  • the third obtaining module is configured to obtain the optimal elevator according to the preset riding control strategy according to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected;
  • a ride-on module configured to perform the ride-on operation according to the optimal elevator.
  • a robot comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:
  • the optimal elevator is obtained according to the preset elevator control strategy
  • the boarding operation is performed according to the optimal elevator.
  • One or more readable storage media having computer-readable instructions stored thereon, the computer-readable storage media having computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by one or more processors, cause all The one or more processors perform the following steps:
  • the optimal elevator is obtained according to the preset elevator control strategy
  • the boarding operation is performed according to the optimal elevator.
  • FIG. 1 is a flowchart of a method for controlling an elevator ride of a robot provided by an embodiment of the present application
  • FIG. 2 is a flowchart of step S103 in a method for controlling a robot on an elevator provided by an embodiment of the present application;
  • FIG. 3 is a flowchart of step S201 in a method for controlling a robot on an elevator provided by an embodiment of the present application;
  • FIG. 4 is a schematic diagram of a path distance provided by an embodiment of the present application.
  • Fig. 5 is a principle block diagram of the elevator riding control device of the robot in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a computer device in an embodiment of the present application.
  • the embodiment of the present application when receiving the task of taking the elevator, according to the robot's operation task.
  • the initial position information, target position information, elevator status information and elevator attribute information corresponding to each elevator to be selected, and the optimal elevator is obtained according to the preset elevator control strategy, and the elevator operation is performed according to the optimal elevator, effectively The operation efficiency of the robot in the process of taking the elevator is improved.
  • the control method for the robot to ride on the elevator includes:
  • step S101 when the task of taking the elevator is received, the initial position information and target position information of the robot are acquired.
  • the initial position information refers to the current position information of the robot, including initial floor information and initial location information
  • the target position information refers to the position information that the robot will reach, including target floor information and target location information.
  • step S102 the elevator status information and elevator attribute information corresponding to each elevator to be selected are acquired from the multi-robot communication ad hoc network.
  • each robot will be connected to the multi-robot communication ad hoc network.
  • the robot that has been connected to the multi-robot communication ad hoc network can publish shared information to other robots in the network, and can also obtain shared information published by other robots.
  • each robot when each robot takes the elevator, it will monitor the elevator status information of the elevator, and send the elevator status information to the multi-robot communication ad hoc network, so as to update the elevator status information and send the information to the elevator.
  • Other bots in its network share the latest status information.
  • each floor includes a plurality of elevator zones, and each elevator zone includes at least one elevator, and these elevators are used as elevators to be selected by the robot.
  • elevator status information and elevator attribute information corresponding to each elevator to be selected are requested from the multi-robot communication ad hoc network.
  • the elevator status information includes but is not limited to people flow information;
  • the elevator attribute information includes but is not limited to elevator categories classified according to usage.
  • step S103 according to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy.
  • step S103 includes:
  • step S201 according to the initial position information, target position information and elevator status information and elevator attribute information of each elevator to be selected, the candidate score corresponding to each elevator to be selected is calculated according to the ride control strategy.
  • a candidate score corresponding to each elevator to be selected can be obtained, and the candidate score reflects the movement distance, running time and Comprehensive assessment of waiting times.
  • the larger the candidate score the worse the comprehensive evaluation of the robot when taking the elevator to be selected, or the large moving distance, the long running time, the long waiting time, or a hot discussion combination thereof; the smaller the candidate score, it indicates that the robot takes the elevator.
  • the better the comprehensive evaluation is when choosing an elevator, or the moving distance is small, the running time is short, the waiting time is short, or any combination thereof.
  • FIG. 3 shows the implementation flow of step S201 in the method for controlling the ride of a robot in the present embodiment.
  • step S201 includes:
  • step S301 traverse each elevator to be selected, and obtain the path distance of the robot and the distance factor weight corresponding to the path distance according to the initial position information and the target position information.
  • the path of the robot when selecting and riding the elevator to be selected is obtained, and the path segment is obtained according to each path. path distance.
  • the left corridor includes Office A1, Office A2, and Office A3, and the distances from Office A1, Office A2, and Office A3 to the elevator to be selected are 15 meters, 10 meters, and 5 meters, respectively.
  • the right corridor includes Office B1, Office B2, and Office B3. The distances from Office B1, Office B2, and Office B3 to the elevator to be selected are 5 meters, 10 meters, and 15 meters, respectively.
  • the initial position information of the robot includes initial floor information 3rd floor and initial location information Office A1
  • the target position information includes target floor information 1st floor and target location information B3
  • the embodiment of the present application further obtains the corresponding distance factor weight according to the path distance.
  • the path distance is pre-divided into a plurality of distance intervals, and a distance factor weight corresponding to each distance interval is set.
  • the distance factor weight reflects the degree of influence of the path distance on the candidate score.
  • step S302 the elevator attribute value and the attribute factor weight corresponding to the elevator attribute value are obtained according to the elevator attribute information of the elevator to be selected.
  • each elevator to be selected the uses of each elevator to be selected are not exactly the same, for example, it can be divided into passenger elevators, freight elevators, special elevators, public elevators, etc. Therefore, in the embodiment of the present application, for each elevator to be selected, the elevator attributes of the elevator to be selected are converted into numerical elevator attribute values, and the corresponding attribute factor weights are obtained.
  • the attribute factor weight reflects the influence degree of the elevator attribute on the candidate score.
  • step S303 an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value are obtained according to the elevator state information of the elevator to be selected.
  • the elevator status information of the elevator to be selected including but not limited to information on the flow of people, is acquired.
  • the robot may obtain and request the elevator status information through the multi-robot communication ad hoc network, and then convert the elevator status information into an elevator congestion degree value.
  • the embodiment of the present application further divides the elevator congestion degree value into multiple degree intervals in advance, and sets the congestion factor weight corresponding to each degree interval. Then, by querying the degree interval in which the elevator congestion degree value falls, the congestion factor weight is obtained.
  • the congestion factor weight reflects the degree of influence of the current flow of people in the elevator to be selected on the candidate score.
  • step S304 the weighted sum of the path distance, the elevator attribute value and the elevator congestion degree value is calculated as the candidate score of the elevator to be selected.
  • the embodiment of the present application obtains the path distance, elevator attribute value and elevator attribute factor weight, elevator congestion degree value and its congestion factor weight.
  • the weighted sum between the congestion degree values is used as the candidate score of the elevator to be selected.
  • the candidate score corresponding to the elevator to be selected is calculated according to the following formula:
  • score i represents the candidate score corresponding to the ith elevator to be selected
  • Wi1 represents the distance factor weight corresponding to the ith elevator to be selected
  • S i1 represents the path distance corresponding to the ith elevator to be selected
  • Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected
  • S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected
  • W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected
  • S i3 represents the i-th elevator to be selected.
  • step S202 the candidate scores corresponding to the elevators to be selected are compared, and the elevator to be selected corresponding to the minimum candidate score is selected as the optimal elevator.
  • This embodiment of the present application traverses all the elevators to be selected, and compares the candidate scores corresponding to all the elevators to be selected. The minimum candidate score and the corresponding elevator to be selected are selected as the optimal elevator to be selected.
  • step S104 the boarding operation is performed according to the optimal elevator.
  • the embodiment of the present application obtains the initial position information and target position information of the robot when receiving the elevator operation task; obtains the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network; then According to the initial position information, target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset ride time and congestion strategy; finally, the ride is executed according to the optimal elevator operation; thus optimizing the way the robot rides the elevator, reducing the waiting time of the robot when using the elevator to a certain extent, reducing the occurrence of the robot competing with people for the elevator during the use of the elevator, and reducing the use of the elevator by the robot. In the process of avoiding interaction with people, it can effectively improve the operation efficiency and humanization degree of the robot in the process of taking the elevator, and effectively solve the problem that the robot waits for a long time and is prone to elevator competition in the existing technology. question.
  • the robot after the robot performs the boarding operation according to the optimal elevator, the robot further includes:
  • the elevator state information of the optimal elevator is acquired, and the elevator state information is sent to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator.
  • the robot continuously monitors the elevator status information of the elevator it is taking through cameras, infrared rays, etc., and sends the elevator status information to the multi-robot communication ad hoc network, so that other robots in the network are performing the elevator operation.
  • the latest elevator status information of each elevator to be selected can be obtained from the multi-robot communication self-service network, so as to realize the sharing of elevator status information in the multi-robot communication self-organization network, which is beneficial to improve the accuracy of elevator decision-making.
  • a control device for taking an elevator for a robot is provided, and the device for controlling an elevator for a robot corresponds one-to-one with the method for controlling an elevator for a robot in the above-mentioned embodiment.
  • the elevator control device of the robot includes a first acquisition module 51 , a second acquisition module 52 , a third acquisition module 53 , and an elevator ride module 54 .
  • the detailed description of each functional module is as follows:
  • the first obtaining module 51 is used to obtain the initial position information and target position information of the robot when receiving the elevator operation task;
  • the second acquisition module 52 is used to acquire elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;
  • the third obtaining module 53 is configured to obtain the optimal elevator according to the preset riding control strategy according to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected;
  • the boarding module 54 is configured to execute the boarding operation according to the optimal elevator.
  • the third obtaining module 53 includes:
  • a calculation unit configured to calculate the candidate score corresponding to each elevator to be selected according to the ride control strategy according to the initial position information, the target position information and the elevator state information and elevator attribute information of each elevator to be selected;
  • the comparison unit is used to compare the candidate scores corresponding to the elevators to be selected, and select the elevator to be selected corresponding to the minimum candidate score as the optimal elevator.
  • the computing unit includes:
  • the first obtaining subunit is used to traverse each elevator to be selected, and obtain the path distance of the robot according to the initial position information and the target position information, and the distance factor weight corresponding to the path distance;
  • a second obtaining subunit configured to obtain elevator attribute values and attribute factor weights corresponding to the elevator attribute values according to the elevator attribute information of the elevator to be selected
  • a third obtaining subunit configured to obtain an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value according to the elevator state information of the elevator to be selected;
  • the weighting subunit is used to calculate the weighted sum between the path distance, the elevator attribute value and the elevator congestion degree value, as the candidate score of the elevator to be selected, and the calculation formula is as follows:
  • score i represents the candidate score corresponding to the ith elevator to be selected
  • Wi1 represents the distance factor weight corresponding to the ith elevator to be selected
  • S i1 represents the path distance corresponding to the ith elevator to be selected
  • Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected
  • S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected
  • W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected
  • S i3 represents the i-th elevator to be selected.
  • the device further includes:
  • a sharing module configured to acquire the elevator state information of the optimal elevator, and send the elevator state information to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator.
  • All or part of the modules in the above-mentioned robot elevator control device can be implemented by software, hardware and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a robot is provided, and its internal structure diagram may be as shown in FIG. 6 .
  • the robot includes a processor, memory, network interface and database connected via a system bus.
  • the robot's processor is used to provide computing and control capabilities.
  • the memory of the robot includes a non-volatile storage medium and an internal memory.
  • the nonvolatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the robot's network interface is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, a method for controlling a robot on an elevator is realized.
  • a robot comprising a memory, a processor, and a computer program stored on the memory and running on the processor, and the processor implements the following steps when executing the computer program:
  • the optimal elevator is obtained according to the preset elevator control strategy
  • the boarding operation is performed according to the optimal elevator.
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
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Abstract

