阅读说明：本技术 一种基于主控式派梯请求的机器人乘梯方法和系统 (Robot elevator taking method and system based on master control type elevator dispatching request ) 是由 袁志炜 于 2021-08-27 设计创作，主要内容包括：本发明公开一种基于主控式派梯请求的机器人乘梯方法和系统。方法包括：机器人生成唯一对应的乘梯任务报文,并经云服务器发送至主控式派梯控制器；主控式派梯控制器根据乘梯任务报文的任务ID判断对应的乘梯任务是否完成,并将未完成的目标乘梯任务封装成派梯请求报文发送至电梯主控制器；电梯主控制器生成对应目标乘梯任务的电梯调度结果,打包成派梯调度报文,并依次经主控式派梯控制器和云服务器回传至目标机器人；目标机器人判断电梯调度结果的任务ID与自己的任务ID是否一致,当一致时执行预设乘梯逻辑。本发明可以方便机器人乘坐有派梯系统的电梯,快速完成递送任务,丰富了机器人的功能,并增加了应用场景。(The invention discloses a robot elevator taking method and system based on a master control type elevator dispatching request. The method comprises the following steps: the robot generates a unique corresponding elevator taking task message and sends the message to the master control type elevator dispatching controller through the cloud server; the master control type elevator dispatching controller judges whether the corresponding elevator taking task is completed or not according to the task ID of the elevator taking task message, encapsulates the unfinished target elevator taking task into an elevator dispatching request message and sends the elevator dispatching request message to the elevator master controller; the elevator master controller generates elevator dispatching results corresponding to the target elevator taking task, packages the elevator dispatching results into elevator dispatching messages, and transmits the elevator dispatching messages back to the target robot through the master control type elevator dispatching controller and the cloud server in sequence; and the target robot judges whether the task ID of the elevator dispatching result is consistent with the task ID of the target robot, and executes preset elevator taking logic when the task ID is consistent with the task ID of the target robot. The invention can facilitate the robot to take the elevator with the elevator dispatching system, quickly complete the delivery task, enrich the functions of the robot and increase the application scenes.)

1. A robot elevator taking method based on a master control type elevator dispatching request is characterized by comprising the following steps:

step 1, a robot creates and stores a unique corresponding task ID, generates an elevator taking task message and sends the elevator taking task message to a cloud server, wherein the elevator taking task message at least comprises an initial floor, a target floor and the task ID;

step 2, the cloud server receives elevator taking task messages sent by at least one robot and sends all the elevator taking task messages to a master control type elevator dispatching controller;

step 3, the master control type elevator dispatching controller receives at least one elevator taking task message sent by the cloud server, judges whether the corresponding elevator taking task is completed or not according to the task ID after acquiring the task ID corresponding to each elevator taking task message, and encapsulates the unfinished target elevator taking task into an elevator dispatching request message to be sent to the elevator master controller;

step 4, the elevator main controller receives the elevator dispatching request message, generates an elevator dispatching result of a target elevator taking task corresponding to the elevator dispatching request message, packs the elevator dispatching result into an elevator dispatching message and sends the elevator dispatching message to the main control type elevator dispatching controller;

step 5, the master control type elevator dispatching controller receives an elevator dispatching scheduling message sent by the elevator master controller and returns the elevator dispatching scheduling message to a cloud server;

step 6, the cloud server receives the dispatching gradient scheduling message, unpacks the dispatching gradient scheduling message to generate a corresponding elevator scheduling result, and transmits the elevator scheduling result back to the target robot;

and 7, the target robot receives the elevator dispatching result, if the task ID of the elevator dispatching result is consistent with the task ID of the target robot, a preset elevator taking logic is executed according to the elevator dispatching result, and if the task ID of the elevator dispatching result is not consistent with the task ID of the target robot, the step 1 is returned.

2. The ladder taking method of the robot based on the master control type ladder dispatching request as claimed in claim 1, wherein the sending of the robot generated ladder taking task message to the cloud server is specifically:

generating a unique corresponding task ID by adopting a preset rule;

arranging the starting floor, the target floor and the task ID in sequence to form first application layer data;

packaging the first application layer data by adopting a first preset protocol to generate an elevator taking task message, wherein the elevator taking task message comprises a data packet header and the first application layer data, and the data packet header comprises a source port, a destination port, a length and a check code;

and sending the elevator taking task message to a cloud server in a wireless communication mode.

