An inspection robot elevator control method and system and a storage medium

Abstract

The application discloses a kind of inspection robot lift control method, system and storage medium, the method includes: adapt to outside call and no outside call double configuration mode, complete equipment parameter configuration, based on user datagram protocol Communication link is built, and data transmission is guaranteed using cyclic redundancy check;Send corresponding lift call instruction according to configuration mode, periodically detect elevator state, enter and exit elevator continuously send open door instruction, after entering, target floor is lighted and waits for automatic door;Reverse travel detection and instruction retransmission mechanism are designed under no outside call mode, cross-floor navigation triggers map switching and executes retry;Real-time monitoring navigation state, in combination with position identification and error code determination result, set navigation and open door timeout control;Through floor card simulation elevator trajectory, open door detection magnet paste simulation in-place state, carry out standardized test cyclically.The application considers precision, cost controllability and operation safety of boarding, and guarantees process coherent and reliable.

Description

Technical Field

[0001] This invention relates to the field of intelligent inspection robot control technology, specifically to an inspection robot elevator control method and system. Background Technology

[0002] With the large-scale application of intelligent inspection robots in multi-story scenarios such as commercial buildings, industrial parks, and large venues, autonomous elevator riding has become a core supporting function for expanding the robot's operating radius and achieving full-area inspection coverage. Existing elevator inspection robot solutions still have many technical shortcomings: some solutions only support a single outbound or inbound call mode, making it difficult to meet the precise call requirements of different scenarios and control equipment construction costs; communication protocols lack unified standardization specifications, and data transmission lacks a sound verification mechanism, making it susceptible to environmental interference that can lead to command loss or misjudgment, affecting interaction stability; the elevator operation status detection cycle is poorly designed, failing to capture dynamic changes such as floor stops and direction changes in real time; the sending of door opening commands during elevator entry and exit lacks refined control, easily resulting in elevator doors closing prematurely, preventing the robot from entering or exiting normally, or doors remaining open for extended periods, affecting the normal use of the elevator; in the absence of an outbound call mode, there is a lack of effective status detection and command retransmission mechanisms after the elevator button lights go out, easily causing interruptions in the elevator ride process; some solutions actively send door closing commands without considering the differences in anti-pinch functions of different elevators, posing safety hazards; at the same time, there is a lack of standardized simulation testing procedures, making it difficult to fully verify compatibility with different brands and models of elevator control equipment before deployment, resulting in long on-site debugging cycles, difficult troubleshooting, and insufficient integration and compatibility with access control systems. Therefore, there is an urgent need for a multi-mode adaptable, stable and reliable communication, safe and controllable operation, convenient debugging and deployment, and highly compatible inspection robot elevator solution. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for controlling the elevator ride of an inspection robot, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a method and system for controlling the elevator ride of an inspection robot, comprising the following steps:

[0005] Step S10: Configure the IP address of the outbound call network controller, the default port of the elevator control, the floor card mapping relationship, the communication protocol packet format specification and the core interactive instruction set, and build a communication link between the inspection robot and the elevator control equipment based on the user data packet protocol;

[0006] Step S20: Receive the number of navigation points, current elevator information, target elevator information and parameter configuration; verify the system initialization status, user data packet protocol server running status and the legality of the number of navigation points; initialize the task execution status identifier, point ID, current floor, target floor and target map version parameters; configure the coordinates, floor and map version of each navigation point according to the preset index order; complete the rotation angle calibration when configuring the point at the elevator door of the target floor.

[0007] Step S30: Send elevator call command according to configuration mode; send external elevator call command in external call control panel mode, and send internal call command to light up floor buttons in internal call control panel mode; send elevator operation status read command every second to obtain elevator status, and execute elevator entry action after meeting the elevator entry conditions; continuously send internal call command to light up floor buttons during elevator entry; after fully entering the elevator, send this command to light up the target floor and wait for the elevator to close automatically.

[0008] Step S40: Navigate sequentially according to the configured points. When crossing floors, trigger a map switching operation. Both elevator calls and map switching use a preset number of retry mechanisms. Set navigation targets for each point, monitor navigation status in real time, determine navigation results based on location identifiers and error codes, and set navigation timeout controls.

[0009] Step S50: After navigating to the corresponding point, perform the associated operation. When the elevator door of the current floor is reached, trigger the elevator call. When the elevator door of the target floor is reached, perform the door closing operation. After the elevator arrives at the target floor and the door is fully open, the inspection robot performs the exit action. During the exit process, the robot continuously sends internal call commands to light up the floor buttons.

