CN108861905A - Control method, apparatus and computer equipment that elevator is taken by robot - Google Patents
Control method, apparatus and computer equipment that elevator is taken by robot Download PDFInfo
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- CN108861905A CN108861905A CN201810648327.8A CN201810648327A CN108861905A CN 108861905 A CN108861905 A CN 108861905A CN 201810648327 A CN201810648327 A CN 201810648327A CN 108861905 A CN108861905 A CN 108861905A
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- robot
- elevator
- communication module
- band communication
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Classifications
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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
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- 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
-
- 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
- B66B2201/403—Details of the change of control mode by real-time traffic data
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Elevator Control (AREA)
Abstract
The present invention relates to method, apparatus and computer equipment that elevator is taken by control robot, belong to intelligent robot technology field.The method includes：Obtain call request；It include the floor information where robot in the call request；First, which is sent, to robot reaches information；The target floor information that the first dedicated band communication module receives is obtained, elevator is controlled according to the target floor information and is run to purpose floor；The target floor information is sent to the described first dedicated band communication module by the second dedicated band communication module of robot；Second, which is sent, to robot reaches information.Above-mentioned technical proposal solves the problems, such as that network signal shakiness timing machine people can not normally take elevator.It can not be influenced by network signal, can still provide for normally communicating when network signal is not good enough, it is ensured that elevator is normally taken by robot.
Description
Technical field
The present invention relates to field in intelligent robotics, take the method, apparatus of elevator more particularly to control robot, calculate
Machine equipment and storage medium.
Background technique
With the development of robot research and going deep into for artificial intelligence technology, robot is applied in across floor scene
Demand has been more and more obvious.Robot generally requires to take elevator in these scenes.It is taken in traditional control robot
During elevator, ladder control service and robot are communicated generally by networks such as 4G, Wi-Fi.Realizing mistake of the present invention
Cheng Zhong, at least there are the following problems in the prior art for inventor's discovery：The networks such as 4G, Wi-Fi are often unstable in elevator.Cause
This, in connection ladder control service and robot, it may appear that the case where instruction can not be sent to or postpone causes robot normal
Take elevator.
Summary of the invention
Based on this, the method, apparatus, computer equipment and storage for taking elevator the present invention provides control robot are situated between
Matter.Ensure that robot is not influenced during boarding by network signal.
The content of the embodiment of the present invention is as follows：
A method of elevator is taken by control robot, includes the following steps：Obtain call request；In the call request
It include the floor information where robot；Control elevator is requested to run the floor to where robot according to the call；To
Robot sends first and reaches information, so that robot enters carriage according to the first arrival information；Obtain the first dedicated frequency
The target floor information that section communication module receives controls elevator according to the target floor information and runs to purpose floor；Institute
It states target floor information and the described first dedicated band communication module is sent to by the second dedicated band communication module of robot；To
Robot sends second and reaches information, so that robot leaves carriage according to the second arrival information.
The step of acquisition call is requested in one of the embodiments, including：Obtain the first dedicated band communication mould
The call request that block receives；The call request is sent to described first specially by the second dedicated band communication module of robot
With band communication module.
The step of acquisition call is requested in one of the embodiments, including：Obtain the first general band communication mould
The call request that block receives；The call request is sent to described first by the second general band communication module of robot and leads to
With band communication module.
The described first dedicated band communication module includes the one 433 module in one of the embodiments,；Described second specially
It include the 2nd 433 module with band communication module；The purpose floor letter for obtaining the first dedicated band communication module and receiving
The step of breath, including：Obtain the target floor information that the one 433 module receives；The target floor information is by robot
2nd 433 module is sent to the one 433 module by dedicated channel.
It is described in one of the embodiments, to request control elevator to run the floor to where robot according to the call
The step of, including：It is requested to send call instruction to elevator control system according to the call, so that the elevator control system root
Control elevator is instructed to run the floor to where robot according to the call.
It is described in one of the embodiments, to be run according to target floor information control elevator to the step of purpose floor
Suddenly, including：Elevator controlling instruction is sent to elevator control system according to the target floor information, so that elevator control system root
Control elevator is instructed to run to purpose floor according to the elevator controlling.
The target floor information that the first dedicated band communication module of the acquisition receives in one of the embodiments,
Before step, further include：When receiving when shutdown being forbidden to instruct of the first dedicated band communication module transmission, to elevator controlling system
Forbid closing the door described in system forwarding and instruct, so that elevator control system control elevator door is opened；It is described forbid close the door instruction by
The second dedicated band communication module is sent to the described first dedicated band communication module.
In one of the embodiments, after described the step of sending the first arrival information to robot, further include：If sentencing
Determine that carriage is full and robot does not enter carriage, is sent to the robot and wait instruction, so that robot waits next time electricity
Ladder simultaneously sends call request.