3. The ladder taking method of the robot based on the master control type ladder dispatching request as claimed in claim 2, wherein the step 3 is specifically as follows:

receiving at least one elevator taking task message sent by a cloud server in a wireless communication mode;

unpacking each elevator taking task message according to the first preset protocol to generate the first application layer data and a corresponding task ID;

querying locally stored historical task data, comparing a task ID generated by unpacking with the historical task data, if the historical task data does not have the same task ID, judging that the elevator taking task is not completed, otherwise, judging that the elevator taking task is completed;

and packaging the unfinished target elevator taking task into an elevator dispatching request message by adopting a second preset protocol, and sending the elevator dispatching request message to the elevator main controller.

4. The ladder taking method of the robot based on the master control type ladder dispatching request as claimed in claim 3, wherein the step 4 is specifically as follows:

receiving the ladder dispatching request message;

analyzing the elevator dispatching request message according to the second preset protocol to generate a corresponding target elevator taking task;

allocating a target elevator to the target elevator taking task to generate a corresponding elevator dispatching result, wherein the elevator dispatching result comprises a starting floor, a target floor, an elevator number and a task ID corresponding to the target elevator taking task;

arranging the starting floor, the target floor, the elevator number and the task ID in sequence to form second application layer data;

and packaging the data of the second application layer by adopting a third preset protocol to generate a dispatching ladder scheduling message, and sending the dispatching ladder scheduling message to the master control type dispatching ladder controller.

5. The ladder taking method of the robot based on the master control type ladder dispatching request as claimed in claim 4, wherein the step 6 is specifically as follows:

receiving a dispatching ladder scheduling message sent by the master control type dispatching ladder controller;

analyzing the dispatching gradient scheduling message by adopting the third preset protocol to generate a corresponding elevator scheduling result;

acquiring a task ID of the elevator scheduling result, and inquiring corresponding target robot information according to the task ID;

and packaging the elevator dispatching result by adopting a fourth preset protocol and sending the elevator dispatching result to the corresponding target robot.

6. A robot elevator taking system based on a master control type elevator dispatching request is characterized by comprising a cloud server, a master control type elevator dispatching controller, an elevator master control and at least one robot,

each robot in the at least one robot is used for creating and storing a unique corresponding task ID, generating an elevator taking task message and sending the elevator taking task message to the cloud server; the elevator dispatching system is used for receiving a corresponding elevator dispatching result, and if the task ID of the elevator dispatching result is consistent with the task ID of the elevator dispatching result, executing a preset elevator taking logic according to the elevator dispatching result; the elevator taking task message at least comprises an initial floor, a target floor and the task ID;

the cloud server is used for receiving elevator taking task messages sent by at least one robot and sending all the elevator taking task messages to the master control type elevator dispatching controller; the system comprises a robot, a dispatching module and a dispatching module, wherein the dispatching module is used for receiving dispatching ladders, unpacking the dispatching ladders to generate corresponding elevator dispatching results and transmitting the elevator dispatching results back to the corresponding robot;

the main control type elevator dispatching controller is used for receiving at least one elevator taking task message sent by the cloud server, judging whether the corresponding elevator taking task is finished or not according to the task ID after the task ID corresponding to each elevator taking task message is obtained, and packaging the unfinished target elevator taking task into an elevator dispatching request message to be sent to the elevator main controller; the elevator dispatching system is used for receiving the dispatching gradient scheduling message sent by the elevator main controller and returning the dispatching gradient scheduling message to the cloud server;

the elevator main controller is used for receiving the elevator dispatching request message, generating an elevator dispatching result of a target elevator taking task corresponding to the elevator dispatching request message, packaging the elevator dispatching result into an elevator dispatching message and sending the elevator dispatching message to the main control type elevator dispatching controller.

7. The master-controlled ladder dispatch request-based robotic ladder handling system of claim 6, wherein the robot comprises at least:

the creating unit is used for generating a unique corresponding task ID by adopting a preset rule;

the first encapsulation unit is used for arranging the starting floor, the target floor and the task ID in sequence to form first application layer data, and packaging the first application layer data by adopting a first preset protocol to generate an elevator taking task message, wherein the elevator taking task message comprises a data packet header and the first application layer data, and the data packet header comprises a source port, a destination port, a length and a check code;

and the first sending unit is used for sending the elevator taking task message to a cloud server in a wireless communication mode.

