CN110759192A - Robot, robot and elevator interaction automatic control system and control method - Google Patents
Robot, robot and elevator interaction automatic control system and control method Download PDFInfo
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- CN110759192A CN110759192A CN201911144612.7A CN201911144612A CN110759192A CN 110759192 A CN110759192 A CN 110759192A CN 201911144612 A CN201911144612 A CN 201911144612A CN 110759192 A CN110759192 A CN 110759192A
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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
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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
- B66B1/3492—Position or motion detectors or driving means for the detector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4623—Wherein the destination is registered after boarding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a robot, an automatic control system and a control method for interaction of the robot and an elevator. The control automatic control system includes: the elevator car floor control board is provided with a plurality of floor interfaces corresponding to the number of floors, and the plurality of floor interfaces are respectively connected with a plurality of corresponding floor buttons on a floor key board through floor control flat cables; and the sensing unit is used for acquiring the information of the floor where the elevator car is located. Therefore, the robot can take the elevator autonomously to serve the target floor users, and the service cost of the robot is reduced.
Description
The present application claims priority of chinese patent application entitled "automatic control system and method for robot and elevator interaction" filed on 21/11/2018 at the chinese patent office under the application number 201811392520.6, which is incorporated herein by reference in its entirety.
Technical Field
The invention relates to the field of control, in particular to a robot, an automatic control system for interaction of the robot and an elevator and a control method.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, and the robot is developed rapidly at present and is applied to various industries. For example, in service industries such as restaurants, hotels and the like, the service robot can be used for goods delivery, ordering and the like.
At present, the robot cannot interact with the elevator, the robot cannot sit on the elevator to go upstairs and downstairs to serve users of a target floor, each floor can only be provided with one robot to serve the users of the floor, and cost is high.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide an automatic control system and method for interaction between a robot and an elevator, wherein the robot can take a user at a service target floor of the elevator, the interaction between the robot and the elevator is realized, and the service cost of the robot is reduced.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a robot is characterized by comprising a robot signal control board (21) which is electrically connected with a robot signal transmitting and receiving device (22); the robot signal transmitter-receiver (22) is arranged inside or outside the robot (20) and is used for being in communication connection with the signal transmitter-receiver of the elevator car.
Preferably, the signal transmitter-receiver (22) of the robot and the car signal transmitter-receiver (12) carry out information interaction based on a wireless transmission protocol.
Preferably, the interface of the back of each floor button (11a) on the floor key board (11) is provided with a joint which is respectively connected with the floor interface (13a) corresponding to the car floor control board (13) and the elevator control system (40) through communication cables. Through the joint setting of this shunting, both can guarantee the communication between every floor button on the floor keypad and original elevator control system's interface, can also guarantee the floor interface communication with car floor control panel, and need not to destroy original elevator control system's connection.
The embodiment of the application provides an interactive automatic control system of robot and elevator, including installing the floor keypad on elevator car, automatic control system still includes: the robot signal control board and the robot signal transmitting and receiving device are arranged on the robot and are connected with each other; the elevator car floor control board is provided with a plurality of floor interfaces corresponding to the number of floors, and the plurality of floor interfaces are respectively connected with a plurality of corresponding floor buttons on a floor key board through floor control flat cables; the matched sensing units are arranged in the elevator car and the elevator shaft and used for acquiring information of floors where the elevator car is located.
Preferably, supporting induction element accessible floor digital electronic tags and the cooperation of floor information acquisition board go to realize gathering and acquire elevator car place floor information, and concrete structure is as follows: the elevator comprises floor digital electronic tags installed in an elevator shaft and a floor information acquisition board installed on an elevator car, wherein the number of the floor digital electronic tags is consistent with the number of floors, each floor digital electronic tag is provided with an independent code corresponding to the floor, the floor information acquisition board is used for acquiring information in the floor digital electronic tags, and the floor information acquisition board is in communication connection with a floor signal collector. The floor information acquisition board transmits the acquired floor information of the elevator car at present to the floor signal acquisition device.
Preferably, the supporting induction element still can realize through the cooperation of graphic label and camera, goes to realize gathering and acquireing elevator car place floor information, and concrete structure is as follows: including installing the figure label in the elevator well, installing the camera on elevator car, the quantity of figure label is unanimous with floor quantity, every the figure label has the independent code that corresponds with the floor, and the camera is used for gathering the information in the figure label, the camera is connected with floor signal collector communication. The camera transmits the collected information of which floor the elevator car is at to the floor signal collector.
