CN115273442A - Communication method, device and system of robot and elevator - Google Patents
Communication method, device and system of robot and elevator Download PDFInfo
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- CN115273442A CN115273442A CN202110480588.5A CN202110480588A CN115273442A CN 115273442 A CN115273442 A CN 115273442A CN 202110480588 A CN202110480588 A CN 202110480588A CN 115273442 A CN115273442 A CN 115273442A
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- base station
- communication base
- elevator
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- radiation range
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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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- 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
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/40—Remote control systems using repeaters, converters, gateways
- G08C2201/42—Transmitting or receiving remote control signals via a network
Abstract
The application provides a communication method, a device and a system of a robot and an elevator, wherein the method comprises the following steps: the first communication base station receives a control instruction sent by the robot, the first communication base station judges whether the elevator is located within a radiation range of the first communication base station, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control instruction to the elevator, and if the elevator is not located within the radiation range of the first communication base station, the first communication base station forwards the control instruction to a second communication base station adjacent to the first communication base station.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a communication method, device and system of a robot and an elevator.
Background
With the rapid growth of the goods industry in China, the logistics technology for express delivery transportation is also developed vigorously, and in order to relieve the pressure of manual transportation logistics, a distribution robot is designed to deliver goods, however, when the distribution robot executes a cross-floor operation task, an elevator needs to be taken to reach a target floor, so that the robot needs to call a call, and how to realize low-cost communication between the robot and the elevator is a technical problem to be solved urgently.
Disclosure of Invention
The present disclosure provides a robot and elevator communication method, apparatus and system for enabling low cost communication.
According to an aspect of the present disclosure, there is provided a robot-to-elevator communication method including:
a first communication base station receives a control instruction sent by a robot;
the first communication base station judges whether an elevator is positioned in the radiation range of the first communication base station;
if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control command to the elevator;
and if the elevator is not positioned in the radiation range of the first communication base station, the first communication base station forwards the control command to a second communication base station adjacent to the first communication base station.
According to another aspect of the present disclosure, there is provided a robot-to-elevator communication apparatus including:
the receiving module is used for receiving a control instruction sent by the robot by the first communication base station;
the first judgment module is used for judging whether the elevator is positioned in the radiation range of the first communication base station or not by the first communication base station;
the first processing module is used for sending the control command to the elevator by the first communication base station if the elevator is located in the radiation range of the first communication base station; and if the elevator is not positioned in the radiation range of the first communication base station, the first communication base station forwards the control command to a second communication base station adjacent to the first communication base station.
According to another aspect of the present disclosure, there is provided a communication system of a robot and an elevator, including:
the communication base stations are respectively arranged on a plurality of corresponding floors and are used for establishing communication between the robot and the elevator;
the first communication device is arranged above the robot and used for sending an elevator control command to a communication base station with a radiation range covering the robot from the plurality of communication base stations;
and the second communication device is arranged on the elevator and used for sending feedback information to the communication base station with the radiation range covering the elevator among the plurality of communication base stations.
According to another aspect of the present disclosure, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the program.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method as described in the first aspect.
According to another aspect of the present disclosure, there is provided a computer program product in which instructions, when executed by a processor, perform the method according to the first aspect.
The technical scheme provided by the application comprises the following beneficial effects:
the first communication base station receives a control instruction sent by the robot, the first communication base station judges whether the elevator is located within a radiation range of the first communication base station, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control instruction to the elevator, and if the elevator is not located within the radiation range of the first communication base station, the first communication base station forwards the control instruction to a second communication base station adjacent to the first communication base station.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a communication method between a robot and an elevator according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another communication method between a robot and an elevator according to an embodiment of the present invention;
fig. 3 is a schematic view of a communication scenario between a robot and an elevator provided in this embodiment;
fig. 4 is a schematic flow chart of a further communication method between a robot and an elevator according to an embodiment of the present invention;
fig. 5 is a schematic diagram of control instruction and address record forwarding provided in this embodiment;
fig. 6 is a schematic diagram of response message forwarding provided in this embodiment;
fig. 7 is a schematic structural diagram of a communication system of a robot and an elevator provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of another communication system of a robot and an elevator provided in an embodiment of the present application;
fig. 9 is a schematic structural diagram of a communication device of a robot and an elevator provided by an embodiment of the invention; and
FIG. 10 is a block diagram of an exemplary computer device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
A robot and elevator communication method, apparatus, and system according to embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a communication method between a robot and an elevator according to an embodiment of the present invention.