Disclosed in the present application is an elevator-taking control method for a robot comprising: upon receiving an elevator-taking operation task, acquiring initial location information and target location information of a robot; acquiring, from a multi-robot communication ad hoc network, elevator state information and elevator attribute information corresponding to each elevator to be selected; then acquiring an optimal elevator according to a preset elevator-taking control policy on the basis of the initial location information, the target location information, and the elevator state information and elevator attribute information corresponding to each elevator to be selected; and finally, performing an elevator-taking operation according to the optimal elevator.

Description

机器人的乘梯控制方法、装置、机器人及介质Robot's elevator control method, device, robot and medium

本申请要求于2020年12月04日提交中国专利局、申请号为202011405650.6、申请名称为“机器人的乘梯控制方法、装置、机器人及介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202011405650.6 and the application title "Robot Elevator Control Method, Device, Robot and Medium", which was filed with the China Patent Office on December 04, 2020, the entire contents of which are by reference Incorporated in this application.

技术领域technical field

本申请涉及自动控制技术领域，尤其涉及一种机器人的乘梯控制方法、装置、机器人及介质。The present application relates to the technical field of automatic control, and in particular, to a method, device, robot and medium for controlling a robot on an elevator.

背景技术Background technique

机器人在多楼层间移动时，需要乘坐电梯来实现上下楼的动作。同一楼层通常设置有至少一个电梯区，且电梯区中至少设置有一台电梯。现有通过为每一个机器人配置固定使用的电梯，机器人使用该配置的电梯在不同楼层间移动。然而，当同一楼层有多个机器人，且出现乘梯高峰时，现有技术无法对电梯进行调度，从而导致机器人在使用电梯过程中等待时间过长，容易发生电梯争抢的情况。When the robot moves between multiple floors, it needs to take the elevator to realize the action of going up and down the stairs. At least one elevator zone is usually provided on the same floor, and at least one elevator is provided in the elevator zone. Existingly, a fixed elevator is configured for each robot, and the robot uses the configured elevator to move between different floors. However, when there are multiple robots on the same floor and there is a rush hour, the prior art cannot schedule the elevator, which causes the robots to wait too long during the use of the elevator, and the situation of elevator competition is likely to occur.