8. The master-controlled ladder dispatch request-based robotic ladder handling system of claim 7, wherein the master-controlled ladder dispatch controller comprises at least:

the first receiving unit is used for receiving at least one elevator taking task message sent by the cloud server in a wireless communication mode;

the first analysis unit is used for unpacking each elevator taking task message according to the first preset protocol to generate the first application layer data and the corresponding task ID;

the judging unit is used for inquiring the locally stored historical task data, comparing the task ID generated by unpacking with the historical task data, judging that the elevator taking task is not completed if the same task ID does not exist in the historical task data, and otherwise, judging that the elevator taking task is completed;

and the second packaging unit is used for packaging the unfinished target elevator taking task into an elevator dispatching request message by adopting a second preset protocol and sending the elevator dispatching request message to the elevator main controller.

9. The master-controlled elevator dispatch request-based robotic elevator ride system of claim 8, wherein the elevator master controller comprises at least:

the second receiving unit is used for receiving the elevator dispatching request message;

the second analysis unit is used for analyzing the elevator dispatching request message according to the second preset protocol to generate a corresponding target elevator taking task;

the elevator dispatching unit is used for distributing a target elevator for the target elevator taking task to generate a corresponding elevator dispatching result, and the elevator dispatching result comprises an initial floor, a target floor, an elevator number and a task ID corresponding to the target elevator taking task;

and the third packaging unit is used for arranging the starting floor, the target floor, the elevator number and the task ID in sequence to form second application layer data, packaging the second application layer data by adopting a third preset protocol to generate a dispatching ladder scheduling message, and sending the dispatching ladder scheduling message to the master control type dispatching ladder controller.

10. The master-controlled ladder dispatch request-based robotic ladder handling system of claim 9, wherein the cloud server comprises at least:

a third receiving unit, configured to receive a dispatch ladder scheduling message sent by the master control type dispatch ladder controller;

the third analysis unit is used for analyzing the dispatching gradient scheduling message by adopting the third preset protocol to generate a corresponding elevator scheduling result;

the obtaining unit is used for obtaining the task ID of the elevator scheduling result and inquiring the corresponding target robot information according to the task ID;

and the second sending unit is used for packaging the elevator dispatching result by adopting a fourth preset protocol and sending the elevator dispatching result to the corresponding target robot.

[ technical field ] A method for producing a semiconductor device

The invention relates to the field of robots, in particular to a robot ladder taking method and system based on a master control type ladder dispatching request.

[ background of the invention ]

In recent years, mobile robots are widely used for transportation, security, and other tasks in building environments. Early indoor transport environments were typically single-floor, so the robot did not need to control and ride an elevator by itself. However, with the intelligentization and the complication of the transportation task of the modern robot, more and more real-time order scenes exist, and the robot needs to realize automatic control and take various elevators to realize the automatic transportation of multiple floors. In a common robot riding elevator scene, an elevator is dispatched by calling in a control box in a car in a passive dry contact mode. In some special scenarios, there are no inside call buttons in the console box inside the elevator car, and all users take the elevator and must send a task request to the elevator master, which is actively dispatching the elevator. This results in the robot not being able to ride an elevator with a dispatching system without the introduction of new solutions.

[ summary of the invention ]

The invention provides a robot ladder taking method and system based on a master control type ladder dispatching request, which solve the technical problems.

The technical scheme for solving the technical problems is as follows: a robot elevator taking method based on a master control type elevator dispatching request comprises the following steps:

step 1, a robot creates and stores a unique corresponding task ID, generates an elevator taking task message and sends the elevator taking task message to a cloud server, wherein the elevator taking task message at least comprises an initial floor, a target floor and the task ID;

step 2, the cloud server receives elevator taking task messages sent by at least one robot and sends all the elevator taking task messages to a master control type elevator dispatching controller;

step 3, the master control type elevator dispatching controller receives at least one elevator taking task message sent by the cloud server, judges whether the corresponding elevator taking task is completed or not according to the task ID after acquiring the task ID corresponding to each elevator taking task message, and encapsulates the unfinished target elevator taking task into an elevator dispatching request message to be sent to the elevator master controller;