Preferably, the matched sensing unit can also acquire floor information through a carrier-less communication (UWB) positioning technology, and the specific structure is as follows: the system comprises a carrier-free communication transmitter arranged at one end of an elevator shaft and a carrier-free communication receiver arranged on an elevator car, wherein the carrier-free communication receiver is in communication connection with a floor signal collector.
Preferably, the matched sensing unit can also adopt a laser ranging technology to acquire floor information, and the specific structure is as follows: the elevator height is obtained by measuring the distance between the elevator car and a fixed reference object at the bottom or the top of an elevator shaft, and the floor position is converted out, wherein the laser range finder is installed on the elevator car and is in communication connection with a floor signal collector.
Preferably, the interface at the back of each floor button on the floor keypad is provided with a 4pin connector or an 8pin connector, and the 4pin connector or the 8pin connector is respectively connected with the floor interface corresponding to the car floor control panel and the original elevator control system through a communication cable. 4pin connects or 8pin connects's setting, both can guarantee the communication between every floor button on the floor keypad and original elevator control system's interface, can also guarantee with the floor interface communication of car floor control panel, and need not to destroy original elevator control system's connection.
Preferably, the robot signal transmitter-receiver is arranged at any one of the inner part and the outer part of the robot.
Preferably, the robot signal transceiver and the car signal transceiver adopt a wireless transmission protocol.
The embodiment of the application provides an automatic control method for interaction between a robot and an elevator, which utilizes the control method of the automatic control system, and the automatic control method comprises the following steps:
s1, after the robot receives the ultimate target floor task instruction, the robot signal transmitter-receiver is controlled to send elevator taking information to the elevator (car), the elevator taking information comprises the current floor information of the robot, and the elevator (car) receives and responds to the elevator taking information to stop the elevator car to the current floor of the robot;
s2, judging whether the elevator car is correctly stopped at the current floor of the robot or not based on the information collected by the sensing unit, if the comparison is unsuccessful, not sending an instruction to the robot until the comparison is successful; if the comparison is successful, the current floor information (primary target floor) of the robot which stops to is sent to the robot which requests through the cage signal transmitter-receiver;
s3, after the robot enters the elevator car, the target floor information is transmitted to the car signal transmitting receiver, the car signal transmitting receiver receives and responds to the information, and the elevator car stops at the final target floor;
s4, in the process that the elevator car reaches the final destination floor, whether the elevator car stops at the final destination floor correctly is judged based on the information collected by the sensing unit,
if the comparison is unsuccessful, no instruction is sent to the robot until the comparison is successful;
if the comparison is successful, the success information is sent to the robot signal transmitting receiver through the car signal transmitting receiver, the robot signal transmitting receiver receives and transmits the success information to the robot signal control panel, and the robot signal control panel receives and responds to the signal and controls the robot to leave the elevator car.
The embodiment of the application provides an automatic control method for interaction between a robot and an elevator, which utilizes the control method for the automatic control system for interaction between the robot and the elevator, and comprises the following steps:
s11, after the robot receives the ultimate target floor task instruction, the elevator receives an elevator taking instruction of the control platform and responds to the elevator taking instruction to stop the elevator car to the current floor of the robot, wherein the elevator taking instruction comprises the current floor information and the ultimate target floor information of the robot;
s12, judging whether the elevator car is correctly stopped at the current floor of the robot or not based on the information collected by the sensing unit, if the comparison is unsuccessful, not sending an instruction to the control platform until the comparison is successful; if the comparison is successful, the information of the current floor which is stopped to the robot is fed back to the control platform and is transmitted to the robot through the control platform;
s13, the robot enters the elevator car until the elevator car stops at the final destination floor;
s14, in the process that the elevator car moves to the final target floor, whether the elevator car 10 correctly stops at the final target floor is judged based on the information collected by the sensing unit, if the comparison is unsuccessful, no instruction is sent to the control platform until the comparison is successful; and if the comparison is successful, the information of the final destination floor stopped is fed back to the control platform and is transmitted to the robot through the control platform, and the robot responds to the signal to leave the elevator car.
