Method, device and electronic device for elevator control

Abstract

The present invention provides a method, device and electronic device for elevator control, including: when the delivery service robot is outside the elevator car, communicating with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car; when the delivery service robot is inside the elevator car, establishing a Bluetooth connection with the elevator controller to achieve communication between the delivery service robot and the elevator controller through the Bluetooth communication link. The elevator control method of the present invention can ensure stable and effective communication between the delivery service robot and the elevator controller, thereby effectively avoiding the timeout of the delivery task of the delivery service robot and the failure of the delivery task.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator control, and in particular, to a method, a device, and an electronic device for elevator control. Background Art

[0002] In recent years, with the rapid development of artificial intelligence, delivery service robots have emerged as the times require. At present, in some hotels in cities, it is not difficult to see running delivery service robots replacing humans to deliver items to guests, which is a typical application scenario of delivery service robots. When a delivery service robot operates in such a typical indoor application scenario, an inevitable requirement is to autonomously go up and down floors through a box elevator. When a delivery service robot is outside the elevator and needs to take the elevator, it needs to call the elevator outside like a human. The method for a human to call the elevator is to press the call button on the current floor. However, currently, most delivery service robots in the industry do not have structures such as robotic arms and cannot call the elevator by mechanically pressing the call button. Correspondingly, the robot's approach is to "tell" the elevator controller its request to take the elevator through wireless communication technology, so that the elevator can make corresponding actions. Since a delivery service robot calls the elevator outside, it is actually requesting the elevator controller. And the elevator controller is located at the top of the elevator car body, and the current floor of the car body may be far from the floor where the robot is located. Therefore, the wireless communication technology used for calling the elevator externally must select a technology that supports long distances, such as 4G, LoRa, which is also a commonly used technology in the industry. However, in the industry, 4G or LoRa is generally used alone. Due to the limitations of the technology itself, when using 4G or LoRa alone, each technology will inevitably have some shortcomings. The direct manifestation is that stable and effective communication cannot be maintained all the time. For example, in some scenarios, the 4G signal is unstable or there is no 4G signal at all, and packet loss occurs in LoRa communication in some specific scenarios.

[0003] In summary, in the existing elevator control methods, stable and effective communication between the delivery service robot and the elevator controller cannot be guaranteed, which may lead to overtime or even failure of the delivery service robot's delivery tasks. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, a device, and an electronic device for elevator control to alleviate the technical problem that in the existing elevator control methods, stable and effective communication between the delivery service robot and the elevator controller cannot be guaranteed, which may lead to overtime or even failure of the delivery service robot's delivery tasks.

[0005] In the first aspect, an embodiment of the present invention provides a method for elevator control, which is applied to a delivery service robot. The method includes:

[0006] When the delivery service robot is outside the elevator car, it communicates with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car;

[0007] When the delivery service robot is inside the elevator car, it establishes a Bluetooth connection with the elevator controller to communicate with the elevator controller through the Bluetooth communication link.

[0008] Further, communicating with the elevator controller through the 4G communication link and the LoRa communication link includes:

[0009] Send elevator call requests to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator call requests, the elevator controller sends elevator call responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call requests. Among them, the elevator call request carries a unique call number, and the elevator call response carries the same call number as the corresponding elevator call request;

[0010] If the elevator call response sent by the elevator controller is obtained within the preset time, then wait to obtain the elevator arrival requests sent by the elevator controller through the 4G communication link and the LoRa communication link respectively. Among them, the elevator arrival request carries a unique arrival number;

[0011] After obtaining the elevator arrival request sent by the elevator controller, send elevator arrival responses to the elevator controller through the 4G communication link and the LoRa communication link respectively. Among them, the elevator arrival response carries the same arrival number as the corresponding elevator arrival request;

[0012] After sending the elevator arrival response, send elevator door opening requests to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator door opening requests, the elevator controller sends elevator door opening responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform the door opening action according to the elevator door opening requests. Among them, the door opening number carried by the elevator door opening request is a preset value larger than the call number, and the elevator door opening response carries the same door opening number as the corresponding elevator door opening request;

[0013] Obtain the elevator door opening response sent by the elevator controller, and then enter the elevator car.

[0014] Further, the method further includes:

[0015] If the elevator call response sent by the elevator controller is not obtained within the preset time, then return to execute the steps of respectively sending elevator call requests to the elevator controller through the 4G communication link and the LoRa communication link until the elevator call response sent by the elevator controller is obtained within the preset time.