Correspondingly, the embodiment of the present invention provides a kind of device of control robot seating elevator, including：Request receives mould
Block, for obtaining call request；It include the floor information where robot in the call request；First elevator controlling mould
Block, for requesting control elevator to run the floor to where robot according to the call；First, which is sent, to robot reaches letter
Breath, so that robot enters carriage according to the first arrival information；Second elevator controlling module, for obtaining the first dedicated frequency
The target floor information that section communication module receives controls elevator according to the target floor information and runs to purpose floor；Institute
It states target floor information and the described first dedicated band communication module is sent to by the second dedicated band communication module of robot；With
And information sending module, for robot send second reach information so that robot according to it is described second reach information from
Open carriage.
The method and device of elevator is taken by above-mentioned control robot, according to the call request control elevator received run to
Floor where robot；First is sent to robot and reaches information, and robot is made to enter carriage；It is logical to obtain the first dedicated frequency range
Letter module controls electricity by interacting the target floor information received with the second of robot the dedicated band communication module
Ladder is run to purpose floor；Second is sent to robot and reaches information, so that robot leaves carriage.Enter carriage in robot
It is interacted, can not be influenced by network signal by dedicated band communication module and ladder control service later, owed in network signal
It can still provide for normally communicating when good, it is ensured that elevator is normally taken by robot.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, the processor realize following steps when executing the computer program：Obtain call request；The call is asked
Asking includes floor information where robot；Control elevator is requested to run the building to where robot according to the call
Layer；First is sent to robot and reaches information, so that robot enters carriage according to the first arrival information；Obtain first specially
The target floor information received with band communication module controls elevator according to the target floor information and runs to purpose building
Layer；The target floor information is sent to the described first dedicated band communication mould by the second dedicated band communication module of robot
Block；Second is sent to robot and reaches information, so that robot leaves carriage according to the second arrival information.
Above-mentioned computer equipment is carried out after robot enters carriage by dedicated band communication module and ladder control service
Interaction, can not be influenced by network signal, can still provide for normally communicating when network signal is not good enough, it is ensured that robot normally multiplies
Sit elevator.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row：Obtain call request；It include the floor information where robot in the call request；According to institute
Stating call requests control elevator to run the floor to where robot；First is sent to robot and reaches information, so that robot
Enter carriage according to the first arrival information；Obtain the target floor information that the first dedicated band communication module receives, root
It runs according to target floor information control elevator to purpose floor；The target floor information by robot the second dedicated frequency
Section communication module is sent to the described first dedicated band communication module；Second is sent to robot and reaches information, so that robot
Carriage is left according to the second arrival information.
Above-mentioned computer readable storage medium is controlled after robot enters carriage by dedicated band communication module and ladder
Service interacts, and can not be influenced by network signal, can still provide for normally communicating when network signal is not good enough, it is ensured that machine
People normally takes elevator.
Detailed description of the invention
Fig. 1 is the applied environment figure for the method that elevator is taken by control robot in one embodiment；
Fig. 2 is the flow diagram for the method that elevator is taken by control robot in one embodiment；
Fig. 3 is the schematic diagram that robot and ladder control software interact in one embodiment；
Fig. 4 is the flow diagram for the method that elevator is taken by control robot in another embodiment；
Fig. 5 is the structural block diagram for the device that elevator is taken by control robot in one embodiment；
Fig. 6 is the internal structure of computer equipment in one embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The method that elevator is taken by control robot provided by the present application can be applied in application scenarios as shown in Figure 1.
The application scenarios include robot 101, ladder control server 102 and elevator control system server 103.Ladder control server 102
It is interacted by the modes such as 4G network, WIFI, 433 modules and robot 101, and electricity is passed through according to the demand of robot 101
Terraced control system server 103 controls elevator, to guarantee that elevator is smoothly taken by robot.Wherein, ladder control server 102 can be borrowed
Help software program (also referred to as ladder control software or ladder control module) that can also directly realize and robot 101 and electricity by server
The interaction of terraced control system server 103.
Further, if controlling software realization by ladder, then ladder control software can be used as a general module and be parallel to electricity
In terraced control system.It can be used for gloomy such as difficult to understand this, the base of a fruit, Hitachi, Mitsubishi, fast up to elevator.Ladder control software do not invade it is original
It can be interacted by sending the modes such as instruction with elevator control system under in the case where elevator control system, mould may be implemented
It is quasi- to light the operation such as floor.
Method, apparatus, computer equipment and the storage that the embodiment of the present invention provides a kind of control robot seating elevator are situated between
Matter.Being described in detail separately below, (ladder control server 102 is described for controlling software realization by ladder, therefore following
It is denoted as ladder control software).
In one embodiment, as shown in Fig. 2, providing a kind of method that elevator is taken by control robot.In this way
It is illustrated, includes the following steps for controlling software end applied to ladder：
S201, call request is obtained；It include the floor information where robot in the call request.
In this step call software obtain call request mode can be by robot send call request control to ladder it is soft
Part is also possible to robot and triggers call request by way of pressing, scanning switch, can also be by the people except robot
Or equipment issues call request.