[0010] Step S60: After the inspection robot has completely exited the elevator, set the door opening timeout control. If the target is not achieved within the timeout period, terminate the process and return an error message. After all navigation points have been executed, update the task execution status flag and end the elevator control process.

[0011] Preferably, in step S10, the core interactive instruction set includes an internal call to light up the floor button, an external call to the elevator, and an instruction to read the elevator's operating status, which respectively correspond to the functions of internal elevator floor control, external elevator call operation, and elevator operating status acquisition.

[0012] Preferably, in step S20, the legality judgment standard for the number of navigation points is: the number of core points required for the basic elevator ride process or the number of points required for the extended precise positioning process. The core points include the elevator door point of the current floor, the elevator center point of the current floor, the elevator center point of the target floor, and the elevator door point of the target floor. The extended points are the core points plus the designated points of the target floor.

[0013] Preferably, in step S30, the elevator operation status reading command is continuously sent at a preset short cycle, and the floor button lighting command is continuously sent at the same cycle during the elevator entry and exit processes until the robot has completely entered and exited the elevator.

[0014] Preferably, in step S40, when the cross-floor navigation performs map switching, both the elevator call operation and the map switching operation adopt a three-retry mechanism, with a fixed interval between each retry. The elevator call is judged as the elevator reaching the target floor and the front or back door opening, and the map switching is judged as the navigation service returning a valid response.

[0015] Preferably, in step S40, the duration of the navigation timeout control is set to a fixed value. The navigation status is determined by a combination of location identifier and error code. When the error code is a success identifier and the location identifier matches the target point, the inspection robot determines that it has arrived. When the error code is a failure identifier, the inspection robot determines that it has terminated navigation. If the target is not reached within the timeout period, an error message is returned.

[0016] Preferably, in step S40, the navigation is invoked using a singleton pattern. The core functions of the navigation include target point setting, map switching, and navigation status feedback. The interaction with the inspection robot control system is achieved through a unified interface, ensuring the consistency and stability of navigation command execution.

[0017] Preferably, in step S50, the continuously sent internal call command to light up the floor button is triggered by a timer. The timer is set with a preset short period and a maximum door opening time is configured. If the maximum time is exceeded, a timeout logic is triggered, the command is stopped, and a timeout status is marked.

[0018] An inspection robot elevator control system is provided for implementing any of the methods described above, characterized in that the system includes a configuration communication module, a navigation control module, and an elevator execution module;

[0019] The configuration communication module is used to configure the network parameters of the outbound call network controller, the floor card mapping relationship and the communication protocol related parameters, establish a communication link between the inspection robot and the elevator control equipment based on the user data packet protocol, clarify the protocol packet format specifications and core interaction commands, and provide stable communication support;

[0020] The navigation control module is used to receive navigation point configuration parameters, execute point navigation in a preset order, trigger map switching when crossing floors, execute a retry mechanism for calling elevators and switching maps, monitor navigation status in real time and execute timeout control to ensure navigation accuracy.

[0021] The elevator execution module is used to send elevator call commands according to the configuration mode, continuously detect the elevator running direction, floor and door opening status, and start the elevator entry and exit actions according to the status. When entering or exiting the elevator, the module continuously sends door opening commands. After entering the elevator, the module lights up the target floor and waits for the elevator to close automatically. After reaching the target floor, the module performs the exit operation to ensure a smooth elevator ride process.

[0022] A computer-readable storage medium is characterized in that it stores computer-executable instructions, which, when executed by a processor, implement all the steps of the inspection robot elevator control method as described in any of the preceding claims.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. Supports dual configuration modes with and without an external call control board. In external call mode, precise elevator calls are achieved through dedicated external call commands. In non-external call mode, additional hardware deployment is eliminated, reducing equipment and construction costs and flexibly adapting to different scenario requirements. A standardized user data packet protocol is used to build the communication link, coupled with a cyclic redundancy check algorithm to verify the integrity of protocol packets, ensuring accurate and stable command interaction. The inspection robot does not actively send door-closing commands; instead, it relies on the elevator's automatic door-closing mechanism to avoid the risk of people being trapped in elevators without anti-pinch functions. During the elevator entry and exit process, it continuously sends internal call commands to illuminate the floor buttons, preventing premature door closure and obstruction of passage.