Preferably, in S12, if the comparison is successful, the step of stopping the car at the current floor of the robot further includes recognizing that the current elevator door is opened based on the sensing device disposed on the elevator door, and the robot enters the elevator car, or the robot enters the elevator car after the first time.
Preferably, in S14, if the comparison is successful, the method further includes the step of identifying that the current elevator door is opened based on the sensing device disposed on the elevator door after the car stops at the final destination floor, and the signal control board controls the robot to leave the elevator car, or the robot leaves the elevator car after the first time.
The embodiment of the application provides an automatic control method for interaction between a robot and an elevator, which uses the automatic control system for interaction between the robot and the elevator, and comprises the following steps:
after the robot receives an ultimate target floor task instruction, the robot signal control board controls the robot signal transmitter-receiver to send floor information of the robot to the car signal transmitter-receiver, the floor where the robot is located is a primary target floor, the car signal transmitter-receiver receives the information of the primary target floor, sends the information to the car floor control board, sends a signal to a floor button on the key board through a floor interface, lights the floor button corresponding to the primary target floor on the floor key board, and the elevator car can stop at the primary target floor;
step two, in the process that the elevator car reaches the primary target floor, after the sensing unit collects the floor where the elevator car is located, comparing the current floor information of the elevator car with the primary target floor information, and if the comparison is unsuccessful, not sending an instruction to the robot until the comparison is successful; if the comparison is successful, the success information is sent to the robot signal transmitting receiver through the car signal transmitting receiver, and after the robot signal transmitting receiver receives the signal of the success information, the robot enters the elevator car through the control of the robot signal control board;
after the robot enters the elevator car, the robot signal control board sends target floor information received by the robot to a car signal transmitting receiver through a robot signal transmitting receiver, the car signal transmitting receiver sends a signal to a floor button through a floor interface after receiving final target floor information, and lights the floor button corresponding to the final target floor information on a floor button board, and the elevator car can stop to the final target floor;
in the process of reaching the final target floor by the elevator car, the induction unit acquires the floor where the elevator car is located, and then compares the arrived appointed floor information with the primary target floor information, if the comparison is unsuccessful, no instruction is sent to the robot until the comparison is successful; if the comparison is successful, the successful information is sent to the robot signal transmitting receiver through the car signal transmitting receiver, and after the robot signal transmitting receiver receives the signal of the successful information, the robot is controlled to move out of the elevator car through the robot signal control panel, and meanwhile, the robot records the floor information.
Advantageous effects
The robot, the robot and the elevator that this application provided can carry out information interaction, realize that the robot is independently taken advantage of the elevator to the user that the target floor comes service target floor, need not all to dispose the robot at every floor like this, reduced service cost, adopt the implementation scheme of this application after, every user can possess a exclusive robot in oneself.
Drawings
Fig. 1 is a schematic structural diagram of an automatic control system for interaction between a robot and an elevator in the embodiment;
fig. 2 is a schematic diagram of the wiring of the floor button board, the car floor control board and the original elevator control system in the automatic control system of the robot interacting with the elevator in this embodiment.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions employed in the examples may be further adjusted as determined by the particular manufacturer, and the conditions not specified are typically those used in routine experimentation.
Referring to fig. 1, an automatic control system for interaction between a robot and an elevator in this embodiment includes a floor key board 11 installed on an elevator car 10, where the floor key board 11 is a floor key board 11 in an original elevator car 10, and unlike the prior art, the present embodiment adds the following structure by modifying an existing control system:
a robot signal control board 21 and a robot signal transmitter-receiver 22 which are mounted on the robot 20 and connected with each other, wherein the robot signal transmitter-receiver 22 can be arranged inside the robot 20 or outside the robot 20; a car signal transmitter-receiver 12, a car floor control board 13 and a floor signal collector 14 which are arranged on the elevator car 10; and sensing units installed in the elevator car 10 and the elevator shaft 30 to collect information about the floor on which the elevator car 10 is located.
The car signal transceiver 12 and the robot signal transceiver 22 are in communication connection, and specifically, the robot signal transceiver 22 and the car signal transceiver 12 can implement communication connection by using a wireless transmission protocol. To enable interaction between the elevator car 10 and the robot 20.