step 4, the elevator main controller receives the elevator dispatching request message, generates an elevator dispatching result of a target elevator taking task corresponding to the elevator dispatching request message, packs the elevator dispatching result into an elevator dispatching message and sends the elevator dispatching message to the main control type elevator dispatching controller;

step 5, the master control type elevator dispatching controller receives an elevator dispatching scheduling message sent by the elevator master controller and returns the elevator dispatching scheduling message to a cloud server;

step 6, the cloud server receives the dispatching gradient scheduling message, unpacks the dispatching gradient scheduling message to generate a corresponding elevator scheduling result, and transmits the elevator scheduling result back to the target robot;

and 7, the target robot receives the elevator dispatching result, if the task ID of the elevator dispatching result is consistent with the task ID of the target robot, a preset elevator taking logic is executed according to the elevator dispatching result, and if the task ID of the elevator dispatching result is not consistent with the task ID of the target robot, the step 1 is returned.

In a further technical scheme, the sending of the robot generation elevator taking task message to the cloud server specifically comprises:

generating a unique corresponding task ID by adopting a preset rule;

arranging the starting floor, the target floor and the task ID in sequence to form first application layer data;

packaging the first application layer data by adopting a first preset protocol to generate an elevator taking task message, wherein the elevator taking task message comprises a data packet header and the first application layer data, and the data packet header comprises a source port, a destination port, a length and a check code;

and sending the elevator taking task message to a cloud server in a wireless communication mode.

In a further technical scheme, the step 3 specifically comprises:

receiving at least one elevator taking task message sent by a cloud server in a wireless communication mode;

unpacking each elevator taking task message according to the first preset protocol to generate the first application layer data and a corresponding task ID;

querying locally stored historical task data, comparing a task ID generated by unpacking with the historical task data, if the historical task data does not have the same task ID, judging that the elevator taking task is not completed, otherwise, judging that the elevator taking task is completed;

and packaging the unfinished target elevator taking task into an elevator dispatching request message by adopting a second preset protocol, and sending the elevator dispatching request message to the elevator main controller.

In a further technical scheme, the step 4 specifically comprises:

receiving the ladder dispatching request message;

analyzing the elevator dispatching request message according to the second preset protocol to generate a corresponding target elevator taking task;

allocating a target elevator to the target elevator taking task to generate a corresponding elevator dispatching result, wherein the elevator dispatching result comprises a starting floor, a target floor, an elevator number and a task ID corresponding to the target elevator taking task;

arranging the starting floor, the target floor, the elevator number and the task ID in sequence to form second application layer data;

and packaging the data of the second application layer by adopting a third preset protocol to generate a dispatching ladder scheduling message, and sending the dispatching ladder scheduling message to the master control type dispatching ladder controller.

In a further technical scheme, the step 6 specifically comprises:

receiving a dispatching ladder scheduling message sent by the master control type dispatching ladder controller;

analyzing the dispatching gradient scheduling message by adopting the third preset protocol to generate a corresponding elevator scheduling result;

acquiring a task ID of the elevator scheduling result, and inquiring corresponding target robot information according to the task ID;

and packaging the elevator dispatching result by adopting a fourth preset protocol and sending the elevator dispatching result to the corresponding target robot.

In order to solve the technical problem, the invention also provides a robot elevator taking system based on the master control type elevator dispatching request, which comprises a cloud server, a master control type elevator dispatching controller, an elevator master control and at least one robot,

each robot in the at least one robot is used for creating and storing a unique corresponding task ID, generating an elevator taking task message and sending the elevator taking task message to the cloud server; the elevator dispatching system is used for receiving a corresponding elevator dispatching result, and if the task ID of the elevator dispatching result is consistent with the task ID of the elevator dispatching result, executing a preset elevator taking logic according to the elevator dispatching result; the elevator taking task message at least comprises an initial floor, a target floor and the task ID;

the cloud server is used for receiving elevator taking task messages sent by at least one robot and sending all the elevator taking task messages to the master control type elevator dispatching controller; the system comprises a robot, a dispatching module and a dispatching module, wherein the dispatching module is used for receiving dispatching ladders, unpacking the dispatching ladders to generate corresponding elevator dispatching results and transmitting the elevator dispatching results back to the corresponding robot;