Wherein, when the hexadecimal instruction of robot transmission is communicated with ladder control software.For example, it is assumed that robot is in
At 1 building, need to call elevator at this time to 1 building；Then robot sends hexadecimal call to the first dedicated band communication module
Request instruction " 11 01 01 01 01E6 " after the first dedicated band communication module receives the instruction, is transmitted to ladder control software
Carry out call.
S202, control elevator is requested to run the floor to where robot according to the call；First is sent to robot
Information is reached, so that robot enters carriage according to the first arrival information.
As call request in include robot where floor information, in this step, ladder control software according to
The floor information just can control elevator and run floor to where robot.Elevator door is opened after reaching, and is sent to robot
The first arrival information that elevator arrived, robot can be entered in carriage by elevator door.Wherein, the operation of control elevator can
Being directly controlled by call software；It is also possible to call software and sends elevator controlling instruction to elevator control system, by elevator
Control system controls elevator operation.
After determining that robot enters carriage, it may include the operation for controlling elevator door and closing, also may include to machine
Device human hair send the operation of elevator door closing information.
Communication network is established since elevator exterior space would generally be arranged communication line etc., it is logical outside elevator
Believe that signal is often better than in elevator.Therefore, before robot enters carriage, if network signal is good, robot and ladder control are soft
Part can be communicated by networks such as 4G/5G/WIFI.Certainly, if elevator external signal is not good enough, 433 modules can be passed through
Mode etc. dedicated band communication is communicated.
Wherein, it can be to the process that robot sends the first arrival information：Ladder control software is logical by the first general frequency range
Believe that module sends first to the first general band communication module and reaches information, is also possible to ladder control software and passes through the first dedicated frequency range
Communication module sends first to the first dedicated band communication module and reaches information
S203, the target floor information that the first dedicated band communication module receives is obtained, is believed according to the purpose floor
Breath control elevator is run to purpose floor；The target floor information is sent to by the second dedicated band communication module of robot
The first dedicated band communication module.
Since network signal is relatively poor after entering carriage.Therefore, in this step, robot enter carriage with
Afterwards, it can be interacted by the second dedicated band communication module and the first dedicated band communication module of ladder control software, and will
Destination information is sent to the first dedicated band communication module.Robot and ladder control software pass through not by the network of general frequency range
The mode of influence is communicated, and communication quality can be effectively ensured, it is ensured that robot can smoothly take elevator.
Certainly, if the network signal in carriage is good, robot in carriage also can by the networks such as 4G/5G/WIFI with
Ladder control software is communicated.
Wherein, dedicated band communication module refers to the module communicated by dedicated frequency range (independent channel network),
Such as 433 module etc.；First dedicated band communication module and the second dedicated band communication module can be by identical communication modules
(using same frequency range) is realized；First dedicated band communication module can be a communication module being set in ladder control software,
Second dedicated band communication module can be a communication module being set in robot.Target floor information refers to machine
People wants the floor information reached, can be the information such as the floor number of plies, floor feature.
In addition, the communication information between the first dedicated band communication module and the first dedicated band communication module can be not only
Only include target floor information, can also include opening elevator door, close elevator door, playing audio-video, whether respond other and exhale
The signals of communication such as ladder request.The diversity that elevator process is taken by robot can be effectively improved in this way.
S204, the second arrival information is sent to robot, so that robot leaves carriage according to the second arrival information.
After elevator reaches purpose floor, elevator door is opened.Ladder control software sends second to robot and reaches information, machine
Device people leaves carriage, completes the process for taking elevator.Wherein, it can be to the process that robot sends the second arrival information：Ladder
It controls software and the second arrival information is sent to the first general band communication module by the first general band communication module, be also possible to
Ladder control software sends second to the first dedicated band communication module by the first dedicated band communication module and reaches information.
After robot leaves carriage, if need to only execute of short duration task, robot can be sent to ladder control software
Waiting instruction, so that elevator receives robot by the again after robot completes corresponding task and reenters carriage
The target floor information that two dedicated band communication modules are sent.
The present embodiment is interacted after robot enters carriage by dedicated band communication module and ladder control service, energy
It is not influenced by network signal, can still provide for normally communicating when network signal is not good enough, it is ensured that elevator is normally taken by robot.
In one embodiment, the step of acquisition call is requested, including：The first dedicated band communication module is obtained to connect
The call request received；The call request is sent to the described first dedicated frequency by the second dedicated band communication module of robot
Section communication module.
The first dedicated band communication that robot passes through the second dedicated band communication module and ladder control software in the present embodiment
Module interacts, and the communication quality of robot and ladder control software can be effectively ensured when the network signal outside carriage is not good enough.
In one embodiment, the step of acquisition call is requested, including：The first general band communication module is obtained to connect
The call request received；The call request is sent to the described first general frequency by the second general band communication module of robot
Section communication module.
