Channel switching method and device for robot communicating with elevator control, robot, and medium

Abstract

The application discloses a channel switching method and device for robot and elevator control communication, a robot and a medium, wherein the method comprises the following steps: the robot determines a target channel from multiple optional channels according to the current floor; the robot sends a communication request to the elevator control based on the target channel, wherein if the elevator control receives the communication request, the communication request is responded to and a response result is fed back to the robot; if the robot does not receive the response result, a new target channel is sequentially switched in the multiple optional channels in sequence, and a communication request is re-sent to the elevator control based on the new target channel after the switching. The application solves the problem that the robot cannot communicate with the elevator control when the channel is interfered or crowded during the communication between the robot and the elevator control.

Description

Technical Field

[0001] This invention relates to the field of communications, and more particularly to a channel switching method, apparatus, robot, and medium for robot-elevator communication. Background Technology

[0002] With the development of mobile internet technology, intelligent mobile devices (such as robots) are widely used in various service venues to provide customers with services such as directions and delivery of goods. In practical applications, when robots perform delivery tasks in places such as hotels and KTVs, they often need to take elevators. To enable robots to take elevators, it is necessary for the robots to establish a communication connection with the elevators.

[0003] In related technologies, most robots communicate with elevator controllers using the device's default channel. If the current channel is interfered with or congested, the robot will be unable to communicate with the elevator controller.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a channel switching method for communication between a robot and an elevator control system, as well as a robot and a storage medium, to solve the problem in the prior art where the robot is unable to communicate with the elevator control system when the current channel is interfered with or congested.

[0006] To achieve the above objectives, the present invention provides a channel switching method for robot-elevator communication, the method comprising the following steps:

[0007] The robot determines a target channel from multiple available channels based on its current floor level;

[0008] The robot sends a communication request to the elevator control based on the target channel. If the elevator control receives the communication request, it responds to the communication request and sends the response result back to the robot.

[0009] If the robot does not receive the response result, it sequentially switches among the multiple selectable channels to determine a new target channel, and resends the communication request to the elevator control based on the new target channel.

[0010] Optionally, before the step of the robot determining a target channel from multiple selectable channels based on its current floor, the method further includes:

[0011] A site survey is conducted on all floors of the current building to determine the multiple optional channels. The location parameters of each floor correspond to an optimal channel and the priority of each optional channel among the multiple optional channels.

[0012] Optionally, the step of conducting site surveys on all floors of the current building to determine the plurality of alternative channels includes:

[0013] The robots on all floors of the current building are connected to the elevator control system, and the communication speed and / or smoothness of each available channel of the communication connection are determined.

[0014] Based on the communication speed and / or the channel fluency of each selectable channel, an optimal channel corresponding to the location parameters of each floor is determined, as well as the priority of each selectable channel among the plurality of selectable channels, wherein the priority of each selectable channel is positively correlated with the communication speed and / or the channel fluency.

[0015] Optionally, the step of the robot determining a target channel from multiple selectable channels based on its current floor includes:

[0016] Get the location parameters of the current floor;

[0017] Based on the location parameters of the current floor, an optimal channel and the priority of each of the multiple optional channels are determined from the multiple optional channels;

[0018] The optimal channel is determined as the target channel.

[0019] Optionally, a new target channel is determined by sequentially switching among the plurality of selectable channels, and a communication request is retransmitted to the elevator control system based on the new target channel after the switching, including:

[0020] Among the multiple selectable channels, a new target channel is determined by sequentially switching according to the priority order of each selectable channel.

[0021] The elevator control system resends the communication request based on the new target channel after the switch.

[0022] Optionally, the robot sends a communication request to the elevator controller based on the target channel, wherein if the elevator controller receives the communication request, it responds to the communication request and sends a response result back to the robot, including:

[0023] When the robot sends a communication request to the elevator control based on the target channel, the sending time is recorded;

[0024] If the elevator control receives the communication request within a preset time period after the sending time, it will respond to the communication request and send the response result back to the robot.

[0025] If the elevator control does not receive the communication request within a preset period after the transmission time, it will switch to the next channel according to the optimal channel corresponding to the current floor's location parameters and the priority of each of the multiple optional channels.

[0026] Optionally, the method further includes:

[0027] If the robot fails to send a communication request to the elevator control via the target channel among the multiple selectable channels, the robot communication module will be restarted.

[0028] Restart the elevator control communication module that is compatible with the robot communication module.

[0029] Furthermore, to achieve the above objectives, the present invention also provides a channel switching device for communication between a robot and an elevator control system. The device includes: a determining module for the robot to determine a target channel from multiple selectable channels based on its current floor; a request module for the robot to send a communication request to the elevator control system based on the target channel, wherein if the elevator control system receives the communication request, it responds to the communication request and sends a response result back to the robot; and a switching module for, if the robot does not receive the response result, sequentially switching among the multiple selectable channels to determine a new target channel, and resending the communication request to the elevator control system based on the new target channel.