发明内容SUMMARY OF THE INVENTION

根据本申请的各种实施例，提供一种机器人的乘梯控制方法，包括：According to various embodiments of the present application, a method for controlling an elevator ride of a robot is provided, including:

当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot;

从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电 梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;

根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy;

按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator.

一种机器人的乘梯控制装置，包括：An elevator control device for a robot, comprising:

第一获取模块，用于当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；The first acquisition module is used to acquire the initial position information and target position information of the robot when receiving the elevator operation task;

第二获取模块，用于从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；The second acquisition module is used to acquire the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;

第三获取模块，用于根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；The third obtaining module is configured to obtain the optimal elevator according to the preset riding control strategy according to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected;

乘梯模块，用于按照所述最优电梯执行乘梯作业。A ride-on module, configured to perform the ride-on operation according to the optimal elevator.

一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如下步骤：A robot, comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:

当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot;

从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;

根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy;

按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator.

一个或多个存储有计算机可读指令的可读存储介质，所述计算机可读存 储介质存储有计算机可读指令，其中，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器执行如下步骤：One or more readable storage media having computer-readable instructions stored thereon, the computer-readable storage media having computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by one or more processors, cause all The one or more processors perform the following steps:

当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot;

从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;

根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy;

按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator.

本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the present application will be apparent from the description, drawings, and claims.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. , for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

图1是本申请一实施例提供的机器人的乘梯控制方法的一流程图；FIG. 1 is a flowchart of a method for controlling an elevator ride of a robot provided by an embodiment of the present application;

图2是本申请一实施例提供的机器人的乘梯控制方法中步骤S103的一流程图；FIG. 2 is a flowchart of step S103 in a method for controlling a robot on an elevator provided by an embodiment of the present application;

图3是本申请一实施例提供的机器人的乘梯控制方法中步骤S201的一流程图；FIG. 3 is a flowchart of step S201 in a method for controlling a robot on an elevator provided by an embodiment of the present application;

图4是本申请一实施例提供的路径距离示意图；4 is a schematic diagram of a path distance provided by an embodiment of the present application;

图5是本申请一实施例中机器人的乘梯控制装置的一原理框图；Fig. 5 is a principle block diagram of the elevator riding control device of the robot in an embodiment of the present application;

图6是本申请一实施例中计算机设备的一示意图。FIG. 6 is a schematic diagram of a computer device in an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

为解决现有技术中机器人的固定乘梯方式导致的机器人在使用电梯过程中等待时间过长，容易发生电梯争抢情况的问题，本申请实施例在接收到乘梯作业任务时，根据机器人的初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯，并按照所述最优电梯执行乘梯作业，有效地提高了机器人在乘梯过程中的运行效率。以下将对本实施例提供的机器人的乘梯控制方法进行详细的描述，如图1所示，所述机器人的乘梯控制方法包括：In order to solve the problem that the robot waits too long during the use of the elevator due to the fixed way of riding the elevator in the prior art, and the elevator is prone to scramble for the elevator, the embodiment of the present application, when receiving the task of taking the elevator, according to the robot's operation task. The initial position information, target position information, elevator status information and elevator attribute information corresponding to each elevator to be selected, and the optimal elevator is obtained according to the preset elevator control strategy, and the elevator operation is performed according to the optimal elevator, effectively The operation efficiency of the robot in the process of taking the elevator is improved. The following will describe in detail the control method for the robot to ride on the elevator provided by this embodiment. As shown in FIG. 1 , the control method for the robot to ride on the elevator includes:

在步骤S101中，当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息。In step S101 , when the task of taking the elevator is received, the initial position information and target position information of the robot are acquired.

在这里，所述初始位置信息是指机器人当前所处的位置信息，包括初始楼层信息以及初始地点信息，所述目标位置信息是指机器人将要到达的位置信息，包括目标楼层信息和目标地点信息。每当接收到机器人下发乘梯作业任务时，获取机器人下发的目标位置信息，以及通过预设的定位技术获取机器人的初始位置信息，比如全球定位系统GPRS、基于无线射频的室内定位技术、基于WIFI的室内定位技术，得到机器人当前的位置信息。Here, the initial position information refers to the current position information of the robot, including initial floor information and initial location information, and the target position information refers to the position information that the robot will reach, including target floor information and target location information. Whenever the task of taking the elevator from the robot is received, the target position information issued by the robot is obtained, and the initial position information of the robot is obtained through the preset positioning technology, such as global positioning system GPRS, indoor positioning technology based on radio frequency, WIFI-based indoor positioning technology to obtain the current position information of the robot.

在步骤S102中，从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息。In step S102, the elevator status information and elevator attribute information corresponding to each elevator to be selected are acquired from the multi-robot communication ad hoc network.

在本实施例中，每一个机器人都会接入多机器人通信自组网络中。已接入所述多机器人通信自组网络的机器人可以向网络中的其他机器人发布共享信息，也可以获取其他机器人发布的共享信息。在本实施例中，每一个机器人在乘坐电梯时，均会监测电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以更新所述电梯状态信息，向其网络中的其他机器人共享最新的状态信息。In this embodiment, each robot will be connected to the multi-robot communication ad hoc network. The robot that has been connected to the multi-robot communication ad hoc network can publish shared information to other robots in the network, and can also obtain shared information published by other robots. In this embodiment, when each robot takes the elevator, it will monitor the elevator status information of the elevator, and send the elevator status information to the multi-robot communication ad hoc network, so as to update the elevator status information and send the information to the elevator. Other bots in its network share the latest status information.

在本实施例中，每一个楼层包括多个电梯区，且每一个电梯区包括至少一台电梯，这些电梯均作为机器人的待选电梯。本实施例通过向所述多机器人通信自组网络请求每一待选电梯对应的电梯状态信息和电梯属性信息。其中，所述电梯状态信息包括但不限于人流量信息；所述电梯属性信息包括但不限于根据用途划分的电梯类别。In this embodiment, each floor includes a plurality of elevator zones, and each elevator zone includes at least one elevator, and these elevators are used as elevators to be selected by the robot. In this embodiment, elevator status information and elevator attribute information corresponding to each elevator to be selected are requested from the multi-robot communication ad hoc network. Wherein, the elevator status information includes but is not limited to people flow information; the elevator attribute information includes but is not limited to elevator categories classified according to usage.

在步骤S103中，根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯。In step S103, according to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy.

在这里，所述乘梯控制策略为本申请实施例提供的基于时间分析和拥堵情况分析的电梯选择策略。本申请实施例通过所述乘梯控制策略获取机器人当前场景下的最优乘梯路线及电梯。可选地，图2为本实施例提供的机器人的乘梯控制方法中步骤S103的实现流程。如图2所述，步骤S103包括：Here, the elevator riding control strategy is an elevator selection strategy based on time analysis and congestion situation analysis provided by the embodiment of the present application. In the embodiment of the present application, the optimal boarding route and elevator of the robot in the current scene are obtained by using the elevator riding control strategy. Optionally, FIG. 2 is an implementation flow of step S103 in the method for controlling the ride of a robot on an elevator provided in this embodiment. As shown in Figure 2, step S103 includes:

在步骤S201中，根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分。In step S201, according to the initial position information, target position information and elevator status information and elevator attribute information of each elevator to be selected, the candidate score corresponding to each elevator to be selected is calculated according to the ride control strategy.