As shown in fig. 1, the car floor control board 13 is connected to the floor key board 11, the car floor control board 13 has a plurality of floor interfaces 13a corresponding to the number of floors, and the plurality of floor interfaces 13a in this embodiment are connected to a plurality of corresponding floor buttons 11a on the floor key board 11 by floor control cables 15. For realizing the control of the floor key board 11 by the car floor control board 13.
In order to avoid damaging the original elevator control system 40 and reduce the cost, as shown in fig. 2, the interface on the back of each floor button 11a on the floor keypad 11 in this embodiment is provided with a connector (e.g., a 4pin connector or an 8pin connector), and the 4pin connector or the 8pin connector is connected to the floor interface 13a corresponding to the car floor control board 13 and the original elevator control system 40 through a communication cable. Namely, the original floor key board 11 is controlled by the robot signal control board 21 of the automatic control system of the robot and elevator interaction in the embodiment, in addition to the original elevator control system 40, and is controlled by two independent control systems respectively.
In this embodiment, the sensing unit used to collect and obtain information about the floor where the elevator car 10 is located includes, but is not limited to, the following implementation structures:
the first structure of the matched sensing unit is a floor digital electronic tag 31 installed in an elevator shaft 30 and a floor information acquisition board 16 installed on an elevator car 10, the number of the floor digital electronic tags 31 is consistent with the number of floors, each floor digital electronic tag 31 has an independent code corresponding to the floor, and the floor information acquisition board 16 is in communication connection with a floor signal collector 14. The floor digital electronic tag 31 is installed on each floor of the elevator shaft 30, the information of the floor digital electronic tag 31 of each floor is different, when the floor digital electronic tag 31 of each floor is collected by the floor information collecting board 16 on the elevator car 10, the floor information collecting board 16 sends the information to the collector 14, the information collector 14 sends the collected floor signal to the elevator car 10, and the car signal transmitter-receiver 12 sends the signal to the robot signal transmitter-receiver 22. In one embodiment, the floor information acquisition board (16) is integrated with the floor signal collector (14).
The second structure of the matched sensing unit is a graphic label installed in the elevator shaft 30 and a camera installed on the elevator car 10, similarly, the number of the graphic labels is consistent with the number of floors, each graphic label has an independent code corresponding to the floor, and the camera is in communication connection with the floor signal collector 14. The figure label is installed on each floor of the elevator shaft 30, the information of the figure label of each floor is different, when the figure label of each floor is collected by a camera on the elevator car 10, the camera sends the information to the collector 14, the information collector 14 sends the collected floor signal to the elevator car 10, and the car signal transmitter-receiver 12 sends the signal to the robot signal transmitter-receiver 22.
The third structure of the matched sensing unit adopts a carrier-free communication (UWB) positioning technology to acquire floor information, the matched sensing unit is a carrier-free communication transmitter installed at one end of the elevator hoistway 30 and a carrier-free communication receiver installed on the elevator car 10, and the carrier-free communication receiver is in communication connection with the floor signal collector 14, so as to acquire the floor information of the elevator.
The fourth structure of supporting induction element adopts that laser rangefinder obtains floor information, and supporting induction element installs and installs laser range finder on elevator car 10, obtains the elevator height through measuring the distance of elevator car 10 and the fixed reference object in elevator well 30 bottom or top, converts out the floor position, installs laser range finder and floor signal collector 14 communication connection.
