CN112102542A - Robot interaction system and method based on Internet of things - Google Patents
Robot interaction system and method based on Internet of things Download PDFInfo
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- CN112102542A CN112102542A CN202011084890.0A CN202011084890A CN112102542A CN 112102542 A CN112102542 A CN 112102542A CN 202011084890 A CN202011084890 A CN 202011084890A CN 112102542 A CN112102542 A CN 112102542A
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- 230000003993 interaction Effects 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000002452 interceptive effect Effects 0.000 claims abstract description 32
- 230000006854 communication Effects 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 21
- 210000001503 joint Anatomy 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/30—Individual registration on entry or exit not involving the use of a pass
- G07C9/32—Individual registration on entry or exit not involving the use of a pass in combination with an identity check
- G07C9/33—Individual registration on entry or exit not involving the use of a pass in combination with an identity check by means of a password
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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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
- B66B1/34—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
- B66B1/3453—Procedure or protocol for the data transmission or communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W80/00—Wireless network protocols or protocol adaptations to wireless operation
- H04W80/06—Transport layer protocols, e.g. TCP [Transport Control Protocol] over wireless
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
-
- 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)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a robot interaction system and a method based on the Internet of things in the technical field of the Internet of things, wherein the interaction system comprises a self-service interaction terminal and an Ethernet switch, the self-service interaction terminal is communicated with a robot, the Ethernet switch is respectively connected with a cascaded access controller and a ladder control controller, and the access controller and the ladder control controller are respectively communicated with the robot; the robot sends the existing area and the target area to the self-service interaction terminal, the self-service interaction terminal sends a driving path from the existing area to the target area to the robot, and the robot drives forwards according to the driving path and is in butt joint when meeting a control channel on the way. The invention does not change the concrete structure of the traditional entrance guard/lift car, realizes the communication with the self-service interactive terminal machine only through the entrance guard controller/lift control controller and the Ethernet switch, realizes the interaction with the robot, not only can ensure the accuracy of signal transmission, but also can consider the transmission distance and the safety of signals.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to a robot interaction system and method based on the Internet of things.
Background
With the development of science and technology, the application of robots in various service industries is gradually increased, wherein the application of intelligent robots in the industries of cargo transportation, catering, express delivery and the like is more and more popular. The robot can replace the traditional manual mode (including goods transportation, food delivery or express delivery receiving and dispatching) in enterprises and public institutions, intelligent buildings or places with high confidential requirements, so that the labor and material cost can be greatly saved, meanwhile, foreign personnel can be prevented from entering the robot while the robot is still in motion, and potential dangers brought by the personnel are avoided. Taking express delivery as an example, when an external delivery person arrives at an entrance of a door, a destination of receiving goods is input into the robot, and the robot can execute the delivery according to a set program.
However, in the current high-rise building, the robot needs to pass through different floors for service, different access control systems are arranged in different areas and different floors of an enterprise/building, the robot is bound to pass through different access control/elevators when running from one area to another area and from one floor to another floor, and how to ensure that the robot can smoothly run from one area to another area becomes a big problem in the current internet of things design.
Although the running process of an elevator suitable for the robot to walk is set in some buildings at present, the accurate one-to-one information communication cannot be realized in the implementation process of the devices in the prior art, so that the running process of the robot is hindered, and the service efficiency of the robot is influenced.
The above-mentioned drawbacks are worth solving.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a robot system and a method based on the Internet of things.
The technical scheme of the invention is as follows:
on the one hand, a robot interactive system based on thing networking, its characterized in that includes:
the self-service interaction terminal machine is communicated with the robot;
and the Ethernet switch is connected with the self-service interaction terminal through a network cable, one communication interface of the Ethernet switch is connected with the cascaded access controller, the other communication interface of the Ethernet switch is connected with the elevator control controller, and the access controller and the elevator control controller are respectively communicated with the robot.
