CN110203783A - Call method and device for robot - Google Patents
Call method and device for robot Download PDFInfo
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- CN110203783A CN110203783A CN201910364325.0A CN201910364325A CN110203783A CN 110203783 A CN110203783 A CN 110203783A CN 201910364325 A CN201910364325 A CN 201910364325A CN 110203783 A CN110203783 A CN 110203783A
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- Prior art keywords
- elevator
- robot
- cloud service
- control instruction
- module
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Classifications
-
- 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
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
-
- 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
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/104—Call input for a preferential elevator car or indicating a special request
-
- 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
- B66B2201/405—Details of the change of control mode by input of special passenger or passenger group
-
- 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
- B66B2201/463—Wherein the call is registered through physical contact with the elevator 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
- B66B2201/46—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)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Signal Processing (AREA)
- Elevator Control (AREA)
Abstract
This application discloses a kind of call method and devices for robot.This method comprises: communication initialization, establishes connection between elevator Internet of Things module and cloud service, connection is established between robot and cloud service；If robot needs to control elevator, control instruction is sent to the cloud service；If after the completion of the control instruction, the cloud service returns to execution state to the robot.The device includes: communication initialization module, is used for communication initialization, establishes connection between elevator Internet of Things module and cloud service, connection is established between robot and cloud service；Instruction module is sent, if need to control elevator for robot, sends control instruction to the cloud service；Feedback states module, if the cloud service returns to execution state to the robot for after the completion of the control instruction.Present application addresses the ineffective technical problems of call mode.
Description
Technical field
This application involves Internet of Things fields, in particular to a kind of call method and device for robot.
Background technique
Service robot is gradually used to provide service for guest, office worker on hotel, office building and other places.
Inventors have found that robot is in service process, preferably call and elevator can not be taken.Further, such as fruit
When target floor of lifter is higher, call cannot be timely responded to.
For the ineffective problem of call mode in the related technology, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of call method and device for robot, to solve in a manner of call
Ineffective problem, for carrying out message transmission between robot and elevator by cloud service and elevator Internet of Things module.
To achieve the goals above, according to the one aspect of the application, a kind of call method for robot is provided.
Include: communication initialization according to the call method for robot of the application, is taken in elevator Internet of Things module and cloud
Connection is established between business, and connection is established between robot and cloud service；If robot needs to control elevator, Xiang Suoshu
Cloud service sends control instruction；If after the completion of the control instruction, the cloud service returns to execution state to the machine
People.
Further, communication initialization establishes connection between elevator Internet of Things module and cloud service, takes in robot and cloud
It is established before connection between business, further includes: do not responded repeatedly if the robot during calling elevator, retries
When, it is switched to the messaging mode by cloud service and elevator interconnection；Wherein, the robot by elevator Internet of Things module with
The elevator direct communication, the robot and elevator Internet of Things module access network.
Further, if robot needs to control elevator, include: if sending control instruction to the cloud service
Robot then sends call control instruction to the cloud service when elevator outer calling is elevator；If the control instruction is completed
Afterwards, described if then the cloud service returns after the completion of execution state includes: the call control instruction to the robot
Cloud service returns to call and executes state to the robot.
Further, if robot needs to control elevator, include: if sending control instruction to the cloud service
When robot lights destination in machine elevator for people, then floor is sent to the cloud service and light control instruction；If institute
After the completion of stating control instruction, if it includes: that the floor lights finger that then the cloud service, which returns to execution state to the robot,
After the completion of order, then the cloud service returns to floor and lights execution state to the robot.
Further, if robot needs to control elevator, include: if sending control instruction to the cloud service
When robot pins door-opened elevator, then enabling control instruction is sent to the cloud service；If after the completion of the control instruction,
If it includes: the cloud clothes after the completion of the enabling control instruction that the cloud service, which returns to execution state to the robot,
Business returns enabling control execution state to the robot.
Further, if robot needs to control elevator, include: after sending control instruction to the cloud service
The control instruction pushes to the elevator Internet of Things module by the cloud service, and by the elevator Internet of Things module to elevator
Send the control instruction；The control instruction is completed when executing, passes through the elevator execution result back to the elevator object
Gang mould block；If after the completion of the control instruction, it includes: before logical that the cloud service, which returns to execution state to the robot,
It crosses the elevator Internet of Things module and is back to the cloud service, and implementing result is pushed to by robot by the cloud service.