The working principle of the automatic control system for the interaction of the robot and the elevator is as follows:
after the robot receives a task instruction of a final target floor, the robot signal control panel controls the robot signal transmitting receiver to send information of a floor where the robot is located to the car signal transmitting receiver, the floor where the robot is located is a primary target floor, after the car signal transmitting receiver receives the information of the primary target floor, the information is sent to the car floor control panel, a signal is sent to a floor button on the key panel through a floor interface, a floor button corresponding to the primary target floor on the floor key panel is lightened, and an elevator car can stop at the primary target floor (namely, a simulated person comes the button to select the target floor); in the process that the elevator car reaches the primary target floor, after the sensing unit collects the floor where the elevator car is located, comparing the current floor information of the elevator car with the primary target floor information, and if the comparison is unsuccessful, not sending an instruction to the robot until the comparison is successful; if the comparison is successful, the success information is sent to the robot signal transmitting receiver through the car signal transmitting receiver, and after the robot signal transmitting receiver receives the signal of the success information, the robot enters the elevator car under the control of the robot signal control panel; after the robot enters the elevator car, the robot signal control board sends target floor information received by the robot to the car signal transmitter-receiver through the robot signal transmitter-receiver, after the car signal transmitter-receiver receives final target floor information, the car signal transmitter-receiver sends a signal to a floor button through a floor interface, and lights the floor button corresponding to the final target floor information on a floor button board, so that the elevator car can stop to the final target floor; in the process that the elevator car reaches the final target floor, after the induction unit collects the floor where the elevator car is located, the arrived appointed floor information is compared with the primary target floor information, if the comparison is unsuccessful, no instruction is sent to the robot until the comparison is successful; if the comparison is successful, the successful information is sent to the robot signal transmitting receiver through the car signal transmitting receiver, after the robot signal transmitting receiver receives the signal of the successful information, the robot is controlled to move out of the elevator car through the robot signal control panel, and meanwhile, the robot records the floor information.
In one embodiment, the elevator door is provided with a sensing device, which is connected to the robot, and the robot knows the current state of the elevator door, for example, the elevator door is opened, the elevator door enters the car, or the elevator door is opened after reaching the final destination floor, and the elevator door leaves the car.
In one embodiment, the sensing device is omitted, and based on a preset control strategy, if the car reaches the final destination floor, the success (arrival) information is sent to the robot signal transmitting and receiving device, and after the robot signal transmitting and receiving device receives the success information signal, the robot is controlled to enter/exit the elevator car through the robot signal control panel through the first time. The first time may be 1S, 2S, 5S, 10S, etc., after which the elevator door is considered to be opened, so that the robot enters/exits the elevator car.
The embodiment of the application also provides an automatic control method for interaction between the robot and the elevator, the automatic control method is used for the automatic control system for interaction between the robot and the elevator, and the automatic control method comprises the following steps:
s1, after receiving the final destination floor task command, the robot 20 controls the robot signal transmitter-receiver to send elevator taking information to the elevator (car), where the elevator taking information includes the current floor information of the robot, and the elevator (car) receives and responds the elevator taking information to stop the elevator car 10 to the current floor of the robot;
s2, judging whether the elevator car 10 is correctly stopped at the current floor of the robot based on the information collected by the sensing unit, if the comparison is unsuccessful, not sending an instruction to the robot 20 until the comparison is successful; if the comparison is successful, the current floor information (primary target floor) of the robot which is stopped is sent to the robot which requests through the cage signal transmitter-receiver 12;
s3, after the robot 20 enters the elevator car 10, it transmits the target floor information to the car signal transmitter-receiver 12, and the car signal transmitter-receiver receives and responds the information, and the elevator car 10 stops at the final target floor;
s4, in the process that the elevator car 10 reaches the final target floor, whether the elevator car 10 correctly stops at the final target floor is judged based on the information collected by the sensing unit, if the comparison is unsuccessful, no instruction is sent to the robot 20 until the comparison is successful; if the comparison is successful, the car signal transmitter-receiver 12 sends success information to the robot signal transmitter-receiver 22, and after the robot signal transmitter-receiver 22 receives the signal of success information, the robot 20 leaves the elevator car 10 in response to the signal. In one embodiment, the floor information from which the robot leaves is noted.
In one embodiment, the step S2, after the car stops at the current floor of the robot, further includes recognizing that the current elevator door is opened based on a sensing device disposed at the elevator door, and the signal control board controls the robot (the signal control board is electrically connected to a driving module of the robot, and the driving module drives the robot based on a signal of the signal control board when the robot enters or exits the elevator) to enter the elevator car. Or the car stops at the current floor of the robot and then the robot enters the elevator car through the control of the robot signal control board in the first time. The first time may be 1S, 2S, 5S, 10S, etc., after which the elevator door is considered to be opened, so that the robot enters/exits the elevator car.
In one embodiment, the step S4, after the car stops at the final destination floor of the robot, further includes recognizing that the current elevator door is opened based on a sensing device disposed on the elevator door, and the signal control board controls the robot (the signal control board is electrically connected to a driving module of the robot, and the driving module drives the robot based on a signal of the signal control board when the robot enters or exits the elevator) to leave the elevator car. Or after the final destination floor, the robot is controlled to leave the elevator car through the signal control board in the first time. The first time may be 1S, 2S, 5S, 10S, etc., after which the elevator door is considered to be opened, so that the robot enters/exits the elevator car.