The invention according to the above scheme is characterized in that the self-service interaction terminal is internally stored with a unique entrance guard ID and an access key corresponding to the entrance guard controller, and also stored with a unique elevator control ID and an access key corresponding to the elevator control controller.
The invention according to the above scheme is characterized in that the access controller communicates with the robot through bluetooth/WIFI; the ladder control controller is communicated with the robot through Bluetooth/WIFI.
On the other hand, the robot interaction method based on the internet of things is characterized in that a plurality of areas are arranged in an enterprise/building, one or more control channels are arranged between two adjacent areas, the robot passes through the one or more control channels in the process of driving from the existing area to the target area, and the specific interaction process is as follows:
the robot sends the existing area and the target area to a self-service interaction terminal, the self-service interaction terminal sends a driving path from the existing area to the target area and an access key of each control channel on the way to the robot, and the robot drives forwards according to the driving path and is in butt joint when meeting the control channels on the way.
The invention according to the above scheme is characterized in that a TCP protocol port of the self-service interactive terminal communicates with the robot through a TCP protocol; or the UDP protocol port of the self-service interactive terminal communicates with the robot through the UDP protocol.
The robot is characterized in that the control channel is an access controller, each access controller is connected with a corresponding access, the access controllers are communicated with the self-service interactive terminal through an Ethernet switch, and the robot is connected with the corresponding access controller when meeting the access in the running process and controls the access to be opened or closed through the access controller.
The self-service interaction terminal is characterized in that the control channel is a ladder control controller, each ladder control controller is connected with a corresponding car, the ladder control controllers are communicated with the self-service interaction terminal through an Ethernet switch, and the robot is connected with the corresponding ladder control controllers when meeting the cars in the running process and directly/indirectly controls the cars to lift, open and close through the ladder control controllers.
Further, the elevator control controller sends the elevator control ID and the access key to the self-service interaction terminal machine through the Ethernet switch, and the self-service interaction terminal machine sends the elevator control ID and the access key on the driving path to the robot after receiving the information of the existing area and the target area sent by the robot.
Further, in the specific elevator taking process of the robot:
(1) when the robot runs to the position of the car, a calling call instruction is sent to the self-service interactive terminal;
(2) the self-service interactive terminal machine sends elevator lifting instructions to the elevator control controller through the Ethernet switch after receiving the instructions, the elevator control controller controls the elevator car to lift, and the position and the state of the elevator car are directly/indirectly sent to the robot;
(3) after receiving the state of the car, the robot directly/indirectly sends a door opening instruction to the elevator control controller;
(4) the elevator control controller controls the car to open the door and directly/indirectly sends the state that the car is in place to the robot;
(5) the robot enters the elevator car, directly/indirectly sends a door closing instruction to the elevator control controller, and directly/indirectly sends a target floor to the elevator control controller;
(6) the elevator control controller controls the car to close the door, runs to a target floor, and directly/indirectly sends the position and the state of the car to the robot;
(7) after the lift car reaches a target floor, the lift control controller directly/indirectly sends the in-place state to the robot;
(8) after receiving the state reached by the lift car, the robot directly/indirectly sends a door opening instruction to the lift control controller;
(9) the elevator control controller controls the car to open the door and directly/indirectly sends the state that the car is in place to the robot;
(10) the robot goes out of the car and directly/indirectly sends a door closing instruction to the elevator control controller;
(11) and after the elevator control controller receives the door closing instruction, the elevator car is controlled to close the door.
Further, in the step (2), the robot is directly connected to the elevator control controller through an elevator control ID and an access key, or the robot is connected to the elevator control controller sequentially through the self-service interaction terminal and the ethernet switch.
The invention according to the scheme has the advantages that the system interacting with the robot is arranged in the traditional enterprise/building, the specific structure of the traditional entrance guard/lift car is not changed, the communication with the self-service interaction terminal machine is realized only through the entrance guard controller/elevator controller and the Ethernet switch, the interaction with the robot is realized, the running track of the robot in the whole running process is controllable, the accuracy of signal transmission can be ensured through the interaction with the robot, the transmission distance and the safety of signals can be considered, and the robot can be ensured to smoothly run to a target area from the existing area.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a flowchart illustrating the robot taking the elevator according to the first embodiment.
