CN106044419B - The system and method for automatic disengaging elevator - Google Patents
The system and method for automatic disengaging elevator Download PDFInfo
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- CN106044419B CN106044419B CN201610377877.1A CN201610377877A CN106044419B CN 106044419 B CN106044419 B CN 106044419B CN 201610377877 A CN201610377877 A CN 201610377877A CN 106044419 B CN106044419 B CN 106044419B
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- elevator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
Disclose a kind of system and method for automatic disengaging elevator.The system can include: inside exhale unit, be located inside lift car, be connected in lift car key circuit, lift car key can be lighted；Ranging and communication unit receive and forward the control signal of main control unit by wireless with the interior first distance value exhaled unit to be communicated and ranging, obtain between lift car and elevator stair shaft top；First server is carried out wireless communication with ranging and communication unit, receives and forward the control signal of main control unit；Main control unit is mounted in robot, and by wirelessly communicating with first server, main control unit is configured as control robot or intelligent vehicle disengaging elevator.
Description
Technical field
The present invention relates to a kind of automatic systems of disengaging elevator, more specifically, are related to a kind of robot or intelligent vehicle
The system and method for automatic disengaging elevator.
Background technique
With the continuous development of smart machine, extensive use is had been obtained in many intelligent vehicles and robot.Especially
The appearance of recent commercial service robot, even more frees hotel staff from cumbersome thing, by robot or
Intelligent vehicle is completed to guide, send the things such as object.Customer not only can be made to realize high-tech enjoyment, can more be reduced
The personnel cost in hotel is a development trend of future technology.
It goes forward side by side inventors have found that robot or intelligent vehicle in the case where guiding, sending the tasks such as object, need to call
Elevator to be out to reach required floor, therefore, it is necessary to develop a kind of robot or what intelligent vehicle passed in and out elevator automatically is
System and method.
The information for being disclosed in background of invention part is merely intended to deepen the reason to general background technique of the invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The invention proposes a kind of system and methods of automatic disengaging elevator, can be by making robot or intelligent vehicle
Elevator is passed in and out automatically by wirelessly lighting lift car key, and it is complete to realize that robot or intelligent vehicle reach required floor
At its task.
According to an aspect of the invention, it is proposed that a kind of system of automatic disengaging elevator, the system may include: interior exhales
Unit, be located at lift car inside, be connected in lift car key circuit, it is described in exhale unit that can light lift car
Key；Ranging and communication unit, by wirelessly with it is described it is interior exhale unit communicate and ranging, acquisition lift car and elevator
First distance value between stair shaft top receives and forwards the control signal of main control unit；First server is cloud service
Device can be carried out wireless communication with ranging and communication unit, receive and forward the control signal of the main control unit；And master control
Unit is mounted in robot or intelligent vehicle, and by wirelessly communicating with the first server, the main control unit quilt
It is configured to control robot or intelligent vehicle disengaging elevator.
According to another aspect of the invention, it is proposed that a kind of method of automatic disengaging elevator, the method may include:
Robot or intelligent vehicle reach designated position, and it is different from floor where lift car in the case where, light robot or
The lift car key of floor is where intelligent vehicle to call elevator；Designated position is reached in robot or intelligent vehicle, and
In situation identical with floor where lift car, lift car door opening key is lighted to call elevator；It is electricity in state of elevator
In the case that ladder reaches, into elevator；In the case where robot or intelligent vehicle are in lift car, designated floor is lighted
Lift car key；And in the case where state of elevator is that elevator reaches designated floor, exit elevator.
Methods and apparatus of the present invention has other characteristics and advantages, these characteristics and advantages are attached from what is be incorporated herein
It will be apparent in figure and subsequent specific embodiment, or will be in the attached drawing and subsequent specific implementation being incorporated herein
It is stated in detail in example, these the drawings and specific embodiments are used together to explain specific principle of the invention.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label is usual
Represent same parts.
Fig. 1 shows the schematic diagram of the system of automatic disengaging elevator according to the present invention.