[0030] In addition, to achieve the above objectives, the present invention also provides a robot, the robot including a memory, a processor and a channel switching program stored in the memory and executable on the processor, wherein when the channel switching program is executed by the processor, it implements the steps of the channel switching method for robot-elevator communication as described above.

[0031] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a channel switching program, which, when executed by a processor, implements the steps of the channel switching method for robot-elevator communication as described above.

[0032] Unlike existing technologies, this invention provides a channel switching method for robot-elevator communication. The robot determines a target channel from multiple available channels based on its current floor. The robot then sends a communication request to the elevator control system via this target channel. If the elevator control system receives the communication request, it responds and sends a response back to the robot. If the robot does not receive the response, it sequentially switches among the multiple available channels to determine a new target channel and resends the communication request to the elevator control system via this new target channel. This invention improves the communication efficiency between the robot and the elevator control system by allowing the robot to quickly switch to another available channel when the current channel is unavailable or interfered with. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the invention. To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0034] Figure 1 This is a flowchart illustrating the first embodiment of the channel switching method for robot-elevator communication according to the present invention;

[0035] Figure 2 This is a flowchart illustrating the second embodiment of the channel switching method for robot-elevator communication according to the present invention.

[0036] Figure 3 This is a detailed flowchart of step S40 in the second embodiment of the channel switching method for robot-elevator communication of the present invention.

[0037] Figure 4 This is a flowchart illustrating the third embodiment of the channel switching method for robot-elevator communication according to the present invention.

[0038] Figure 5 A schematic diagram of the functional modules of a preferred embodiment of the channel switching device for robot-elevator communication of the present invention;

[0039] Figure 6 This is a schematic diagram of the hardware environment involved in the solution of this embodiment.

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] The claims of this invention will be described in detail below with reference to the accompanying drawings.

[0043] Reference Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the channel switching method for robot-elevator communication according to the present invention.

[0044] This invention provides an embodiment of a channel switching method for communication between a robot and an elevator control system. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0045] The execution subject of the channel switching method for robot-elevator communication in various embodiments of the present invention can be a robot. The robot can be a conventional robot controlled by an automatic control program, or it can be used for carrying goods, planning routes, delivery, etc. There are no limitations on the type or style of the robot or its specific implementation details in each embodiment. In this embodiment, the channel switching method for robot-elevator communication includes the following steps S10-S30:

[0046] Step S10: The robot determines a target channel from multiple available channels based on its current floor.

[0047] In this embodiment, a channel refers to the signal transmission route between the robot and the elevator control. There are at least two selectable channels. When the robot explores the building and obtains multiple selectable channels, it can prioritize these channels based on their communication speed and / or smoothness. The target channel is the highest priority signal transmission channel among the selectable channels, used to transmit the communication request sent by the robot to the elevator control.

[0048] When the robot receives a task and needs to take an elevator during the task execution, it establishes a network connection with the elevator control based on the communication module, and selects the highest priority channel from the available channels corresponding to the current floor as the target channel for sending the communication request, so that the robot can send the communication request to the elevator control based on the target channel.

[0049] Optionally, after establishing a network connection with the robot, the elevator control system selects the channel with the highest priority as the target channel based on the priority of each available channel fed back by the robot during its exploration of the floor. Based on this channel, when it receives a communication request from the robot, it sends a response result back to the robot.

[0050] Optionally, the priority of each selectable channel can be divided by Arabic numerals, with the smaller the number, the higher the priority. For example, in the current floor, the priorities of each selectable channel are 1, 2, ..., n. When the robot needs to take the elevator, it selects the channel with priority 1 as the target channel to send the communication request to the elevator control.

[0051] Understandably, the priority of selectable channels can be identified not only by Arabic numerals but also by common sorting characters such as English letters and Roman numerals. Here, "elevator" refers to a vertical elevator with elevator control.

[0052] Specifically, step S10, where the robot determines a target channel from multiple selectable channels based on its current floor, includes steps S11-S13:

[0053] Step S11: Obtain the location parameters of the current floor;

[0054] Step S12: Determine an optimal channel and the priority of each of the multiple selectable channels based on the location parameters of the current floor.

[0055] Step S13: Determine the optimal channel as the target channel.

[0056] In this embodiment, the location parameters refer to the current floor number and the current floor height. The optimal channel refers to the most suitable channel selected by the robot from among multiple available channels corresponding to the current floor number, based on the current floor height, as the target channel for communication between the robot and the elevator control. This ensures that the robot sends communication data to the elevator control via the target channel; in other words, the optimal channel has the highest priority. After determining the optimal channel, the priorities of the other available channels are determined based on their parameters, so that the robot can switch to other available channels to communicate with the elevator control when the optimal channel is congested.

[0057] Step S20: The robot sends a communication request to the elevator controller based on the target channel. If the elevator controller receives the communication request, it responds to the communication request and sends the response result back to the robot.