[0016] Further, after receiving the elevator call request, the elevator controller respectively sends elevator call responses to the distribution service robot through the 4G communication link and the LoRa communication link, and controls the elevator to execute corresponding actions according to the elevator call request, including:

[0017] If the elevator controller first receives the elevator call request on the 4G communication link, then process the elevator call request on the 4G communication link, and discard the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then respectively send the elevator call response to the distribution service robot through the 4G communication link and the LoRa communication link, and control the elevator to execute corresponding actions according to the processing result of the elevator call request;

[0018] If the elevator controller first receives the elevator call request on the LoRa communication link, then process the elevator call request on the LoRa communication link, and discard the elevator call request on the 4G communication link with the same call number as the elevator call request on the LoRa communication link, and then respectively send the elevator call response to the distribution service robot through the 4G communication link and the LoRa communication link, and control the elevator to execute corresponding actions according to the processing result of the elevator call request;

[0019] If the elevator controller simultaneously receives the elevator call request on the 4G communication link and the elevator call request on the LoRa communication link, then process the elevator call request on the 4G communication link, and discard the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then respectively send the elevator call response to the distribution service robot through the 4G communication link and the LoRa communication link, and control the elevator to execute corresponding actions according to the processing result of the elevator call request.

[0020] Further, the devices on the 4G communication link include: a 4G terminal disposed on the elevator controller, the Internet, and a 4G terminal disposed on the distribution service robot;

[0021] The devices of the LoRa communication link include: the LoRa communication node device disposed on the elevator controller and the LoRa communication node device disposed on the delivery service robot;

[0022] The devices of the Bluetooth communication link include: the Bluetooth slave device disposed on the elevator controller and the Bluetooth master device disposed on the delivery service robot.

[0023] Further, the devices of the LoRa communication link include: the LoRa communication node device disposed on the elevator controller, the LoRa communication node device disposed on the delivery service robot, and the LoRa signal relay node device disposed indoors.

[0024] Further, establishing a Bluetooth connection with the elevator controller includes:

[0025] Sending a Bluetooth connection request to the elevator controller, and then establishing a Bluetooth connection with the elevator controller according to the Bluetooth connection request.

[0026] In a second aspect, an embodiment of the present invention further provides an elevator control device applied to a delivery service robot. The device includes:

[0027] A communication unit, configured to communicate with an elevator controller through a 4G communication link and a LoRa communication link when the delivery service robot is outside the elevator car, so as to enable the delivery service robot to call and enter the elevator car;

[0028] A Bluetooth connection establishment unit, configured to establish a Bluetooth connection with the elevator controller when the delivery service robot is inside the elevator car, so as to implement communication between the delivery service robot and the elevator controller through the Bluetooth communication link.

[0029] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method described in any item of the first aspect above are implemented.

[0030] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and run by a processor, the machine-executable instructions cause the processor to run the method described in any item of the first aspect above.

[0031] In an embodiment of the present invention, a method for elevator control is provided, which is applied to a delivery service robot. The method includes: when the delivery service robot is outside the elevator car, communicating with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car; when the delivery service robot is inside the elevator car, establishing a Bluetooth connection with the elevator controller to realize the communication between the delivery service robot and the elevator controller through the Bluetooth communication link. Through the above description, it can be seen that in the elevator control method of the present invention, when the delivery service robot is outside the elevator car, it can communicate with the elevator controller through a 4G communication link and a LoRa communication link, making up for the technical problem that due to the limitations of each wireless communication technology, it is impossible to always maintain stable and effective communication quality when there is only a 4G means or only a LoRa means. The elevator control method of the present invention can ensure stable and effective communication between the delivery service robot and the elevator controller, thus effectively avoiding the timeout of the delivery task of the delivery service robot and the failure of the delivery task, and alleviating the technical problem in the existing elevator control method that it is impossible to ensure stable and effective communication between the delivery service robot and the elevator controller, thereby resulting in the timeout or even failure of the delivery task of the delivery service robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a flowchart of a method for elevator control provided by an embodiment of the present invention;

[0034] Figure 2 It is a flowchart of a method for communicating with an elevator controller through a 4G communication link and a LoRa communication link provided by an embodiment of the present invention;

[0035] Figure 3 It is a signaling diagram of the interaction between a delivery service robot and an elevator controller provided by an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of a system for elevator control provided by an embodiment of the present invention;

[0037] Figure 5 It is a schematic diagram of a device for elevator control provided by an embodiment of the present invention;

[0038] Figure 6Schematic diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0039] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] In the existing elevator control methods, when a delivery service robot calls the elevator outside the elevator car, a single wireless communication technology (such as 4G, LoRa, etc.) is used. However, due to the limitations of each wireless communication technology, stable and effective communication quality cannot be maintained all the time, resulting in the timeout or even failure of the delivery task of the delivery service robot.

