CN210735884U - Robot and elevator interaction system - Google Patents
Robot and elevator interaction system Download PDFInfo
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- CN210735884U CN210735884U CN201920338132.3U CN201920338132U CN210735884U CN 210735884 U CN210735884 U CN 210735884U CN 201920338132 U CN201920338132 U CN 201920338132U CN 210735884 U CN210735884 U CN 210735884U
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- 230000003993 interaction Effects 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 50
- 230000009471 action Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000006698 induction Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
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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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- 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
- B66B1/3446—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
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
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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
- B66B2201/10—Details with respect to the type of call input
- B66B2201/103—Destination call input before entering the elevator car
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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
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/212—Travel time
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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)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The utility model discloses a robot and elevator interaction system, which comprises a robot control unit arranged on a robot and a first communication module communicated with the robot control unit; the elevator comprises an open-close state acquisition device arranged on an elevator car, an elevator control unit for controlling the operation and the stop of an elevator and the opening of an elevator door, a floor information acquisition unit and a second communication module communicated with the elevator control unit; the elevator control unit is communicated with the opening and closing state acquisition device; the floor tag is arranged in the elevator shaft and is matched with the floor information acquisition unit to realize elevator position information acquisition; the first communication module is in signal communication with the second communication module. The utility model can reduce the time for waiting for the elevator and improve the working efficiency when the robot takes the elevator; the opening and closing state of the elevator door is obtained, the elevator entering and exiting actions are started at the moment when the elevator door is opened, the elevator door does not need to be started after being completely opened, the time is saved, and the working efficiency of the robot is improved.
Description
[ technical field ] A method for producing a semiconductor device
The utility model belongs to the technical field of robot and elevator are mutual, especially relate to a robot and elevator interaction system.
[ background of the invention ]
A 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. Some methods for interaction between a robot and an elevator are also proposed in the prior art, but in the process of interaction between the robot and the elevator, a process that the robot waits for the elevator to arrive exists, so that the working efficiency of the robot is low.
[ Utility model ] content
An object of the utility model is to provide a robot and elevator interactive system has avoided the robot to wait the elevator, has improved the work efficiency of robot greatly.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a robot and elevator interaction system comprises a robot control unit arranged on a robot, and a first communication module communicated with the robot control unit;
the elevator comprises an open-close state acquisition device arranged on an elevator car, an elevator control unit for controlling the operation and the stop of an elevator and the opening of an elevator door, a floor information acquisition unit and a second communication module communicated with the elevator control unit; the elevator control unit is communicated with the opening and closing state acquisition device;
the floor tag is arranged in the elevator shaft and is matched with the floor information acquisition unit to realize elevator position information acquisition;
the first communication module is in signal communication with the second communication module.
Furthermore, the open-close state acquisition device is connected with the elevator control unit and sends out the open-close state of the door through the second communication module, so that the robot can acquire the open-close state of the elevator door.
Further, the floor information that the car place that the floor information acquisition unit gathered, the rethread second communication module goes out the floor signal transmission that the car place, and the robot acquires the floor information that the car place through first communication module.
Further, the number of the floor labels is consistent with the number of floors, and each floor label is provided with an independent code corresponding to the floor.
Furthermore, the floor labels are graphic labels, a camera mounted on the elevator car is used for reading the graphic labels, the number of the graphic labels is consistent with the number of the floors, each graphic label is provided with an independent code corresponding to the floor, and the camera is in communication connection with the floor signal acquisition unit.
Furthermore, the floor tag 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, and the carrier-free communication receiver is in communication connection with the floor signal acquisition unit.
Further, the floor label can be replaced by a laser range finder arranged on the elevator car, the height of the elevator is obtained by measuring the distance between the elevator car and a fixed reference object at the bottom or the top of the elevator shaft, the floor position is calculated, and the laser range finder is arranged to be in communication connection with the floor signal acquisition unit.
Compared with the prior art, the utility model relates to a robot lies in with elevator interactive system's beneficial effect: when the robot takes the elevator, the time for waiting for the elevator is reduced, and the working efficiency is higher; the opening and closing state of the elevator door is obtained, the elevator entering and exiting actions are started at the moment when the elevator door is opened, the elevator door does not need to be started after being completely opened, the time is saved, and the working efficiency of the robot is improved.