[0058] In this embodiment, the communication request includes information such as the target floor and the robot's current floor. The communication request can be used to call the elevator to the robot's current floor and transport the robot to the target floor. The response result is a signal indicating successful communication from the target channel when the elevator controller receives the communication request from the robot on the target channel. The response signal may include the elevator's current floor, the elevator's current transport task, and the estimated arrival time at the robot's floor.

[0059] When a robot receives a delivery task and needs to take an elevator to the task location, it can select the highest priority channel from the available channels corresponding to the current floor as the target channel, and send a communication request to the elevator control based on the target channel. This avoids the robot having to establish a communication connection with the elevator control after arriving at the elevator entrance, thus reducing the robot's waiting time.

[0060] If the robot does not receive a response signal from the elevator control within a preset time period (e.g., 3 seconds) after sending a communication request, it will resend the communication request through another channel. Therefore, after receiving the robot's communication request in the target channel, the elevator control parses the robot's floor position contained in the request and sends a response back to the robot based on the target channel, preventing the robot from waiting too long and resending the communication request through another channel.

[0061] Optionally, when the robot sends a communication request, it can record the sending time of the communication request and upload the corresponding sending time to the network management backend. After receiving the sending time corresponding to the communication request sent by the robot, the network management backend sends this information to the elevator control. If the elevator control receives the communication request sent by the robot based on the target channel within a preset time period (e.g., 3 seconds) after receiving this information, it sends a response result to the robot.

[0062] Step S30: If the robot does not receive the response result, it sequentially switches among the multiple selectable channels to determine a new target channel, and resends the communication request to the elevator control based on the new target channel after switching.

[0063] In this embodiment, after the robot sends a communication request based on the target channel, if it does not receive a response from the elevator control within a preset time period, it determines that the target channel is congested or interfered with. At this point, the robot switches to a new target channel from other available channels according to channel priority. After switching to the new target channel, it resends the communication request to the elevator control, enabling the robot to switch to another channel to send the communication request when the previous target channel is congested or interfered with, thus avoiding excessively long waiting times.

[0064] Specifically, step S30, if the robot does not receive the response result, involves sequentially switching among the multiple selectable channels to determine a new target channel, and resending the communication request to the elevator control based on the new target channel after the switch, including steps S31-S32:

[0065] Step S31: In the plurality of selectable channels, a new target channel is determined by sequentially switching according to the priority order of each selectable channel.

[0066] In this embodiment, if the robot does not receive a response from the elevator control based on the current target channel, it switches to a new target channel from among the other available channels according to their priority. If no response is received after switching to a new target channel, the robot continues to switch to a new target channel from the remaining available channels to avoid the robot waiting too long on the current channel.

[0067] Optionally, if the robot does not receive a response from the elevator control feedback on the current target channel, it adds a communication failure count to that target channel.

[0068] Step S32: Resend the communication request to the elevator control system based on the new target channel after the switch.

[0069] In this embodiment, after the robot switches to a new target channel, it must send a communication request to the elevator control based on the new target channel.

[0070] Optionally, if the number of communication failures recorded on multiple selectable channels corresponding to the current floor is the same, the robot can re-execute step S10. The robot determines a target channel from among the multiple selectable channels based on the current floor, and continues until it sends a communication request based on the target channel and receives a feedback response signal from the elevator control within a preset time. This avoids the robot waiting for a long time due to congestion on the current target channel, which could lead to task timeout.

[0071] Optionally, if the number of communication failures recorded on multiple selectable channels corresponding to the current floor is the same, the robot can output a communication failure message and restart the robot's communication module.

[0072] In this embodiment, the robot selects the optimal channel from multiple available channels as the target channel based on the location parameters of its current floor. The multiple available channels are then prioritized. A communication request is then sent to the elevator control system based on the target channel. Upon receiving the communication request, the elevator control system sends a response to the robot. If the robot does not receive a response, it switches to another channel according to the priority order of the multiple available channels and resends the communication request to the elevator control system. This application enables the robot to communicate with the elevator control system based on the communication channel priority, reducing communication waiting time. Furthermore, when the current channel is congested, the robot switches to the target channel sequentially according to the priority order of the available channels and resends the communication request, preventing the robot from being unable to communicate with the elevator control due to congestion of the current target channel, thus avoiding extended elevator travel time.

[0073] Furthermore, based on the above embodiments, a second embodiment of the channel switching method for robot-elevator communication of the present invention is proposed. In this embodiment, referring to... Figure 2 Before step S10, when the robot determines a target channel from multiple selectable channels based on its current floor, step S40 is also included.

[0074] Step S40: Conduct site surveys on all floors of the current building to determine the multiple optional channels, wherein the location parameters of each floor correspond to an optimal channel and the priority of each optional channel among the multiple optional channels;

[0075] In this embodiment, "survey" refers to the robot conducting network exploration of all floors of the current building, and selecting at least two channels with the highest communication speed and / or the highest channel fluency from each floor as the optional channels for that floor. The optimal channel is then selected and its priority is set to the highest (e.g., 1). Subsequently, based on the recorded relationship between the communication speed and / or channel fluency of the optional channels, the priorities of the remaining optional channels are marked (e.g., 2, 3, ..., n).