[0041] Based on this, in the elevator control method of the present invention, when the delivery service robot is outside the elevator car, it can communicate with the elevator controller through a 4G communication link and a LoRa communication link, making up for the technical problem that stable and effective communication quality cannot be maintained all the time due to the limitations of each wireless communication technology when only 4G means or only LoRa means are used. The elevator control method of the present invention can ensure stable and effective communication between the delivery service robot and the elevator controller, thus effectively avoiding the timeout of the delivery task of the delivery service robot and the failure of the delivery task.

[0042] For the convenience of understanding this embodiment, a method for controlling an elevator disclosed in an embodiment of the present invention will be introduced in detail first.

[0043] Embodiment 1:

[0044] According to an embodiment of the present invention, an embodiment of a method for controlling an elevator is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0045] Figure 1 It is a flowchart of a method for controlling an elevator according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0046] Step S102, when the delivery service robot is outside the elevator car, communicate with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car;

[0047] In an embodiment of the present invention, the above elevator control method can be applied to a delivery service robot. When the delivery service robot calls the elevator outside the elevator car, the present invention combines 4G and LoRa to make up for the poor communication quality caused by the respective technical characteristics, communication network environment, on-site physical environment, etc. when only 4G means or only LoRa means are used. That is, when 4G communication is poor, it is compensated by LoRa, and when LoRa communication is poor, it is compensated by 4G, thus effectively avoiding the timeout or even failure of the delivery service robot's task.

[0048] The 4G communication technology is the fourth-generation mobile information system, which is a better improvement on the 3G technology. Compared with the 3G communication technology, one of its greater advantages is that it combines the WLAN technology and the 3G communication technology well, making the transmission speed of images faster and the quality and appearance of the transmitted images clearer. Applying the 4G communication technology in intelligent communication devices makes the user's Internet access speed faster, up to 100 Mbps.

[0049] LoRa is a low-power local area network wireless standard developed by Semtech Corporation. Its name "LoRa" stands for Long Range Radio. Its biggest feature is that under the same power consumption conditions, it can transmit farther than other wireless methods, achieving the unity of low power consumption and long distance. It can expand the communication distance 3-5 times compared with traditional wireless radio frequency under the same power consumption.

[0050] Step S104, when the delivery service robot is inside the elevator car, establish a Bluetooth connection with the elevator controller to realize the communication between the delivery service robot and the elevator controller through the Bluetooth communication link.

[0051] Bluetooth technology is an open global specification for wireless data and voice communication. It is a special short-range wireless technology connection based on low-cost short-range wireless connections to establish a communication environment for fixed and mobile devices.

[0052] Specifically, the above Bluetooth communication can be the communication of which floor it runs to. The embodiment of the present invention does not specifically limit the above Bluetooth communication.

[0053] In an embodiment of the present invention, a method for elevator control is provided, which is applied to a delivery service robot. The method includes: when the delivery service robot is outside the elevator car, communicating with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car; when the delivery service robot is inside the elevator car, establishing a Bluetooth connection with the elevator controller to communicate between the delivery service robot and the elevator controller through the Bluetooth communication link. Through the above description, it can be seen that in the elevator control method of the present invention, when the delivery service robot is outside the elevator car, it can communicate with the elevator controller through a 4G communication link and a LoRa communication link, making up for the technical problem that due to the limitations of each wireless communication technology, it is impossible to always maintain stable and effective communication quality when there is only a 4G means or only a LoRa means. The elevator control method of the present invention can ensure stable and effective communication between the delivery service robot and the elevator controller, thereby effectively avoiding the overtime of the delivery task of the delivery service robot and the failure of the delivery task, and alleviating the technical problem in the existing elevator control method that it is impossible to ensure stable and effective communication between the delivery service robot and the elevator controller, which in turn leads to the overtime or even failure of the delivery task of the delivery service robot.

[0054] The above content briefly introduces the elevator control method of the present invention. The following describes the specific content involved in detail.

[0055] In an optional embodiment of the present invention, referring to Figure 2 , the above step S102 of communicating with the elevator controller through a 4G communication link and a LoRa communication link specifically includes the following steps:

[0056] Step S201: Send an elevator call request to the elevator controller through a 4G communication link and a LoRa communication link respectively, so that after receiving the elevator call request, the elevator controller sends an elevator call response to the delivery service robot through a 4G communication link and a LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call request. Among them, the elevator call request carries a unique call number, and the elevator call response carries the same call number as the corresponding elevator call request;

[0057] Specifically, when the business logic of the delivery service robot determines that it needs to call the elevator, it generates an elevator call request and constructs the elevator call request into two specific data packets, one for transmission on the 4G communication link and one for transmission on the LoRa communication link, and the two data packets have the same call number. Transmit these two data packets simultaneously on the 4G communication link and the LoRa communication link, thereby realizing sending an elevator call request to the elevator controller through a 4G communication link and a LoRa communication link respectively.