the main control type elevator dispatching controller is used for receiving at least one elevator taking task message sent by the cloud server, judging whether the corresponding elevator taking task is finished or not according to the task ID after the task ID corresponding to each elevator taking task message is obtained, and packaging the unfinished target elevator taking task into an elevator dispatching request message to be sent to the elevator main controller; the elevator dispatching system is used for receiving the dispatching gradient scheduling message sent by the elevator main controller and returning the dispatching gradient scheduling message to the cloud server;

the elevator main controller is used for receiving the elevator dispatching request message, generating an elevator dispatching result of a target elevator taking task corresponding to the elevator dispatching request message, packaging the elevator dispatching result into an elevator dispatching message and sending the elevator dispatching message to the main control type elevator dispatching controller.

In a preferred embodiment, the robot comprises at least:

the creating unit is used for generating a unique corresponding task ID by adopting a preset rule;

the first encapsulation unit is used for arranging the starting floor, the target floor and the task ID in sequence to form first application layer data, and packaging the first application layer data by adopting a first preset protocol to generate an elevator taking task message, wherein the elevator taking task message comprises a data packet header and the first application layer data, and the data packet header comprises a source port, a destination port, a length and a check code;

and the first sending unit is used for sending the elevator taking task message to a cloud server in a wireless communication mode.

In a preferred embodiment, the master control type elevator dispatching controller at least comprises:

the first receiving unit is used for receiving at least one elevator taking task message sent by the cloud server in a wireless communication mode;

the first analysis unit is used for unpacking each elevator taking task message according to the first preset protocol to generate the first application layer data and the corresponding task ID;

the judging unit is used for inquiring the locally stored historical task data, comparing the task ID generated by unpacking with the historical task data, judging that the elevator taking task is not completed if the same task ID does not exist in the historical task data, and otherwise, judging that the elevator taking task is completed;

and the second packaging unit is used for packaging the unfinished target elevator taking task into an elevator dispatching request message by adopting a second preset protocol and sending the elevator dispatching request message to the elevator main controller.

In a preferred embodiment, the elevator master controller comprises at least:

the second receiving unit is used for receiving the elevator dispatching request message;

the second analysis unit is used for analyzing the elevator dispatching request message according to the second preset protocol to generate a corresponding target elevator taking task;

the elevator dispatching unit is used for distributing a target elevator for the target elevator taking task to generate a corresponding elevator dispatching result, and the elevator dispatching result comprises an initial floor, a target floor, an elevator number and a task ID corresponding to the target elevator taking task;

and the third packaging unit is used for arranging the starting floor, the target floor, the elevator number and the task ID in sequence to form second application layer data, packaging the second application layer data by adopting a third preset protocol to generate a dispatching ladder scheduling message, and sending the dispatching ladder scheduling message to the master control type dispatching ladder controller.

In a preferred embodiment, the cloud server includes at least:

a third receiving unit, configured to receive a dispatch ladder scheduling message sent by the master control type dispatch ladder controller;

the third analysis unit is used for analyzing the dispatching gradient scheduling message by adopting the third preset protocol to generate a corresponding elevator scheduling result;

the obtaining unit is used for obtaining the task ID of the elevator scheduling result and inquiring the corresponding target robot information according to the task ID;

and the second sending unit is used for packaging the elevator dispatching result by adopting a fourth preset protocol and sending the elevator dispatching result to the corresponding target robot.

The invention provides a robot elevator taking method and system based on a master control type elevator dispatching request, wherein the master control type elevator dispatching controller is connected with an elevator main controller, when a robot needs to call, the call request is firstly sent to the master control type elevator dispatching controller through a cloud server, the master control type elevator dispatching controller uniformly manages the call requests of all robots and forwards the call requests to the elevator main controller, the elevator main controller generates elevator dispatching results according to the call requests and feeds the results back to the corresponding robots through the master control type elevator dispatching controller and the cloud server in sequence, so that the robot takes the elevator with an elevator dispatching system, delivery tasks can be completed quickly, functions of the robot are enriched, application scenes are increased, and an in-elevator controller does not need to be installed in the elevator, so that construction and material costs are saved.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic flowchart of a robot elevator taking method based on a master elevator dispatching request according to embodiment 1;

fig. 2 is a schematic structural diagram of a robot elevator taking system based on a master-controlled elevator dispatching request according to embodiment 2.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