As a variation of the above implementation method, an embodiment of the present application further provides an automatic control method for interaction between a robot and an elevator, where the automatic control method is used in the above automatic control system for interaction between a robot and an elevator, and the automatic control method includes the following steps:
s11, after the robot 20 receives the final destination floor task instruction, the elevator receives the elevator taking instruction of the control platform, the elevator taking instruction includes the current floor information of the robot and the final destination floor information, the elevator (car) receives and responds the elevator taking instruction to stop the elevator car 10 to the current floor of the robot;
s12, judging whether the elevator car 10 is correctly stopped at the current floor of the robot based on the information collected by the sensing unit, if the comparison is unsuccessful, not sending an instruction to the control platform until the comparison is successful; if the comparison is successful, the current floor information (primary target floor) of the robot which is stopped is fed back to the control platform and is transmitted to the robot through the control platform;
s13, robot 20 enters elevator car 10 until elevator car 10 stops to the final destination floor;
s14, in the process that the elevator car 10 moves to the final target floor, whether the elevator car 10 correctly stops at the final target floor is judged based on the information collected by the sensing unit, if the comparison is unsuccessful, no instruction is sent to the control platform until the comparison is successful; if the comparison is successful, the information of the final destination floor stopped is fed back to the control platform and transmitted to the robot through the control platform, and the robot responds the signal to leave the elevator car 10. In one embodiment, the control platform records information (e.g., time information) about the floor from which the robot left. In this embodiment, the elevator moves based on the command from the control platform to assist the loaded robot in completing the task. Preferably, the control platform schedules the robot based on the received task information.
In one embodiment, in S12, if the comparison is successful, the step of stopping the car at the current floor of the robot further includes recognizing that the current elevator door is opened based on the sensing device disposed on the elevator door, and the robot enters the elevator car, or the robot enters the elevator car after the first time.
In one embodiment, in S14, if the comparison is successful, the method further includes, after the car stops at the final destination floor, recognizing that the current elevator door is opened based on the sensing device disposed on the elevator door, and the signal control board controls the robot to leave the elevator car, or after the first time, the robot leaves the elevator car.
As a variation of the above implementation method, an embodiment of the present application further provides an automatic control method for interaction between a robot and an elevator, where the automatic control method is used in the above automatic control system for interaction between a robot and an elevator, and the automatic control method includes the following steps:
step one, after a robot 20 receives an ultimate target floor task instruction, a robot signal control board 21 controls a robot signal transmitter-receiver 22 to send floor information of the robot 20 to a car signal transmitter-receiver 12, the floor of the robot 20 is a primary target floor, the car signal transmitter-receiver 12 sends the information to a car floor control board 13 after receiving the information of the primary target floor, a signal is sent to a floor button 11a on a key board through a floor interface 13a, the floor button 11a corresponding to the primary target floor on the floor key board 11 is lightened, and an elevator car 10 can stop at the primary target floor;
step two, in the process that the elevator car 10 reaches the primary target floor, after the sensing unit collects the floor where the elevator car 10 is located, comparing the current floor information of the elevator car 10 with the primary target floor information, if the comparison is unsuccessful, not sending an instruction to the robot 20 until the comparison is successful; if the comparison is successful, the cage signal transmitter-receiver 12 sends success information to the robot signal transmitter-receiver 22, and after the robot signal transmitter-receiver 22 receives the signal of the success information, the robot 20 enters the elevator cage 10 under the control of the robot signal control board 21;
step three, after the robot 20 enters the elevator car 10, the robot signal control board 21 sends the target floor information received by the robot 20 to the car signal transmitter-receiver 12 through the robot signal transmitter-receiver 22, after the car signal transmitter-receiver 12 receives the final target floor information, the floor interface 13a sends a signal to the floor button 11a, the floor button 11a corresponding to the final target floor information on the floor button board 11 is lightened, and the elevator car 10 can stop to the final target floor;
step four, in the process from the elevator car 10 to the final target floor, after the induction unit collects the floor where the elevator car 10 is located, the arrived appointed floor information is compared with the primary target floor information, if the comparison is unsuccessful, no instruction is sent to the robot 20 until the comparison is successful; if the comparison is successful, the cage signal transmitter-receiver 12 sends success information to the robot signal transmitter-receiver 22, after the robot signal transmitter-receiver 22 receives the signal of success information, the robot 20 can drive out of the elevator cage 10 under the control of the robot signal control board 21, and meanwhile, the robot 20 records floor information in an automatic control system of interaction between the robot and the elevator.