[0025] 2. This invention continuously monitors the elevator's direction of travel, floor, and door opening status at preset short cycles, responding in real-time to changes in status. For scenarios where elevator button lights are off in no-call mode, a reverse travel detection and command retransmission mechanism is designed to ensure a smooth and uninterrupted elevator ride. During cross-floor navigation, a multiple-retry mechanism is used to handle map switching, combined with point rotation angle calibration and navigation timeout control to improve navigation accuracy and stability. A standardized simulation testing process is provided, using floor cards to simulate elevator trajectories and door opening detection magnets to simulate door opening status, comprehensively verifying the system's compatibility with different elevator control devices, reducing the risk of actual deployment failures, and improving debugging efficiency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the method flow provided in an embodiment of the present invention;

[0028] Figure 2 This is a system structure block diagram provided for an embodiment of the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] This invention discloses a method, system, and storage medium for controlling elevator use by an inspection robot. It achieves the design goals of precise elevator use, controllable cost, safe operation, seamless process flow, and convenient deployment by supporting dual configuration modes with and without an outbound call control board; constructing a communication link based on the User Datagram Protocol (UDP) and employing a cyclic redundancy check algorithm to verify protocol packet integrity; continuously performing elevator operation status detection and optimizing the continuous sending of entry, exit, and door opening commands at preset short cycles; designing a reverse travel detection and command retransmission mechanism for the non-outbound call mode; employing a multiple retry mechanism for switching navigation maps across floors; and standardizing the floor card simulation operation and door opening detection magnetic sensor testing process.

[0031] See Figure 1 In this embodiment of the invention, the elevator control method for the inspection robot includes:

[0032] Step S10: Configure the IP address of the outbound call network controller, the default port of the elevator control, the floor card mapping relationship, the communication protocol packet format specification and the core interactive instruction set, and build a communication link between the inspection robot and the elevator control equipment based on the user datagram protocol.

[0033] In this embodiment, the configuration information includes control configuration information based on the inspection robot and communication configuration information based on the elevator control equipment. The control configuration information is used to implement elevator control services related to the inspection robot, and the communication configuration information is used to implement command interaction services related to the elevator control equipment.

[0034] Specifically, in this embodiment, the inspection robot is the first executing entity, and the elevator control equipment is the second executing entity. The elevator control equipment includes an outbound call network controller and an elevator control main controller, and the configuration modes are divided into a mode with an outbound call control board and a mode without an outbound call control board. The inspection robot must first complete the initialization verification and the user data packet protocol server startup check. If it is not initialized or the user data packet protocol server is not started, the process will be terminated directly and an error message will be returned.

[0035] When using the outbound call control panel mode, the control configuration information of the first executing entity includes the target floor, running direction, and navigation point parameters. The corresponding communication configuration information includes the outbound call network controller IP, the elevator control default port, floor card mapping relationship, communication protocol packet format specification, and core interactive command set. The elevator control default ports are 3964 and 3965. The communication protocol is based on the User Datagram Protocol (UDP), and data transmission follows the high-byte-first rule. The protocol packet includes a total packet checksum, length, serial number, command, request / response, status, and data packet fields. The total packet checksum uses a cyclic redundancy check algorithm, covering all bytes from the length field to the end of the data packet. Unless otherwise specified, the serial number is filled with a default value. In the request / response identifier, 0 indicates a response is required, 1 indicates no response is required, and 2 indicates a response packet. The status field is only valid for response packets: 0 indicates success, 1 indicates failure, 2 indicates not supported, and 3 indicates invalid data. The core interactive instruction set includes external elevator call instructions, internal call instructions to illuminate floor buttons, and instructions to read elevator operating status. External elevator call instructions include direction type, front door floor, and rear door floor parameters. Internal call instructions to illuminate floor buttons include front door floor and rear door floor parameters. Floors from 0 to 63 are valid, with 0 corresponding to the lowest floor. FFFF is an invalid value. Systems without front and rear doors default to using the front door.

[0036] When using the no-external-call control board mode, the communication configuration information does not require the external-call network controller IP parameters. It only includes the elevator control main controller IP, elevator control default port, floor card mapping relationship, communication protocol packet format specification, and core interactive instruction set. The core interactive instruction set is the internal call instruction to light up the floor button and the instruction to read the elevator running status. The control configuration information is consistent with the mode with external-call control board.