在本实施例中，通过所述乘梯控制策略，可以得到每一待选电梯对应的候选得分，所述候选得分反映了所述机器人乘坐所述待选电梯时，在移动距 离、运行时间以及等待时间上的综合评估。其中，候选得分越大，表明机器人乘坐所述待选电梯时综合评估越差，或者移动距离大或者运行时间长或者等待时间长或者其热议组合；候选得分越小，表明机器人乘坐所述待选电梯时综合评估越佳，或者移动距离小或者运行时间短或者等待时间短或者其任意组合。In this embodiment, through the elevator control strategy, a candidate score corresponding to each elevator to be selected can be obtained, and the candidate score reflects the movement distance, running time and Comprehensive assessment of waiting times. Among them, the larger the candidate score, the worse the comprehensive evaluation of the robot when taking the elevator to be selected, or the large moving distance, the long running time, the long waiting time, or a hot discussion combination thereof; the smaller the candidate score, it indicates that the robot takes the elevator The better the comprehensive evaluation is when choosing an elevator, or the moving distance is small, the running time is short, the waiting time is short, or any combination thereof.

可选地，作为本申请的一个优选示例，图3为本实施例提供的机器人的乘梯控制方法中步骤S201的实现流程。如图3所述，步骤S201包括：Optionally, as a preferred example of the present application, FIG. 3 shows the implementation flow of step S201 in the method for controlling the ride of a robot in the present embodiment. As shown in Figure 3, step S201 includes:

在步骤S301中，遍历每一待选电梯，根据所述初始位置信息和目标位置信息获取机器人的路径距离，以及所述路径距离对应的距离因素权值。In step S301, traverse each elevator to be selected, and obtain the path distance of the robot and the distance factor weight corresponding to the path distance according to the initial position information and the target position information.

在这里，由于每一待选电梯所处的电梯区不完全相同，因此本申请实施例针对每一待选电梯，获取机器人在选乘该待选电梯时的路径，并根据各路径分段得到路径距离。示例性地，为了便于理解，如图4所示，左边走廊包括办公室A1、办公室A2、办公室A3，办公室A1、办公室A2、办公室A3到待选电梯的距离分别为15米、10米、5米，右边走廊包括办公室B1、办公室B2、办公室B3，办公室B1、办公室B2、办公室B3到待选电梯的距离分别为5米、10米、15米，假设机器人需要从3楼的办公室A1到达1楼的办公室B3，那么该机器人的初始位置信息包括初始楼层信息3楼以及初始地点信息办公室A1，所述目标位置信息包括目标楼层信息1楼和目标地点信息B3，则该待选电梯包括的路径分段分别为3楼的办公室A1到待选电梯、待选电梯到1楼的办公室B3，路径距离为15米+15米＝30米。Here, since the elevator areas where each elevator to be selected is not exactly the same, in this embodiment of the present application, for each elevator to be selected, the path of the robot when selecting and riding the elevator to be selected is obtained, and the path segment is obtained according to each path. path distance. Exemplarily, for ease of understanding, as shown in FIG. 4 , the left corridor includes Office A1, Office A2, and Office A3, and the distances from Office A1, Office A2, and Office A3 to the elevator to be selected are 15 meters, 10 meters, and 5 meters, respectively. , the right corridor includes Office B1, Office B2, and Office B3. The distances from Office B1, Office B2, and Office B3 to the elevator to be selected are 5 meters, 10 meters, and 15 meters, respectively. Assume that the robot needs to reach the 1st floor from Office A1 on the 3rd floor. Office B3, then the initial position information of the robot includes initial floor information 3rd floor and initial location information Office A1, the target position information includes target floor information 1st floor and target location information B3, then the path of the elevator to be selected includes The segments are the office A1 on the 3rd floor to the elevator to be selected, and the elevator to be selected to the office B3 on the first floor, and the path distance is 15 meters + 15 meters = 30 meters.

在得到路径距离之后，本申请实施例进一步根据所述路径距离获取对应的距离因素权值。其中，本实施例预先将路径距离划分多个距离区间，并设置了每一个距离区间对应的距离因素权值。所述距离因素权值反映了所述路 径距离对候选得分的影响程度。After the path distance is obtained, the embodiment of the present application further obtains the corresponding distance factor weight according to the path distance. Wherein, in this embodiment, the path distance is pre-divided into a plurality of distance intervals, and a distance factor weight corresponding to each distance interval is set. The distance factor weight reflects the degree of influence of the path distance on the candidate score.

在步骤S302中，根据所述待选电梯的电梯属性信息获取电梯属性值，以及所述电梯属性值对应的属性因素权值。In step S302, the elevator attribute value and the attribute factor weight corresponding to the elevator attribute value are obtained according to the elevator attribute information of the elevator to be selected.

在这里，由于每一待选电梯的用途不完全相同，比如按照用途分类可以分为客梯、货梯、专用电梯、公用电梯等，不同用途电梯对应的运行速率不完全相同。因此本申请实施例针对每一待选电梯，将该待选电梯的电梯属性转化为数值型的电梯属性值，并获取对应的属性因素权值。所述属性因素权值反映了所述电梯属性对候选得分的影响程度。Here, because the uses of each elevator to be selected are not exactly the same, for example, it can be divided into passenger elevators, freight elevators, special elevators, public elevators, etc. Therefore, in the embodiment of the present application, for each elevator to be selected, the elevator attributes of the elevator to be selected are converted into numerical elevator attribute values, and the corresponding attribute factor weights are obtained. The attribute factor weight reflects the influence degree of the elevator attribute on the candidate score.

在步骤S303中，根据所述待选电梯的电梯状态信息得到电梯拥挤程度值，以及所述电梯拥挤程度值对应的拥挤因素权值。In step S303, an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value are obtained according to the elevator state information of the elevator to be selected.