In the present application, the terms "upper", "lower", "inside", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
In the above implementation, in the design of floor keypad, the floor keypad all is provided with 4pin joint or 8pin joint like the interface at every floor button back through external joint, and it is connected with floor interface, original elevator control system that car floor control panel corresponds through communication cable respectively. 4pin connects or 8pin connects's setting, both can guarantee the communication between every floor button on the floor keypad and original elevator control system's interface, can also guarantee with the floor interface communication of car floor control panel, and need not to destroy original elevator control system's connection. Therefore, the robot can be used normally and can also take the ladder.
In the above embodiment, in the design of the robot, a robot signal transmitter-receiver and a robot signal control board are configured, the robot signal control board is electrically connected to the control module of the robot, and the transmitter-receiver can be configured inside or outside the robot for transmitting/receiving information (such as elevator taking information, information on the destination floor, etc.). The car signal transmitting and receiving device is in communication connection with the car signal transmitting and receiving device through the signal transmitting and receiving device. The signal transmitter-receiver is sometimes also called a data transmission module.
In the above embodiment, in the design of the elevator, the matched elevator control box is configured with a communication module (e.g., it is configured with WIFI or other networking mode), which is connected to the control platform of the elevator, and receives the command from the control platform, so as to control the car to move to assist the robot to complete the task.
In the above embodiment, in the design of the elevator, the matching elevator control box is provided with a communication module which is connected with the robot and receives the command sent by the robot.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A robot is characterized by comprising
A robot signal control board (21) electrically connected with the robot signal transmitting and receiving device (22); the robot signal transmitting and receiving unit (22) is arranged inside or outside the robot (20).
2. Robot according to claim 1, characterized in that the robot signal transmitter-receiver (22) and the car signal transmitter-receiver (12) interact information based on a wireless transmission protocol.
3. An automatic control system of robot and elevator interaction, comprising a floor key board (11) for controlling an elevator car (10), characterized in that: the automatic control system further comprises:
a car signal transmitter-receiver (12) arranged on the elevator car (10), a car floor control board (13) and a floor signal collector (14),
the car signal transmitter-receiver (12) is connected with the robot signal transmitter-receiver (22) in the claim 1 or 2,
the car floor control board (13) is provided with a plurality of floor interfaces (13a) corresponding to the number of floors, and the floor interfaces (13a) are respectively connected with a plurality of corresponding floor buttons (11a) on the floor key board (11) through floor control flat cables (15);
the sensing unit is used for acquiring the information of the floor where the elevator car (10) is located.
4. The robot-elevator interactive automatic control system of claim 3, characterized in that: the sensing unit is mounted within an elevator car (10) and an elevator hoistway (30);
the interface at the back of each floor button (11a) on the floor button board (11) is provided with a joint which is respectively connected with a floor interface (13a) corresponding to the car floor control board (13) and an elevator control system (40) through communication cables.
5. The robot-elevator interactive automatic control system of claim 3, characterized in that: the sensing unit comprises
Floor digital electronic tags (31) installed in an elevator shaft (30) and the number of the floor digital electronic tags is consistent with the number of floors, each floor digital electronic tag (31) is provided with an independent code corresponding to the floor,
or the like, or, alternatively,
the elevator car monitoring system comprises graphic tags installed in an elevator shaft (30) and a camera installed on an elevator car (10), wherein the number of the graphic tags is consistent with the number of floors, each graphic tag is provided with an independent code corresponding to the floor, and the camera is in communication connection with a floor signal collector (14).
6. The robot-elevator interactive automatic control system of claim 3, characterized in that: the sensing unit comprises a carrier-free communication transmitter arranged at one end of an elevator shaft (30) and a carrier-free communication receiver arranged on an elevator car (10), and the carrier-free communication receiver is in communication connection with the floor signal collector (14), or
The sensing unit is for installing installation laser range finder on elevator car (10), obtains the elevator height through measuring elevator car (10) and elevator well (30) bottom or the distance of the fixed reference object in top, converts the floor position out, installation laser range finder is connected with floor signal collector (14) communication.