In the related technology, the robot communicates with the elevator, and the calling scheme is realized mainly by adopting the following modes:
in the first mode, the robot is communicated with the elevator through a 4G network so as to transmit a dispatching command to an elevator control system. However, in this communication method, a certain flow rate usage cost is generated for each call, and a 4G service cost problem needs to be maintained manually and periodically, which is high in cost.
And in the second mode, wifi is deployed on each floor, when the robot reaches a calling area, a dispatching application is sent to the background server through wifi, and the background server sends a dispatching instruction to the elevator control system through a broadcasting mode. However, in the communication mode, a background server needs to be arranged to communicate with wifi networks of all floors, so that the robot can communicate with the elevator control system through the wifi networks, the communication mode is complex, and the cost is high.
To solve the problem, the embodiment of the invention provides a communication method of a robot and an elevator to realize low-cost communication, and the method comprises the following steps as shown in fig. 1:
For the purpose of clearly explaining the embodiment, the embodiment provides a system for communicating a robot and an elevator, which comprises the robot, the elevator and a communication base station, wherein the robot and the elevator are respectively provided with a communication device, and the communication device is used for communicating with the communication base station.
In this embodiment, the first communication base station means that the distance from the robot is within a preset range, that is, the robot is within a signal radiation range of the first communication base station, so that the first communication base station can receive a control command sent by the robot. Wherein the control instruction is used for controlling the elevator to reach the appointed floor.
And 102, judging whether the elevator is positioned in the radiation range of the first communication base station by the first communication base station.
In an implementation manner of this embodiment, after receiving a control instruction sent by the robot, the first communication base station determines whether the elevator is located within a radiation range of the first communication base station, so as to determine whether the elevator can receive an elevator control instruction forwarded by the first communication base station, thereby implementing control over the elevator.
It should be noted that the signal radiation range of the first communication base station may be one floor or multiple floors, which is not limited in this embodiment.
And 103, if the elevator is positioned in the radiation range of the first communication base station, the first communication base station sends a control command to the elevator.
And 104, if the elevator is not positioned in the radiation range of the first communication base station, the first communication base station forwards a control command to a second communication base station adjacent to the first communication base station.
In the embodiment, if the elevator is located in the radiation range of the first communication base station, the first communication base station sends a control command to the elevator, so that the robot calls the elevator through the first communication base station; if the elevator is not located in the radiation range of the first communication base station, namely the elevator cannot receive the control command sent by the first communication base station, the first communication base station forwards the control command to a second communication base station adjacent to the first communication base station, so that the control command sent by the robot can be transmitted among a plurality of communication base stations, the control command can be forwarded, and finally the call to the elevator is realized.
In the communication method between the robot and the elevator, the first communication base station receives a control instruction sent by the robot, the first communication base station judges whether the elevator is located within a radiation range of the first communication base station, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control instruction to the elevator, if the elevator is not located within the radiation range of the first communication base station, the first communication base station forwards the control instruction to the second communication base station adjacent to the first communication base station.
Based on the above embodiment, this embodiment provides another communication method between a robot and an elevator, and for convenience of description in this embodiment, a base station corresponding to a radiation range in which the robot is located is referred to as a first communication base station, a communication base station adjacent to the first communication base station is referred to as a second communication base station, and a communication base station adjacent to the second communication base station is referred to as a third communication base station.
As shown in fig. 2, the method may include the steps of:
In step 201, reference may be made to the description in the foregoing method embodiments, which are not described in detail in this embodiment.
In an implementation manner of this embodiment, the first communication base station calls the elevator, and the first communication base station determines whether to receive feedback information of the elevator, and if the feedback information of the elevator is received, it is determined that the elevator is within a radiation range of the first communication base station, and if the feedback information of the elevator is not received, it is determined that the elevator is not within the radiation range of the first communication base station.
And step 203, if the elevator is positioned in the radiation range of the first communication base station, the first communication base station sends a control command to the elevator.