[0076] It is understandable that the priority of the optional channel corresponding to each floor can be set to 1, 2...n, and each optional channel and its priority are stored in association with the current floor number.

[0077] In a specific implementation scenario, when the robot is conducting a site survey, based on the current floor height and the elevator's location, it selects three optimal channels from multiple available channels. These channels are chosen as the set of channels for communication between the robot and the elevator control system on the current floor, considering their communication speed and smoothness. To avoid signal interference between channels due to small frequency intervals, the frequency interval between any two channels must be at least 3MHz. After selecting the channel set, the available channels are prioritized according to their communication smoothness. The channel with the highest priority is used as the default channel for communication between the robot and the elevator control system, ensuring that the default channel is used preferentially when establishing a connection.

[0078] Specifically, refer to Figure 3 Step S40 involves conducting site surveys on all floors of the current building to determine the multiple selectable channels, specifically including steps S41-S42.

[0079] Step S41: Connect the robot to the elevator control system on all floors of the current building and determine the communication speed and / or channel smoothness of each selectable channel of the communication connection.

[0080] In this embodiment, communication speed refers to the communication rate of the selectable channels for communication between the robot and the elevator control, typically described in megabits per second (Mbps), such as a current channel rate of 0.3 Mbps. When the robot is dispatched to the current building to perform its work, it needs to request a network connection from the elevator control. After establishing a network connection with the control, the robot obtains the communication speed and / or channel smoothness of each selectable channel for communication between the robot and the control. This allows the robot to determine the optimal channel for that floor and the priority of each channel based on the communication speed and / or channel smoothness.

[0081] Optionally, the process of establishing a connection between the robot and the elevator control system can be as follows: After the robot arrives at the target building, it requests a connection to the elevator control system of the current building from the network management backend. The network management backend then sends the robot's unique identifier (such as physical address, serial number, etc.) to the elevator control system. After the elevator control system confirms the robot's identifier, it returns the elevator control configuration (such as the elevator control system's digital signature authentication) to the network management backend. This allows the network management backend to send the elevator control configuration to the robot, and the robot then successfully establishes a communication connection with the elevator control system based on the configuration.

[0082] It should be noted that when the robot is dispatched to work in a building, it needs to conduct a site survey of each floor and establish a communication connection with the elevator control system. From the multiple available channels obtained from the site survey, it selects the channel set for communicating with the elevator control system on the current floor. After successful communication, the robot saves and records the channel set used for communication with the elevator control system on the current floor.

[0083] Optionally, after establishing a communication connection with the elevator control, the robot can take the elevator to all floors of the current building and perform network surveys on each floor to store the channel set for communication between the robot and the elevator control on the current floor.

[0084] Optionally, when the robot is deployed to a building, staff can guide it to each floor to conduct network surveys and establish communication connections with the elevator control system.

[0085] Step S42: Based on the communication speed and / or the channel smoothness of each selectable channel, determine an optimal channel corresponding to the location parameters of each floor and the priority of each selectable channel among the plurality of selectable channels, wherein the priority of each selectable channel is positively correlated with the communication speed and / or the channel smoothness.

[0086] In this embodiment, after the robot establishes a communication connection with the elevator control on each floor, it calculates the priority of each selectable channel in the channel set associated with each floor based on the communication speed and / or channel fluency of the currently available channels. This allows the robot to communicate with the elevator control based on the priority of the selectable channels, avoiding excessive waiting time caused by channel congestion, which would affect the efficiency of the robot in performing its tasks.

[0087] In a specific implementation scenario, the robot is currently on the first floor. Based on the current site survey data and after filtering, there are three selectable channels for communication with the elevator control. The channel smoothness is as follows: Channel A - moderate smoothness; Channel B - congested smoothness; Channel C - smooth smoothness. Therefore, the robot selects Channel C as the optimal channel for the first floor and marks the three selectable channels: Channel C has a priority of 1, Channel A has a priority of 2, and Channel B has a priority of 3.

[0088] Optionally, among the optional channels for communication between the robot and the elevator control, only the channel communication speed matters; the higher the communication speed, the higher the priority.

[0089] Optionally, among the optional channels for communication between the robot and the elevator control, if both the channel communication speed and the channel smoothness are known parameters, the multiple optional channels are prioritized based on the channel smoothness. If the smoothness is the same, they are prioritized based on the communication speed.

[0090] It should be noted that when the robot is on other floors, priority can also be assigned based on communication speed and / or channel fluency. In the above scenario, the specific floor number, communication speed, channel fluency, and other values ​​are used for description only and are not intended to limit the specific values.