[0037] After the configuration center returns the configuration information to the inspection robot, it will perform configuration information verification. This verification checks whether the configuration information is incorrect or empty, and whether the number of navigation points meets the legal standards. The four basic points include the elevator door point on the current floor, the midpoint inside the elevator on the current floor, the midpoint inside the elevator on the target floor, and the elevator door point on the target floor. The five additional points include the designated point on the target floor. If the configuration information is not empty, has no errors, and the number of points is valid, the verification passes. After the configuration information passes the verification, it will then be parsed. The configuration center will also periodically monitor configuration information updates. If an update is detected, the verification process will be re-executed to ensure a stable and reliable communication link.

[0038] Step S20: Receive the number of navigation points, current elevator information, target elevator information and parameter configuration; verify the system initialization status, user data packet protocol server running status and the legality of the number of navigation points; initialize the task execution status identifier, point ID, current floor, target floor and target map version parameters; configure the coordinates, floor and map version of each navigation point according to the preset index order; complete the rotation angle calibration when configuring the point at the elevator door of the target floor.

[0039] In this embodiment, the parameters received by the inspection robot include the number of navigation points, current elevator information, target elevator information, and related parameter configurations. The parameter transmission adopts a serialization format to ensure data integrity and readability.

[0040] Specifically, after receiving the data, the inspection robot performs three layers of verification in sequence: first, system initialization status verification to confirm that the core functional modules have been started; second, user data packet protocol server operation status verification to ensure that the communication channel can be used normally; and third, navigation point quantity validity verification, which is only considered valid if the quantity meets the core point quantity required for the basic elevator ride process or the point quantity required for the extended precise positioning process, otherwise the process is terminated directly and an error message is returned.

[0041] After the verification is successful, the inspection robot initializes key parameters, including task execution status identifier, location ID, current floor, target floor, and target map version.

[0042] In terms of execution logic, the coordinates, floor, and map version of each navigation point are configured according to the preset index order:

[0043] Index 0 corresponds to the elevator door location on the current floor. The coordinates are the preset 3D coordinates of the door in the current elevator information. The floor it belongs to is the current floor. The map version is the same as the map version of the current elevator location.

[0044] Index 1 corresponds to the midpoint of the elevator on the current floor. The coordinates are the preset three-dimensional coordinates of the midpoint of the elevator in the current elevator information. The floor and map version are consistent with the current floor.

[0045] Index 2 corresponds to the midpoint of the elevator on the target floor. The coordinates are the preset three-dimensional coordinates of the midpoint of the elevator in the target elevator information. The floor it belongs to is the target floor. The map version is the same as the map version of the target elevator.

[0046] Index 3 corresponds to the elevator door point on the target floor. The coordinates are the preset three-dimensional coordinates of the door in the target elevator information. At the same time, the rotation angle is calibrated for this point. By adjusting the value of the vertical axis in the three-dimensional coordinates, it is ensured that the robot's posture is accurate after exiting the elevator, and the floor and map version are consistent with the target floor.

[0047] Index 4 corresponds to a specified point on the target floor. The coordinates are taken from the preset location information in the parameter configuration. The floor it belongs to is the target floor, and the map version is the same as the target map version.

[0048] Step S30: Send an elevator call command according to the configuration mode; send an external call command when there is an external call control panel, and send an internal call command to light up the floor buttons when there is no external call control panel; send a command to read the elevator running status every second to obtain the elevator status, and execute the elevator entry action after the entry conditions are met. During the entry process, continuously send the internal call command to light up the floor buttons; after fully entering the elevator, send the command to light up the target floor and wait for the elevator to close automatically.

[0049] In this embodiment, after parsing the configuration information, the inspection robot initiates the corresponding elevator call operation according to the configuration mode determined in step S10. The elevator call process adopts a multiple retry mechanism to ensure that the elevator control equipment responds effectively.

[0050] Specifically, in the mode with an external call control panel, the robot sends an external call command, which carries parameters such as the running direction, the floor of the front door, and the floor of the back door. After receiving the command, the elevator control system lights up the up or down button corresponding to the current floor. If the first call fails, it will be repeated after a fixed interval until the call is successful or the preset number of retries is reached. In the mode without an external call control panel, the robot directly sends an internal call command to light up the floor button, which lights up the button of the current floor. There is no need to configure the running direction parameters. The call retry logic is the same as in the mode with an external call control panel.