在这里，由于每一待选电梯的拥挤程度不完全相同，不同拥挤情况对应的运行速率不相同、机器人的等候时间也不相同。因此本申请实施例针对每一待选电梯，获取该待选电梯的电梯状态信息，包括但不限于人流量信息。示例性地，本申请实施例中机器人可以通过所述多机器人通信自组网络获取请求所述电梯状态信息，然后将电梯状态信息转换为电梯拥挤程度值。本申请实施例还预先将电梯拥挤程度值划分多个程度区间，并设置了每一个程度区间对应的拥挤因素权值。然后通过查询所述电梯拥挤程度值所落在的程度区间，得到拥挤因素权值。所述拥挤因素权值反映了待选电梯当前的人流量对候选得分的影响程度。Here, since the congestion degree of each elevator to be selected is not exactly the same, the running speed corresponding to different congestion conditions is not the same, and the waiting time of the robot is not the same. Therefore, in this embodiment of the present application, for each elevator to be selected, the elevator status information of the elevator to be selected, including but not limited to information on the flow of people, is acquired. Exemplarily, in this embodiment of the present application, the robot may obtain and request the elevator status information through the multi-robot communication ad hoc network, and then convert the elevator status information into an elevator congestion degree value. The embodiment of the present application further divides the elevator congestion degree value into multiple degree intervals in advance, and sets the congestion factor weight corresponding to each degree interval. Then, by querying the degree interval in which the elevator congestion degree value falls, the congestion factor weight is obtained. The congestion factor weight reflects the degree of influence of the current flow of people in the elevator to be selected on the candidate score.

在步骤S304中，计算所述路径距离、电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分。In step S304, the weighted sum of the path distance, the elevator attribute value and the elevator congestion degree value is calculated as the candidate score of the elevator to be selected.

在得到路径距离及其距离因素权值、电梯属性值及其属性因素权值、电梯拥挤程度值及其拥挤因素权值之后，本申请实施例通过求取所述路径距离、 电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分。具体按照以下公式计算所述待选电梯对应的候选得分：After obtaining the path distance and its distance factor weight, elevator attribute value and its attribute factor weight, elevator congestion degree value and its congestion factor weight, the embodiment of the present application obtains the path distance, elevator attribute value and elevator The weighted sum between the congestion degree values is used as the candidate score of the elevator to be selected. Specifically, the candidate score corresponding to the elevator to be selected is calculated according to the following formula:

score i＝W i1*S i1+W i2*S i2+W i3*S i3 score i =W i1 *S i1 +W i2 *S i2 +W i3 *S i3

其中，score i表示第i个待选电梯对应的候选得分，W i1表示第i个待选电梯对应的距离因素权值，S i1表示第i个待选电梯对应的路径距离，W i2表示第i个待选电梯对应的属性因素权值，S i2表示第i个待选电梯对应的电梯属性值，W i3表示第i个待选电梯对应的拥挤因素权值，S i3表示第i个待选电梯对应的电梯拥挤程度值。 Among them, score i represents the candidate score corresponding to the ith elevator to be selected, Wi1 represents the distance factor weight corresponding to the ith elevator to be selected, S i1 represents the path distance corresponding to the ith elevator to be selected, and Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected, S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected, W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected, and S i3 represents the i-th elevator to be selected. Select the elevator congestion level value corresponding to the elevator.

可见，上述待选电梯的候选得分充分覆盖了机器人选择该待选电梯时在路径距离、电梯属性以及电梯拥挤情况的影响。It can be seen that the above candidate scores of the elevator to be selected fully cover the influence of the path distance, elevator attributes and elevator congestion when the robot selects the elevator to be selected.

在步骤S202中，比较各待选电梯对应的候选得分，并选择最小候选得分对应的待选电梯作为最优电梯。In step S202, the candidate scores corresponding to the elevators to be selected are compared, and the elevator to be selected corresponding to the minimum candidate score is selected as the optimal elevator.

在这里，候选得分越小，表明机器人乘坐所述待选电梯时综合评估越佳。本申请实施例遍历所有待选电梯，并比较所有待选电梯对应的候选得分。从中选择候选得分最小值及其对应的待选电梯，作为最优待选电梯。Here, the smaller the candidate score is, the better the comprehensive evaluation is when the robot takes the elevator to be selected. This embodiment of the present application traverses all the elevators to be selected, and compares the candidate scores corresponding to all the elevators to be selected. The minimum candidate score and the corresponding elevator to be selected are selected as the optimal elevator to be selected.

在步骤S104中，按照所述最优电梯执行乘梯作业。In step S104, the boarding operation is performed according to the optimal elevator.

本申请实施例通过在接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；然后根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设乘梯时间和拥堵策略获取最优电梯；最后按照所述最优电梯执行乘梯作业；从而优化了机器人的乘梯方式，在一定程度上减少了机器人在使用电梯过程中的等待时间，减少机器人在使用电梯过程中与人发生争抢电梯情况的发生，减少了机器人 在使用电梯过程中与人发生避让交互情况的发生，进而有效提高机器人在乘梯过程的运行效率以及人性化程度，有效地解决了现有技术中机器人的乘梯等待时间过长、易发生电梯争抢的问题。The embodiment of the present application obtains the initial position information and target position information of the robot when receiving the elevator operation task; obtains the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network; then According to the initial position information, target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset ride time and congestion strategy; finally, the ride is executed according to the optimal elevator operation; thus optimizing the way the robot rides the elevator, reducing the waiting time of the robot when using the elevator to a certain extent, reducing the occurrence of the robot competing with people for the elevator during the use of the elevator, and reducing the use of the elevator by the robot. In the process of avoiding interaction with people, it can effectively improve the operation efficiency and humanization degree of the robot in the process of taking the elevator, and effectively solve the problem that the robot waits for a long time and is prone to elevator competition in the existing technology. question.

可选地，作为本申请的一个优选示例，机器人在按照所述最优电梯执行乘梯作业之后，还包括：Optionally, as a preferred example of the present application, after the robot performs the boarding operation according to the optimal elevator, the robot further includes:

获取所述最优电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以共享所述最优电梯的电梯状态信息。The elevator state information of the optimal elevator is acquired, and the elevator state information is sent to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator.

机器人在乘梯过程中，持续通过摄像头、红外线等监测所乘坐电梯的电梯状态信息，并将电梯状态信息发送至所述多机器人通信自组网络，以使得网络中的其他机器人在执行乘梯作业之前可以从所述多机器人通信自助网络获取到每一待选电梯最新的电梯状态信息，实现电梯状态信息在多机器人通信自组网络中的共享，有利于提高乘梯决策的准确度。During the process of taking the elevator, the robot continuously monitors the elevator status information of the elevator it is taking through cameras, infrared rays, etc., and sends the elevator status information to the multi-robot communication ad hoc network, so that other robots in the network are performing the elevator operation. Previously, the latest elevator status information of each elevator to be selected can be obtained from the multi-robot communication self-service network, so as to realize the sharing of elevator status information in the multi-robot communication self-organization network, which is beneficial to improve the accuracy of elevator decision-making.