And step 204, if the elevator is not located in the radiation range of the first communication base station, the first communication base station forwards a control command to a second communication base station adjacent to the first communication base station.
In steps 203 to 204, reference may be made to the description in the foregoing method embodiments, which are not described in detail in this embodiment.
And step 205, the second communication base station judges whether the elevator is positioned in the radiation range of the second communication base station.
In this embodiment, there is a corresponding relationship between floors and communication base stations, that is to say, one communication base station can be set up on one floor, and one communication base station can also be shared by a plurality of floors, and the signal radiation range of one shared communication base station includes a plurality of floors that correspond.
In this embodiment, an example in which one communication base station is provided on one floor is described, but this does not limit the present embodiment.
And step 206, if the elevator is positioned in the radiation range of the second communication base station, the second communication base station sends a control command to the elevator.
And step 207, if the elevator is not positioned in the radiation range of the second communication base station, the second communication base station continuously forwards the control command to a third communication base station adjacent to the second communication base station.
In this embodiment, after the first communication base station forwards the control command to the second communication base station, it is determined whether the elevator is within the radiation range of the second communication base station, as a possible implementation manner, if feedback information sent by the elevator is received, the elevator is considered to be within the radiation range of the second communication base station, and if feedback response information sent by the elevator is not received, the elevator is considered not to be within the radiation range of the second communication base station. If the elevator is located within the radiation range of the second communication base station, the second communication base station sends a control command to the elevator, so that the robot calls the elevator through the second communication base station; if the elevator is not located in the radiation range of the second communication base station, namely the elevator cannot receive the control command sent by the second communication base station, the second communication base station continues to forward the control command to a third communication base station adjacent to the second communication base station.
Further, similarly, after receiving the control instruction forwarded by the second communication base station, the third communication base station may continue to determine whether the elevator is within the radiation range of the third communication base station, and if it is determined that the elevator is within the radiation range of the third communication base station, the control instruction is sent to the elevator, where the determination method is the same as the determination method of the second communication base station or the first communication base station, and is not repeated in this embodiment. In this embodiment, the control instruction sent by the robot is forwarded through one or more communication base stations until one of the N communication base stations confirms that the elevator is located within the radiation range of the communication base station, and then the control instruction is sent to the elevator, so that after the elevator receives the control instruction, the elevator is controlled to run to the floor where the robot is located through a control system arranged on the elevator, call control of the robot on the elevator is realized, and meanwhile, the cost is low.
Based on the foregoing embodiment, in an implementation manner of this embodiment, the communication base stations include a first communication base station to an nth communication base station, where N is a positive integer, and the first communication base station to the nth communication base station are located on multiple floors, respectively. For the explanation of the communication base station, reference may be made to the explanations in the foregoing embodiments, and details are not repeated in this embodiment.
In one implementation of this embodiment, the robot has a first communication device, the elevator has a second communication device, and the first communication device, the second communication device, and the first communication base station to the nth communication base station have the same communication protocol, for example, the communication protocol is LORA communication protocol, bluetooth communication protocol, zigBee, or other wireless near field communication.
In order to facilitate understanding of the present embodiment, the present embodiment provides a scene schematic diagram, and fig. 3 is a schematic diagram of a communication scene between a robot and an elevator provided by the present embodiment.
As shown in fig. 3, the scenario includes 6 floors, and each floor is provided with a communication base station, for example, a communication base station whose communication protocol is a lora protocol. The method comprises the steps that a conveying robot is located on a floor C, the conveying robot sends a control command to a communication base station C arranged on the floor, the base station C confirms whether an elevator is in the radiation range of the communication base station C after receiving the control command, for example, whether feedback information sent by the elevator is received or not is confirmed, the communication base station C confirms that the feedback information is not received, the communication base station C forwards the control command to an adjacent communication base station B and an adjacent communication base station D, after the communication base station B and the communication base station D receive the control command forwarded by the communication base station C, whether the elevator is in the radiation range of the communication base station B and the communication base station D is confirmed, the communication base station B confirms that the elevator is not in the radiation range of the communication base station B and the communication base station D, the communication base station B continues to forward the control command to the adjacent communication base station A, the communication base station D continues to forward the control command to the adjacent communication base station E, the communication base station A confirms that the elevator is not in the radiation range after receiving the control command, the communication base station A and the communication base station E receive the feedback information sent by the communication base station E, the communication base station E sends the control command and the communication base station E, the communication cost of the elevator is reduced, and the cost of the communication of the conveying robot is reduced.