Fig. 1 is a schematic flowchart of a robot elevator taking method based on a master-controlled elevator dispatching request according to embodiment 1, and as shown in fig. 1, the method includes the following steps:

step 1, the robot creates and stores a unique corresponding task ID, generates an elevator taking task message and sends the elevator taking task message to a cloud server, wherein the elevator taking task message at least comprises an initial floor, a target floor and the task ID, namely the robot packs an elevator taking task message which is from the initial floor A to the target floor B and is attached with a unique task ID and sends the elevator taking task message to the cloud server. In a specific embodiment, the sending of the robot generation elevator taking task message to the cloud server specifically includes:

and S101, generating a unique corresponding task ID by the robot by adopting a preset rule. The task ID is a globally unique serial number and represents one elevator taking task, and the same task ID can be regarded as the same elevator taking task. Once the task ID has global uniqueness, all task executions and results have uniqueness. Specifically, task IDs are created by the robot body, and created rules are preset, for example, the task IDs are accumulated serial numbers, the first task is 0001, and the second task is 0002.

S102, the robot arranges the starting floor, the target floor and the task ID in sequence to form first application layer data;

s103, the robot packs the first application layer data by adopting a first preset protocol, such as a UDP (user Datagram protocol) protocol to generate a boarding task message, namely a UDP protocol message, wherein the boarding task message comprises a data packet header and the first application layer data, and the data packet header comprises a source port, a destination port, a length and a check code;

and S104, the robot sends the elevator taking task message to a cloud server in a wireless communication mode, such as wifi, 5G and/or 4G.

And then step 2 is executed, the cloud server receives the elevator taking task messages sent by at least one robot, and all the elevator taking task messages are sent to the master control type elevator dispatching controller. Specifically, after receiving an elevator taking task message sent by any robot, the cloud server analyzes the elevator taking task message to obtain a task ID of the elevator taking task message, so that a mapping relation table of the task ID and the robot number is established.

And then step 3 is executed, the main control type elevator dispatching controller receives at least one elevator taking task message sent by the cloud server, after a task ID corresponding to each elevator taking task message is obtained, whether the corresponding elevator taking task is completed or not is judged according to the task ID, and the unfinished target elevator taking task is packaged into an elevator dispatching request message to be sent to the elevator main controller.

Generally, the master control type elevator dispatching controller is deployed in a control machine room of a building and interacts with a cloud server in a wireless communication mode. The elevator main controller is provided by an elevator company, one elevator main controller is responsible for elevator dispatching of one elevator group in the building, and the elevator main controller provides a calling call interface to call the main control type elevator dispatching controller or the elevator controller in the elevator for calling. Specifically, in order to avoid the security risk, the elevator main controller only opens the one-way access function of a specific port, and does not expose an interface to the public network, so that the elevator main controller does not have the cloud access capability.

In a specific embodiment, the step 3 specifically includes:

s301, the master control type elevator dispatching controller receives at least one elevator taking task message sent by a cloud server in a wireless communication mode;

s302, unpacking each elevator taking task message by the master control type elevator dispatching controller according to the first preset protocol to generate the first application layer data and the corresponding task ID;

s303, the master control type elevator dispatching controller inquires locally stored historical task data, compares a task ID generated by unpacking with the historical task data, judges that the elevator taking task is not completed if the historical task data does not have the same task ID, namely the same elevator taking task does not exist, and judges that the elevator taking task is completed if the historical task data does not have the same task ID;

and S304, the main control type elevator dispatching controller encapsulates the unfinished target elevator taking task into an elevator dispatching request message by adopting a second preset protocol and sends the elevator dispatching request message to the elevator main controller.

And then executing step 4, receiving the elevator dispatching request message by the elevator main controller, generating an elevator dispatching result of the target elevator taking task corresponding to the elevator dispatching request message, packaging the elevator dispatching result into an elevator dispatching message, and sending the elevator dispatching message to the main control type elevator dispatching controller. In a specific embodiment, the step 4 specifically includes:

s401, the elevator main controller receives the elevator dispatching request message;

s402, the elevator main controller analyzes the elevator dispatching request message according to the second preset protocol to generate a corresponding target elevator taking task;

s403, the elevator main controller allocates a target elevator for the target elevator taking task to generate a corresponding elevator dispatching result, wherein the elevator dispatching result comprises an initial floor, a target floor, an elevator number and a task ID corresponding to the target elevator taking task;

s404, the elevator main controller arranges the starting floor, the target floor, the elevator number and the task ID in sequence to form second application layer data;

s405, the elevator main controller packs the data of the second application layer by adopting a third preset protocol to generate a dispatching ladder scheduling message, and sends the dispatching ladder scheduling message to the main control type dispatching ladder controller.