Fig. 2 shows unit and lift car key circuit are exhaled in the system of automatic disengaging elevator according to the present invention
The schematic diagram of connection.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Embodiment 1
Fig. 1 shows the schematic diagram of the system of automatic disengaging elevator according to the present invention.
In this embodiment, the system of automatic disengaging elevator according to the present invention may include: interior to exhale unit 101, ranging
And communication unit 102, first server 103 and main control unit 104.It inside exhales unit 101 to be located inside lift car, is connected to
In lift car key circuit 105, it is described in exhale unit 101 that can light lift car key；Ranging and communication unit 102 are logical
Cross wirelessly with it is described it is interior exhale unit 101 to be communicated and ranging, obtain between lift car and elevator stair shaft top first away from
From value, the control signal of main control unit 104 is received and forwarded；First server 103 is cloud server, can be with ranging and logical
Letter unit 102 carries out wireless communication, and receives and forward the control signal of the main control unit 104；Main control unit 104 is mounted on machine
In device people or intelligent vehicle, and by wirelessly communicating with the first server 103, main control unit 104 is configured as control machine
Device people or intelligent vehicle pass in and out elevator.
The embodiment passes in and out elevator automatically by making robot or intelligent vehicle by wirelessly lighting lift car key,
Realize that robot or intelligent vehicle reach required floor and complete its task.
The following detailed description of the system of automatic disengaging elevator according to the present invention.
Call elevator
In one example, it inside exhales unit 101 that can be located inside lift car, is connected to lift car key circuit
In 105, lift car key can be lighted；Ranging and communication unit 102 interior can exhale unit 101 to carry out by wireless with described
Communication and ranging obtain the first distance value between lift car and elevator stair shaft top, receive and forward main control unit 104
Control signal；First server 103 can be cloud server, can carry out wireless communication, connect with ranging and communication unit 102
Receive and forward the control signal of the main control unit 104；Main control unit 104 may be mounted in robot or intelligent vehicle, and
It is communicated by wireless with the first server 103, main control unit 104 is configured as control robot or intelligent vehicle disengaging electricity
Ladder.
In fact, needing to call elevator in the case where robot or intelligent vehicle reach designated position (elevator doorway)
To enter lift car.And when elevator cab door is closed, there are signal isolation, the main control units of robot or intelligent vehicle
104 can not be located at lift car inside in exhale unit 101 directly to establish connection, therefore, it is necessary to connect by other means
Inside exhale unit 101.
Preferably, first server 103 can be set.First server 103 can be cloud server, main control unit
104 can carry out wireless communication with first server 103, and first server 103 can receive and forward the main control unit 104
Control signal.Wireless communication between main control unit 104 and first server 103 can communicate for 3G or 4G.But this field
It will be appreciated by the skilled person that the present invention is not restricted to this, it can be using this between main control unit 104 and first server 103
Various communications known to field.
Preferably, can be set ranging and communication unit 102, ranging and communication unit 102 may include router and
Base station.Router can be placed in elevator stair shaft top or local computer room, can receive the wireless of the sending of first server 103
Signal；Base station can be the base station UWB positioned at elevator stair shaft top, be wiredly connected to router, and by the received wireless communication of institute
Unit 101 is exhaled in number being sent to.Router can be 3G/4G router, for receiving the wireless communication of the sending of first server 103
Number；Can be wired connection between router and base station, by base station by the received wireless signal of institute be sent in exhale unit
101。
Preferably, unit 101 is inside exhaled to may include the UWB label positioned at elevator car roof, UWB label and ranging and lead to
Believe to communicate between the base station UWB of unit 102 by UWB and be wirelessly connected, enables and interior unit 101 is exhaled to eventually receive master
The control signal of unit 104 is controlled, meanwhile, realize the ranging between lift car and elevator stair shaft top.But those skilled in the art
Member should be appreciated that the present invention is not restricted to this, and various wireless communications known in the art can be used between label and base station
Mode carries out communication and/or ranging, also, the base station UWB and UWB label can also be located at elevator stair shaft bottom end and elevator car
Compartment bottom, or the other positions being placed on convenient for ranging between the base station UWB and UWB label.