Wherein, general band communication module refers to the module communicated by dependent channel network, is being provided with
The region of grid line can have good network signal.It may include the communication modes such as 4G, 5G, WIFI, can also be wired network
The mode of network.
Unlike a upper embodiment, robot and ladder control software pass through general band communication module in the present embodiment
Realize communication.The selection of dedicated frequency range and general frequency range can with free switching, can be efficiently used signal more preferably network into
Row communication guarantees that going on smoothly for elevator is taken by robot.
In one embodiment, the described first dedicated band communication module includes the one 433 module；The second dedicated frequency
Section communication module includes the 2nd 433 module；The target floor information that the first dedicated band communication module of the acquisition receives
Step, including：Obtain the target floor information that the one 433 module receives；The target floor information is by the second of robot
433 modules are sent to the one 433 module by dedicated channel.
Wherein, 433 modules (full name is 433m wirless transmitting and receiving module) are by fixed working frequency：315MHZ/
433MHZ works, and can freely use and not by the effect of signals of other frequency ranges.The frequency range of 433 modules exempts from the transmission of application
Distance range is 1-10km and guarantees that signal will not be lost, and it is normal to can guarantee that machine can be carried out in each floor with ladder control software
Interaction.Vehicle monitoring, radio meter register, access control system, industrial data acquisition system, identification, non-can be widely used in
Contact RF smart card, robot control, wireless 232 data communication, wireless 485/422 data communication, digital audio, digital picture
In the fields such as transmission.
When the network signals such as 4G signal lack or are disturbed under serious situation, 433 modules can be to robot and the external world
Most important effect is interacted in the present embodiment, robot passes through the 2nd 433 module and ladder control software after entering carriage
The one 433 module communicated, send the information such as purpose floor to ladder control software and then carry out boarding interaction.It is effectively reduced
Boarding process relies on network, and the smooth of robot boarding business is also ensured that under no network or network interferences serious situation
It carries out.
Fig. 3 is robot in the schematic diagram interacted into before elevator and after entering elevator with ladder control software.
In one embodiment, as shown in figure 3, ladder control software is connect with 4G module and 433 modules.Therefore, outside elevator, robot was both
It can be communicated by 433 modules with 433 modules of ladder control software, 4G module (i.e. general band communication mould can also be passed through
Block) it is communicated with the 4G module of ladder control software；In elevator, robot by 433 modules and ladder control software 433 modules into
Row communication.
Wherein, as shown in figure 3, robot and ladder control software end are provided with 4G routing, the foundation of 4G network can pass through
The mode that 4G card is plugged in 4G routing is realized.
The present embodiment realizes the interaction between robot and ladder control software when robot is in carriage, through 433 modules,
Network is not depended on, instructs and interacts as long as having two objects and rapidly and accurately sending, guarantee robot boarding
Go on smoothly.
In one embodiment, the step for requesting control elevator to run the floor to where robot according to the call
Suddenly, including：It is requested to send call instruction to elevator control system according to the call, so that the elevator control system is according to institute
Stating call instructs control elevator to run the floor to where robot.
In the present embodiment, ladder control software is by sending exhaling for call instruction triggers elevator control system to elevator control system
Ladder response, and elevator control system control elevator is made to reach the floor where robot.In the elevator control for not influencing elevator script
It can be achieved with the call response of robot in the case where system processed.The safety of the elevator control system of script can be effectively ensured,
Guarantee that the safety of elevator control system can also better ensure that going on smoothly for elevator is taken by robot.
It is in one embodiment, described that the step of elevator is run to purpose floor is controlled according to the target floor information,
Including：According to the target floor information to elevator control system send elevator controlling instruction so that elevator control system according to
The elevator controlling instruction control elevator is run to purpose floor.
In the present embodiment, ladder control software is by sending elevator controlling instruction triggers elevator control system to elevator control system
It responds and controls elevator and run to robot and want the floor reached.The case where not influencing the elevator control system of elevator script
Under can be achieved with purpose of the robot across floor.The safety of the elevator control system of script can be effectively ensured, guarantee elevator control
The safety of system processed can also better ensure that going on smoothly for elevator is taken by control robot.
In one embodiment, described the step of obtaining the target floor information that the first dedicated band communication module receives
Before, further include：When receiving when shutdown being forbidden to instruct of the first dedicated band communication module transmission, turn to elevator control system
Forbid closing the door described in hair and instruct, so that elevator control system control elevator door is opened；The instruction of forbidding closing the door is by described
Second dedicated band communication module is sent to the described first dedicated band communication module.
Robot initially enter carriage to elevator door close during, may exist robotic movement speed slowly and
Elevator is not all entered into long period or needs the case where waiting other passengers.Therefore it needs that elevator door is made to continue to keep opening
The state opened, to guarantee the safety of robot He other passengers.