[0051] In terms of execution logic, after an elevator call is initiated, the robot continuously sends commands to read the elevator's operating status at fixed short intervals, obtaining the elevator's direction of travel, current floor, and door status in real time. When it detects that the elevator's direction of travel is consistent with the robot's target direction, the floor it is stopping at is the current floor, and the door is in the fully open position, it determines that the conditions for entering the elevator are met, and the robot initiates the elevator entry action.

[0052] During the elevator entry process, the robot continuously sends internal call commands to illuminate the floor buttons, keeping the elevator doors open until it is fully inside the elevator and reaches the midpoint of the current floor. Once fully inside, the robot immediately sends an internal call command to illuminate the floor buttons, then stops actively interacting with the elevator and waits for the doors to close automatically. This avoids the risk of people being trapped in an elevator without anti-pinch functionality due to actively sending door-closing commands.

[0053] In the mode without an external call control panel, three special scenarios need to be handled after calling the elevator: First, if the door is open and the direction is the same, you can enter the elevator directly; second, if the door is open but the direction is different, you can wait for the elevator to close and leave before resending the call command. If the elevator button light is off, you need to detect the elevator's reverse travel signal before resending the command; third, if the door is open but the direction is different, you can enter the elevator first, and after the elevator arrives at the current passenger's target floor, you can detect the reverse travel signal and then send the target floor light-up command.

[0054] Step S40: Navigate sequentially according to the configured points. When crossing floors, trigger a map switching operation. Both elevator calls and map switching use a preset number of retry mechanisms. Set a navigation target for each point, monitor the navigation status in real time, determine the navigation result based on the location identifier and error code, and set a navigation timeout control.

[0055] In this embodiment, navigation is invoked using a singleton pattern. Its core functions include target point setting, map switching, and navigation status feedback. It interacts with the inspection robot control system through a unified interface to ensure the consistency and stability of navigation command execution.

[0056] Specifically, after the elevator closes and starts running, the inspection robot performs navigation operations in sequence according to the point index configured in step S20: starting from the midpoint inside the elevator on the current floor, it first navigates to the midpoint inside the elevator on the target floor, then navigates to the point at the elevator door on the target floor, and if there is a designated point on the target floor, it continues to navigate to that point.

[0057] In terms of execution logic, when navigation involves crossing floors, the robot automatically triggers a map switching operation: based on the map version corresponding to the target floor, it sends a map switching request to the navigation service, and simultaneously executes a dual retry mechanism for both elevator call and map switching. Each retry is spaced at a fixed interval. If the map switching or elevator call fails after multiple retries, the process terminates and an error message is returned. A successful map switching is determined by a valid response from the navigation service, and a successful elevator call is determined by the elevator reaching the target floor and the doors opening properly.

[0058] During navigation, a clear navigation target is set for each point, and the navigation status is monitored in real time: the robot's current position is determined by the location marker, and the navigation status is identified by the error code. If the error code indicates success, navigation is considered to be progressing normally; if the error code indicates failure, navigation is terminated directly. Simultaneously, a navigation timeout control is set, with a fixed timeout duration. If the target point is not reached and a success marker is not obtained within this timeout period, navigation is considered to have timed out, the process is terminated, and an error message is returned.

[0059] Step S50: After navigating to the corresponding point, perform the associated operation. When the elevator door of the current floor is reached, trigger the elevator call. When the elevator door of the target floor is reached, perform the door closing operation. After the elevator arrives at the target floor and the door is fully open, the inspection robot performs the exit action. During the exit process, it continuously sends internal call commands to light up the floor buttons.

[0060] In this embodiment, after the robot navigates to each point in a preset order, it automatically performs associated operations. The associated actions are strongly bound to the functions of the points, ensuring that the elevator ride process proceeds smoothly.

[0061] Specifically, the associated operations include three core scenarios: First, when navigating to the elevator door of the current floor, the elevator call operation is triggered to ensure that the elevator responds in time and arrives at the current floor; Second, when navigating to the midpoint inside the elevator of the current floor or the elevator door of the target floor, the door closing operation is executed, and the elevator door is controlled to close by sending corresponding instructions to ensure elevator safety and operating efficiency; Third, after the elevator arrives at the target floor and the door is fully open, the robot determines that the exit conditions are met and initiates the exit action.