[ description of the drawings ]
Fig. 1 is a schematic control flow diagram of an embodiment of the present invention;
fig. 2 is a structural frame diagram of the control principle according to the embodiment of the present invention.
[ detailed description ] embodiments
Example (b):
referring to fig. 1, the present embodiment is a method for interaction between a robot and an elevator, which includes the following steps:
1) the robot obtains the position of the elevator in advance before entering the elevator, calculates the time of the floor where the elevator arrives at the floor where the robot, judges whether the time of the robot arriving at the elevator is the same as the time of the elevator arriving at the floor where the robot arrives or within a set allowable time difference range, calls the elevator if the time of the robot arriving at the elevator is the same as the time of the elevator arriving at the floor where the robot arrives or within the allowable time difference range, and otherwise, the robot continues to move towards the direction of taking the elevator;
2) after the elevator arrives, the robot acquires the instantaneous opening state of the elevator door, if the elevator door opening and closing state acquisition device detects that the elevator door is separated, the robot sends a signal to the robot, when the opening degree of the elevator door is right enough for the robot to pass through, the robot enters the elevator and sends a target floor signal to the elevator, and the elevator is controlled to go to a target floor through the elevator control unit;
3) after the elevator reaches the appointed floor of the robot, the robot acquires the instantaneous opening state of the elevator door, if the elevator door opening and closing state acquisition device detects that the elevator door is separated, a signal is sent to the robot, and when the opening degree of the elevator door just allows the robot to pass through, the robot rolls off the elevator.
The robot includes but is not limited to an unmanned device, an intelligent mobile device, and a remote sensing mobile device.
The position information of any floor where the elevator is located can be obtained by acquiring the position of the elevator in advance through sensing equipment arranged on an elevator car and in an elevator shaft; and an inertia speed measuring unit is arranged on the elevator car, and the real-time running position of the elevator is calculated by measuring the time, the acceleration and the speed information of the elevator from starting acceleration to uniform running and the deceleration running when the elevator is about to reach the target position through the inertia speed measuring unit.
The sensing equipment comprises a receiving unit and a floor mark; receiving a unit and a floor identification, one of which is mounted in a corresponding position of the elevator car and the other of which is mounted in an elevator shaft; the position of the floor mark installation corresponds to the position of the receiving unit when the elevator passes by each floor. The receiving unit comprises a contact receiving mode and a non-contact receiving mode; the contact receiving unit includes but is not limited to a contact switch, a capacitive touch switch, a force sensor; the non-contact receiving unit includes, but is not limited to, a near-field induction receiver, an electromagnetic signal, an optoelectronic signal receiver, a pattern recognition device, and an acoustic receiving device.
The floor mark corresponds to the receiving unit and comprises but is not limited to a conducting strip, a mechanical bulge, an electronic mark, an IC card, an ID card, a magnetic strip, a photoelectric signal transmitter, a two-dimensional code, a bar code, an acoustic transmitter and a contacted unit
When the receiving unit is installed on an elevator car, the receiving unit acquires floor information through the floor marks, and the number of the floor marks is equal to that of the floors; when the receiving unit is installed in the elevator shaft, each receiving unit code corresponds to a floor number, and the floor where the elevator car is located can be known after the floor identification on the elevator car is obtained.
The elevator position can be obtained in advance, and the information of the floor where the elevator is located can be obtained by reading the control system of the elevator.
Wherein, it specifically includes to calculate the time that the floor position that the elevator was located arrived the floor that the robot was located: calculating the time for the elevator to reach the floor where the robot is located at the position of the floor where the elevator is located according to the acquired floor difference between the floor where the elevator is located and the floor where the robot is located and the time required for the elevator to travel by one floor; the running time of the elevator comprises starting acceleration time, middle constant speed time and deceleration time when the elevator arrives. According to the starting acceleration time, the arrival deceleration time and the running acceleration of the elevator, calculating to obtain a starting acceleration distance and a stopping deceleration distance, then calculating to obtain a total distance according to the floor difference and the height of each floor, subtracting the starting acceleration distance and the stopping deceleration distance from the total distance to obtain a middle constant speed distance, and dividing the middle constant speed distance by the constant speed running speed of the elevator to obtain the middle constant speed running time, thereby obtaining the total time required by the elevator to reach the floor where the robot is located from the floor where the elevator is located.