To achieve the goals above, according to the another aspect of the application, a kind of hall buttons for robot are provided,
For carrying out message transmission between robot and elevator by cloud service and elevator Internet of Things module.
The hall buttons for robot according to the application include: communication initialization module, are used for communication initialization,
Connection is established between elevator Internet of Things module and cloud service, connection is established between robot and cloud service；Instruction module is sent, is used
If sending control instruction to the cloud service when robot needs to control elevator；Feedback states module, if being used for institute
After the completion of stating control instruction, then the cloud service returns to execution state to the robot.
Further, if sending instruction module includes: robot when elevator outer calling is elevator, to the cloud service
Send call control instruction；If feedback states module includes: the cloud service return after the completion of the call control instruction
Call executes state to the robot.
Further, if transmission instruction module includes: that robot lights destination in machine elevator for people, to
The cloud service sends floor and lights control instruction；If feedback states module includes: after the completion of the floor lights instruction,
The cloud service returns to floor and lights execution state to the robot.
Further, it if transmission instruction module includes: that robot pins door-opened elevator, is sent to the cloud service
Enabling control instruction；If after the completion of feedback states module includes: the enabling control instruction, enabling control is returned in the cloud service
Execution state processed gives the robot.
It is used for the call method and device of robot in the embodiment of the present application, for passing through cloud service and elevator Internet of Things mould
Block carries out message transmission between robot and elevator, using communication initialization, builds between elevator Internet of Things module and cloud service
Vertical connection, establishes the mode of connection, if need to control elevator by robot, to institute between robot and cloud service
It states cloud service and sends control instruction, if after the completion of having reached the control instruction, the cloud service returns to execution state and gives
The purpose of the robot to realize the technical effect of intelligent call, and then solves the ineffective skill of call mode
Art problem.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the call method schematic diagram according to the application first embodiment；
Fig. 2 is the call method schematic diagram according to the application second embodiment；
Fig. 3 is the call method schematic diagram according to the application 3rd embodiment；
Fig. 4 is the hall buttons schematic diagram according to the embodiment of the present application；
Fig. 5 is the call method and device working principle according to the embodiment of the present application；
Fig. 6 is the call method and device working principle according to the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this method is used to disappear between robot and elevator by cloud service and elevator Internet of Things module
Breath transmitting, includes the following steps, namely S1 to step S3:
Step S1, communication initialization establish connection between elevator Internet of Things module and cloud service, in robot and cloud service
Between establish connection；
Step S2 sends control instruction to the cloud service if robot needs to control elevator；
Step S3, if after the completion of the control instruction, the cloud service returns to execution state to the robot.
Mode of the message transmission based on Publish-subscribe in above-mentioned call method, entire communication process specifically include three
Part, referring to as seen in figs. 5-6:
First part, execute primary initial phase: connection is established in elevator module and cloud service, and subscribes to robot control
Connection is established in system instruction, robot and cloud service, subscribes to elevator and the feedback of control instruction, robot and cloud service are established and connected
It connects, subscribes to the state of elevator relevant time.
Second part, send instruction phase: robot will control elevator, send control instruction to elevator, cloud service will be controlled
System instruction is pushed to elevator Internet of Things module, and elevator Internet of Things module controls elevator operation.
Part III, the feedback states stage: including: that floor, direction etc. are fed back to by state change in running process of elevator
State is fed back to cloud service by Internet of Things module, elevator Internet of Things module, and state of elevator is pushed to robot by cloud service, and robot is done
Corresponding response out.
Pass through the process example in cloud and elevator Internet of Things by the general robot provided in the above method, meanwhile, it will
Original direct communication combines with by way of the network communication of 3G or 4G, is greatly improved robot and interacts with elevator
Reliability.
It can be seen from the above description that the application realizes following technical effect:
It is used for the call method and device of robot in the embodiment of the present application, for passing through cloud service and elevator Internet of Things mould
Block carries out message transmission between robot and elevator, using communication initialization, builds between elevator Internet of Things module and cloud service
Vertical connection, establishes the mode of connection, if need to control elevator by robot, to institute between robot and cloud service
It states cloud service and sends control instruction, if after the completion of having reached the control instruction, the cloud service returns to execution state and gives
The purpose of the robot to realize the technical effect of intelligent call, and then solves the ineffective skill of call mode
Art problem.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, communication initialization, in elevator Internet of Things
Connection is established between module and cloud service, is established before connection between robot and cloud service, further includes:
Step S0 is switched to logical if the robot during calling elevator, retries when not obtaining response repeatedly
Cross the messaging mode of cloud service and elevator interconnection；Wherein, the robot is straight by elevator Internet of Things module and the elevator
Letter is connected, the robot and elevator Internet of Things module access network.