Based on the foregoing embodiment, this embodiment provides another method for communication between a robot and an elevator, where after a control instruction sent by the robot is transmitted between adjacent communication base stations, and the transmission reaches the communication base station corresponding to the radiation range where the elevator is located, after the communication base station receives response information sent by the elevator, the communication base station needs to forward the response information to the robot, so that the robot determines that a call is successful.
In this embodiment, still taking the first communication base station, the second communication base station, and the third communication base station as an example for description, as shown in fig. 4, the method includes the following steps:
And step 403, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends a control command to the elevator.
And step 404, if the elevator is not located in the radiation range of the first communication base station, the first communication base station forwards the control command and the address record to a second communication base station adjacent to the first communication base station.
Wherein, the address record contains the address of the first communication base station.
In this embodiment, the first communication base station establishes an address record, adds the address of the first communication base station to the address record, and when the first communication base station determines that the elevator is not within the radiation range of the first communication base station, the first communication base station forwards the control command and the address record to the second communication base station adjacent to the first communication base station.
And 405, judging whether the elevator is positioned in the radiation range of the second communication base station by the second communication base station.
And 406, if the elevator is positioned in the radiation range of the second communication base station, the second communication base station sends a control command to the elevator.
In this embodiment, the second communication base station adds the address of the second communication base station to the address record, and determines that the elevator is not located within the radiation range of the second communication base station, and then the second communication base station continues to send the control command and the address record to the adjacent third communication base station. Furthermore, after receiving the control command and the address record, the third communication base station adds the address of the third communication base station to the address record, and determines whether to continuously send the control command and the address record to an adjacent communication base station according to whether the determined elevator is located in the radiation range of the third communication base station, that is, before sending the control command to the elevator, the address of the communication base station for forwarding is added each time the communication base station forwards the control command.
In this embodiment, for convenience of explanation, it is set that the elevator is within the radiation range of the fourth communication base station, that is, the fourth communication base station receives a response message sent by the elevator, where the response message is sent to the robot through the multiple communication base stations.
To understand, this embodiment provides a scenario, fig. 5 is a schematic diagram of forwarding a control command and an address record provided by this embodiment, as shown in fig. 5, 6 communication base stations a to E are taken as examples, the communication base stations a to E are respectively located on floors a to E, a wireless communication protocol of the communication base stations is a Lora protocol, and a control command is an elevator dispatching command. The robot is located on a floor C, the communication base station C confirms that an elevator is not located in the radiation range of the floor C, then the communication base station C establishes an address record and stores the address of the communication base station C in the address record, the communication base station C forwards an elevator dispatching instruction and the address record to an adjacent communication base station B and an adjacent communication base station D, the address record forwarded by the communication base station C comprises the address of the communication base station C, similarly, the communication base station B and the communication base station D respectively determine that the elevator is not located in the radiation range of the communication base station B and the communication base station D, then the communication base station B forwards the elevator dispatching instruction and the address record comprising the address of the communication base station C and the address of the communication base station B to the adjacent communication base station A and the communication base station E, and similarly, the communication base station E adds the address into the address record, and the address record comprises the address of the communication base station E, the address of the communication base station D and the address of the communication base station C. The communication base station A adds the address into the address record, and the address record comprises a base station A address, a base station B address and a base station C address, wherein the base station E determines that the elevator is in the radiation range of the base station E, the base station E stops forwarding the control command and the address record, sends the control command to the elevator, receives the response message sent by the elevator, and further forwards the response message to the communication base station C through the communication base station D according to the address in the address record, so that the communication base station C sends the response message of the elevator to the robot, the communication between the robot and the elevator is realized, the robot call is realized, and the cost is low.
Note that since the elevator is not located on the communication base station C-communication base station B-communication base station a side, the information flow is automatically discarded.
It is understood that after receiving the elevator dispatching command, the elevator runs to the floor indicated in the elevator dispatching command, and call control of the robot is realized.