Fig. 3 is a flowchart of the robot riding the ladder according to the second embodiment.
Detailed Description
The invention is further described with reference to the following figures and embodiments:
as shown in fig. 1 to 3, a robot interaction system based on the internet of things includes a self-service interaction terminal and an ethernet switch inside an enterprise/building. Wherein: the self-service interactive terminal machine is used for communicating with a robot (or other third-party equipment or programs), the robot acquires information, entrance guard information, channel information, elevator information, information of areas where people are located and the like of each area through the self-service interactive terminal machine, and the purposes of opening/closing doors, finding ways, calling elevator, taking elevator and the like are achieved through communication with the self-service interactive terminal machine; the Ethernet switch is connected with the self-service interactive terminal machine through a network cable (RS 485 network cable), one communication interface of the Ethernet switch is connected with the cascaded access controller, the other communication interface of the Ethernet switch is connected with the elevator control controller, and the robot can also directly communicate with the access controller and the elevator control controller. Preferably, the access controller communicates with the robot through Bluetooth/WIFI; the ladder control controller is communicated with the robot through Bluetooth/WIFI.
The invention does not improve the robot. In addition, in order to realize the walking of the robot between different building floors and different positions of the same floor, a moving driving assembly and a moving walking assembly are further arranged in the robot, and the robot processor is connected with the moving walking assembly through the moving driving assembly. The mobile walking component and the mobile driving component are conventional in the field, and are not described herein again.
The memory in the self-service interactive terminal is stored with a unique entrance guard ID and an access key corresponding to the entrance guard controller, and also stored with a unique elevator control ID and an access key corresponding to the elevator control controller.
The self-service interactive terminal machine is an industrial personal computer or a master control server computer, and can be selected according to different specific application environments.
The self-service interactive terminal machine is communicated with the robot through a TCP (transmission control protocol) port and/or a UDP (user datagram protocol) port, the baud rate of data transmission is 10M/100Mbps, each device and each terminal in the network have a unique address, and the accuracy and the timeliness of data transmission are guaranteed by full-duplex communication with the robot. The TCP protocol standard of the TCP protocol port and the TCP protocol standard of the UDP protocol port are completely open, and are independent of computer hardware and an operating system, and the standardized protocol can provide various reliable user services.
In addition, one communication interface of the ethernet switch is connected with the gate inhibition controller through a network cable (RJ 45 network cable); the other communication interface of the ethernet switch is connected with the elevator control controller through a network cable (RJ 45 network cable), and the elevator control controller is connected with the corresponding car.
In the implementation process of the robot interaction system based on the Internet of things, after specific task instructions of receiving and dispatching pieces and delivering food are received, the robot communicates with the self-service interaction terminal machine, and the existing area and the target area are sent to the self-service interaction terminal machine. A plurality of areas are arranged in the enterprise/building, one or more control channels are arranged between two adjacent areas, and the robot passes through the one or more control channels in the process of driving from the existing area to the target area and realizes information interaction when passing through the control channels. If the robot does not pass through the control channel when walking in the same area, the information interaction with the control channel is not involved, and the details are not repeated here.
Enterprises/buildings can set different areas according to different situations, such as: the same room/meeting room/hall is an area, the same corridor is an area, the same floor is an area (if the robot only runs from one floor to another, only information interaction with the elevator controller car is involved), different attribution ranges of a hall can be set to be different areas, and different areas can be separated through entrance guard, and the like.