Then steps 5 and 6 are performed. In step 5, the master control type elevator dispatching controller receives an elevator dispatching scheduling message sent by the elevator master controller and returns the elevator dispatching scheduling message to the cloud server.

And 6, the cloud server receives the dispatching gradient scheduling message, unpacks the dispatching gradient scheduling message to generate a corresponding elevator scheduling result, and transmits the elevator scheduling result back to the target robot. In a specific embodiment, the step 6 specifically includes:

s601, the cloud server receives a dispatching ladder scheduling message sent by the master control type dispatching ladder controller.

And S602, the cloud server analyzes the dispatching elevator scheduling message by adopting the third preset protocol to generate a corresponding elevator scheduling result, namely the second application layer data.

And S603, the cloud server acquires the task ID of the elevator scheduling result, and inquires a mapping relation table of the pre-stored task ID and the robot number, so that the corresponding target robot information can be inquired according to the task ID.

And S604, the cloud server packages the elevator scheduling result by adopting a fourth preset protocol and sends the elevator scheduling result to the corresponding target robot.

Then step 7 is executed, the target robot receives the elevator dispatching result, and if the task ID of the elevator dispatching result is consistent with the task ID of the target robot, preset elevator taking logic, namely corresponding logic of waiting for elevators, entering elevators and the like is executed according to the elevator dispatching result; and if not, returning to the step 1.

In order to ensure the implementation effect of the technical scheme of the invention, the task ID of the robot is required to be ensured to be globally unique all the time. However, the problem is that the cloud server is restarted, the active elevator dispatching controller is also restarted, and after the restart, the task list in the original memory is lost, so how to know the execution state of one or more tasks in the elevator taking task message and do not respond? In order to solve the above problems, the preferred embodiment includes the following technical solutions: after the cloud server and/or the master control type elevator dispatching controller are started, the received data of the first data packet is used as a confidence starting task ID, specifically, if the first packet data does not have a task ID, the situation that no elevator taking task is in progress is indicated, if the first packet data has a task ID, the situation that the elevator taking task is in progress is indicated, but whether the elevator taking task is in progress is judged to be completed or not is judged, no response is made, namely after the cloud server and the active type elevator dispatching controller are started, the message sent by the first packet is not executed no matter whether the elevator taking task is empty or available.

The embodiment provides a robot elevator taking method based on a master control elevator dispatching request, wherein the master control elevator dispatching controller is connected with an elevator main controller, when a robot needs to call, the call request is sent to the master control elevator dispatching controller through a cloud server, the master control elevator dispatching controller uniformly manages the call requests of all robots and forwards the call requests to the elevator main controller, the elevator main controller generates elevator dispatching results according to the call requests and feeds the results back to the corresponding robots through the master control elevator dispatching controller and the cloud server in sequence, so that the robot takes an elevator with an elevator dispatching system, delivery tasks can be completed quickly, functions of the robot are enriched, application scenes are increased, the elevator in-elevator controller does not need to be installed in the elevator, and construction and material costs are saved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 2 is a schematic structural diagram of a robot elevator taking system based on a master elevator dispatching request according to embodiment 2, as shown in fig. 2, comprising a cloud server 100, a master elevator dispatching controller 200, an elevator master 300 and at least one robot,

each robot 400 in the at least one robot is used for creating and storing a unique corresponding task ID, generating an elevator taking task message and sending the elevator taking task message to the cloud server; the elevator dispatching system is used for receiving a corresponding elevator dispatching result, and if the task ID of the elevator dispatching result is consistent with the task ID of the elevator dispatching result, executing a preset elevator taking logic according to the elevator dispatching result; the elevator taking task message at least comprises an initial floor, a target floor and the task ID;