应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

在一实施例中，提供一种机器人的乘梯控制装置，该机器人的乘梯控制装置与上述实施例中机器人的乘梯控制方法一一对应。如图5所示，该机器人的乘梯控制装置包括第一获取模块51、第二获取模块52、第三获取模块53、乘梯模块54。各功能模块详细说明如下：In one embodiment, a control device for taking an elevator for a robot is provided, and the device for controlling an elevator for a robot corresponds one-to-one with the method for controlling an elevator for a robot in the above-mentioned embodiment. As shown in FIG. 5 , the elevator control device of the robot includes a first acquisition module 51 , a second acquisition module 52 , a third acquisition module 53 , and an elevator ride module 54 . The detailed description of each functional module is as follows:

第一获取模块51，用于当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；The first obtaining module 51 is used to obtain the initial position information and target position information of the robot when receiving the elevator operation task;

第二获取模块52，用于从多机器人通信自组网络中获取每一待选电梯对 应的电梯状态信息和电梯属性信息；The second acquisition module 52 is used to acquire elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;

第三获取模块53，用于根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；The third obtaining module 53 is configured to obtain the optimal elevator according to the preset riding control strategy according to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected;

乘梯模块54，用于按照所述最优电梯执行乘梯作业。The boarding module 54 is configured to execute the boarding operation according to the optimal elevator.

可选地，所述第三获取模块53包括：Optionally, the third obtaining module 53 includes:

计算单元，用于根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分；a calculation unit, configured to calculate the candidate score corresponding to each elevator to be selected according to the ride control strategy according to the initial position information, the target position information and the elevator state information and elevator attribute information of each elevator to be selected;

比较单元，用于比较各待选电梯对应的候选得分，并选择最小候选得分对应的待选电梯作为最优电梯。The comparison unit is used to compare the candidate scores corresponding to the elevators to be selected, and select the elevator to be selected corresponding to the minimum candidate score as the optimal elevator.

可选地，所述计算单元包括：Optionally, the computing unit includes:

第一获取子单元，用于遍历每一待选电梯，根据所述初始位置信息和目标位置信息获取机器人的路径距离，以及所述路径距离对应的距离因素权值；The first obtaining subunit is used to traverse each elevator to be selected, and obtain the path distance of the robot according to the initial position information and the target position information, and the distance factor weight corresponding to the path distance;

第二获取子单元，用于根据所述待选电梯的电梯属性信息获取电梯属性值，以及所述电梯属性值对应的属性因素权值；a second obtaining subunit, configured to obtain elevator attribute values and attribute factor weights corresponding to the elevator attribute values according to the elevator attribute information of the elevator to be selected;

第三获取子单元，用于根据所述待选电梯的电梯状态信息得到电梯拥挤程度值，以及所述电梯拥挤程度值对应的拥挤因素权值；a third obtaining subunit, configured to obtain an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value according to the elevator state information of the elevator to be selected;

加权子单元，用于计算所述路径距离、电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分，计算公式如下：The weighting subunit is used to calculate the weighted sum between the path distance, the elevator attribute value and the elevator congestion degree value, as the candidate score of the elevator to be selected, and the calculation formula is as follows:

score i＝W i1*S i1+W i2*S i2+W i3*S i3 score i =W i1 *S i1 +W i2 *S i2 +W i3 *S i3

其中，score i表示第i个待选电梯对应的候选得分，W i1表示第i个待选电梯对应的距离因素权值，S i1表示第i个待选电梯对应的路径距离，W i2表示第i个 待选电梯对应的属性因素权值，S i2表示第i个待选电梯对应的电梯属性值，W i3表示第i个待选电梯对应的拥挤因素权值，S i3表示第i个待选电梯对应的电梯拥挤程度值。 Among them, score i represents the candidate score corresponding to the ith elevator to be selected, Wi1 represents the distance factor weight corresponding to the ith elevator to be selected, S i1 represents the path distance corresponding to the ith elevator to be selected, and Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected, S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected, W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected, and S i3 represents the i-th elevator to be selected. Select the elevator congestion level value corresponding to the elevator.

可选地，所述装置还包括：Optionally, the device further includes:

共享模块，用于获取所述最优电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以共享所述最优电梯的电梯状态信息。A sharing module, configured to acquire the elevator state information of the optimal elevator, and send the elevator state information to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator.

关于机器人的乘梯控制装置的具体限定可以参见上文中对于机器人的乘梯控制方法的限定，在此不再赘述。上述机器人的乘梯控制装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。For the specific limitation of the control device for taking the elevator of the robot, please refer to the definition of the method for controlling the elevator riding of the robot above, which will not be repeated here. All or part of the modules in the above-mentioned robot elevator control device can be implemented by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

在一个实施例中，提供了一种机器人，其内部结构图可以如图6所示。该机器人包括通过系统总线连接的处理器、存储器、网络接口和数据库。其中，该机器人的处理器用于提供计算和控制能力。该机器人的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该机器人的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种机器人的乘梯控制方法。In one embodiment, a robot is provided, and its internal structure diagram may be as shown in FIG. 6 . The robot includes a processor, memory, network interface and database connected via a system bus. Among them, the robot's processor is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The robot's network interface is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, a method for controlling a robot on an elevator is realized.

在一个实施例中，提供了一种机器人，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现以下步骤：In one embodiment, a robot is provided, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, and the processor implements the following steps when executing the computer program:

当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot;

从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network;

根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy;

按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.

以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (16)