[0058] After the elevator controller receives an elevator call request, it sends an elevator call response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call request. Specifically:

[0059] (1) If the elevator controller first receives an elevator call request on the 4G communication link, it processes the elevator call request on the 4G communication link, discards the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then sends an elevator call response (the elevator call response corresponding to the elevator call request) to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions (such as moving to the specified floor) according to the processing result of the elevator call request;

[0060] (2) If the elevator controller first receives an elevator call request on the LoRa communication link, it processes the elevator call request on the LoRa communication link, discards the elevator call request on the 4G communication link with the same call number as the elevator call request on the LoRa communication link, and then sends an elevator call response (the elevator call response corresponding to the elevator call request) to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions (such as moving to the specified floor) according to the processing result of the elevator call request;

[0061] (3) If the elevator controller receives an elevator call request on the 4G communication link and an elevator call request on the LoRa communication link at the same time, it processes the elevator call request on the 4G communication link, discards the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then sends an elevator call response (the elevator call response corresponding to the elevator call request) to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions (such as moving to the specified floor) according to the processing result of the elevator call request.

[0062] Step S202, if an elevator call response sent by the elevator controller is obtained within the preset time, wait to obtain the elevator arrival requests sent by the elevator controller through the 4G communication link and the LoRa communication link respectively, where the elevator arrival request carries a unique arrival number;

[0063] Specifically, the delivery service robot has been waiting for the elevator call response from the elevator controller. When it receives the elevator call response sent by the elevator controller within 100 milliseconds (i.e., within the preset time, the embodiments of the present invention do not specifically limit the above preset time), it means that the delivery service robot has successfully requested the elevator resource. When the elevator car moves to the floor where the delivery service robot is located, the elevator controller actively sends an elevator arrival request to the delivery service robot (the sending method is similar to the delivery service robot sending an elevator call request, except that the entity sending the request first this time is the elevator controller). The delivery service robot waits to obtain the elevator arrival requests sent by the elevator controller through the 4G communication link and the LoRa communication link respectively.

[0064] Step S203, after obtaining the elevator arrival request sent by the elevator controller, send elevator arrival responses to the elevator controller through the 4G communication link and the LoRa communication link respectively, where the elevator arrival response carries the same arrival number as the corresponding elevator arrival request.

[0065] Specifically, after the delivery service robot obtains the elevator arrival request sent by the elevator controller, the processing of this arrival request is similar to the way the elevator controller processes the elevator call request. Specifically, it can be that the delivery service robot only processes the data packet of the first-arriving elevator arrival request. If two data packets arrive simultaneously, it only processes the data packet of the elevator arrival request on the 4G communication link and discards the data packet of the other elevator arrival request with the same arrival number. The delivery service robot numbers the response to the current elevator arrival request (i.e., the elevator arrival response) with the same arrival number as the current elevator arrival request and sends it to the elevator controller through the two communication links.

[0066] Step S204, after sending the elevator arrival response, send elevator door opening requests to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after the elevator controller receives the elevator door opening requests, it sends elevator door opening responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively and controls the elevator to perform the door opening action according to the elevator door opening requests, where the door opening number carried by the elevator door opening request is larger than the call number by a preset value, and the elevator door opening response carries the same door opening number as the corresponding elevator door opening request.

[0067] Specifically, after the delivery service robot responds to the elevator arrival request of the elevator controller, it sends elevator door opening requests to the elevator controller through the 4G communication link and the LoRa communication link respectively (the sending method and process are similar to sending the elevator call request). The elevator controller processes the elevator door opening request in a similar way to processing the elevator call request.

[0068] After the elevator controller receives an elevator door opening request, it sends an elevator door opening response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform the door opening action according to the elevator door opening request.

[0069] Specifically, the elevator controller only processes the data packet of the first-arriving elevator door opening request. If two data packets arrive simultaneously, it only processes the data packet of the elevator door opening request on the 4G communication link and discards the data packet of the elevator door opening request with the same opening number. The elevator controller assigns the same opening number as the current elevator door opening request to the response of the current elevator door opening request (i.e., the elevator door opening response), and sends it to the delivery service robot through the two communication links. At the same time, it controls the elevator to perform the door opening action according to the elevator door opening request.