Specifically, the robot and elevator Internet of Things module direct communication.In certain high-storeys, due to be limited to away from
From, can not direct communication when, need to be communicated by with 3G/4G network.However it is directed to current network communication process, do not have at present
There is corresponding specification, a kind of general interaction flow proposed in embodiments herein:
Under normal circumstances, the robot and the elevator direct communication are intervened without third party system.The robot
Internet is all accessed with the elevator Internet of Things module, by the 3G/4G card installed in the robot, is directly drawn with the elevator
Cable.Robot is during calling elevator, if retrying repeatedly cannot all respond, showing may be since floor be higher etc.
Reason can not directly be contacted with elevator, at this moment switch to the mode by cloud service and elevator interconnection.
According to the embodiment of the present application, as preferred in the present embodiment, if robot needs to control elevator, to institute
Stating cloud service transmission control instruction includes:
If robot sends call control instruction when elevator outer calling is elevator, to the cloud service；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes:
If after the completion of the call control instruction, the cloud service returns to call and executes state to the robot.
Specifically, the related notion in the embodiment of the present application is as follows:
The elevator group ID: the portion the 1~N elevator for participating in scheduling together forms an elevator group, has a group ID, length is not
More than 64 bytes, globally unique, elevator cloud service need to be by elevator group ID and some practical place (hotel, office building etc.)
True elevator group is mapped.Subsequent all elevator interface calling initiated by robot can all use elevator group ID.
Numbering of elevator in the group: each elevator will have number in a group (whole within 100 inside an elevator group
Number), which requires unique in group.For example, there are 6 elevators in some elevator group, 1~6 can be put on respectively to them.
The task ID: robot takes an elevator and is known as a task, it has a globally unique task ID, by
Robot generates, 32 bytes, the life cycle of the task ID are as follows: since robot elevator outer calling is elevator, arrives machine
People takes elevator and arrives at the destination (or robot abandons this time and takes a lift task) end.
Scene one: robot elevator outer calling
Instruction message Topic:lift/<elevator group ID>/command is sent by robot
Message format (being byte number in bracket):
| command(1) | taskId(32) | seqId(1) | from(2) | to(2) |
| It is elevator | Task ID | Sequence of instructions row number | Departure floor | Purpose floor |
Elevator cloud proceeds as follows after receiving request:
1) elevator is distributed to robot, and number in the group of the elevator is fed back to robot or informs robot point
With failure；
If 2) be allocated successfully, start to robot send elevator status information, be continued until the subtask complete or
Until robot abandons；
3) dispatch state of elevator device is monitored, if midway is because the reasons such as fully loaded, cause to redistribute elevator, give
Robot sends out public notice.
Elevator cloud sends the message Topic of feedback or state are as follows: lift/<elevator group ID>/notify
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | errcode(1) | liftId(1) |
| Elevator is made to feed back | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero | Number in elevator group |
Sequence of instructions row number only need to return to as former state the parameter passed in current corresponding robot instruction.
| command(1) | liftId(1) | state(n) |
| Elevator operation | Number in elevator group | State |
| command(1) | taskId(32) | seqId(1) | errcode(1) | liftId(1) |
| Redistribute elevator | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero | Number in new elevator group |
According to the embodiment of the present application, as preferred in the present embodiment, if robot needs to control elevator, to institute
Stating cloud service transmission control instruction includes:
If robot lights destination in machine elevator for people, floor is sent to the cloud service and lights control
Instruction；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes:
If after the completion of the floor lights instruction, the cloud service returns to floor and lights execution state to the machine
People.