[0091] In this embodiment, the robot conducts a site survey of all floors in the current building and, while establishing communication connections with the elevator control on all floors, determines the communication speed and / or channel fluency of each optional communication channel. Based on the communication speed and / or channel fluency, it determines the optimal channel corresponding to the location parameters of each floor and the priority of each optional channel among multiple optional channels. This application enables the robot to store a set of optional channels for communicating with the elevator control for all floors in the current building. The multiple optional channels in the set have corresponding priority divisions, allowing the robot to switch to another optional channel according to priority order when the current channel cannot communicate with the elevator control, thereby improving the communication efficiency between the robot and the elevator control.

[0092] Furthermore, based on the above embodiments, a third embodiment of the channel switching method for robot-elevator communication of the present invention is proposed. In this embodiment, reference is made to... Figure 4 Step 20: The robot sends a communication request to the elevator control based on the target channel. If the elevator control receives the communication request, it responds to the communication request and sends a response result back to the robot. Specific steps include S21-S23:

[0093] Step S21: When the robot sends a communication request to the elevator control based on the target channel, record the sending time;

[0094] Step S22, wherein if the elevator control receives the communication request within a preset time period after the sending time, it responds to the communication request and feeds back the response result to the robot;

[0095] Step S23: If the elevator control does not receive the communication request within a preset time period after the transmission time, it switches to the next channel according to the optimal channel corresponding to the current floor's location parameters and the priority of each of the multiple optional channels.

[0096] For example, the robot requests communication with the elevator control system from the network management backend. After identifying the target elevator, the network management backend allows the robot to communicate with the elevator control system. After recording the time the communication request was sent, the robot can send information about the sent request and the time to the network management backend. The network management backend then sends a notification to the elevator control system indicating that the robot has sent a communication request and the time it was sent. If the elevator control system receives the corresponding communication request from the robot within a preset time period (e.g., 3 seconds) after receiving the notification from the network management backend, it immediately sends a response signal to the robot. However, if the elevator control system does not receive the robot's communication request within the preset time period (e.g., 3 seconds) after receiving the notification from the network management backend, it switches to the next available channel to listen for the robot's communication request, according to the priority of the multiple selectable channels for the current floor. This avoids the elevator control system needing to listen to multiple channels after the robot switches channels.

[0097] In a specific implementation scenario, 3 seconds after the robot sends a communication request, during which the elevator controller receives an alert signal from the network management backend but still does not receive the communication request sent by the robot based on the target channel, the elevator controller selects another channel from multiple available channels as the target channel and re-monitors the communication request sent by the robot based on the target channel.

[0098] In this embodiment, after the robot sends a communication request to the elevator control system and records the sending time, it sends the request time to the network management backend. Upon receiving the time sent by the network management backend, if the elevator control system receives the communication request within a preset time period after that sending time, it sends a response result back to the robot. If it does not receive the communication request within the preset time period after the sending time, it reselects the target channel based on the priority of the available channels corresponding to the current floor and switches to the next channel to establish a communication connection with the robot. In this application, if the elevator control system does not receive the communication request within the preset time period after the robot sends the communication request, it can switch the target channel for communication with the robot based on the current floor information, avoiding the waste of communication resources caused by the elevator control system communicating on multiple channels.

[0099] Furthermore, based on the above embodiments, a fourth embodiment of the channel switching method for robot-elevator communication of the present invention is proposed. In this embodiment, the robot attempts to send a communication request to the elevator control based on the target channel among multiple selectable channels. However, after failing to receive a response signal from the elevator control within a preset time, it can be determined that the current multiple selectable channels communication has failed. The robot generates the result of multiple selectable channels communication failure, and then controls the robot communication module to restart, and controls the elevator control communication module that matches the robot communication module to restart.

[0100] Specifically, after the robot sends communication requests to the elevator control via multiple selectable channels but receives no response, it marks these channels as communication failure channels. The robot then sends a network request to the network management backend to restart the current elevator control system and simultaneously executes a restart action for the communication module. Upon receiving the robot's request to restart the elevator control system, the network management backend executes a restart of the communication module that matches the communication module of the elevator control system and the robot. After restarting, the robot reselects a target channel from the multiple selectable channels on its current floor to send communication requests, avoiding the robot repeatedly performing useless operations due to a failure in either its communication module or the corresponding communication module of the elevator control system.

[0101] In this embodiment, after the robot fails to send a communication request to the elevator control via the target channel among the multiple selectable channels, it controls the robot's communication module to restart and sends information to the network management backend. This information prompts the network management backend to control the restart of the elevator control communication module that matches the robot's communication module. After the communication module restarts, the robot resends the communication request based on the target channel. In this application, when multiple selectable channels on the current floor fail to send communication requests, it can be assumed that the robot's communication module and / or the elevator control communication module that matches the robot's communication module have malfunctioned. Therefore, the action of restarting both communication modules is performed, avoiding the robot repeatedly switching selectable channels and sending communication requests due to communication module failure, thereby improving the communication efficiency between the robot and the elevator control.