In one example, inside exhale unit 101 that can be parallel to the lift car key circuit 105, by the way that institute is connected
Lift car key circuit 105 is stated to light lift car key.Research lift car key control principle can see that in electricity
The lift car key of designated floor is lighted in terraced carriage, lift car will go to designated floor, according to the present invention automatic
The system of disengaging elevator can use same principle.Inside exhale unit 101 can by multiple relays respectively with multiple elevators
Carriage key is in parallel.One end of relay control terminal can be connected with one end of lift car key, relay control terminal
The other end connects with the other end of lift car key, and elevator button can be connected by the control terminal of control relay in this way
Both ends, and then light lift car key.
Fig. 2 shows unit 101 and lift car key electricity are exhaled in the system of automatic disengaging elevator according to the present invention
A kind of schematic diagram of the connection type on road 105.As shown in Fig. 2, interior 201 ends for exhaling unit 101 may be coupled to lift car
The anode of key, 202 ends may be coupled to the cathode (or ground connection) of lift car key.It will be appreciated by those skilled in the art that can
To exhale unit 101 to be connected to lift car key circuit 105 for interior using various connection types known in the art, to light electricity
The LED light of terraced carriage key.
Preferably, multiple relays can only connect the elevator car for multiple floors that robot or intelligent vehicle need to reach
Compartment key.For example, if robot only needs 1,2,6,8 ... layer (possible situation is 3-5, and 7 layers are non-guest room region,
Robot does not have 3-5,7 layers of task), then relay 1 can be made to connect 1 layer of key, relay 2 connects 2 layers of key, after
Electric appliance 3 connects 6 layers of key, and relay 4 connects 8 layers of key etc..In this way, can effectively improve the utilization efficiency of hardware resource.
In one example, designated position is reached in robot or intelligent vehicle, and not with floor where lift car
With in the case where, the main control unit can control the elevator for exhaling unit to light robot or intelligent vehicle place floor in described
Carriage key is to call elevator；Designated position is reached in robot or intelligent vehicle, and identical as floor where lift car
In the case where, the main control unit, which can control in described, exhales unit to light lift car door opening key to call elevator.
Specifically, in the case where robot or intelligent vehicle reach designated position (that is, elevator doorway), can pass through
Main control unit 104 exhales unit 101 to call elevator in controlling.If the floor where robot or intelligent vehicle and lift car
Difference, then the lift car key of floor (designated floor) where can lighting robot or intelligent vehicle, lift car will
Go to designated floor.If lift car has been positioned at the floor where robot or intelligent vehicle, according to elevator itself
Setting, if the lift car key for lighting the floor at this time, which can extinguish again, and elevator cab door is not yet
It can open.Therefore, it is necessary to light lift car door opening key, so that elevator cab door is opened.
In one example, between the calibration distance value and first distance value of floor where robot or intelligent vehicle
In the case that difference is greater than given threshold, determine that robot or intelligent vehicle are different from floor where lift car；And in machine
Difference between the calibration distance value and first distance value of device people or intelligent vehicle place floor is less than or equal to the feelings of given threshold
Under condition, determine that robot or intelligent vehicle are identical as floor where lift car.
In particular it is required that by ranging and communication unit 102 and it is interior exhale unit 101 to carry out ranging, to obtain lift car
With the first distance value between elevator stair shaft top.It inside exhales unit 101 that can send ranging to ranging and communication unit 102 to ask
Ask, then, carry out multiple ranging between UWB label and the base station UWB within the short time (for example, 100ms), obtain lift car with
Multiple distance values between elevator stair shaft top.Then, the minimum value and maximum value in multiple distance values are removed, is sought remaining
The average distance value of multiple distance values, using the average distance value as the first distance between lift car and elevator stair shaft top
Value.Wherein, ranging number can be 3-20 times, it is preferable that ranging number can be 5 times.
Preferably, UWB label can be mutually aligned in the vertical direction with the base station UWB, so that distance measurement result is more accurate.