It should be noted that the base stations a to E in fig. 5 and fig. 6 are the communication base stations a to E described in this embodiment.
According to the communication method between the robot and the elevator, the first communication base station receives the control command sent by the robot, the first communication base station judges whether the elevator is located within the radiation range of the first communication base station, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control command to the elevator, if the elevator is not located within the radiation range of the first communication base station, the first communication base station forwards the control command to the second communication base station adjacent to the first communication base station.
In order to implement the foregoing embodiments, this embodiment provides a communication system between a robot and an elevator, and fig. 7 is a schematic structural diagram of a communication system between a robot and an elevator provided in this embodiment, as shown in fig. 7, the system includes a robot 71, a plurality of communication base stations 72, and an elevator 73.
The plurality of communication base stations 72 are provided on a plurality of corresponding floors, and the plurality of communication base stations 72 are used for establishing communication between the robot 71 and the elevator 73.
The robot 71 is provided with a first communication device 710 for transmitting an elevator control command to a communication base station of the plurality of communication base stations 72 whose radiation range covers the robot 71.
The elevator 73 is provided with a second communication device 730 for transmitting feedback information to a communication base station whose radiation range covers the elevator 73 among the plurality of communication base stations 72.
In one implementation of the embodiment of the present application, the first communication device 710, the second communication device 730, and the plurality of communication base stations 72 have the same communication protocol. For example, the communication protocol is the LORA communication protocol.
It should be noted that, in the foregoing method embodiment, explanation on how to implement communication based on multiple communication base stations for the robot and the elevator car is also applicable to this embodiment, and details are not described here.
In the communication system of robot and elevator of this application embodiment, through setting up a plurality of communication basic stations at corresponding floor, realize the control command that sends the robot, forward to the elevator to the response message that will receive the elevator is based on address record, forward to corresponding communication basic station, and then send to the elevator, realized the communication between elevator and the robot, owing to need not consume the information flow in the process of forwarding and also need not set up the backstage server, reduced communication cost, improved the reliability.
Based on the above embodiments, the present application provides another schematic structural diagram of a communication system between a robot and an elevator, where the robot includes a Lora communication module, a controller, a navigation system, a power system, and a data storage device, where the power system enables the robot to move freely, the navigation system provides a map and a positioning service for the robot, the data storage device is used for data storage and robot ID storage during operation, and the Lora communication module enables the robot to implement wireless communication. The communication base station is composed of Lora communication base stations deployed on a plurality of floors, and forwarding of control commands and address records of cross-floors can be achieved. The elevator comprises a Lora communication module, a single chip microcomputer and an interface conversion circuit. The Lora communication module can receive and send information of a communication base station, and information interaction with an elevator system is achieved through the interface conversion circuit after the single chip microcomputer processes the information, so that control over the elevator is achieved.
In order to realize the embodiment, the invention also provides a communication device of the robot and the elevator.
Fig. 9 is a schematic structural diagram of a communication device between a robot and an elevator according to an embodiment of the present invention.
As shown in fig. 9, the apparatus includes:
and a receiving module 91, configured to receive, by the first communication base station, a control instruction sent by the robot.
A first judging module 92, configured to judge, by the first communication base station, whether an elevator is located within a radiation range of the first communication base station.
A first processing module 93, configured to send the control instruction to the elevator by the first communication base station if the elevator is located within a radiation range of the first communication base station; and if the elevator is not positioned in the radiation range of the first communication base station, the first communication base station forwards the control command to a second communication base station adjacent to the first communication base station.
Further, in a possible implementation manner of the embodiment of the present invention, the apparatus further includes:
and the second judgment module is used for judging whether the elevator is positioned in the radiation range of the second communication base station or not by the second communication base station.
The second processing module is used for sending the control command to the elevator by the second communication base station if the elevator is positioned in the radiation range of the second communication base station; and if the elevator is not positioned in the radiation range of the second communication base station, the second communication base station continuously forwards the control command to a third communication base station adjacent to the second communication base station.
In a possible implementation manner of the embodiment of the present invention, the communication base stations include a first communication base station to an nth communication base station, where N is a positive integer, and the first communication base station to the nth communication base station are located on multiple floors, respectively.