Scene two: destination is lighted in machine elevator for people
It is sent and is instructed by robot:
Message Topic:lift/<elevator group ID>/command
After elevator cloud receives request, closes the door and leaves for destination, while the instruction execution result is fed back into robot,
Elevator cloud sends the message Topic of feedback are as follows: lift/<elevator group ID>/notify,
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | errcode(1) |
| Light destination feedback | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero |
According to the embodiment of the present application, as preferred in the present embodiment, if robot needs to control elevator, to institute
Stating cloud service transmission control instruction includes:
If robot pins door-opened elevator, enabling control instruction is sent to the cloud service；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes:
If after the completion of the enabling control instruction, the cloud service returns enabling control execution state to the machine
People.
Scene three: robot pins enabling
It is sent and is instructed by robot.
Message Topic:lift/<elevator group ID>/command
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | liftId(1) | time(1) |
| It opens the door | Task ID | Sequence of instructions row number | Number in elevator group | Be delayed number of seconds |
Control elevator door is opened after elevator cloud receives request, and is being closed after specified delay number of seconds, while will instruction
Practice condition feeds back to robot
Elevator cloud sends the message Topic of feedback are as follows: lift/<elevator group ID>/notify
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | errcode(1) |
| Door open command feedback | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero |
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 3, if robot needs to control electricity
When terraced, then include: after sending control instruction to the cloud service
Step S5, the control instruction pushes to the elevator Internet of Things module by the cloud service, and passes through the electricity
Terraced Internet of Things module sends the control instruction to elevator；
Step S6 completes the control instruction when executing, passes through the elevator execution result back to the elevator Internet of Things
Module；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes: before
Step S7 is back to the cloud service by the elevator Internet of Things module, and will execute knot by the cloud service
Fruit is pushed to robot.
Mode of the message transmission based on Publish-subscribe in above-mentioned call method, entire communication process specifically include three
Part:
First part, execute primary initial phase: connection is established in elevator module and cloud service, and subscribes to robot control
Connection is established in system instruction, robot and cloud service, subscribes to elevator and the feedback of control instruction, robot and cloud service are established and connected
It connects, subscribes to the state of elevator relevant time.
Second part, send instruction phase: robot will control elevator, send control instruction to elevator, cloud service will be controlled
System instruction is pushed to elevator Internet of Things module, and elevator Internet of Things module controls elevator operation.
Part III, the feedback states stage: including: that floor, direction etc. are fed back to by state change in running process of elevator
State is fed back to cloud service by Internet of Things module, elevator Internet of Things module, and state of elevator is pushed to robot by cloud service, and robot is done
Corresponding response out.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provide it is a kind of for implementing the device of the above-mentioned call method for robot,
For carrying out message transmission between robot and elevator by cloud service and elevator Internet of Things module, as shown in figure 4, the device packet
It includes:
Communication initialization module 10 is used for communication initialization, establishes connection between elevator Internet of Things module and cloud service,
Connection is established between robot and cloud service；
Instruction module 20 is sent, if need to control elevator for robot, control is sent to the cloud service and refers to
It enables；
Feedback states module 30, if the cloud service returns to execution state and gives for after the completion of the control instruction
The robot.
Mode of the message transmission based on Publish-subscribe in above-mentioned call method, entire communication process specifically include three
Part:
First part, execute primary initial phase: connection is established in elevator module and cloud service, and subscribes to robot control
Connection is established in system instruction, robot and cloud service, subscribes to elevator and the feedback of control instruction, robot and cloud service are established and connected
It connects, subscribes to the state of elevator relevant time.
Second part, send instruction phase: robot will control elevator, send control instruction to elevator, cloud service will be controlled
System instruction is pushed to elevator Internet of Things module, and elevator Internet of Things module controls elevator operation.
Part III, the feedback states stage: including: that floor, direction etc. are fed back to by state change in running process of elevator
State is fed back to cloud service by Internet of Things module, elevator Internet of Things module, and state of elevator is pushed to robot by cloud service, and robot is done
Corresponding response out.
Pass through the process example in cloud and elevator Internet of Things by the general robot provided in the above method, meanwhile, it will
Original direct communication combines with by way of the network communication of 3G or 4G, is greatly improved robot and interacts with elevator
Reliability.
It can be seen from the above description that the application realizes following technical effect:
It is used for the call method and device of robot in the embodiment of the present application, for passing through cloud service and elevator Internet of Things mould
Block carries out message transmission between robot and elevator, using communication initialization, builds between elevator Internet of Things module and cloud service
Vertical connection, establishes the mode of connection, if need to control elevator by robot, to institute between robot and cloud service
It states cloud service and sends control instruction, if after the completion of having reached the control instruction, the cloud service returns to execution state and gives
The purpose of the robot to realize the technical effect of intelligent call, and then solves the ineffective skill of call mode
Art problem.