[0070] Specifically, the above preset value can be 1, and the embodiments of the present invention do not specifically limit the above preset value.

[0071] The following is an explanation of the numbering of the communication data packets of the present invention: 1. The numbers of each request and its corresponding response are the same; 2. The numbers of the requests sent from the delivery service robot and the requests sent from the elevator controller are independent of each other. For example, after the elevator controller sends an elevator arrival request with an arrival number of 3, subsequently, the delivery service robot can also send an elevator door opening request with an opening number of 3. In the current system, the two entities of the delivery service robot and the elevator controller will obviously not confuse these two requests; 3. The numbers of the requests sent by the delivery service robot are different. For example, the opening number of the elevator door opening request is different from the call number of the elevator call request; the numbers of the requests sent by the elevator controller are also different.

[0072] Step S205: Obtain the elevator door opening response sent by the elevator controller, and then enter the elevator car.

[0073] Specifically, after the elevator door opens, the delivery service robot enters the elevator car.

[0074] In an alternative embodiment of the present invention, the method further includes:

[0075] If the elevator call response sent by the elevator controller is not obtained within the preset time, return to execute the step of sending the elevator call request to the elevator controller through the 4G communication link and the LoRa communication link respectively until the elevator call response sent by the elevator controller is obtained within the preset time.

[0076] Specifically, if the elevator call response from the elevator controller is not received within 100 milliseconds (i.e., within the preset time), the delivery service robot will execute step S201 again with the same call number. After receiving this repeated elevator call request, the elevator controller will send the elevator call response sent in the first round again as it is. If the delivery service robot receives the elevator call response from the elevator controller within 100 milliseconds after retransmission, it is determined that the elevator call request dialogue ends; otherwise, the just-mentioned retransmission process continues until the elevator call response from the elevator controller is received.

[0077] Figure 3 The interaction process between the delivery service robot and the elevator controller is shown in the form of a signaling diagram.

[0078] The structure of the communication link is introduced below:

[0079] Reference Figure 4 For the 4G communication link, the devices include: a 4G terminal set in the elevator controller, the Internet, and a 4G terminal set in the delivery service robot;

[0080] For the LoRa communication link, the devices include: a LoRa communication node device set in the elevator controller and a LoRa communication node device set in the delivery service robot;

[0081] For the Bluetooth communication link, the devices include: a Bluetooth slave device set in the elevator controller and a Bluetooth master device set in the delivery service robot.

[0082] When implemented, when the delivery service robot needs to take the elevator, it moves outside the elevator to the elevator door and independently sends the elevator call request to the elevator controller on the car body through the 4G and LoRa communication links. The elevator controller opens two independent threads to process the communication of the two communication links respectively and does not know the existence of the other communication link. Symmetrically, the delivery service robot body also opens two independent threads to process the communication of the 4G and LoRa links respectively.

[0083] The communication mode between the delivery service robot and the elevator controller is as follows: The delivery service robot sends an elevator call request once. After receiving it, the elevator controller responds to this elevator call request. Each elevator call request is assigned a different identification number (i.e., call number), and the response to each elevator call request is assigned the same call number as the corresponding elevator call request (i.e., identification number). Each elevator call request is sent through two communication links simultaneously, but the specific request payloads of the two links have the same identification number. The elevator call request that arrives at the elevator controller first is adopted, and the elevator call request of the other communication link with the same identification number that arrives later is discarded. After processing this elevator call request, symmetrically, the elevator controller assigns the same identification number as this elevator call request to the response of this elevator call request (i.e., elevator call response), and then independently sends the response to the delivery service robot through two links, 4G and LoRa. The delivery service robot processes the elevator call response in a similar way to how the elevator controller processes the elevator call request. After the elevator controller sends the response to the current elevator call request, it immediately performs actions accordingly based on the processing result of this elevator call request.

[0084] The two main bodies in the present invention include: a delivery service robot and an elevator controller. The Internet is only the communication medium between the delivery service robot and the elevator controller. Data exchange between the delivery service robot and the elevator controller is carried out through three communication links. The 4G communication link and the LoRa communication link are used for the delivery service robot to call the elevator outside the elevator; the Bluetooth communication link is used for the delivery service robot to exchange data with the elevator controller inside the elevator car, which is a Bluetooth connection.