The specific interaction process of the robot and the control channel is as follows:
the robot sends the existing area and the target area to the self-service interaction terminal, the self-service interaction terminal sends a driving path from the existing area to the target area, an ID and an access key of each control channel in the way to the robot, and the robot drives forwards according to the driving path and is in butt joint (such as opening/closing a door, calling a call, taking a staircase and the like) when encountering the control channel in the way.
In the invention, a TCP protocol port of the self-service interactive terminal communicates with the robot through a TCP protocol; or the UDP protocol port of the self-service interactive terminal communicates with the robot through the UDP protocol. The robot can select different communication modes to be connected with the self-service interaction terminal, accuracy and confidentiality of information transfer are guaranteed, and meanwhile instantaneity of the information transfer is guaranteed.
In different areas of the same floor, a control channel related to the robot walking process is an access controller, each access controller is connected with a corresponding access controller, the access controllers communicate with a self-service interactive terminal machine through an Ethernet switch, and the robot is connected with the corresponding access controllers when running and meets access control, and directly/indirectly controls the opening/closing of the access controllers. Preferably, the robot is connected with the entrance guard controller through Bluetooth/WIFI, and timeliness and confidentiality of information transmission can be guaranteed.
According to the invention, the entrance guard controller sends the entrance guard ID and the access key thereof to the self-service interactive terminal through the Ethernet switch, the self-service interactive terminal sends the entrance guard ID and the access key corresponding to the entrance guard controller on the driving path to the robot after receiving the information of the existing area and the target area sent by the robot, and after the robot obtains the entrance guard ID and the access key which are close to the entrance guard controller, the communication with the corresponding entrance guard controller can be realized, so that the opening/closing operation of the entrance guard is realized, and the normal use of other entrance guards can not be influenced.
When the robot passes through different floors, the control channel involved in the walking process of the robot is a ladder control controller, each ladder control controller is connected with a corresponding car, the ladder control controllers are communicated with the self-service interactive terminal through the Ethernet switch, and the corresponding ladder control controllers are connected when the robot meets the cars in the running process and directly/indirectly control the cars to ascend and descend. Preferably, the robot is connected with the ladder control controller through bluetooth/WIFI, and timeliness and confidentiality of information transmission can be guaranteed.
In one embodiment, the elevator control controller sends the elevator control ID and the access key corresponding to the elevator control controller to the self-service interaction terminal through the Ethernet switch, and after the self-service interaction terminal receives the information of the existing area and the target area sent by the robot, the elevator control ID and the access key corresponding to the elevator control controller on the way of the driving route are sent to the robot.
As shown in fig. 2 and 3, in the present embodiment, the specific elevator riding process of the robot includes the following steps:
(1) and when the robot runs to the position of the car, a call instruction is sent to the self-service interactive terminal.
As shown in fig. 2, in one embodiment, after the robot sends a call request, the self-service interactive terminal calls the proper car to move forward to the floor where the robot is located through the ethernet switch and the elevator control controller in sequence. Specifically, after the robot sends a call request, the self-service interactive terminal machine directly calls a proper car to move forward to the floor where the robot is located. A car suitable for this includes: A. the lift car is moving up and down, and the way of the up and down going passes through the elevator where the robot is; B. calling an idle car when the car is not in the A condition; and C.A and B wait when the situation is not available.
As shown in fig. 3, in another embodiment, the robot firstly queries the position and state of the car from the self-service interactive terminal, then selects a proper car according to the position and state of different cars, and the self-service interactive terminal calls the car sequentially through the ethernet switch and the elevator control controller. Specifically, the robot firstly inquires the position and the state of the car from the self-service interactive terminal machine, then selects a proper car according to the positions and the states of different cars, and calls the car through the self-service interactive terminal machine. The car in place here is the same as previously described.
(2) The self-service interactive terminal machine receives the instruction and then sends an elevator instruction to the elevator control controller through the Ethernet switch, the elevator control controller controls the elevator car to ascend and descend, and the position and the state of the elevator car (such as when the elevator is in operation or reaches a corresponding floor) are directly/indirectly sent to the robot, so that the robot can conveniently obtain the position and the state of the elevator car at regular time or in real time and make corresponding preparation.