In one possible implementation of the embodiment of the invention, the robot has a first communication device, the elevator has a second communication device, and the first communication device, the second communication device and the first to nth communication base stations have the same communication protocol.
In a possible implementation manner of the embodiment of the present invention, the communication protocol is a LORA communication protocol.
In a possible implementation manner of the embodiment of the present invention, the first determining module 92 is specifically configured to:
the first communication base station calls the elevator, judges whether feedback information of the elevator is received or not, and judges that the elevator is in a radiation range of the first communication base station if the feedback information of the elevator is received; and if the feedback information of the elevator is not received, judging that the elevator is not in the radiation range of the first communication base station.
In a possible implementation manner of the embodiment of the present invention, the apparatus further includes:
the first establishing module is used for establishing an address record by a first communication base station and adding the address of the first communication base station to the address record;
the first processing module 93 is further configured to send the address record to the second communication base station by the first communication base station.
In a possible implementation manner of the embodiment of the present invention, the apparatus further includes:
a second establishing module, configured to add, by the second communication base station, an address of the second communication base station to the address record;
and the second processing module is further used for continuing sending the address record to an adjacent third communication base station by the second communication base station if the elevator is not located in the radiation range of the second communication base station.
In a possible implementation manner of the embodiment of the present invention, the apparatus further includes:
and the third processing module is used for receiving the response message sent by the elevator by the fourth communication base station and transmitting the response message to the robot according to the address record. .
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of the embodiment, and is not repeated herein.
In the communication device of the robot and the elevator, the first communication base station receives a control instruction sent by the robot, the first communication base station judges whether the elevator is located within the radiation range of the first communication base station, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control instruction to the elevator, if the elevator is not located within the radiation range of the first communication base station, the first communication base station forwards the control instruction to the second communication base station adjacent to the first communication base station, the control instruction sent by the robot is forwarded to the elevator by arranging the plurality of communication base stations on corresponding floors, response information received by the elevator is forwarded to the corresponding communication base station based on address records and then sent to the elevator, communication between the elevator and the robot is realized, and as information flow does not need to be consumed and a background server does not need to be arranged in the forwarding process, communication cost is reduced, and reliability is improved.
In order to implement the foregoing embodiments, the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the computer device implements the method according to the foregoing method embodiments.
In order to implement the foregoing embodiments, the present application provides a non-transitory computer readable storage medium, on which a computer program is stored, where the program is executed by a processor to implement the method as described in the foregoing method embodiments.
To implement the above embodiments, the present application provides a computer program product, and when the instructions in the computer program product are executed by a processor, the method according to the foregoing method embodiments is performed.
FIG. 10 is a block diagram of an exemplary computer device of an embodiment of the present application. The computer device 12 shown in fig. 10 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present application.
As shown in FIG. 10, computer device 12 is embodied in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the embodiments described herein.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing, for example, implementing the methods mentioned in the foregoing embodiments, by running a program stored in the system memory 28.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. A method of communicating between a robot and an elevator, comprising:
a first communication base station receives a control instruction sent by a robot;
the first communication base station judges whether an elevator is positioned in the radiation range of the first communication base station;
if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control command to the elevator;
if the elevator is not located in the radiation range of the first communication base station, the first communication base station forwards the control instruction to a second communication base station adjacent to the first communication base station.
2. The method of claim 1, further comprising:
the second communication base station judges whether the elevator is positioned in the radiation range of the second communication base station;
if the elevator is located within the radiation range of the second communication base station, the second communication base station sends the control command to the elevator;
and if the elevator is not positioned in the radiation range of the second communication base station, the second communication base station continuously forwards the control command to a third communication base station adjacent to the second communication base station.
3. The method of claim 1, wherein the communication base stations comprise a first communication base station to an Nth communication base station, wherein N is a positive integer, and the first communication base station to the Nth communication base station are located on a plurality of floors respectively.
4. The method of claim 3, wherein the robot has a first communication device, the elevator has a second communication device, and the first communication device, the second communication device, and the first through Nth communication base stations have the same communication protocol.