一种机器人的乘梯控制方法，包括：An elevator control method for a robot, comprising: 当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot; 从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network; 根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy; 按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator. 如权利要求1所述的机器人的乘梯控制方法，所述根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯包括：The elevator ride control method for a robot according to claim 1, wherein according to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, according to a preset elevator ride control strategy Getting the best elevator includes: 根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分；According to the initial position information, target position information and the elevator state information and elevator attribute information of each elevator to be selected, calculate the candidate score corresponding to each elevator to be selected according to the ride control strategy; 比较各待选电梯对应的候选得分，并选择最小候选得分对应的待选电梯作为最优电梯。The candidate scores corresponding to the elevators to be selected are compared, and the elevator to be selected corresponding to the minimum candidate score is selected as the optimal elevator. 如权利要求2所述的机器人的乘梯控制方法，所述根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分包括：The elevator ride control method for a robot according to claim 2, wherein calculating each elevator ride control strategy according to the initial position information, target position information, and elevator status information and elevator attribute information of each elevator to be selected The candidate scores corresponding to a candidate elevator include: 遍历每一待选电梯，根据所述初始位置信息和目标位置信息获取机器人的路径距离，以及所述路径距离对应的距离因素权值；Traverse each elevator to be selected, and obtain the path distance of the robot according to the initial position information and the target position information, and the distance factor weight corresponding to the path distance; 根据所述待选电梯的电梯属性信息获取电梯属性值，以及所述电梯属性值对应的属性因素权值；Obtain elevator attribute values and attribute factor weights corresponding to the elevator attribute values according to the elevator attribute information of the elevator to be selected; 根据所述待选电梯的电梯状态信息得到电梯拥挤程度值，以及所述电梯拥挤程度值对应的拥挤因素权值；Obtain an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value according to the elevator state information of the elevator to be selected; 计算所述路径距离、电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分，计算公式如下：Calculate the weighted sum between the path distance, the elevator attribute value and the elevator congestion degree value, as the candidate score of the elevator to be selected, and the calculation formula is as follows: score i＝W i1*S i1+W i2*S i2+W i3*S i3 score i =W i1 *S i1 +W i2 *S i2 +W i3 *S i3 其中，score i表示第i个待选电梯对应的候选得分，W i1表示第i个待选电梯对应的距离因素权值，S i1表示第i个待选电梯对应的路径距离，W i2表示第i个待选电梯对应的属性因素权值，S i2表示第i个待选电梯对应的电梯属性值，W i3表示第i个待选电梯对应的拥挤因素权值，S i3表示第i个待选电梯对应的电梯拥挤程度值。 Among them, score i represents the candidate score corresponding to the ith elevator to be selected, Wi1 represents the distance factor weight corresponding to the ith elevator to be selected, S i1 represents the path distance corresponding to the ith elevator to be selected, and Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected, S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected, W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected, and S i3 represents the i-th elevator to be selected. Select the elevator congestion level value corresponding to the elevator. 如权利要求1至3任一项所述的机器人的乘梯控制方法，在按照所述最优电梯执行乘梯作业后，所述方法还包括：The elevator riding control method for a robot according to any one of claims 1 to 3, after performing the elevator riding operation according to the optimal elevator, the method further comprises: 获取所述最优电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以共享所述最优电梯的电梯状态信息。The elevator state information of the optimal elevator is acquired, and the elevator state information is sent to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator. 一种机器人的乘梯控制装置，包括：An elevator control device for a robot, comprising: 第一获取模块，用于当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；The first acquisition module is used to acquire the initial position information and target position information of the robot when receiving the elevator operation task; 第二获取模块，用于从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；The second acquisition module is used to acquire the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network; 第三获取模块，用于根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；The third obtaining module is configured to obtain the optimal elevator according to the preset riding control strategy according to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected; 乘梯模块，用于按照所述最优电梯执行乘梯作业。A ride-on module, configured to perform the ride-on operation according to the optimal elevator. 如权利要求5所述的机器人的乘梯控制装置，所述第三获取模块包括：The elevator control device for a robot according to claim 5, wherein the third acquisition module comprises: 计算单元，用于根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分；a calculation unit, configured to calculate the candidate score corresponding to each elevator to be selected according to the ride control strategy according to the initial position information, the target position information and the elevator state information and elevator attribute information of each elevator to be selected; 比较单元，用于比较各待选电梯对应的候选得分，并选择最小候选得分对应的待选电梯作为最优电梯。The comparison unit is used to compare the candidate scores corresponding to the elevators to be selected, and select the elevator to be selected corresponding to the minimum candidate score as the optimal elevator. 如权利要求6所述的机器人的乘梯控制装置，所述计算单元包括：The elevator control device for a robot as claimed in claim 6, wherein the computing unit comprises: 第一获取子单元，用于遍历每一待选电梯，根据所述初始位置信息和目标位置信息获取机器人的路径距离，以及所述路径距离对应的距离因素权值；The first obtaining subunit is used to traverse each elevator to be selected, and obtain the path distance of the robot according to the initial position information and the target position information, and the distance factor weight corresponding to the path distance; 第二获取子单元，用于根据所述待选电梯的电梯属性信息获取电梯属性值，以及所述电梯属性值对应的属性因素权值；a second obtaining subunit, configured to obtain elevator attribute values and attribute factor weights corresponding to the elevator attribute values according to the elevator attribute information of the elevator to be selected; 第三获取子单元，用于根据所述待选电梯的电梯状态信息得到电梯拥挤程度值，以及所述电梯拥挤程度值对应的拥挤因素权值；a third obtaining subunit, configured to obtain an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value according to the elevator state information of the elevator to be selected; 加权子单元，用于计算所述路径距离、电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分，计算公式如下：The weighting subunit is used to calculate the weighted sum between the path distance, the elevator attribute value and the elevator congestion degree value, as the candidate score of the elevator to be selected, and the calculation formula is as follows: score i＝W i1*S i1+W i2*S i2+W i3*S i3 score i =W i1 *S i1 +W i2 *S i2 +W i3 *S i3 其中，score i表示第i个待选电梯对应的候选得分，W i1表示第i个待选电梯对应的距离因素权值，S i1表示第i个待选电梯对应的路径距离，W i2表示第i个待选电梯对应的属性因素权值，S i2表示第i个待选电梯对应的电梯属性值，W i3表示第i个待选电梯对应的拥挤因素权值，S i3表示第i个待选电梯对应的电梯拥挤程度值。 Among them, score i represents the candidate score corresponding to the ith elevator to be selected, Wi1 represents the distance factor weight corresponding to the ith elevator to be selected, S i1 represents the path distance corresponding to the ith elevator to be selected, and Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected, S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected, W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected, and S i3 represents the i-th elevator to be selected. Select the elevator congestion level value corresponding to the elevator. 如权利要求5至7任一项所述的机器人的乘梯控制装置，所述装置还包括：The elevator control device for a robot according to any one of claims 5 to 7, further comprising: 共享模块，用于获取所述最优电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以共享所述最优电梯的电梯状态信息。A sharing module, configured to acquire the elevator state information of the optimal elevator, and send the elevator state information to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator. 一种机器人，包括存储器和处理器，所述存储器用于存储可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如下步骤：A robot, comprising a memory and a processor, the memory is used to store a computer program that can be run on the processor, and the processor implements the following steps when executing the computer program: 当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot; 从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network; 根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator state information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset elevator control strategy; 按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator. 