In the process, the self-service interaction terminal sends the elevator control ID and the access key of the elevator control controller between the floor where the robot is located and the target floor to the robot, and the robot is directly connected with the elevator control controller through the elevator control ID and the access key. And if the car does not reach the floor where the robot is located, the robot sends the call request again.
In the invention, after the robot reaches the position of the car, the robot can control the car indirectly through the elevator control controller by communicating with the self-service interactive terminal machine, and can also select to establish communication with the elevator control controller and directly control the car through the elevator control controller.
(3) After receiving the state of the car, the robot directly/indirectly sends a door opening command to the elevator control controller (here and in the following, the direct/indirect meaning is the same as the above description, and is not described again).
(4) The elevator control controller controls the car to open the door and directly/indirectly sends the state that the car is in place to the robot.
(5) The robot enters the elevator car, directly/indirectly sends a door closing command to the elevator control controller, and directly/indirectly sends a target floor to the elevator control controller.
(6) The elevator control controller controls the car to close the door, moves to a target floor and directly/indirectly sends the position and the state of the car to the robot.
The position and the state of the car are sent to the robot at regular time or in real time in the running process of the car carrying robot, so that the robot can conveniently obtain the position and the state of the car at regular time or in real time and make corresponding preparation.
(7) And after the elevator car reaches the target floor, the elevator control controller directly/indirectly sends the in-place state to the robot.
(8) And after receiving the state reached by the car, the robot directly/indirectly sends a door opening instruction to the elevator control controller.
(9) The elevator control controller controls the car to open the door and directly/indirectly sends the state that the car is in place to the robot.
(10) The robot goes out of the car and directly/indirectly sends a door closing instruction to the elevator control controller.
(11) And after the elevator control controller receives the door closing instruction, the elevator car is controlled to close the door.
In a building provided with a plurality of elevators, in order to facilitate the robot to identify the corresponding car/elevator control controller, the robot and the elevator control controller communicate through a short-time key, and after the robot leaves the car, the robot and the elevator control controller discard the key to establish a foundation for the next connection of the robot and another elevator control controller, and the elevator control controller and another robot.
When the robot is communicated with the elevator control controller, the robot is used as an active connection device, data communication can be carried out after the connection is successful, and the data communication connection can be closed actively after the communication is finished. In addition, under the influence of a TCP communication mode (a bidirectional question-and-answer communication mode), if one or both of the two parties receives an illegal data packet (including a packet header error, a verification error, and the like) in the communication process, the machine room does not respond, and the accuracy of data transmission is further ensured.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
The invention is described above with reference to the accompanying drawings, which are illustrative, and it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other fields without modification.
Claims (10)
1. A robot interaction system based on the Internet of things is characterized by comprising:
the self-service interaction terminal machine is communicated with the robot;
and the Ethernet switch is connected with the self-service interaction terminal through a network cable, one communication interface of the Ethernet switch is connected with the cascaded access controller, the other communication interface of the Ethernet switch is connected with the elevator control controller, and the access controller and the elevator control controller are respectively communicated with the robot.
2. The Internet of things-based robot interaction system of claim 1, wherein the self-service interaction terminal machine stores a unique entrance guard ID and an access key corresponding to the entrance guard controller, and further stores a unique elevator control ID and an access key corresponding to the elevator control controller.
3. The internet of things-based robot interaction system of claim 1, wherein the access controller communicates with the robot through bluetooth/WIFI; the ladder control controller is communicated with the robot through Bluetooth/WIFI.
4. The robot interaction method based on the Internet of things is characterized in that a plurality of areas are arranged in an enterprise/building, a robot passes through one or more control channels in the process of driving from the existing area to a target area, and the specific interaction process is as follows:
the robot sends the existing area and the target area to a self-service interaction terminal, the self-service interaction terminal sends a driving path from the existing area to the target area, and the ID and the access key of each control channel on the way to the robot, and the robot drives forwards according to the driving path and is in butt joint when encountering the control channel on the way.