[0062] In terms of execution logic, during the exit process, the robot continuously sends internal call commands to illuminate the floor buttons, maintaining the door open until it is completely out of the elevator area. The exit action requires two conditions to be met: first, the elevator has stopped at the target floor; second, the door has reached the fully open position. Exit can only be initiated when both conditions are met to avoid the risk of collision due to the elevator not stopping stably or the door not being fully open.

[0063] After exiting the elevator, the robot performs a final calibration of its navigation posture at the elevator door of the target floor. By fine-tuning the value of the vertical axis in the three-dimensional coordinate system, it ensures the accuracy of the subsequent driving direction, forming a double guarantee with the angle calibration in step S20.

[0064] Step S60: After the inspection robot has completely exited the elevator, set the door opening timeout control. If the target is not achieved within the timeout period, terminate the process and return an error message. After all navigation points have been executed, update the task execution status flag and end the elevator control process.

[0065] In this embodiment, timeout control is divided into two categories: door opening timeout and navigation timeout, which correspond to risk prevention and control in different scenarios. After the timeout is triggered, clear termination logic and error feedback are executed.

[0066] Specifically, once the inspection robot has completely exited the elevator, it immediately initiates door opening timeout control: the door opening status is continuously monitored by a timer with a preset short cycle and a maximum door opening duration configured. If the relevant actions are not completed within the maximum duration, the timeout logic is automatically triggered, the sending of relevant instructions to maintain door opening is stopped, and a timeout error message is marked to prevent the elevator door from being open for a long time and affecting normal use.

[0067] In terms of execution logic, the robot continuously tracks the execution status of all navigation points. When it is confirmed that all preset points have been navigated, the task execution status is updated to "execution completed", and the elevator control process is officially ended. If a timeout is triggered during the timeout control phase, or an unrecoverable error occurs during navigation, the process is terminated directly, and the corresponding error information is returned to facilitate subsequent troubleshooting and system optimization.

[0068] See Figure 2 , Figure 2This is a structural block diagram of an inspection robot elevator control system provided in an embodiment of the present invention. The system may include:

[0069] Configure the communication module to configure IP address, floor card parameter configuration, communication protocol packet format specifications and core interactive command set, and establish a stable communication link between the inspection robot and the elevator control equipment based on the user data packet protocol; complete configuration information verification and parsing, continuously monitor configuration information updates and trigger re-verification;

[0070] The navigation control module receives parameters such as the number of navigation points and current and target elevator information. It configures the coordinates, floor, and map version of each navigation point according to a preset index order, performs rotation angle calibration on the target floor elevator door points, performs cross-floor navigation map switching operations, and uses a multiple retry mechanism to ensure the success rate of switching. It advances the navigation process according to the point order, monitors the navigation status in real time, and sets navigation timeout control.

[0071] The elevator execution module is used to send elevator call commands according to the configuration mode of having an external call or not; it detects the elevator's running direction, current floor, and door opening status by reading elevator operation status commands at fixed short intervals, and initiates the elevator entry and exit actions based on the status feedback; during the elevator entry and exit process, it continuously sends internal call commands to light up the floor buttons to keep the door open, and after entering the elevator, it lights up the target floor and waits for the elevator to close automatically; after the elevator arrives at the target floor and the door is fully open, it executes the elevator exit action, and sets a door opening timeout control after exiting the elevator. If the target is not achieved within the timeout period, the process is terminated and an error message is returned.