[0102] Furthermore, based on the above embodiments, a fifth embodiment of the channel switching method for robot-elevator communication of the present invention is proposed. In this embodiment, after the robot and the elevator establish a connection, the robot and the elevator synchronously perform the channel switching step according to the response time of the communication request, with the connection time as the time origin.

[0103] For example, in some specific implementation scenarios, the robot can take the moment of establishing a communication connection with the elevator as the time origin. After sending a communication request to the elevator based on the initial target channel, if there is no response within 10 seconds at time T0 or the response time exceeds 10 seconds, the request is judged to have timed out, the communication module is restarted, and communication requests are continuously sent after restarting. If no response data from the elevator is received after 15 seconds, the robot switches to another selectable channel in the channel set, starting from the restart time.

[0104] After switching to another available channel, if communication with the elevator is successfully established, the priority of the available channels in the channel set is reset, setting the channel with successful communication as the highest priority. If no response is received within 15 seconds, the target channel is switched again.

[0105] If no response is received within 15 seconds after switching the target channel again, the system will revert to the initial target channel and repeat the above actions. If communication with the elevator is still not established after two cycles, a channel abnormality alarm will be issued.

[0106] Optionally, the elevator control system can also use the moment of establishing a communication connection with the robot as the time origin, receive communication requests sent by the robot based on the initial target channel, and if no message is received within 10 seconds or the message reception interruption time exceeds 10 seconds, it is determined that the request has timed out, and the elevator control system is restarted. After restarting, it continuously monitors the messages on the initial target channel. If no communication request is received within 15 seconds from the restart time, it switches to another selectable channel in the channel set.

[0107] After switching to another selectable channel, if a communication request signal is received from the robot, a response signal is sent back to the robot, and the elevator is controlled to move to the robot's floor. The priority of the selectable channels in the channel set is reset, and the channel with successful communication is set to the highest priority. If no communication request signal is received within 15 seconds, the target channel is switched again.

[0108] If no response is received within 15 seconds after switching the target channel again, the system will revert to the initial target channel and repeat the above actions. If no communication request is received from the robot after two cycles, a channel abnormality alarm will be issued.

[0109] It should be noted that the specific time parameters mentioned above are for illustrative purposes only and are not intended to limit the invention. The time parameters can be dynamically set according to the current floor height and the elevator's site survey environment.

[0110] In this embodiment, after the robot establishes a network connection with the elevator, taking the current time as the time origin, the robot and the elevator control simultaneously send / receive communication request signals based on a preset time period. If both respond to a timeout within the preset time period, they synchronously perform a restart or channel switching operation, thereby improving the communication efficiency between the robot and the elevator.

[0111] Furthermore, a sixth embodiment of the channel switching method for robot-elevator communication of the present invention is proposed. In this embodiment, after the robot sends a communication request to the elevator control based on the target channel, if the robot does not receive a response within a preset time period, the current target channel is deleted from the multiple selectable channels, and a new target channel is selected from the deleted multiple selectable channels and the communication request is sent again. If all multiple selectable channels are deleted, the robot re-surveys based on the current floor information to obtain a new channel set, and selects a target channel from the multiple selectable channels in the channel set, and re-executes the action of sending a communication request to the elevator control.

[0112] In this embodiment, when the current target channel is congested, the robot deletes the information of the target channel pre-stored in its database and selects a new target channel for communication. When all available channels corresponding to the current floor stored by the robot are unusable and have been deleted, the robot re-surveys the floor information based on the current floor, re-acquires available channels, re-determines the priority of available channels, and selects a target channel for communication. By deleting the unusable channels pre-stored by the robot and re-surveying the floor when all available channels are deleted to obtain new available channels, the robot can respond to the current communication channel status in real time, avoiding repeatedly sending communication requests in multiple unusable available channels and preventing the robot from being unable to communicate with the elevator control.

[0113] Furthermore, embodiments of the present invention also provide a channel switching device for communication between a robot and an elevator control system, referring to... Figure 5 The device includes:

[0114] Determination module 10: Used by the robot to determine a target channel from multiple available channels based on the current floor;

[0115] Request module 20: used for the robot to send a communication request to the elevator controller based on the target channel, wherein if the elevator controller receives the communication request, it responds to the communication request and sends the response result back to the robot;

[0116] Switching module 30: If the robot does not receive the response result, it sequentially switches among the multiple selectable channels to determine a new target channel, and resends the communication request to the elevator control based on the new target channel after switching.

[0117] Furthermore, the determining module 10 includes:

[0118] First acquisition unit: used to acquire the location parameters of the current floor;

[0119] First determining unit: used to determine an optimal channel and the priority of each of the multiple selectable channels based on the location parameters of the current floor;

[0120] The second determining unit is used to determine the optimal channel as the target channel.

[0121] Furthermore, the request module 20 includes:

[0122] First switching unit: used to sequentially switch and determine a new target channel among the plurality of selectable channels according to the priority order of each selectable channel among the plurality of selectable channels;

[0123] Transmitting unit: used to resend a communication request to the elevator control system based on the new target channel after the switch.