如权利要求9所述的机器人，所述根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯包括：The robot according to claim 9, wherein, according to the initial position information, target position information, and elevator status information and elevator attribute information corresponding to each elevator to be selected, obtaining the optimal elevator according to a preset elevator control strategy includes the following steps: : 根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分；According to the initial position information, target position information and the elevator state information and elevator attribute information of each elevator to be selected, calculate the candidate score corresponding to each elevator to be selected according to the ride control strategy; 比较各待选电梯对应的候选得分，并选择最小候选得分对应的待选电梯作为最优电梯。The candidate scores corresponding to the elevators to be selected are compared, and the elevator to be selected corresponding to the minimum candidate score is selected as the optimal elevator. 如权利要求10所述的机器人，所述根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分包括：The robot according to claim 10, wherein according to the initial position information, the target position information and the elevator status information and elevator attribute information of each elevator to be selected, the corresponding control strategy of each elevator to be selected is calculated according to the elevator control strategy. Candidate scores include: 遍历每一待选电梯，根据所述初始位置信息和目标位置信息获取机器人的路径距离，以及所述路径距离对应的距离因素权值；Traverse each elevator to be selected, and obtain the path distance of the robot according to the initial position information and the target position information, and the distance factor weight corresponding to the path distance; 根据所述待选电梯的电梯属性信息获取电梯属性值，以及所述电梯属性值对应的属性因素权值；Obtain elevator attribute values and attribute factor weights corresponding to the elevator attribute values according to the elevator attribute information of the elevator to be selected; 根据所述待选电梯的电梯状态信息得到电梯拥挤程度值，以及所述电梯拥挤程度值对应的拥挤因素权值；Obtain an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value according to the elevator state information of the elevator to be selected; 计算所述路径距离、电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分，计算公式如下：Calculate the weighted sum between the path distance, the elevator attribute value and the elevator congestion degree value, as the candidate score of the elevator to be selected, and the calculation formula is as follows: score i＝W i1*S i1+W i2*S i2+W i3*S i3 score i =W i1 *S i1 +W i2 *S i2 +W i3 *S i3 其中，score i表示第i个待选电梯对应的候选得分，W i1表示第i个待选电梯对应的距离因素权值，S i1表示第i个待选电梯对应的路径距离，W i2表示第i个待选电梯对应的属性因素权值，S i2表示第i个待选电梯对应的电梯属性值，W i3表示第i个待选电梯对应的拥挤因素权值，S i3表示第i个待选电梯对应的电梯拥挤程度值。 Among them, score i represents the candidate score corresponding to the ith elevator to be selected, Wi1 represents the distance factor weight corresponding to the ith elevator to be selected, S i1 represents the path distance corresponding to the ith elevator to be selected, and Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected, S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected, W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected, and S i3 represents the i-th elevator to be selected. Select the elevator congestion level value corresponding to the elevator. 如权利要求9至11任一项所述的机器人，在按照所述最优电梯执行乘梯作业后，所述处理器执行所述计算机程序时还实现如下步骤：The robot according to any one of claims 9 to 11, after executing the elevator operation according to the optimal elevator, the processor further implements the following steps when executing the computer program: 获取所述最优电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以共享所述最优电梯的电梯状态信息。The elevator state information of the optimal elevator is acquired, and the elevator state information is sent to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator. 一个或多个存储有计算机可读指令的可读存储介质，所述计算机可读存储介质存储有计算机可读指令，其中，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器执行如下步骤：One or more readable storage media having computer-readable instructions stored thereon, the computer-readable storage media having stored computer-readable instructions, wherein the computer-readable instructions, when executed by one or more processors, cause all The one or more processors perform the following steps: 当接收到乘梯作业任务时，获取机器人的初始位置信息和目标位置信息；When receiving the task of taking the ladder, obtain the initial position information and target position information of the robot; 从多机器人通信自组网络中获取每一待选电梯对应的电梯状态信息和电梯属性信息；Obtain the elevator status information and elevator attribute information corresponding to each elevator to be selected from the multi-robot communication ad hoc network; 根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态 信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯；According to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, the optimal elevator is obtained according to the preset riding control strategy; 按照所述最优电梯执行乘梯作业。The boarding operation is performed according to the optimal elevator. 如权利要求13所述的可读存储介质，所述根据所述初始位置信息、目标位置信息和每一待选电梯对应的电梯状态信息、电梯属性信息，按照预设的乘梯控制策略获取最优电梯包括：The readable storage medium according to claim 13, wherein according to the initial position information, the target position information and the elevator status information and elevator attribute information corresponding to each elevator to be selected, the most advanced ride control strategy is obtained according to a preset elevator control strategy. Excellent elevator includes: 根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分；According to the initial position information, target position information and the elevator state information and elevator attribute information of each elevator to be selected, calculate the candidate score corresponding to each elevator to be selected according to the ride control strategy; 比较各待选电梯对应的候选得分，并选择最小候选得分对应的待选电梯作为最优电梯。The candidate scores corresponding to the elevators to be selected are compared, and the elevator to be selected corresponding to the minimum candidate score is selected as the optimal elevator. 如权利要求14所述的可读存储介质，所述根据所述初始位置信息、目标位置信息和每一待选电梯的电梯状态信息、电梯属性信息，按照所述乘梯控制策略计算每一待选电梯对应的候选得分包括：The readable storage medium according to claim 14, wherein calculating each waiting elevator according to the riding control strategy according to the initial position information, target position information, elevator state information and elevator attribute information of each elevator to be selected The candidate scores corresponding to the elevator selection include: 遍历每一待选电梯，根据所述初始位置信息和目标位置信息获取机器人的路径距离，以及所述路径距离对应的距离因素权值；Traverse each elevator to be selected, and obtain the path distance of the robot according to the initial position information and the target position information, and the distance factor weight corresponding to the path distance; 根据所述待选电梯的电梯属性信息获取电梯属性值，以及所述电梯属性值对应的属性因素权值；Obtain elevator attribute values and attribute factor weights corresponding to the elevator attribute values according to the elevator attribute information of the elevator to be selected; 根据所述待选电梯的电梯状态信息得到电梯拥挤程度值，以及所述电梯拥挤程度值对应的拥挤因素权值；Obtain an elevator congestion degree value and a congestion factor weight corresponding to the elevator congestion degree value according to the elevator state information of the elevator to be selected; 计算所述路径距离、电梯属性值以及电梯拥挤程度值之间的加权和，作为所述待选电梯的候选得分，计算公式如下：Calculate the weighted sum between the path distance, the elevator attribute value and the elevator congestion degree value, as the candidate score of the elevator to be selected, and the calculation formula is as follows: score i＝W i1*S i1+W i2*S i2+W i3*S i3 score i =W i1 *S i1 +W i2 *S i2 +W i3 *S i3 其中，score i表示第i个待选电梯对应的候选得分，W i1表示第i个待选电梯对应的距离因素权值，S i1表示第i个待选电梯对应的路径距离，W i2表示第i个 待选电梯对应的属性因素权值，S i2表示第i个待选电梯对应的电梯属性值，W i3表示第i个待选电梯对应的拥挤因素权值，S i3表示第i个待选电梯对应的电梯拥挤程度值。 Among them, score i represents the candidate score corresponding to the ith elevator to be selected, Wi1 represents the distance factor weight corresponding to the ith elevator to be selected, S i1 represents the path distance corresponding to the ith elevator to be selected, and Wi2 represents the The attribute factor weights corresponding to the i elevators to be selected, S i2 represents the elevator attribute value corresponding to the i-th elevator to be selected, W i3 represents the congestion factor weights corresponding to the i-th elevator to be selected, and S i3 represents the i-th elevator to be selected. Select the elevator congestion level value corresponding to the elevator. 如权利要求13至15任一项所述的可读存储介质，在按照所述最优电梯执行乘梯作业后，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器还执行如下步骤：The readable storage medium according to any one of claims 13 to 15, after the ride-on operation is performed according to the optimal elevator, when the computer-readable instructions are executed by one or more processors, the one or more or more processors also perform the following steps: 获取所述最优电梯的电梯状态信息，并将所述电梯状态信息发送至所述多机器人通信自组网络，以共享所述最优电梯的电梯状态信息。The elevator state information of the optimal elevator is acquired, and the elevator state information is sent to the multi-robot communication ad hoc network, so as to share the elevator state information of the optimal elevator.
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