[0072] The inspection robot elevator control system of this embodiment is used to implement the aforementioned inspection robot elevator control method. Therefore, the specific implementation of the inspection robot elevator control system can be found in the embodiment section of the inspection robot elevator control method above. Thus, the specific implementation can be referred to the description of the corresponding embodiments, which will not be repeated here.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the elevator ride of an inspection robot, characterized in that, Includes the following steps: Step S10: Configure the IP address of the outbound call network controller, the default port of the elevator control, the floor card mapping relationship, the communication protocol packet format specification and the core interactive instruction set, and build a communication link between the inspection robot and the elevator control equipment based on the user data packet protocol; Step S20: Receive the number of navigation points, current elevator information, target elevator information and parameter configuration; verify the system initialization status, user data packet protocol server running status and the legality of the number of navigation points; initialize the task execution status identifier, point ID, current floor, target floor and target map version parameters; configure the coordinates, floor and map version of each navigation point according to the preset index order; complete the rotation angle calibration when configuring the point at the elevator door of the target floor. The legality criteria for the number of navigation points are: the number of core points required for the elevator ride process or the number of points required for the extended precise positioning process. Core points include the elevator door point of the current floor, the elevator center point of the current floor, the elevator center point of the target floor, and the elevator door point of the target floor. Extended points are the core points plus the designated points of the target floor. Step S30: Send elevator call command according to configuration mode; send external elevator call command in external call control panel mode, and send internal call command to light up floor buttons in internal call control panel mode; send elevator operation status read command every second to obtain elevator status, and execute elevator entry action after meeting the elevator entry conditions; continuously send internal call command to light up floor buttons during elevator entry; after fully entering the elevator, send this command to light up the target floor and wait for the elevator to close automatically. Step S40: Navigate sequentially according to the configured points. When crossing floors, trigger a map switching operation. Both elevator calls and map switching use a preset number of retry mechanisms. Set navigation targets for each point, monitor navigation status in real time, determine navigation results based on location identifiers and error codes, and set navigation timeout controls. When performing map switching during cross-floor navigation, both elevator call and map switching operations use a three-retry mechanism with a fixed interval between each retry. Successful elevator call is determined by the elevator reaching the target floor and the front or rear door opening, while successful map switching is determined by the navigation service returning a valid response. Step S50: After navigating to the corresponding point, perform the associated operation. When the elevator door point of the current floor is reached, trigger the elevator call. When the elevator door point of the target floor is reached, perform the door closing operation. Once the elevator reaches the target floor and the door is fully open, the inspection robot will exit the elevator, continuously sending internal call commands to illuminate the floor buttons during the exit process. Step S60: After the inspection robot has completely exited the elevator, set the door opening timeout control. If the target is not achieved within the timeout period, terminate the process and return an error message. After all navigation points have been executed, update the task execution status flag and end the elevator control process.

2. The elevator control method for inspection robots according to claim 1, characterized in that, In step S10, the core interactive instruction set includes an internal call to light up the floor button, an external call to the elevator, and an instruction to read the elevator's operating status, which correspond to the functions of internal elevator floor control, external elevator call operation, and elevator operating status acquisition, respectively.

3. The elevator control method for inspection robots according to claim 1, characterized in that, In step S30, the elevator operation status reading command is continuously sent at a preset short cycle. During the elevator entry and exit processes, the floor button lighting command is continuously sent at the same cycle until the robot has completely entered and exited the elevator.

4. The elevator control method for inspection robots according to claim 1, characterized in that, In step S40, the navigation timeout control duration is set to a fixed value. The navigation status is determined by a combination of location identifier and error code. When the error code is a success identifier and the location identifier matches the target point, the inspection robot determines that it has arrived. When the error code is a failure identifier, the inspection robot determines that it has terminated navigation. If the target is not reached within the timeout period, an error message is returned.

5. The elevator control method for inspection robots according to claim 1, characterized in that, In step S40, the navigation is called in a singleton mode. The core functions of the navigation include target point setting, map switching and navigation status feedback. It interacts with the inspection robot control system through a unified interface.

6. The elevator control method for inspection robots according to claim 1, characterized in that, In step S50, the continuously sent internal call command to light up the floor button is triggered by a timer. The timer is set with a preset short period and a maximum door opening time is configured. If the maximum time is exceeded, a timeout logic is triggered, the command is stopped and the timeout status is marked.

7. A ladder control system for an inspection robot, used to implement the method described in any one of claims 1 to 6, characterized in that, The system includes a configuration communication module, a navigation control module, and an elevator execution module; The configuration communication module is used to configure the network parameters of the outbound call network controller, the floor card mapping relationship, the communication protocol related parameters, the communication protocol packet format specifications and the core interactive instruction set, and to build a communication link between the inspection robot and the elevator control equipment based on the user data packet protocol; The navigation control module is used to receive navigation point configuration parameters, execute point navigation in a preset order, trigger map switching when crossing floors, execute a retry mechanism for calling elevators and switching maps, monitor navigation status in real time and execute timeout control. The elevator execution module is used to send elevator call commands according to the configuration mode, continuously detect the elevator running direction, floor and door opening status, and start the elevator entry and exit actions according to the status. When entering or exiting the elevator, the module continuously sends door opening commands. After entering the elevator, the module lights up the target floor and waits for the elevator to close automatically. After reaching the target floor, the module performs the exit operation.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement all the steps of the inspection robot elevator control method as described in any one of claims 1 to 6.

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