It is taken as preferred in the present embodiment, communication initialization in elevator Internet of Things module and cloud according to the embodiment of the present application
Connection is established between business, is established before connection between robot and cloud service, further includes:
If the robot during calling elevator, retry repeatedly do not obtain response when, be switched to and taken by cloud
The messaging mode of business and elevator interconnection；Wherein, the robot passes through elevator Internet of Things module and the elevator direct communication,
The robot and elevator Internet of Things module access network.
Specifically, the robot and elevator Internet of Things module direct communication.In certain high-storeys, due to be limited to away from
From, can not direct communication when, need to be communicated by with 3G/4G network.However it is directed to current network communication process, do not have at present
There is corresponding specification, a kind of general interaction flow proposed in embodiments herein:
Under normal circumstances, the robot and the elevator direct communication are intervened without third party system.The robot
Internet is all accessed with the elevator Internet of Things module, by the 3G/4G card installed in the robot, is directly drawn with the elevator
Cable.Robot is during calling elevator, if retrying repeatedly cannot all respond, showing may be since floor be higher etc.
Reason can not directly be contacted with elevator, at this moment switch to the mode by cloud service and elevator interconnection.
According to the embodiment of the present application, as preferred in the present embodiment, sending instruction module 20 includes:
If robot sends call control instruction when elevator outer calling is elevator, to the cloud service；
Feedback states module 30 includes:
If after the completion of the call control instruction, the cloud service returns to call and executes state to the robot.
Specifically, the related notion in the embodiment of the present application is as follows:
The elevator group ID: the portion the 1~N elevator for participating in scheduling together forms an elevator group, has a group ID, length is not
More than 64 bytes, globally unique, elevator cloud service need to be by elevator group ID and some practical place (hotel, office building etc.)
True elevator group is mapped.Subsequent all elevator interface calling initiated by robot can all use elevator group ID.
Numbering of elevator in the group: each elevator will have number in a group (whole within 100 inside an elevator group
Number), which requires unique in group.For example, there are 6 elevators in some elevator group, 1~6 can be put on respectively to them.
The task ID: robot takes an elevator and is known as a task, it has a globally unique task ID, by
Robot generates, 32 bytes, the life cycle of the task ID are as follows: since robot elevator outer calling is elevator, arrives machine
People takes elevator and arrives at the destination (or robot abandons this time and takes a lift task) end.
Scene one: robot elevator outer calling
Instruction message Topic:lift/<elevator group ID>/command is sent by robot
Message format (being byte number in bracket):
| command(1) | taskId(32) | seqId(1) | from(2) | to(2) |
| It is elevator | Task ID | Sequence of instructions row number | Departure floor | Purpose floor |
Elevator cloud proceeds as follows after receiving request:
1) elevator is distributed to robot, and number in the group of the elevator is fed back to robot or informs robot point
With failure；
If 2) be allocated successfully, start to robot send elevator status information, be continued until the subtask complete or
Until robot abandons；
3) dispatch state of elevator device is monitored, if midway is because the reasons such as fully loaded, cause to redistribute elevator, give
Robot sends out public notice.
Elevator cloud sends the message Topic of feedback or state are as follows: lift/<elevator group ID>/notify
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | errcode(1) | liftId(1) |
| Elevator is made to feed back | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero | Number in elevator group |
Sequence of instructions row number only need to return to as former state the parameter passed in current corresponding robot instruction.
| command(1) | liftId(1) | state(n) |
| Elevator operation | Number in elevator group | State |
| command(1) | taskId(32) | seqId(1) | errcode(1) | liftId(1) |
| Redistribute elevator | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero | Number in new elevator group |
According to the embodiment of the present application, as preferred in the present embodiment, sending instruction module 20 includes:
If robot lights destination in machine elevator for people, floor is sent to the cloud service and lights control
Instruction；
Feedback states module 30 includes:
If after the completion of the floor lights instruction, the cloud service returns to floor and lights execution state to the machine
People.