It preferably, can be to each floor when the system of automatic disengaging elevator according to the present invention is installed in elevator
Distance value carries out initial alignment, to obtain the calibration distance value of each floor.For example, when lift car is located at 1 layer, Ke Yitong
Exhale unit 101 and ranging and communication unit 102 to carry out repeatedly demarcate ranging in crossing, acquisition lift car and elevator stair shaft top it
Between multiple distance values.Then, the minimum value and maximum value in multiple distance values are removed, the flat of remaining multiple distance values is sought
Equal distance value, using the average distance value as 1 layer of calibration distance value.And so on, the mark for obtaining each floor can be obtained
Set a distance value.The calibration distance value of each floor can store exhales in unit 101 or ranging and communication unit 102 inside, for example,
It can store and exhale in the flash memory of unit 101 or ranging and communication unit 102 inside.Wherein, every layer of calibration ranging
Number can be 50-200 times, it is preferable that calibration ranging number can be 100 times.
In robot or intelligent vehicle calling elevator, inside exhale unit 101 that can send distance measurement request, to obtain at this time
First distance value.Difference between calibration distance value and the first distance value of floor where robot or intelligent vehicle is greater than
In the case where certain error range (being greater than given threshold), building where robot or intelligent vehicle and lift car can be determined
Layer is different；And the difference between the calibration distance value and first distance value of floor where robot or intelligent vehicle is certain
In the case where (being less than or equal to given threshold) in error range, building where robot or intelligent vehicle and lift car can be determined
Layer is identical.The given threshold can be 0.2m-1.5m, it is preferable that the given threshold can be 1m.In general, between floor
Between be divided into 3m or so, using the given threshold it is possible to prevente effectively from the state of false judgment elevator.
Then, in the case where state of elevator is that elevator reaches, robot or intelligent vehicle can enter elevator.
In one example, the main control unit 104 with it is described it is interior exhale unit 101 by 2.4G wireless communication directly build
In the case where vertical connection, state of elevator can be determined for elevator arrival.When elevator reaches, elevator cab door is opened, main control unit
104 can be isolated with interior exhale between unit 101 with ring off signal, connection directly be established, at this point, main control unit 104 can determine electricity
Scalariform state is elevator arrival.However, those skilled in the art should understand that, various side wireless communications known in the art can be used
Formula, such as 433M, UWB etc., to realize that main control unit 104 and interior exhale are directly connected between unit 101.
Into elevator
It in one example, may include: to wait for the first predetermined time and judge whether front meets entrance into elevator
Condition；In the case where front is unsatisfactory for entry condition, waited for the second predetermined time and judge whether front meets entrance again
Condition；In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, it is determined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And in the case where front meets entry condition, into elevator.
In fact, determining that lift car has arrived at floor where robot.At this point it is possible to wait for the first predetermined time
(purpose is that elevator cab door is waited to fully open), may determine that whether front meets entry condition later.It is unsatisfactory in front
In the case where entry condition (possible situation is that carriage people is more, and front someone is into elevator etc.), waited for the second predetermined time,
Rejudge whether front meets entry condition and attempt certain number (the first pre-determined number).It is unsatisfactory for entering in front of judgement
In the case that condition reaches the first pre-determined number, it is determined as cannot be introduced into elevator, and call elevator again after elevator leaves.
In one example, the first predetermined time can be the time for waiting elevator cab door to fully open, and can be set
For 1-5s, it is preferable that the first predetermined time can be set to 2s.
In one example, when the second predetermined time can be to judge whether front meets the waiting of entry condition again
Between, it can be set to 3-15s, it is preferable that the second predetermined time can be set to 5s.
In one example, the first pre-determined number can be unsatisfactory for the judgement number of entry condition for judgement front, can be with
It is set as 2-10 times, it is preferable that the first pre-determined number can be set to 3 times.
In one example, whether the main control unit can judge front by laser sensor or Xtion sensor
Meet entry condition.However, those skilled in the art should understand that, various sensings known in the art or view mode can be used
Judge whether front meets entry condition.