the cloud server 100 is configured to receive elevator taking task messages sent by at least one robot, and send all elevator taking task messages to the master control type elevator dispatching controller; the system comprises a robot, a dispatching module and a dispatching module, wherein the dispatching module is used for receiving dispatching ladders, unpacking the dispatching ladders to generate corresponding elevator dispatching results and transmitting the elevator dispatching results back to the corresponding robot;

the master control type elevator dispatching controller 200 is used for receiving at least one elevator taking task message sent by the cloud server, judging whether the corresponding elevator taking task is completed or not according to the task ID after the task ID corresponding to each elevator taking task message is obtained, and packaging the unfinished target elevator taking task into an elevator dispatching request message to be sent to the elevator master controller; the elevator dispatching system is used for receiving the dispatching gradient scheduling message sent by the elevator main controller and returning the dispatching gradient scheduling message to the cloud server;

the elevator main controller 300 is configured to receive the elevator dispatching request message, generate an elevator dispatching result of a target elevator taking task corresponding to the elevator dispatching request message, package the elevator dispatching result into an elevator dispatching message, and send the elevator dispatching message to the main control type elevator dispatching controller.

In another embodiment, the robot 400 comprises at least:

a creating unit 401, configured to generate a unique corresponding task ID by using a preset rule;

a first encapsulating unit 402, configured to arrange the starting floor, the target floor, and the task ID in order to form first application layer data, and package the first application layer data by using a first preset protocol to generate an elevator boarding task packet, where the elevator boarding task packet includes a packet header and the first application layer data, and the packet header includes a source port, a destination port, a length, and a check code;

a first sending unit 403, configured to send the elevator taking task message to a cloud server in a wireless communication manner.

In another embodiment, the master control type elevator dispatching controller 200 at least comprises:

a first receiving unit 201, configured to receive at least one elevator taking task message sent by a cloud server in a wireless communication manner;

a first parsing unit 202, configured to unpack each elevator-taking task packet according to the first preset protocol to generate the first application layer data and a corresponding task ID;

the judging unit 203 is configured to query locally stored historical task data, compare a task ID generated by unpacking with the historical task data, judge that the elevator taking task is not completed if the historical task data does not have the same task ID, and otherwise judge that the elevator taking task is completed;

and a second encapsulating unit 204, configured to encapsulate the unfinished target boarding task into a boarding request message by using a second preset protocol, and send the message to the elevator main controller.

In another embodiment, the elevator master controller 300 at least comprises:

a second receiving unit 301, configured to receive the ladder dispatching request message;

a second analyzing unit 302, configured to analyze the elevator dispatching request message according to the second preset protocol to generate a corresponding target elevator taking task;

the elevator dispatching unit 303 is configured to allocate a target elevator to the target elevator taking task to generate a corresponding elevator dispatching result, where the elevator dispatching result includes an initial floor, a target floor, an elevator number, and a task ID corresponding to the target elevator taking task;

and a third encapsulating unit 304, configured to arrange the starting floor, the target floor, the elevator number, and the task ID in sequence to form second application layer data, package the second application layer data by using a third preset protocol to generate a dispatching gradient scheduling message, and send the dispatching gradient scheduling message to the master control type dispatching controller.

In another specific embodiment, the cloud server 100 at least includes:

a third receiving unit 101, configured to receive a dispatch ladder scheduling packet sent by the master control type dispatch ladder controller;

a third analyzing unit 102, configured to analyze the dispatching gradient scheduling message by using the third preset protocol to generate a corresponding elevator scheduling result;

the acquiring unit 103 is used for acquiring the task ID of the elevator scheduling result and inquiring corresponding target robot information according to the task ID;

and the second sending unit 104 is configured to package the elevator scheduling result by using a fourth preset protocol and send the elevator scheduling result to the corresponding target robot.

The embodiment provides a robot takes advantage of terraced system based on master control formula is sent terraced request, master control formula is sent terraced controller and elevator main control unit and is connected, when the robot needs to call a call, send terraced request to master control formula through cloud ware earlier, master control formula is sent terraced controller and is managed the request of calling a call of all robots in a unified way and forwards to elevator main control unit, elevator main control unit generates according to calling a call request and sends terraced result, and send terraced controller and cloud ware feedback to corresponding robot through master control formula in proper order, so that this robot takes the elevator that sends terraced system, not only can accomplish fast and send the task, richen the function of robot, and increase the application scene, and need not install in-terraced controller in the elevator, thereby construction and material cost have been saved.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.