When the time of the robot arriving at the elevator is the same as the time or within the set allowable time difference range, the robot calls the elevator, and the method comprises the following steps: calculating the time of the robot reaching the elevator in real time according to the traveling speed of the robot and the distance between the robot and the elevator, and calling the elevator by the system when the time of the robot reaching the elevator is the same as the time of the elevator reaching the floor where the robot is located or is within a set allowable time difference range; if the robot meets an obstacle on the way to the elevator to cause delayed arrival, the robot calls the elevator once at a set time before entering the elevator, and the elevator is continuously called to ensure that the elevator does not leave in advance.
When the elevator arrives, the robot acquires the opening of the elevator door by installing an opening and closing state acquisition device on the elevator car. The open-close state acquisition device is arranged on an access gate outside the elevator or on the elevator door. The open/close state obtaining device includes but is not limited to a contact switch, an electromagnetic induction switch, a photoelectric induction switch, an ultrasonic induction switch, or a signal of an invasion elevator to obtain an opening/closing signal of the elevator door.
An elevator control unit is arranged in the elevator, the robot sends a target floor request to the elevator, and the elevator is controlled to move to the target floor through the elevator control unit. The elevator control unit comprises a card swiping device and a communication module, and the communication module can be communicated with the robot. After the card swiping equipment acquires the floor information, immediately lightening a floor button and moving to a target floor; the card swiping equipment can not only collect the traditional card swiping signals, but also acquire the information sent by the wireless communication module, and can realize man-machine dual-purpose; the card swiping equipment can be integrated, or can be a combination of a card swiping unit and an analog signal transmitting unit, the analog signal transmitting unit is installed at a corresponding position where the card swiping equipment can receive signals, and the card swiping equipment can collect traditional card swiping signals and analog signals sent by the analog signal transmitting unit; if the card swiping unit is installed in the elevator, the card swiping equipment can receive signals only
Referring to fig. 2, the present embodiment further provides a robot and elevator interaction system, which includes a robot control unit installed on a robot, and a first communication module communicated with the robot control unit; the elevator comprises an open-close state acquisition device arranged on an elevator car, an elevator control unit for controlling the operation and the stop of an elevator and the opening of an elevator door, a floor information acquisition unit and a second communication module communicated with the elevator control unit; the elevator control unit is communicated with the opening and closing state acquisition device; the floor tag is arranged in the elevator shaft and is matched with the floor information acquisition unit to realize elevator position information acquisition; the first communication module is in signal communication with the second communication module.
The open-close state acquisition device is connected with the elevator control unit and sends out the open-close state of the door through the second communication module, so that the robot can acquire the open-close state of the elevator door.
The floor information of the car place that the floor information acquisition unit gathered, the rethread second communication module sends away the floor signal at car place, and the robot acquires the floor information at car place through first communication module.
The number of the floor labels is consistent with the number of floors, and each floor label is provided with an independent code corresponding to the floor.
The floor tags are graphic tags and are read by a camera mounted on an elevator car, the number of the graphic tags is consistent with that of the 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 acquisition unit.
The floor tag 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, and the carrier-free communication receiver is in communication connection with the floor signal acquisition unit.
Floor label can be replaced by the laser range finder of installation on elevator car, obtains the elevator height through measuring the distance of elevator car and elevator well bottom or the fixed reference thing in top, converts out the floor position, installation laser range finder is connected with floor signal acquisition unit communication.
According to the robot and elevator interaction method and system, before the robot takes the elevator, elevator position information is obtained in advance, and then the elevator is called in advance according to the time when the robot travels to the elevator position and the time when the elevator reaches the floor where the robot is located; by acquiring the instantaneous opening and closing state of the elevator door, the elevator entering and exiting actions are started at the moment of opening the elevator door, and the elevator door does not need to be started after being completely opened, so that the time is saved, and the working efficiency of the robot is further improved; after the elevator arrives at the floor where the robot is located, if the robot encounters an obstacle and arrives at the elevator in a delayed manner in the process of traveling to the elevator position, the elevator is kept at the floor where the robot is located in a manner of calling the elevator at intervals of set time by the robot, and the phenomenon that the elevator leaves when the robot does not enter the elevator is effectively avoided.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
Claims (7)
1. A robot and elevator interaction system is characterized in that: comprises that
The robot control unit is arranged on the robot, and the first communication module is communicated with the robot control unit;
the elevator comprises an open-close state acquisition device arranged on an elevator car, an elevator control unit for controlling the operation and the stop of an elevator and the opening of an elevator door, a floor information acquisition unit and a second communication module communicated with the elevator control unit; the elevator control unit is communicated with the opening and closing state acquisition device;
the floor tag is arranged in the elevator shaft and is matched with the floor information acquisition unit to realize elevator position information acquisition;
the first communication module is in signal communication with the second communication module.