7. An automatic control method for interaction of a robot and an elevator is characterized in that: control method of an automatic control system for interaction with an elevator by means of a robot according to any of claims 3-6, which control method comprises the steps of:
s1, after receiving the ultimate target floor task instruction, the robot controls the robot signal transmitter-receiver to send elevator taking information to the elevator car, wherein the elevator taking information comprises the current floor information of the robot, namely the primary target floor, and the elevator car receives and responds to the elevator taking information to stop the elevator car to the current floor of the robot;
s2, based on the information comparison collected by the sensing unit, whether the elevator car is correctly stopped at the primary target floor is judged,
if the comparison is unsuccessful, no instruction is sent to the robot until the comparison is successful;
if the comparison is successful, the information of the primary target floor which stops is sent to a robot signal control panel through a car signal transmitting receiver, and the robot enters an elevator car;
s3, after the robot enters the elevator car, the terminal target floor information of the robot is transmitted to a car signal transmitting receiver of the car, the car signal transmitting receiver receives and responds to the information, and the elevator car stops at the terminal target floor;
s4, in the process that the elevator car arrives at the final destination floor, whether the elevator car stops at the final destination floor correctly is judged based on the information comparison collected by the sensing unit,
if the comparison is unsuccessful, no instruction is sent to the robot until the comparison is successful;
if the comparison is successful, the information is transmitted to the robot signal control panel, and after the robot signal control panel receives and responds to the signal, the robot leaves the elevator car.
8. The automatic control method of robot and elevator interaction of claim 7, characterized in that:
in S2, if the comparison is successful, the car is stopped at the current floor of the robot and then includes,
the robot enters the elevator car based on the sensing device configured on the elevator door to recognize that the current elevator door is opened, or the robot enters the elevator car after the first time.
9. The automatic control method of robot and elevator interaction of claim 7, characterized in that:
in S4, if the comparison is successful, the method further includes the step of stopping the car at the final destination floor,
based on the sensing device arranged on the elevator door to recognize that the current elevator door is opened, the signal control panel controls the robot to leave the elevator car,
or, after a first time, the robot leaves the elevator car.
10. A method for automatic control of robot-elevator interaction, using the method for control of an automatic control system of robot-elevator interaction of any of claims 3-6, the method comprising the steps of:
s11, after the robot receives the ultimate target floor task instruction, the elevator receives an elevator taking instruction of the control platform and responds to the elevator taking instruction to stop the elevator car to the current floor of the robot, wherein the elevator taking instruction comprises the current floor information and the ultimate target floor information of the robot;
s12, judging whether the elevator car is correctly stopped at the current floor of the robot or not based on the information collected by the sensing unit, if the comparison is unsuccessful, not sending an instruction to the control platform until the comparison is successful; if the comparison is successful, the information of the current floor which is stopped to the robot is fed back to the control platform and is transmitted to the robot through the control platform;
s13, the robot enters the elevator car until the elevator car stops at the final destination floor;
s14, in the process that the elevator car moves to the final target floor, whether the elevator car correctly stops at the final target floor is judged based on the information collected by the sensing unit, and if the comparison is unsuccessful, no instruction is sent to the control platform until the comparison is successful; and if the comparison is successful, the information of the final destination floor stopped is fed back to the control platform and is transmitted to the robot through the control platform, and the robot responds to the signal to leave the elevator car.
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| CN201811392520.6A CN109279462A (en) | 2018-11-21 | 2018-11-21 | The automatic control system and method that robot is interacted with elevator |
| CN2018113925206 | 2018-11-21 |
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| CN201911144612.7A Active CN110759192B (en) | 2018-11-21 | 2019-11-20 | Robot, robot and elevator interaction automatic control system and control method |
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| CN114572783A (en) * | 2022-03-10 | 2022-06-03 | 北京云迹科技股份有限公司 | Control board card for signal interaction between robot and elevator and control method |
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| Publication number | Publication date |
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| CN109279462A (en) | 2019-01-29 |
| CN110759192B (en) | 2022-03-22 |
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