Certainly, robot transmission forbid closing the door instruction except through the second dedicated band communication module to the first dedicated frequency range
Communication module is sent, and can also be sent by the second general band communication module to the first general band communication module.When passing through
When latter approach is communicated, what ladder control software received that the exactly first general band communication module sends, which forbid closing the door, refers to
It enables.
Therefore, in the present embodiment, when needing makes elevator door continue to open, robot passes through the second dedicated frequency range
Communication module or the second general band communication module forbid closing the door to ladder control software transmission to be instructed, so that elevator control system controls
Elevator door is persistently opened.
In one embodiment, robot can need to send instruction of closing the door to ladder control software at closing time, to control electricity
Terraced door is closed.Meanwhile elevator control system is sensing that elevator door do not have barrier or occur other that elevator door can be closed
When situation, elevator door closing can also be automatically controlled.
In one embodiment, after described the step of sending the first arrival information to robot, further include：If it is determined that sedan-chair
Compartment is full and robot does not enter carriage, sends to the robot and waits instruction, so that robot waits next time elevator simultaneously
Send call request.
The present embodiment controls robot when carriage is full and waits next time elevator, and the order of elevator can be effectively ensured, and protects
Demonstrate,prove the safety of passenger.
The embodiment of the present invention may be implemented robot and ordinary people while take elevator.It (is connect when there is robot to take elevator
Receive the call request of robot) when, ordinary people passenger can be reminded currently to have robot to multiply by forms such as voice broadcast services
Elevator is sat, and asking passenger is that robot reserves certain parking space.
In addition, if when You Duotai robot needs to take elevator, call request can be sent according to robot is successively
Robot is lined up, and when the call of a certain robot requests to obtain response, is sent first to corresponding robot and is reached information, and
Complete subsequent boarding step.
In one embodiment, as shown in figure 4, providing a kind of method that elevator is taken by control robot, including following step
Suddenly：
S401, the call request that the one 433 module receives is obtained；The call requests the 2nd 433 mould by robot
Block is sent to the one 433 module.
S402, it is requested to send call instruction to elevator control system according to the call, so that the elevator control system
Control elevator is instructed to run the floor to where robot according to the call.
S403, the first arrival information is sent to robot, so that robot enters carriage according to the first arrival information.
S404, when receive the transmission of the one 433 module forbid closing the door instruct when, forward the taboo to elevator control system
It only closes the door and instructs, so that elevator control system control elevator door is opened.
S405, the target floor information that the one 433 module receives is obtained；The target floor information is by the of robot
2 433 modules are sent to the one 433 module by dedicated channel.
S406, elevator controlling instruction is sent to elevator control system according to the target floor information, so that elevator controlling
System instructs control elevator to run to purpose floor according to the elevator controlling.
S407, the second arrival information is sent to robot, so that robot leaves carriage according to the second arrival information.
The present embodiment is interacted after robot enters carriage by dedicated band communication module and ladder control service, energy
It is not influenced by network signal.It can still provide for normally communicating when network signal is not good enough, it is ensured that elevator is normally taken by robot.
The above method in order to better understand, the method that elevator is taken by present invention control robot detailed below
Application example.In this application example, it is assumed that robot is located at 3 buildings and wants to take 1 building, elevator arrival.
Step1, robot send call request to the 4G module of call software by 4G module.
Step2, call software request to send call instruction to elevator control system according to the call.
Step3, elevator control system instruct control elevator to run 3 buildings to where robot and open electricity according to the call
Terraced door.
Step4, call software send first to the 4G module of robot when determining that elevator reaches 3 buildings, through 4G module
Reach information.
Step5, robot enter carriage according to the first arrival information.
If Step6, robot need to continue during entering carriage that elevator door is kept to open, pass through the 2nd 433 mould
Block is forbidden closing the door to the one 433 module transmission of ladder control software to be instructed.
Step7, ladder control software forward this to forbid instruction of closing the door to elevator control system, so that elevator control system control electricity
Terraced door is opened.
After Step8, elevator door are closed, robot, which is sent by the 2nd 433 module to the one 433 module, to be wanted to reach 1
The target floor information in building.
Step9, ladder control software send elevator controlling instruction to elevator control system according to the target floor information.
Step10, elevator control system instruct control elevator to run to 1 building and open elevator door according to the elevator controlling.
Step11, ladder control software send the to the 2nd 433 module when determining that elevator reaches 1 building, through the one 433 module
Two reach information.
Step12, robot leave carriage according to the second arrival information.
The present embodiment is interacted after robot enters carriage by dedicated band communication module and ladder control service,
It can not be influenced by network signal.It can still provide for normally communicating when network signal is not good enough, it is ensured that electricity is normally taken by robot
Ladder.
It should be noted that for the various method embodiments described above, describing for simplicity, it is all expressed as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because according to
According to the present invention, certain steps can use other sequences or carry out simultaneously.