[0085] In the present invention, 4G terminals (i.e., terminal devices of the 4G mobile network) are provided on both the delivery service robot and the elevator controller, and the two form a communication link through the Internet. At the same time, both the delivery service robot and the elevator controller are each provided with LoRa communication node devices. These two nodes exchange data by sending electromagnetic wave signals to each other point-to-point, and do not require infrastructure such as base stations. Ideally, only these two communication node devices themselves can complete the establishment of the LoRa communication link. If necessary, LoRa signal relay node devices can also be installed at appropriate positions indoors to prevent LoRa signal attenuation (i.e., the components of the LoRa communication link include: the LoRa communication node device provided on the elevator controller, the LoRa communication node device provided on the delivery service robot, and the LoRa signal relay node device provided indoors).

[0086] In addition, we also noticed that the delivery service robot and the elevator controller respectively act as the master device and the slave device of Bluetooth. The master device and the slave device are used to establish a Bluetooth communication connection between the delivery service robot and the elevator controller. After the delivery service robot successfully calls the elevator and enters the elevator car, the delivery service robot actively initiates a Bluetooth connection with the elevator controller (that is, sends a Bluetooth connection request to the elevator controller, and then establishes a Bluetooth connection with the elevator controller according to the Bluetooth connection request), and at the same time switches all data exchanges with the elevator controller to the current Bluetooth connection.

[0087] During the process of the delivery service robot of the present invention autonomously calling the elevator, the communication delay with the elevator controller is lower and the communication quality is more stable and reliable, shortening the execution time of the delivery task of the delivery service robot and reducing the failure rate of the delivery task.

[0088] Embodiment 2:

[0089] The embodiment of the present invention also provides an elevator control device, which is mainly used to execute the elevator control method provided in Embodiment 1 of the present invention. The following is a specific introduction to the elevator control device provided by the embodiment of the present invention.

[0090] Figure 5 It is a schematic diagram of an elevator control device according to an embodiment of the present invention, applied to a delivery service robot, as Figure 5 shown. The device mainly includes: a communication unit 10 and a Bluetooth connection establishment unit 20, where:

[0091] The communication unit is used to communicate with the elevator controller through a 4G communication link and a LoRa communication link when the delivery service robot is outside the elevator car, so as to realize the delivery service robot calling and entering the elevator car;

[0092] The Bluetooth connection establishment unit is used to establish a Bluetooth connection with the elevator controller when the delivery service robot is inside the elevator car, so as to realize the communication between the delivery service robot and the elevator controller in the way of a Bluetooth communication link.

[0093] In an embodiment of the present invention, a device for elevator control is provided, which is applied to a delivery service robot. The device includes: when the delivery service robot is outside the elevator car, it communicates with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car; when the delivery service robot is inside the elevator car, it establishes a Bluetooth connection with the elevator controller to communicate with the elevator controller through the Bluetooth communication link. Through the above description, it can be seen that in the elevator control device of the present invention, when the delivery service robot is outside the elevator car, it can communicate with the elevator controller through the 4G communication link and the LoRa communication link, making up for the technical problem that due to the limitations of each wireless communication technology, stable and effective communication quality cannot be maintained all the time when there is only the 4G method or only the LoRa method. The elevator control device of the present invention can ensure stable and effective communication between the delivery service robot and the elevator controller, thus effectively avoiding the timeout and failure of the delivery task of the delivery service robot, and alleviating the technical problem in the existing elevator control method that stable and effective communication between the delivery service robot and the elevator controller cannot be guaranteed, resulting in the timeout or even failure of the delivery task of the delivery service robot.

[0094] Optionally, the communication unit is further configured to: send an elevator call request to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator call request, the elevator controller sends an elevator call response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call request, where the elevator call request carries a unique call number, and the elevator call response carries the same call number as the corresponding elevator call request; if an elevator call response sent by the elevator controller is obtained within a preset time, then wait to obtain an elevator arrival request sent by the elevator controller through the 4G communication link and the LoRa communication link respectively, where the elevator arrival request carries a unique arrival number; after obtaining the elevator arrival request sent by the elevator controller, send an elevator arrival response to the elevator controller through the 4G communication link and the LoRa communication link respectively, where the elevator arrival response carries the same arrival number as the corresponding elevator arrival request; after sending the elevator arrival response, send an elevator door opening request to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator door opening request, the elevator controller sends an elevator door opening response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform a door opening action according to the elevator door opening request, where the door opening number carried by the elevator door opening request is greater than the call number by a preset value, and the elevator door opening response carries the same door opening number as the corresponding elevator door opening request; obtain the elevator door opening response sent by the elevator controller, and then enter the elevator car.

[0095] Optionally, the communication unit is further configured to: if the elevator call response sent by the elevator controller is not obtained within a preset time, return to execute the steps of sending elevator call requests to the elevator controller through the 4G communication link and the LoRa communication link respectively until the elevator call response sent by the elevator controller is obtained within the preset time.