Exit elevator
In one example, in the case where robot or intelligent vehicle are in lift car, specified building can be lighted
The lift car key of layer；In the case where state of elevator is that elevator reaches designated floor, robot or intelligent vehicle can be moved back
Elevator out.
In one example, the difference between the calibration distance value and first distance value of designated floor is less than or equal to setting
In the case where threshold value, determine that state of elevator is that elevator reaches designated floor.
Specifically, when robot or intelligent vehicle are in lift car, main control unit 104, which can control, interior exhales unit
101 light the lift car key of designated floor, so that lift car goes to designated floor.In the mobile process of lift car
In, inside exhale unit 101 that (for example, 100ms) distance measurement request can be sent at certain intervals, to obtain first distance in real time
Value.Difference between the calibration distance value and first distance value of designated floor is in certain error range (given threshold)
When, so that it may think that state of elevator is that elevator has arrived at designated floor, elevator can be exited.The given threshold can be
0.2m-1.5m, it is preferable that the given threshold can be 1m.
Communication and ranging can be carried out simultaneously since the time interval of distance measurement request is shorter, and by UWB communication, therefore
The response speed of robot or intelligent vehicle is very fast, when lift car reaches designated floor, can execute at once and exit elevator
Logic will not delay other staff and pass in and out elevator.
In one example, exiting elevator may include: to wait the third predetermined time and judge whether front meets to exit
Condition；In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and judge whether front meets again and exit
Condition；In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as can not exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And in the case where front meets exit criteria, exit elevator.Its
In, the third predetermined time is the time for waiting elevator door to open；4th predetermined time is whether to judge front again
Meet the waiting time of exit criteria；And second pre-determined number is the judgement time that judgement front is unsatisfactory for exit criteria
Number.
Specifically, if elevator has arrived at the floor gone required for robot, waiting the third predetermined time, (purpose is
Elevator cab door is waited to fully open)；Judge whether to meet exit criteria later, in the case where front is unsatisfactory for exit criteria
(possible situation is that carriage people is more, has blocked the space in front) waited for the 4th predetermined time and judges whether to meet again and move back
Condition out；In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as that elevator can not be exited, and
Designated floor is lighted again after elevator leaves designated floor；And in the case where front meets exit criteria, exit elevator.
In one example, the third predetermined time can be the time for waiting elevator door to open, and can be set to 1-5s, excellent
Selection of land, third predetermined time can be set to 2s.
In one example, when the 4th predetermined time can be to judge whether front meets the waiting of exit criteria again
Between, it can be set to 3-15s, it is preferable that the 4th predetermined time can be set to 5s.
In one example, the second pre-determined number can be unsatisfactory for the judgement number of exit criteria for judgement front, can be with
It is set as 2-10 times, it is preferable that the second pre-determined number can be set to 3 times.
In one example, it can judge whether front meets exit criteria by laser sensor or Xtion sensor.
However, those skilled in the art should understand that, can judge whether front is full using various sensings known in the art or view mode
Sufficient exit criteria.
In one example, the main control unit 104 can by 2.4G wirelessly communicate with it is described it is interior exhale unit 101 carry out
Communication.It will be understood by those skilled in the art that wireless communication of the invention is not limited to this, main control unit 104 can pass through this
Various wireless communication techniques known to field with it is described it is interior exhale unit 101 to be communicated, such as 433M, UWB etc..
In conclusion the system of automatic disengaging elevator according to the present invention can be such that robot or intelligent vehicle passes through wirelessly
Lift car key is lighted from dynamic disengaging elevator, realizes that floor required for robot or intelligent vehicle arrival completes it
Business.In addition, the system is smaller to the transformation of elevator itself, it can be effectively reduced the cost and complexity of construction reformation, meanwhile,
It is lower to the signal degree of dependence of elevator itself, it can reduce the probability to malfunction due to elevator signal fault itself.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The beneficial effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Embodiment 2
According to an embodiment of the invention, a kind of method of automatic disengaging elevator is provided, and the method may include: in machine
Device people or intelligent vehicle reach designated position, and he it is different from floor where lift car in the case where, light robot or intelligence
The lift car key of floor is where energy vehicle to call elevator；In robot or intelligent vehicle arrival designated position, and with
In the identical situation of floor where lift car, lift car door opening key is lighted to call elevator；It is elevator in state of elevator
In the case where arrival, into elevator；In the case where robot or intelligent vehicle are in lift car, designated floor is lighted
Lift car key；And in the case where state of elevator is that elevator reaches designated floor, exit elevator.