5. The method of claim 4, wherein the communication protocol is a LORA communication protocol.
6. The method of claim 1, wherein the first communication base station determining whether an elevator is within a radiation range of the first communication base station comprises:
the first communication base station calls the elevator;
the first communication base station judges whether feedback information of the elevator is received or not;
if the feedback information of the elevator is received, judging that the elevator is in the radiation range of the first communication base station;
and if the feedback information of the elevator is not received, judging that the elevator is not in the radiation range of the first communication base station.
7. The method of claim 1, further comprising:
the first communication base station establishes an address record and adds the address of the first communication base station to the address record;
and the first communication base station sends the address record to the second communication base station.
8. The method of claim 7, further comprising:
the second communication base station adds the address of the second communication base station to the address record;
and if the elevator is not positioned in the radiation range of the second communication base station, the second communication base station continuously sends the address record to a third adjacent communication base station.
9. The method of claim 7, further comprising:
the fourth communication base station receives a response message sent by the elevator;
and the fourth communication base station transmits the response message to the robot according to the address record.
10. A communication system of a robot and an elevator, comprising:
the communication base stations are respectively arranged on a plurality of corresponding floors and are used for establishing communication between the robot and the elevator;
the first communication device is arranged above the robot and used for sending an elevator control command to a communication base station with a radiation range covering the robot from the plurality of communication base stations;
and the second communication device is arranged on the elevator and used for sending feedback information to the communication base station with the radiation range covering the elevator among the plurality of communication base stations.
11. The communication system of claim 10, wherein the first communication device, the second communication device, and the plurality of communication base stations have the same communication protocol.
12. A robot-to-elevator communication device, comprising:
the receiving module is used for receiving a control instruction sent by the robot by the first communication base station;
the first judgment module is used for judging whether the elevator is positioned in the radiation range of the first communication base station by the first communication base station;
the first processing module is used for sending the control command to the elevator by the first communication base station if the elevator is located within the radiation range of the first communication base station; and if the elevator is not positioned in the radiation range of the first communication base station, the first communication base station forwards the control command to a second communication base station adjacent to the first communication base station.
13. The apparatus of claim 12, further comprising:
the second judgment module is used for judging whether the elevator is positioned in the radiation range of the second communication base station by the second communication base station;
the second processing module is used for sending the control command to the elevator by the second communication base station if the elevator is positioned in the radiation range of the second communication base station; and if the elevator is not positioned in the radiation range of the second communication base station, the second communication base station continuously forwards the control command to a third communication base station adjacent to the second communication base station.
14. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any one of claims 1-9 when executing the program.
15. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method of any one of claims 1-9.
16. A computer program product, characterized in that instructions in the computer program product, when executed by a processor, perform the method according to any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110480588.5A CN115273442A (en) | 2021-04-30 | 2021-04-30 | Communication method, device and system of robot and elevator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110480588.5A CN115273442A (en) | 2021-04-30 | 2021-04-30 | Communication method, device and system of robot and elevator |
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| CN115273442A true CN115273442A (en) | 2022-11-01 |
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| JP2002348061A (en) * | 2001-05-25 | 2002-12-04 | Hitachi Ltd | Elevator system |
| JP2006124185A (en) * | 2006-02-06 | 2006-05-18 | Hitachi Ltd | Elevator system |
| US20080200172A1 (en) * | 2007-02-14 | 2008-08-21 | Mitsubishi Electric Corporation | Method and device for transferring an ongoing communication in which a mobile terminal is involved between a first and a second base stations and wherein one of the base stations is located in a moving conveyance |
| CN110203783A (en) * | 2019-04-30 | 2019-09-06 | 北京云迹科技有限公司 | Call method and device for robot |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002348061A (en) * | 2001-05-25 | 2002-12-04 | Hitachi Ltd | Elevator system |
| JP2006124185A (en) * | 2006-02-06 | 2006-05-18 | Hitachi Ltd | Elevator system |
| US20080200172A1 (en) * | 2007-02-14 | 2008-08-21 | Mitsubishi Electric Corporation | Method and device for transferring an ongoing communication in which a mobile terminal is involved between a first and a second base stations and wherein one of the base stations is located in a moving conveyance |
| CN110203783A (en) * | 2019-04-30 | 2019-09-06 | 北京云迹科技有限公司 | Call method and device for robot |
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