[0124] Furthermore, the switching module 30 includes:

[0125] Recording unit: used to record the transmission time when the robot sends a communication request to the elevator control based on the target channel;

[0126] Feedback unit: If the elevator control receives the communication request within a preset time period after the sending time, it responds to the communication request and feeds back the response result to the robot.

[0127] The second switching unit is used to switch to the next channel if the elevator control does not receive the communication request within a preset period after the transmission time, based on the optimal channel corresponding to the current floor's location parameters and the priority of each of the multiple selectable channels.

[0128] Furthermore, the device also includes:

[0129] Site survey module: Used to conduct site surveys on all floors of the current building to determine the multiple optional channels, wherein the location parameters of each floor correspond to an optimal channel and the priority of each optional channel among the multiple optional channels.

[0130] Furthermore, the engineering survey module also includes:

[0131] The third determining unit is used to connect all floor robots in the current building to the elevator control communication system and determine the communication speed and / or channel smoothness of each selectable channel of the communication connection.

[0132] The fourth determining unit is used to determine an optimal channel corresponding to the location parameters of each floor and the priority of each of the plurality of optional channels based on the communication speed and / or the channel smoothness of each optional channel, wherein the priority of each optional channel is positively correlated with the communication speed and / or the channel smoothness.

[0133] Furthermore, the device also includes:

[0134] First control module: used to control the robot's communication module to restart after the robot fails to send a communication request to the elevator control via the target channel among the multiple selectable channels;

[0135] The second control module is used to control the restart of the ladder control communication module that is compatible with the robot communication module.

[0136] Furthermore, this embodiment of the invention also proposes a robot, which includes a memory, a processor, and a channel switching program stored in the memory and executable on the processor. When the robot channel switching program is executed by the processor, it implements the steps of the channel switching method for robot-elevator communication as described in any of the embodiments above.

[0137] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a channel switching program, wherein when the channel switching program is executed by a processor, it implements the steps of the channel switching method for robot-elevator communication as described in any of the embodiments above.

[0138] like Figure 6 As shown, Figure 6 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present invention.

[0139] It should be noted that the device in the embodiments of the present invention can be a device with digital processing capabilities, such as a smartphone, a personal computer, or a server. The device can be deployed in a mobile robot, and no specific limitations are imposed here.

[0140] like Figure 6 As shown, the device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0141] Those skilled in the art will understand that Figure 6 The device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0142] like Figure 6 As shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a channel switching program. The operating system is a program that manages and controls the device's hardware and software resources, supporting the operation of the channel switching program and other software or programs. Figure 6In the device shown, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing a communication connection with the server; and the processor 1001 can be used to call the channel switching program stored in the memory 1005 and perform the following operations:

[0143] The robot determines a target channel from multiple available channels based on its current floor level;

[0144] The robot sends a communication request to the elevator control based on the target channel. If the elevator control receives the communication request, it responds to the communication request and sends the response result back to the robot.

[0145] If the robot does not receive the response result, it sequentially switches among the multiple selectable channels to determine a new target channel, and resends the communication request to the elevator control based on the new target channel.

[0146] Furthermore, the processor 1001 can call the channel switching program stored in the memory 1005 and also perform the following operations:

[0147] A site survey is conducted on all floors of the current building to determine the multiple optional channels. The location parameters of each floor correspond to an optimal channel and the priority of each optional channel among the multiple optional channels.

[0148] Furthermore, the processor 1001 can call the channel switching program stored in the memory 1005 and also perform the following operations:

[0149] The robots on all floors of the current building are connected to the elevator control system, and the communication speed and / or smoothness of each available channel of the communication connection are determined.

[0150] Based on the communication speed and / or the channel fluency of each selectable channel, an optimal channel corresponding to the location parameters of each floor is determined, as well as the priority of each selectable channel among the plurality of selectable channels, wherein the priority of each selectable channel is positively correlated with the communication speed and / or the channel fluency.

[0151] Furthermore, the processor 1001 can call the channel switching program stored in the memory 1005 and also perform the following operations:

[0152] Get the location parameters of the current floor;

[0153] Based on the location parameters of the current floor, an optimal channel and the priority of each of the multiple optional channels are determined from the multiple optional channels;

[0154] The optimal channel is determined as the target channel.

[0155] Furthermore, the processor 1001 can call the channel switching program stored in the memory 1005 and also perform the following operations:

[0156] Among the multiple selectable channels, a new target channel is determined by sequentially switching according to the priority order of each selectable channel.

[0157] The elevator control system resends the communication request based on the new target channel after the switch.

[0158] Furthermore, the processor 1001 can call the channel switching program stored in the memory 1005 and also perform the following operations:

[0159] When the robot sends a communication request to the elevator control based on the target channel, the sending time is recorded;

[0160] If the elevator control receives the communication request within a preset time period after the sending time, it will respond to the communication request and send the response result back to the robot.