Scene two: destination is lighted in machine elevator for people
It is sent and is instructed by robot:
Message Topic:lift/<elevator group ID>/command
| command(1) | taskId(32) | seqId(1) | liftId(1) | to(2) |
| Light destination | Task ID | Sequence of instructions row number | Number in elevator group | Purpose floor |
After elevator cloud receives request, closes the door and leaves for destination, while the instruction execution result is fed back into robot,
Elevator cloud sends the message Topic of feedback are as follows: lift/<elevator group ID>/notify,
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | errcode(1) |
| Light destination feedback | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero |
According to the embodiment of the present application, as preferred in the present embodiment, sending instruction module 20 includes:
If robot pins door-opened elevator, enabling control instruction is sent to the cloud service；
Feedback states module 30 includes:
If after the completion of the enabling control instruction, the cloud service returns enabling control execution state to the machine
People.
Scene three: robot pins enabling
It is sent and is instructed by robot.
Message Topic:lift/<elevator group ID>/command
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | liftId(1) | time(1) |
| It opens the door | Task ID | Sequence of instructions row number | Number in elevator group | Be delayed number of seconds |
Control elevator door is opened after elevator cloud receives request, and is being closed after specified delay number of seconds, while will instruction
Practice condition feeds back to robot
Elevator cloud sends the message Topic of feedback are as follows: lift/<elevator group ID>/notify
Wherein, message format:
| command(1) | taskId(32) | seqId(1) | errcode(1) |
| Door open command feedback | Task ID | Sequence of instructions row number | Success: 0, it is unsuccessful: non-zero |
According to the embodiment of the present application, as preferred in the present embodiment, if robot needs to control elevator, to institute
It states after cloud service sends control instruction and includes:
The control instruction pushes to the elevator Internet of Things module by the cloud service, and passes through the elevator Internet of Things mould
Block sends the control instruction to elevator；
The control instruction is completed when executing, passes through the elevator execution result back to the elevator Internet of Things module；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes: before
It is back to the cloud service by the elevator Internet of Things module, and is pushed to implementing result by the cloud service
Robot.
Mode of the message transmission based on Publish-subscribe in above-mentioned call method, entire communication process specifically include three
Part:
First part, execute primary initial phase: connection is established in elevator module and cloud service, and subscribes to robot control
Connection is established in system instruction, robot and cloud service, subscribes to elevator and the feedback of control instruction, robot and cloud service are established and connected
It connects, subscribes to the state of elevator relevant time.
Second part, send instruction phase: robot will control elevator, send control instruction to elevator, cloud service will be controlled
System instruction is pushed to elevator Internet of Things module, and elevator Internet of Things module controls elevator operation.
Part III, the feedback states stage: including: that floor, direction etc. are fed back to by state change in running process of elevator
State is fed back to cloud service by Internet of Things module, elevator Internet of Things module, and state of elevator is pushed to robot by cloud service, and robot is done
Corresponding response out.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of call method for robot, which is characterized in that for passing through cloud service and elevator Internet of Things module in machine
Message transmission is carried out between people and elevator, which comprises
Communication initialization establishes connection between elevator Internet of Things module and cloud service, the company of foundation between robot and cloud service
It connects；
If robot needs to control elevator, control instruction is sent to the cloud service；
If after the completion of the control instruction, the cloud service returns to execution state to the robot.
2. call method according to claim 1, which is characterized in that communication initialization takes in elevator Internet of Things module and cloud
Connection is established between business, is established before connection between robot and cloud service, further includes:
If the robot during calling elevator, retry repeatedly do not obtain response when, be switched to by cloud service with
The messaging mode of elevator interconnection；
Wherein, the robot passes through elevator Internet of Things module and the elevator direct communication, the robot and elevator Internet of Things mould
Block accesses network.
3. call method according to claim 1, which is characterized in that
If robot needs to control elevator, sending control instruction to the cloud service includes:
If robot sends call control instruction when elevator outer calling is elevator, to the cloud service；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes:
If after the completion of the call control instruction, the cloud service returns to call and executes state to the robot.
4. call method according to claim 1, which is characterized in that
If robot needs to control elevator, sending control instruction to the cloud service includes:
If robot lights destination in machine elevator for people, control is lighted to cloud service transmission floor and is referred to
It enables；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes:
If after the completion of the floor lights instruction, the cloud service returns to floor and lights execution state to the robot.