2. The robot and elevator interaction system of claim 1, wherein: the open-close state acquisition device is connected with the elevator control unit and sends out the open-close state of the door through the second communication module, so that the robot can acquire the open-close state of the elevator door.
3. The robot and elevator interaction system of claim 1, wherein: the floor information of the car place that the floor information acquisition unit gathered, the rethread second communication module sends away the floor signal at car place, and the robot acquires the floor information at car place through first communication module.
4. The robot and elevator interaction system of claim 1, wherein: the number of the floor labels is consistent with the number of floors, and each floor label is provided with an independent code corresponding to the floor.
5. The robot and elevator interaction system of claim 4, wherein: the floor tags are graphic tags and are read by a camera mounted on an elevator car, the number of the graphic tags is consistent with that of the 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 acquisition unit.
6. The robot and elevator interaction system of claim 4, wherein: the floor tag 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, and the carrier-free communication receiver is in communication connection with the floor signal acquisition unit.
7. The robot and elevator interaction system of claim 4, wherein: floor label can be replaced by the laser range finder who installs on elevator car, obtains the elevator height through measuring the distance of elevator car and elevator well bottom or the fixed reference object in top, converts out the floor position, laser range finder is connected with floor signal acquisition unit communication.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920167609 | 2019-01-30 | ||
| CN2019201676096 | 2019-01-30 |
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| CN210735884U true CN210735884U (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920338132.3U Active CN210735884U (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction system |
| CN201910201660.9A Active CN109748165B (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction method |
| CN201910271021.XA Pending CN110116947A (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interactive system and method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
| CN201920453032.5U Active CN210710187U (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system |
| CN201910271019.2A Active CN109987463B (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system and method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910201660.9A Active CN109748165B (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction method |
| CN201910271021.XA Pending CN110116947A (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interactive system and method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
| CN201920453032.5U Active CN210710187U (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system |
| CN201910271019.2A Active CN109987463B (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system and method |
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| WO (3) | WO2020155858A1 (en) |
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2019
- 2019-03-18 CN CN201920338132.3U patent/CN210735884U/en active Active
- 2019-03-18 CN CN201910201660.9A patent/CN109748165B/en active Active
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| CN109748165A (en) * | 2019-01-30 | 2019-05-14 | 苏州优智达机器人有限公司 | A kind of robot and elevator exchange method |
| CN109748165B (en) * | 2019-01-30 | 2024-05-14 | 苏州优智达机器人有限公司 | Robot and elevator interaction method |
| CN112207832A (en) * | 2020-10-16 | 2021-01-12 | 拉扎斯网络科技（上海）有限公司 | Method for entering bearing equipment, mobile equipment, electronic equipment and storage medium |
| CN112207832B (en) * | 2020-10-16 | 2021-10-08 | 拉扎斯网络科技（上海）有限公司 | Method for entering bearing equipment, mobile equipment, electronic equipment and storage medium |
| CN113844964A (en) * | 2021-10-11 | 2021-12-28 | 上海擎朗智能科技有限公司 | Control method and device for robot to take advantage of ladder, electronic equipment and storage medium |
| CN114104881A (en) * | 2021-11-15 | 2022-03-01 | 北京云迹科技有限公司 | Robot control method and device, electronic equipment and readable storage medium |
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|---|---|
| CN110116947A (en) | 2019-08-13 |
| CN210710187U (en) | 2020-06-09 |
| WO2020155860A1 (en) | 2020-08-06 |
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| WO2020155858A1 (en) | 2020-08-06 |
| CN109987463A (en) | 2019-07-09 |
| CN210824958U (en) | 2020-06-23 |
| CN109748165B (en) | 2024-05-14 |
| CN109748165A (en) | 2019-05-14 |
| CN109987463B (en) | 2024-03-19 |
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