5. The Internet of things-based robot interaction method according to claim 4, wherein a TCP protocol port of the self-service interaction terminal communicates with the robot through a TCP protocol; or the UDP protocol port of the self-service interactive terminal communicates with the robot through the UDP protocol.
6. The robot interaction method based on the Internet of things of claim 4, wherein the control channel is an access controller, each access controller is connected with a corresponding access control, the access controllers communicate with the self-service interaction terminal through an Ethernet switch, and the robot is connected with the corresponding access controllers when meeting the access control in the running process and controls the access control to be opened or closed through the access controllers.
7. The robot interaction method based on the internet of things of claim 4, wherein the control channels are elevator control controllers, each elevator control controller is connected with a corresponding car, the elevator control controllers are communicated with the self-service interaction terminal through an Ethernet switch, and the robot is connected with the corresponding elevator control controllers when meeting the cars in the running process and directly/indirectly controls the cars to lift and open/close through the elevator control controllers.
8. The robot interaction method based on the internet of things as claimed in claim 7, wherein the elevator control controller sends elevator control ID and access key thereof to the self-service interaction terminal through the Ethernet switch, and the self-service interaction terminal sends the elevator control ID and the access key on the driving path to the robot after receiving the information of the existing area and the target area sent by the robot.
9. The internet of things-based robot interaction method of claim 7, wherein in the specific elevator taking process of the robot:
(1) when the robot runs to the position of the car, a calling call instruction is sent to the self-service interactive terminal;
(2) the self-service interactive terminal machine sends elevator lifting instructions to the elevator control controller through the Ethernet switch after receiving the instructions, the elevator control controller controls the elevator car to lift, and the position and the state of the elevator car are directly/indirectly sent to the robot;
(3) after receiving the state of the car, the robot directly/indirectly sends a door opening instruction to the elevator control controller;
(4) the elevator control controller controls the car to open the door and directly/indirectly sends the state that the car is in place to the robot;
(5) the robot enters the elevator car, directly/indirectly sends a door closing instruction to the elevator control controller, and directly/indirectly sends a target floor to the elevator control controller;
(6) the elevator control controller controls the car to close the door, runs to a target floor, and directly/indirectly sends the position and the state of the car to the robot;
(7) after the lift car reaches a target floor, the lift control controller directly/indirectly sends the in-place state to the robot;
(8) after receiving the state reached by the lift car, the robot directly/indirectly sends a door opening instruction to the lift control controller;
(9) the elevator control controller controls the car to open the door and directly/indirectly sends the state that the car is in place to the robot;
(10) the robot goes out of the car and directly/indirectly sends a door closing instruction to the elevator control controller;
(11) and after the elevator control controller receives the door closing instruction, the elevator car is controlled to close the door.
10. The internet of things-based robot interaction method according to claim 9, wherein in the step (2), the robot is directly connected with the elevator control controller through an elevator control ID and an access key, or the robot is connected with the elevator control controller sequentially through the self-service interaction terminal and the ethernet switch.
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| CN115321291A (en) * | 2022-07-11 | 2022-11-11 | 杭州申昊科技股份有限公司 | Method and system for robot to automatically perform cross-floor operation |
| WO2023133380A1 (en) * | 2022-01-06 | 2023-07-13 | Johnson Controls Tyco IP Holdings LLP | Methods and systems for integrating autonomous devices with an access control system |
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| CN110963379A (en) * | 2019-12-12 | 2020-04-07 | 上海新时达电气股份有限公司 | Service robot elevator taking system based on cloud platform and elevator taking method thereof |
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| WO2023133380A1 (en) * | 2022-01-06 | 2023-07-13 | Johnson Controls Tyco IP Holdings LLP | Methods and systems for integrating autonomous devices with an access control system |
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