The embodiment passes in and out elevator by making robot or intelligent vehicle by wirelessly lighting elevator automatically, realizes machine
Floor required for people or intelligent vehicle reach completes its task.
It in one example, may include: to wait for the first predetermined time and judge whether front meets entrance into elevator
Condition；In the case where front is unsatisfactory for entry condition, waited for the second predetermined time and judge whether front meets entrance again
Condition；In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, it is determined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And in the case where front meets entry condition, into elevator.
In one example, the time that the first predetermined time can open for waiting elevator door；Second predetermined time can be with
To judge whether front meets the waiting time of entry condition again；And first pre-determined number can be discontented for judgement front
The judgement number of sufficient entry condition.
In one example, exiting elevator may include: to wait the third predetermined time and judge whether front meets to exit
Condition；In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and judge whether front meets again and exit
Condition；In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as can not exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And in the case where front meets exit criteria, exit elevator.
In one example, the time that the third predetermined time can open for waiting elevator door；Described 4th is predetermined
Time can be to judge whether front meets the waiting time of exit criteria again；And second pre-determined number can be to sentence
Disconnected front is unsatisfactory for the judgement number of exit criteria.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The beneficial effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Claims (10)
1. a kind of system of automatic disengaging elevator, the system comprises:
Inside exhale unit, be located at lift car inside, be connected in lift car key circuit, it is described in exhale unit that can light
Lift car key, the interior anode for exhaling one end of unit to be connected to lift car key, the other end are connected to lift car
The cathode of key or ground connection；
Ranging and communication unit, by wirelessly with it is described it is interior exhale unit communicate and ranging, acquisition lift car and elevator
First distance value between stair shaft top receives and forwards the control signal of main control unit；
First server is cloud server, can be carried out wireless communication with ranging and communication unit, receives and forwards described
The control signal of main control unit；And
Main control unit is mounted in robot or intelligent vehicle, and by wirelessly communicating with the first server, the master
Control unit is configured as control robot or intelligent vehicle disengaging elevator,
Wherein, it includes the UWB label positioned at elevator car roof that unit is exhaled in described, and the ranging and communication unit include UWB
Base station is communicated by UWB between the UWB label and the base station UWB and is wirelessly connected.
2. the system of automatic disengaging elevator according to claim 1, wherein exhale unit to be parallel to the elevator car in described
Compartment key circuit, by the way that the lift car key circuit is connected to light lift car key.
3. the system of automatic disengaging elevator according to claim 1, wherein passing in and out elevator includes:
Robot or intelligent vehicle reach designated position and it is different from floor where lift car in the case where, the master
Control unit controls the lift car key for exhaling unit to light robot or intelligent vehicle place floor in described to call elevator；
Designated position is reached in robot or intelligent vehicle, and in situation identical with floor where lift car, the master
Unit is exhaled to light lift car door opening key to call elevator in control unit control is described；
In the case where state of elevator is that elevator reaches, into elevator；
In the case where robot or intelligent vehicle are in lift car, the lift car key of designated floor is lighted；And
In the case where state of elevator is that elevator reaches designated floor, elevator is exited.
4. the system of automatic disengaging elevator according to claim 3, wherein in floor where robot or intelligent vehicle
In the case that the difference demarcated between distance value and first distance value is greater than given threshold, robot or intelligent vehicle and electricity are determined
Floor is different where terraced carriage；And
Difference between the calibration distance value and first distance value of floor where robot or intelligent vehicle is less than or equal to setting
In the case where threshold value, determine that robot or intelligent vehicle are identical as floor where lift car.