5. call method according to claim 1, which is characterized in that
If robot needs to control elevator, sending control instruction to the cloud service includes:
If robot pins door-opened elevator, enabling control instruction is sent to the cloud service；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes:
If after the completion of the enabling control instruction, the cloud service returns enabling control execution state to the robot.
6. call method according to claim 1, which is characterized in that if robot needs to control elevator, to institute
It states after cloud service sends control instruction and includes:
The control instruction pushes to the elevator Internet of Things module by the cloud service, and by the elevator Internet of Things module to
Elevator sends the control instruction；
The control instruction is completed when executing, passes through the elevator execution result back to the elevator Internet of Things module；
If after the completion of the control instruction, the cloud service returns to execution state to the robot and includes: before
It is back to the cloud service by the elevator Internet of Things module, and implementing result is pushed to by machine by the cloud service
People.
7. a kind of hall buttons for robot, which is characterized in that for passing through cloud service and elevator Internet of Things module in machine
Message transmission is carried out between people and elevator, described device includes:
Communication initialization module is used for communication initialization, connection is established between elevator Internet of Things module and cloud service, in robot
Connection is established between cloud service；
Instruction module is sent, if need to control elevator for robot, sends control instruction to the cloud service；
Feedback states module, if the cloud service returns to execution state to the machine for after the completion of the control instruction
Device people.
8. hall buttons according to claim 7, which is characterized in that
Sending instruction module includes:
If robot sends call control instruction when elevator outer calling is elevator, to the cloud service；
Feedback states module includes:
If after the completion of the call control instruction, the cloud service returns to call and executes state to the robot.
9. hall buttons according to claim 7, which is characterized in that
Sending instruction module includes:
If robot lights destination in machine elevator for people, control is lighted to cloud service transmission floor and is referred to
It enables；
Feedback states module includes:
If after the completion of the floor lights instruction, the cloud service returns to floor and lights execution state to the robot.
10. hall buttons according to claim 7, which is characterized in that
Sending instruction module includes:
If robot pins door-opened elevator, enabling control instruction is sent to the cloud service；
Feedback states module includes:
If after the completion of the enabling control instruction, the cloud service returns enabling control execution state to the robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910364325.0A CN110203783A (en) | 2019-04-30 | 2019-04-30 | Call method and device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910364325.0A CN110203783A (en) | 2019-04-30 | 2019-04-30 | Call method and device for robot |
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| Publication Number | Publication Date |
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| CN110203783A true CN110203783A (en) | 2019-09-06 |
Family
ID=67785452
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|---|---|---|---|
| CN201910364325.0A Pending CN110203783A (en) | 2019-04-30 | 2019-04-30 | Call method and device for robot |
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| CN111170095A (en) * | 2019-12-31 | 2020-05-19 | 北京猎户星空科技有限公司 | Elevator dispatching system |
| CN111591841A (en) * | 2020-05-14 | 2020-08-28 | 拉扎斯网络科技（上海）有限公司 | Ladder taking method of unmanned equipment, unmanned equipment and system |
| CN111731958A (en) * | 2020-06-16 | 2020-10-02 | 北京云迹科技有限公司 | Method for robot to take elevator in queue, elevator internet of things device and system |
| CN111824873A (en) * | 2020-07-27 | 2020-10-27 | 长沙慧联智能科技有限公司 | Non-contact type autonomous elevator taking system and control method |
| CN112777436A (en) * | 2021-01-28 | 2021-05-11 | 上海有个机器人有限公司 | Robot calling landing method, device, terminal and storage medium |
| CN113370215A (en) * | 2021-06-29 | 2021-09-10 | 上海有个机器人有限公司 | Ladder selection method and device for robot to take ladder, robot and storage medium |
| EP3882197A1 (en) * | 2020-03-16 | 2021-09-22 | Otis Elevator Company | Running state monitoring of machine passengers |
| EP3882192A1 (en) * | 2020-03-16 | 2021-09-22 | Otis Elevator Company | Automated sort area using robots |
| CN115273442A (en) * | 2021-04-30 | 2022-11-01 | 北京京东乾石科技有限公司 | Communication method, device and system of robot and elevator |
| EP4116248A4 (en) * | 2020-03-06 | 2023-08-02 | Mitsubishi Electric Corporation | Equipment server, device server, communication system, and data structure |
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Application publication date: 20190906 |