WO2022116830A1 - Procédé et dispositif de commande de prise d'ascenseur pour robot, robot et support - Google Patents

Procédé et dispositif de commande de prise d'ascenseur pour robot, robot et support 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
Application number
PCT/CN2021/131220
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English (en)
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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Publication of WO2022116830A1 publication Critical patent/WO2022116830A1/fr
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Ceased legal-status Critical Current

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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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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)

Abstract

La présente demande divulgue un procédé de commande de prise d'ascenseur pour un robot consistant à : lors de la réception d'une tâche d'opération de prise d'ascenseur, acquérir des informations de localisation initiale et des informations de localisation cible d'un robot ; acquérir, auprès d'un réseau ad hoc de communication multi-robots, des informations d'état d'ascenseur et des informations d'attributs d'ascenseur correspondant à chaque ascenseur à sélectionner ; puis acquérir un ascenseur optimal selon une politique prédéfinie de commande de prise d'ascenseur, en fonction des informations de localisation initiale, des informations de localisation cible et des informations d'état d'ascenseur et des informations d'attributs d'ascenseur correspondant à chaque ascenseur à sélectionner ; et enfin, réaliser une opération de prise d'ascenseur selon l'ascenseur optimal.
PCT/CN2021/131220 2020-12-04 2021-11-17 Procédé et dispositif de commande de prise d'ascenseur pour robot, robot et support Ceased WO2022116830A1 (fr)

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CN202011405650.6A CN112551288A (zh) 2020-12-04 2020-12-04 机器人的乘梯控制方法、装置、机器人及介质
CN202011405650.6 2020-12-04

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