5. the system of automatic disengaging elevator according to claim 3, wherein in the main control unit and described interior exhale unit
In the case where directly establishing connection by 2.4G wireless communication, determine state of elevator for elevator arrival.
6. the system of automatic disengaging elevator according to claim 3, wherein include: into elevator
It waited for the first predetermined time and judges whether front meets entry condition；
In the case where front is unsatisfactory for entry condition, waited for the second predetermined time and judge whether front meets into item again
Part；
In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, it is determined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And
In the case where front meets entry condition, into elevator,
Wherein, first predetermined time is the time for waiting elevator door to open；
Second predetermined time is to judge whether front meets the waiting time of entry condition again；And
First pre-determined number is the judgement number that judgement front is unsatisfactory for entry condition.
7. the system of automatic disengaging elevator according to claim 3, wherein in the calibration distance value of designated floor and first
In the case that difference between distance value is less than or equal to given threshold, determine that state of elevator is that elevator reaches designated floor.
8. the system of automatic disengaging elevator according to claim 3, wherein exiting elevator includes:
It waits the third predetermined time and judges whether front meets exit criteria；
In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and whether meet in front of judging again and exit article
Part；
In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as can not exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And
In the case where front meets exit criteria, elevator is exited,
Wherein, the third predetermined time is the time for waiting elevator door to open；
4th predetermined time is to judge whether front meets the waiting time of exit criteria again；And
Second pre-determined number is the judgement number that judgement front is unsatisfactory for exit criteria.
9. a kind of method of automatic disengaging elevator, using the automatic disengaging elevator as described in any one of claim 1-8
System, comprising:
Robot or intelligent vehicle reach designated position and it is different from floor where lift car in the case where, light machine
The lift car key of device people or intelligent vehicle place floor is to call elevator；
Designated position is reached in robot or intelligent vehicle, and in situation identical with floor where lift car, lights electricity
Terraced carriage door opening key is to call elevator；
In the case where state of elevator is that elevator reaches, into elevator；
In the case where robot or intelligent vehicle are in lift car, the lift car key of designated floor is lighted；And
In the case where state of elevator is that elevator reaches designated floor, elevator is exited.
10. the method for automatic disengaging elevator according to claim 9,
Wherein, include: into elevator
It waited for the first predetermined time and judges whether front meets entry condition；
In the case where front is unsatisfactory for entry condition, waited for the second predetermined time and judge whether front meets into item again
Part；
In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, it is determined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And
In the case where front meets entry condition, into elevator,
Wherein, exiting elevator includes:
It waits the third predetermined time and judges whether front meets exit criteria；
In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and whether meet in front of judging again and exit article
Part；
In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as can not exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And
In the case where front meets exit criteria, elevator is exited.
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| WO2019193719A1 (en) * | 2018-04-05 | 2019-10-10 | 三菱電機ビルテクノサービス株式会社 | Coordinated operation system for elevator and autonomous travel vehicle |
| CN108529356B (en) * | 2018-04-27 | 2019-06-07 | 北京三快在线科技有限公司 | For controlling the method, apparatus, system and electronic equipment of elevator |
| CN109019207A (en) * | 2018-08-07 | 2018-12-18 | 北京云迹科技有限公司 | Utilize the method, apparatus and robot of robot control elevator floor indicator light |
| CN108961515A (en) * | 2018-08-09 | 2018-12-07 | 北京云迹科技有限公司 | The system and method for automatic inlet/outlet |
| CN108892012A (en) * | 2018-08-23 | 2018-11-27 | 北京云迹科技有限公司 | Perceive the processing method and processing device of elevator position |
| CN113924262B (en) * | 2019-06-14 | 2023-08-04 | 三菱电机株式会社 | Elevator linkage device |
| CN112520519B (en) * | 2020-12-03 | 2022-07-26 | 深圳优地科技有限公司 | Robot control method, device, equipment and computer readable storage medium |
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