Based on thought identical with the control robot seating method of elevator in above-described embodiment, the present invention also provides controls
The device of elevator is taken by robot processed, which can be used for executing the method that elevator is taken by above-mentioned control robot.For the ease of
Illustrate, in the structural schematic diagram for the Installation practice that elevator is taken by control robot, illustrate only and phase of the embodiment of the present invention
The part of pass, it will be understood by those skilled in the art that the restriction of schematic structure not structure twin installation, may include than illustrating more
More or less component perhaps combines certain components or different component layouts.
As described in Figure 5, it includes request receiving module 501, the first elevator controlling mould that the device of elevator is taken by control robot
Block 502, the second elevator controlling module 503 and information sending module 504, detailed description are as follows：
Request receiving module 501, for obtaining call request；It include the floor where robot in the call request
Information.
First elevator controlling module 502, for requesting control elevator to run the building to where robot according to the call
Layer；First is sent to robot and reaches information, so that robot enters carriage according to the first arrival information.
Second elevator controlling module 503, the target floor information received for obtaining the first dedicated band communication module,
Elevator is controlled according to the target floor information to run to purpose floor；The target floor information is second dedicated by robot
Band communication module is sent to the described first dedicated band communication module.
And information sending module 504, information is reached for sending second to robot, so that robot is according to
Second arrival information leaves carriage.
The present embodiment is interacted after robot enters carriage by dedicated band communication module and ladder control service,
It can not be influenced by network signal, can still provide for normally communicating when network signal is not good enough, it is ensured that electricity is normally taken by robot
Ladder.
In one embodiment, request receiving module 501 are also used to obtain what the first dedicated band communication module received
Call request；The call request is sent to the described first dedicated band communication by the second dedicated band communication module of robot
Module.
In one embodiment, request receiving module 501 are also used to obtain what the first general band communication module received
Call request；The call request is sent to the described first general band communication by the second general band communication module of robot
Module.
In one embodiment, the second elevator controlling module 503 is also used to obtain the purpose that the one 433 module receives
Floor information；The target floor information is sent to the one 433 mould by dedicated channel by the 2nd 433 module of robot
Block.
In one embodiment, the first elevator controlling module 502 is also used to be requested according to the call to elevator controlling system
System sends call instruction, so that the elevator control system instructs control elevator to run to where robot according to the call
Floor.
In one embodiment, the second elevator controlling module 503 is also used to according to the target floor information to elevator control
System processed sends elevator controlling instruction, so that elevator control system instructs control elevator to run to purpose according to the elevator controlling
Floor.
In one embodiment, further include：Forbid shutdown module, receives the first dedicated band communication module hair for working as
Send forbid close the door instruct when, to elevator control system forwarding described in forbid close the door instruct so that the elevator control system control
Elevator door processed is opened；It is described that shutdown instruction is forbidden to be sent to the described first dedicated frequency range by the described second dedicated band communication module
Communication module.
In one embodiment, further include：Module is waited, for if it is determined that carriage is full and robot does not enter carriage,
It is sent to the robot and waits instruction, so that robot waits next time elevator and sends call request.
It should be noted that the device of elevator is taken by control robot of the invention and control robot of the invention is taken
The method of elevator corresponds, and takes the technical characteristic of the embodiment elaboration of the method for elevator in above-mentioned control robot and its has
For beneficial effect suitable for the embodiment for controlling the device that elevator is taken by robot, particular content can be found in the method for the present invention implementation
Narration in example, details are not described herein again, hereby give notice that.
In addition, in the embodiment for the device that elevator is taken by the control robot of above-mentioned example, the logic of each program module
Division is merely illustrative of, and can according to need in practical application, such as the configuration requirement or software of corresponding hardware
The convenient of realization considers, above-mentioned function distribution is completed by different program modules, i.e., elevator is taken by the control robot
The internal structure of device be divided into different program modules, to complete all or part of the functions described above.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can be as shown in Figure 6.The computer equipment include by system bus connect processor, memory, network interface and
Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment
Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data
Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The database of machine equipment is for storing the data such as call request, floor information.The network interface of the computer equipment be used for it is outer
The terminal in portion passes through network connection communication.To realize that electricity is taken by a kind of control robot when the computer program is executed by processor
The method of ladder.
It will be understood by those skilled in the art that structure shown in Fig. 6, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor realize following steps when executing computer program：Call is obtained to ask
It asks；It include the floor information where robot in the call request；Control elevator is requested to run to machine according to the call
Floor where device people；First is sent to robot and reaches information, so that robot enters sedan-chair according to the first arrival information
Compartment；The target floor information that the first dedicated band communication module receives is obtained, elevator is controlled according to the target floor information
It runs to purpose floor；The target floor information is sent to described first specially by the second dedicated band communication module of robot
With band communication module；Second is sent to robot and reaches information, so that robot leaves sedan-chair according to the second arrival information
Compartment.
In one embodiment, following steps are also realized when processor executes computer program：The acquisition call request
The step of, including：Obtain the call request that the first dedicated band communication module receives；Call request is by the of robot
Two dedicated band communication modules are sent to the described first dedicated band communication module.