[0096] Optionally, the communication unit is further configured to: if the elevator controller first receives the elevator call request on the 4G communication link, process the elevator call request on the 4G communication link, discard the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then send elevator call responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and control the elevator to perform corresponding actions according to the processing result of the elevator call request; if the elevator controller first receives the elevator call request on the LoRa communication link, process the elevator call request on the LoRa communication link, discard the elevator call request on the 4G communication link with the same call number as the elevator call request on the LoRa communication link, and then send elevator call responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and control the elevator to perform corresponding actions according to the processing result of the elevator call request; if the elevator controller receives the elevator call request on the 4G communication link and the elevator call request on the LoRa communication link at the same time, process the elevator call request on the 4G communication link, discard the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then send elevator call responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and control the elevator to perform corresponding actions according to the processing result of the elevator call request.

[0097] Optionally, the devices of the 4G communication link include: a 4G terminal disposed on the elevator controller, the Internet, and a 4G terminal disposed on the delivery service robot; the devices of the LoRa communication link include: a LoRa communication node device disposed on the elevator controller and a LoRa communication node device disposed on the delivery service robot; the devices of the Bluetooth communication link include: a Bluetooth slave device disposed on the elevator controller and a Bluetooth master device disposed on the delivery service robot.

[0098] Optionally, the devices of the LoRa communication link include: a LoRa communication node device disposed on the elevator controller, a LoRa communication node device disposed on the delivery service robot, and a LoRa signal relay node device disposed indoors.

[0099] Optionally, the Bluetooth connection establishment unit is further configured to: send a Bluetooth connection request to the elevator controller, and then establish a Bluetooth connection with the elevator controller according to the Bluetooth connection request.

[0100] The device provided in the embodiments of the present invention has the same implementation principle and technical effects as those in the foregoing method embodiments. For a brief description, for parts not mentioned in the device embodiments, reference may be made to the corresponding content in the foregoing method embodiments.

[0101] As Figure 6 shown, an electronic device 600 provided in an embodiment of the present application includes: a processor 601, a memory 602, and a bus. The memory 602 stores machine-readable instructions executable by the processor 601. When the electronic device runs, communication between the processor 601 and the memory 602 is performed through the bus. The processor 601 executes the machine-readable instructions to perform the steps of the method for elevator control as described above.

[0102] Specifically, the above-mentioned memory 602 and processor 601 can be general-purpose memory and processor, which are not specifically limited here. When the processor 601 runs the computer program stored in the memory 602, it can execute the above-mentioned method for elevator control.

[0103] The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor 601 or instructions in software form. The above-mentioned processor 601 can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by the hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and combines its hardware to complete the steps of the above method.

[0104] Corresponding to the above elevator control method, an embodiment of the present application further provides a computer-readable storage medium storing machine-executable instructions, which, when called and executed by a processor, cause the processor to execute the steps of the above elevator control method.

[0105] The elevator control device provided by the embodiments of the present application can be specific hardware on a device or software or firmware installed on the device. For the device provided by the embodiments of the present application, its implementation principle and the resulting technical effects are the same as those of the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding content in the foregoing method embodiments. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the foregoing-described systems, devices, and units can all refer to the corresponding processes in the above method embodiments and will not be repeated here.

[0106] In the embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings, direct couplings, or communication connections shown or discussed among each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0107] For another example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0108] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0110] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the vehicle marking method described in each embodiment of this application. The aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0111] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0112] Finally, it should be noted that the above-described embodiments are only specific implementation manners of this application, used to illustrate the technical solution of this application, and are not limitations thereof. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for elevator control, characterized in that, Applied to a delivery service robot, the method includes: When the delivery service robot is outside the elevator car, communicate with the elevator controller through a 4G communication link and a LoRa communication link to enable the delivery service robot to call and enter the elevator car; When the delivery service robot is inside the elevator car, establish a Bluetooth connection with the elevator controller to implement communication between the delivery service robot and the elevator controller through the Bluetooth communication link; Among them, communicating with the elevator controller through the 4G communication link and the LoRa communication link includes: Send elevator call requests to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator call requests, the elevator controller sends elevator call responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call requests. Among them, the elevator call request carries a unique call number, and the elevator call response carries the same call number as the corresponding elevator call request; If the elevator call response sent by the elevator controller is obtained within a preset time, then wait to obtain the elevator arrival requests sent by the elevator controller through the 4G communication link and the LoRa communication link respectively. Among them, the elevator arrival request carries a unique arrival number; After obtaining the elevator arrival request sent by the elevator controller, send elevator arrival responses to the elevator controller through the 4G communication link and the LoRa communication link respectively. Among them, the elevator arrival response carries the same arrival number as the corresponding elevator arrival request; After sending the elevator arrival response, send elevator door opening requests to the elevator controller through the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator door opening requests, the elevator controller sends elevator door opening responses to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform the door opening action according to the elevator door opening requests. Among them, the door opening number carried by the elevator door opening request is a preset value larger than the call number, and the elevator door opening response carries the same door opening number as the corresponding elevator door opening request; Obtain the elevator door opening response sent by the elevator controller, and then enter the elevator car.