[0161] If the elevator control does not receive the communication request within a preset period after the transmission time, it will switch to the next channel according to the optimal channel corresponding to the current floor's location parameters and the priority of each of the multiple optional channels.

[0162] Furthermore, the processor 1001 can call the channel switching program stored in the memory 1005 and also perform the following operations:

[0163] If the robot fails to send a communication request to the elevator control via the target channel among the multiple selectable channels, the robot communication module will be restarted.

[0164] Restart the elevator control communication module that is compatible with the robot communication module.

[0165] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0166] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0167] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a robot) to execute the methods described in the various embodiments of the present invention.

[0168] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for switching channels of communication between a robot and an elevator control, characterized by The method comprises the following steps: The method comprises the following steps: The robot determines a target channel from the multiple selectable channels according to the current floor, comprising: obtaining the position parameter of the current floor; determining an optimal channel from the multiple selectable channels according to the position parameter of the current floor and the priority of each selectable channel in the multiple selectable channels; and determining the optimal channel as the target channel; The robot sends a communication request to the elevator control based on the target channel, wherein, if the elevator control receives the communication request, the communication request is responded to and a response result is fed back to the robot, comprising: recording a sending time when the robot sends the communication request to the elevator control based on the target channel; wherein, if the elevator control receives the communication request within a preset time period after the sending time, the communication request is responded to and a response result is fed back to the robot; if the elevator control does not receive the communication request within the preset time period after the sending time, the next channel is switched to according to the optimal channel corresponding to the position parameter of the current floor and the priority of each selectable channel in the multiple selectable channels; If the robot does not receive the response result, a new target channel is determined by sequentially switching in the multiple selectable channels, and a communication request is re-sent to the elevator control based on the new target channel after the switching, wherein, after switching to the new target channel, if the robot and the elevator control establish communication, the channel priority of successful communication is set to the highest priority; After the robot fails to attempt to send a communication request to the elevator control based on the target channel in the multiple selectable channels, the robot communication module is controlled to restart; The elevator control communication module matched with the robot communication module is controlled to restart.

2. The method of claim 1, wherein, The step of surveying all floors of the current building respectively to determine the multiple selectable channels comprises: The robot and the elevator control are respectively in communication connection on all floors of the current building, and the communication speed and / or channel fluency of each selectable channel in the communication connection is determined; According to the communication speed and / or channel fluency of each selectable channel, the position parameter of each floor corresponds to an optimal channel and the priority of each selectable channel in the multiple selectable channels, wherein the priority of each selectable channel is positively correlated with the communication speed and / or channel fluency.

3. The method of claim 1, wherein, The new target channel is determined by sequentially switching in the multiple selectable channels, and a communication request is re-sent to the elevator control based on the new target channel after the switching, comprising: The new target channel is determined by sequentially switching in the multiple selectable channels according to the priority order of each selectable channel in the multiple selectable channels; A communication request is re-sent to the elevator control based on the new target channel after the switching.

4. A channel switching device for robot to communicate with elevator control, characterized in that, The device comprises: The surveying module is configured to survey all floors of the current building respectively to determine a plurality of selectable channels, wherein a position parameter of each floor corresponds to an optimal channel and a priority of each selectable channel in the plurality of selectable channels, and a selectable channel is a channel for signal transmission between the robot and the elevator control; The determining module is configured to determine a target channel in the plurality of selectable channels according to a current floor where the robot is located, including: obtaining a position parameter of the current floor; determining an optimal channel in the plurality of selectable channels and a priority of each selectable channel in the plurality of selectable channels according to the position parameter of the current floor; and determining the optimal channel as the target channel; The requesting module is configured to send a communication request to the elevator control based on the target channel, wherein if the elevator control receives the communication request, the communication request is responded to and a response result is fed back to the robot, including: recording a sending time when the robot sends the communication request to the elevator control based on the target channel; if the elevator control receives the communication request within a preset time period after the sending time, the communication request is responded to and the response result is fed back to the robot; and if the elevator control does not receive the communication request within the preset time period after the sending time, the next channel is switched to according to the optimal channel corresponding to the position parameter of the current floor and the priority of each selectable channel in the plurality of selectable channels; The switching module is configured to switch a new target channel in the plurality of selectable channels in sequence if the robot does not receive the response result, and resend the communication request to the elevator control based on the new target channel after the switching, wherein if the robot and the elevator control establish communication after the switching to the new target channel, the channel priority of successful communication is set to the highest priority; The first control module is configured to control the robot communication module to restart after the robot fails to send the communication request to the elevator control based on the target channel in the plurality of selectable channels; The second control module is configured to control the elevator control communication module matched with the robot communication module to restart.

5. A robot, characterized in that The robot includes a memory, a processor, and a channel switching program stored on the memory and executable on the processor, and the channel switching program implements the steps of the channel switching method of the robot and the elevator control communication when executed by the processor.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores the channel switching program, and the channel switching program implements the steps of the channel switching method of the robot and the elevator control communication when executed by the processor.

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