In one embodiment, following steps are also realized when processor executes computer program：The acquisition call request
The step of, including：Obtain the call request that the first general band communication module receives；Call request is by the of robot
Two general band communication modules are sent to the described first general band communication module.
In one embodiment, following steps are also realized when processor executes computer program：The first dedicated frequency range
Communication module includes the one 433 module；The second dedicated band communication module includes the 2nd 433 module；It is described to obtain first
The step of target floor information that dedicated band communication module receives, including：Obtain the purpose building that the one 433 module receives
Layer information；The target floor information is sent to the one 433 mould by dedicated channel by the 2nd 433 module of robot
Block.
In one embodiment, following steps are also realized when processor executes computer program：It is described according to the call
The step of request control elevator runs the floor to where robot, including：It is requested according to the call to elevator control system
Call instruction is sent, so that the elevator control system instructs control elevator to run the building to where robot according to the call
Layer.
In one embodiment, following steps are also realized when processor executes computer program：It is described according to the purpose
The step of floor information control elevator is run to purpose floor, including：According to the target floor information to elevator control system
Elevator controlling instruction is sent, so that elevator control system instructs control elevator to run to purpose floor according to the elevator controlling.
In one embodiment, following steps are also realized when processor executes computer program：The acquisition first is dedicated
Before the step of target floor information that band communication module receives, further include：When receiving the first dedicated band communication mould
When what block was sent forbids shutdown to instruct, instructed to forbidding closing the door described in elevator control system forwarding, so that the elevator controlling system
System control elevator door is opened；It is dedicated that the instruction of forbidding closing the door by the described second dedicated band communication module is sent to described first
Band communication module.
In one embodiment, following steps are also realized when processor executes computer program：It is described to be sent to robot
After the step of first arrival information, further include：If it is determined that carriage is full and robot does not enter carriage, to the machine human hair
Waiting is sent to instruct, so that robot waits next time elevator and sends call request.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes following steps when being executed by processor：Obtain call request；It include robot place in the call request
Floor information；Control elevator is requested to run the floor to where robot according to the call；First is sent to robot to arrive
Up to information, so that robot enters carriage according to the first arrival information；The first dedicated band communication module is obtained to receive
Target floor information, according to the target floor information control elevator run to purpose floor；The target floor information by
The dedicated band communication module of the second of robot is sent to the described first dedicated band communication module；Second is sent to robot to arrive
Up to information, so that robot leaves carriage according to the second arrival information.
In one embodiment, following steps are also realized when computer program is executed by processor：The acquisition call is asked
The step of asking, including：Obtain the call request that the first dedicated band communication module receives；The call request is by robot
Second dedicated band communication module is sent to the described first dedicated band communication module.
In one embodiment, following steps are also realized when computer program is executed by processor：The acquisition call is asked
The step of asking, including：Obtain the call request that the first general band communication module receives；The call request is by robot
Second general band communication module is sent to the described first general band communication module.
In one embodiment, following steps are also realized when computer program is executed by processor：The first dedicated frequency
Section communication module includes the one 433 module；The second dedicated band communication module includes the 2nd 433 module；It is described to obtain the
The step of target floor information that one dedicated band communication module receives, including：Obtain the purpose that the one 433 module receives
Floor information；The target floor information is sent to the one 433 mould by dedicated channel by the 2nd 433 module of robot
Block.
In one embodiment, following steps are also realized when computer program is executed by processor：It is described to be exhaled according to
The step of ladder request control elevator runs the floor to where robot, including：It is requested according to the call to elevator controlling system
System sends call instruction, so that the elevator control system instructs control elevator to run to where robot according to the call
Floor.
In one embodiment, following steps are also realized when computer program is executed by processor：It is described according to the mesh
Floor information control elevator the step of running to purpose floor, including：According to the target floor information to elevator controlling system
System sends elevator controlling instruction, so that elevator control system instructs control elevator to run to purpose building according to the elevator controlling
Layer.
In one embodiment, following steps are also realized when computer program is executed by processor：It is described to obtain first specially
Before the step of target floor information received with band communication module, further include：When receiving the first dedicated band communication
When what module was sent forbids shutdown to instruct, instructed to forbidding closing the door described in elevator control system forwarding, so that the elevator controlling
System controls elevator door and opens；It is described that shutdown instruction is forbidden to be sent to described first specially by the described second dedicated band communication module
With band communication module.
In one embodiment, following steps are also realized when computer program is executed by processor：It is described to machine human hair
After the step of sending the first arrival information, further include：If it is determined that carriage is full and robot does not enter carriage, to the robot
It sends and waits instruction, so that robot waits next time elevator and sends call request.