2. The method according to claim 1, wherein The method further includes: If the elevator call response sent by the elevator controller is not obtained within the preset time, then return to execute the step of sending elevator call requests to the elevator controller through the 4G communication link and the LoRa communication link respectively until the elevator call response sent by the elevator controller is obtained within the preset time.

3. The method according to claim 1, wherein After receiving the elevator call request, the elevator controller sends an elevator call response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call request, including: If the elevator controller first receives the elevator call request on the 4G communication link, it processes the elevator call request on the 4G communication link, discards the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then sends the elevator call response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the processing result of the elevator call request; If the elevator controller first receives the elevator call request on the LoRa communication link, it processes the elevator call request on the LoRa communication link, discards the elevator call request on the 4G communication link with the same call number as the elevator call request on the LoRa communication link, and then sends the elevator call response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the processing result of the elevator call request; If the elevator controller receives the elevator call request on the 4G communication link and the elevator call request on the LoRa communication link at the same time, it processes the elevator call request on the 4G communication link, discards the elevator call request on the LoRa communication link with the same call number as the elevator call request on the 4G communication link, and then sends the elevator call response to the delivery service robot through the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the processing result of the elevator call request.

4. The method according to claim 1, wherein The devices on the 4G communication link include: a 4G terminal set in the elevator controller, the Internet, and a 4G terminal set in the delivery service robot; The devices on the LoRa communication link include: a LoRa communication node device set in the elevator controller and a LoRa communication node device set in the delivery service robot; The devices on the Bluetooth communication link include: a Bluetooth slave device set in the elevator controller and a Bluetooth master device set in the delivery service robot.

5. The method according to claim 1, characterized in that The devices on the LoRa communication link include: a LoRa communication node device set in the elevator controller, a LoRa communication node device set in the delivery service robot, and a LoRa signal relay node device set indoors.

6. The method according to claim 1, characterized in that, Establishing a Bluetooth connection with the elevator controller includes: Sending a Bluetooth connection request to the elevator controller, and then establishing a Bluetooth connection with the elevator controller according to the Bluetooth connection request.

7. An elevator control device, characterized in that, Applied to a delivery service robot, the device includes: A communication unit, which is used to communicate with an elevator controller via a 4G communication link and a LoRa communication link when the delivery service robot is outside the elevator car, so as to enable the delivery service robot to call and enter the elevator car; A Bluetooth connection establishment unit, which is used to establish a Bluetooth connection with the elevator controller when the delivery service robot is inside the elevator car, so as to realize the communication between the delivery service robot and the elevator controller through the Bluetooth communication link; Wherein, the communication unit is further used for: sending an elevator call request to the elevator controller via the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator call request, the elevator controller sends an elevator call response to the delivery service robot via the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform corresponding actions according to the elevator call request, wherein the elevator call request carries a unique call number, and the elevator call response carries the same call number as the corresponding elevator call request; if the elevator call response sent by the elevator controller is obtained within a preset time, then wait to obtain the elevator in-place request sent by the elevator controller via the 4G communication link and the LoRa communication link respectively, wherein the elevator in-place request carries a unique in-place number; after obtaining the elevator in-place request sent by the elevator controller, send an elevator in-place response to the elevator controller via the 4G communication link and the LoRa communication link respectively, wherein the elevator in-place response carries the same in-place number as the corresponding elevator in-place request; after sending the elevator in-place response, send an elevator door opening request to the elevator controller via the 4G communication link and the LoRa communication link respectively, so that after receiving the elevator door opening request, the elevator controller sends an elevator door opening response to the delivery service robot via the 4G communication link and the LoRa communication link respectively, and controls the elevator to perform a door opening action according to the elevator door opening request, wherein the door opening number carried by the elevator door opening request is a preset value larger than the call number, and the elevator door opening response carries the same door opening number as the corresponding elevator door opening request; obtain the elevator door opening response sent by the elevator controller, and then enter the elevator car.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6 above.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and run by the processor, the machine-executable instructions cause the processor to run the method according to any one of claims 1 to 6 above.

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