The invention discloses an autonomous moving body descending control method. The method comprises the following steps: S1, enumerating all possible first moving paths of an earliest descending person from a current stopping position to an elevator car door; s2, establishing a performance index for evaluating the moving path; s3, calculating a performance index corresponding to each first moving path; s4, judging whether a second autonomous moving body is parked on the optimal moving path or not, if so, entering the next step, and otherwise, entering the step S7; step S5, determining and outputting an avoidance moving path of the second autonomous moving body; s6, controlling the second autonomous moving body to move along the avoidance moving path so as to implement avoidance moving; s7, the earliest person getting off the elevator is controlled to move to an elevator car door along the optimal moving path and leave the car; and step S8, ending. According to the method, the moving path of the elevator descending robot is properly planned, so that the elevator descending robot can smoothly descend the elevator.

    本发明公开的自主移动体下梯控制方法包括:步骤S1、枚举最早下梯者由其当前所在的当前停靠位至电梯轿厢门的所有可能的第一移动路径;步骤S2、建立用于评价移动路径的性能指标;步骤S3、计算对应于每一条第一移动路径的性能指标;步骤S4、判断所述最佳移动路径是否停靠有第二自主移动体,若是则进入下一步骤,否则转入步骤S7;步骤S5、确定并输出所述第二自主移动体的避让移动路径;步骤S6、控制所述第二自主移动体沿所述避让移动路径移动以实施避让移动;步骤S7、控制所述最早下梯者沿所述最佳移动路径移动至电梯轿厢门并离开轿厢;步骤S8、结束。本发明的通过适当规划下梯机器人的移动路径,使得下梯机器人能够顺利下梯。


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    Titel :

    Autonomous moving body descending control method


    Weitere Titelangaben:

    自主移动体下梯控制方法


    Beteiligte:
    CHEN YUDONG (Autor:in)

    Erscheinungsdatum :

    2023-08-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66B Aufzüge , ELEVATORS



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