It will appreciated by the skilled person that realizing all or part of the process in above-described embodiment method, being can
It is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage and be situated between
In matter, sells or use as independent product.The more specific example (non-exhaustive list) of computer-readable medium includes
Below：Electrical connection section (electronic device) with one or more wiring, portable computer diskette box (magnetic device), arbitrary access
Memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), optical fiber dress
It sets and portable optic disk read-only storage (CDROM).In addition, computer-readable medium, which can even is that, to be printed on it
The paper of described program or other suitable media, because can be for example by carrying out optical scanner to paper or other media, then
It edited, interpreted or is handled when necessary with other suitable methods electronically to obtain described program, then by it
Storage is in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized：With for realizing the logic gates of logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
The term " includes " of the embodiment of the present invention and " having " and their any deformations, it is intended that cover non-exclusive
Include.Such as contain series of steps or the process, method, system, product or equipment of (module) unit are not limited to
The step of listing or unit, but optionally further comprising the step of not listing or unit, or optionally further comprising for these
The intrinsic other step or units of process, method, product or equipment.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, should not be understood as to the invention patent range
Limitation.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise,
Various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the present invention
It should be determined by the appended claims.
Claims (10)
1. a kind of method that elevator is taken by control robot, which is characterized in that include the following steps：
Obtain call request；It include the floor information where robot in the call request；
Control elevator is requested to run the floor to where robot according to the call；First, which is sent, to robot reaches information,
So that robot enters carriage according to the first arrival information；
The target floor information that the first dedicated band communication module receives is obtained, elevator is controlled according to the target floor information
It runs to purpose floor；The target floor information is sent to described first specially by the second dedicated band communication module of robot
With band communication module；
Second is sent to robot and reaches information, so that robot leaves carriage according to the second arrival information.
2. the method that elevator is taken by control robot according to claim 1, which is characterized in that the acquisition call request
The step of, including：
Obtain the call request that the first dedicated band communication module receives；The call requests the second dedicated frequency by robot
Section communication module is sent to the described first dedicated band communication module；
Or,
Obtain the call request that the first general band communication module receives；The call requests the second general frequency by robot
Section communication module is sent to the described first general band communication module.
3. the method that elevator is taken by control robot according to claim 2, which is characterized in that the first dedicated frequency range
Communication module includes the one 433 module；The second dedicated band communication module includes the 2nd 433 module；
Described the step of obtaining the target floor information that the first dedicated band communication module receives, including：
Obtain the target floor information that the one 433 module receives；The target floor information by robot the 2nd 433 module
The one 433 module is sent to by dedicated channel.
4. the method that elevator is taken by control robot according to claim 1, which is characterized in that described according to the call
The step of request control elevator runs the floor to where robot, including：
It is requested to send call instruction to elevator control system according to the call, so that the elevator control system is exhaled according to
Ladder instruction control elevator runs the floor to where robot.
5. the method that elevator is taken by control robot according to claim 4, which is characterized in that described according to the purpose
The step of floor information control elevator is run to purpose floor, including：
Elevator controlling instruction is sent to elevator control system according to the target floor information, so that elevator control system is according to institute
Elevator controlling instruction control elevator is stated to run to purpose floor.
6. the method that elevator is taken by control robot according to claim 5, which is characterized in that the acquisition first is dedicated
Before the step of target floor information that band communication module receives, further include：
When receiving when shutdown being forbidden to instruct of the first dedicated band communication module transmission, the taboo is forwarded to elevator control system
It only closes the door and instructs, so that elevator control system control elevator door is opened；It is described to forbid shutdown instruction dedicated by described second
Band communication module is sent to the described first dedicated band communication module.
7. it is according to any one of claims 1 to 6 control robot take elevator method, which is characterized in that it is described to
After robot sends the step of the first arrival information, further include：
If it is determined that carriage is full and robot does not enter carriage, is sent to the robot and wait instruction, so that robot waits
Next time elevator simultaneously sends call request.
8. the device that elevator is taken by a kind of control robot, which is characterized in that including：
Request receiving module, for obtaining call request；It include the floor information where robot in the call request；
First elevator controlling module, for requesting control elevator to run the floor to where robot according to the call；To machine
Device human hair send the first arrival information, so that robot enters carriage according to the first arrival information；
Second elevator controlling module, the target floor information received for obtaining the first dedicated band communication module, according to institute
Target floor information control elevator is stated to run to purpose floor；The target floor information is led to by the second dedicated frequency range of robot
Letter module is sent to the described first dedicated band communication module；
And information sending module, information is reached for sending second to robot, so that robot is reached according to described second
Information leaves carriage.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor is realized described in any one of claim 1 to 7 when executing the computer program
Method the step of.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of claim 1 to 7 described in any item methods are realized when being executed by processor.
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| CN201810648327.8A CN108861905A (en) | 2018-06-22 | 2018-06-22 | Control method, apparatus and computer equipment that elevator is taken by robot |
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| CN201810648327.8A CN108861905A (en) | 2018-06-22 | 2018-06-22 | Control method, apparatus and computer equipment that elevator is taken by robot |
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