CN105600631A - Automatic elevator entrance and exit system and method - Google Patents
Automatic elevator entrance and exit system and method Download PDFInfo
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- CN105600631A CN105600631A CN201610073323.2A CN201610073323A CN105600631A CN 105600631 A CN105600631 A CN 105600631A CN 201610073323 A CN201610073323 A CN 201610073323A CN 105600631 A CN105600631 A CN 105600631A
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- elevator
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- robot
- lift car
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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
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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
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
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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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an automatic elevator entrance and exit system and method. The system can comprise an internal calling control unit, a server and a wireless control unit, wherein the internal calling control unit is arranged in an elevator car, is connected to a keying circuit of the elevator car, and can be used for acquiring an elevator state and lightening keys of the elevator car; the server communicates with the internal calling control unit in a wireless manner, and can be used for acquiring an elevator state and controlling the internal calling control unit to lighten a key of the elevator car at a floor where a robot or an intelligent vehicle is located; and the wireless control unit is positioned on the robot or the intelligent vehicle, communicates with the server and the internal calling control unit in a wireless manner, and can be used for controlling the server to call an elevator and the internal calling control unit to lighten the key of the elevator car at an assigned floor.
Description
Technical field
The present invention relates to a kind of system of automatic turnover elevator, more specifically, relate to a kind of robot or intelligenceEnergy vehicle passes in and out the system and method for elevator automatically.
Background technology
Along with the development of smart machine, many intelligent vehicles and robot are widely applied.Particularly the appearance of the robot of commercial service is recently freed hotel staff especially from loaded down with trivial details thingOut, complete guiding, send the things such as thing by robot or intelligent vehicle. So not only can make client's bodyCan, to high-tech enjoyment, more can reduce the personnel cost in hotel, be a development trend of future technology.
Inventor's discovery, robot or intelligent vehicle, in the situation that guiding, sending the tasks such as thing, needCall out and pass in and out elevator to arrive needed floor, therefore, be necessary to develop a kind of robot or intelligent vehicleThe automatically system and method for turnover elevator.
The information that is disclosed in disclosure background technology part is only intended to deepen general background technology of the present disclosureUnderstanding, and should not be regarded as admitting or imply that in any form this information structure is for art technology peopleThe prior art that member is known.
Summary of the invention
The disclosure has proposed a kind of system and method for automatic turnover elevator, and it can be by making robot or intelligenceCan carry out automatic call elevator by the wireless elevator of lighting by vehicle, and enter the electricity of lighting designated floor after elevatorLadder car button exits elevator automatically, and realizing robot or intelligent vehicle, automatically to pass in and out elevator required to arriveThe floor of wanting completes its task.
According to one side of the present disclosure, a kind of system of automatic turnover elevator has been proposed, described system can be wrappedDraw together: inside exhale control module, it is positioned at lift car inside, and be connected in lift car key circuit, inExhale control module can obtain state of elevator, light lift car button; Server, its by wireless with inExhale control module communication, obtain in state of elevator control and exhale control module to light robot or intelligent vehicle instituteAt the lift car button of floor, and wireless energy control units, it is positioned on robot or intelligent vehicle, nothingLine traffic control unit by wireless respectively with server with in exhale control module to communicate by letter, Control Server call out elevator,And exhale control module to light the lift car button of designated floor in controlling.
According to another aspect of the present disclosure, a kind of method of automatic turnover elevator has been proposed, described method is passableComprise: the in the situation that of robot or intelligent vehicle arrival assigned address, wireless energy control units Control ServerObtain state of elevator and light robot or the lift car button of intelligent vehicle place floor with call out elevator;In the situation that state of elevator is elevator arrival, wait for that first scheduled time also entered elevator; In robot orIntelligent vehicle enters in the situation of elevator, lights designated floor and obtains state of elevator; And at state of elevatorFor elevator arrives in the situation of designated floor, waited for for the 3rd scheduled time and exit elevator.
Method and apparatus of the present disclosure has other characteristic and advantage, and these characteristics and advantage are from being incorporated to hereinIn accompanying drawing and specific embodiment subsequently in will be apparent, or by the accompanying drawing being incorporated hereinIn specific embodiment subsequently, state in detail, these the drawings and specific embodiments are jointly for explaining thisDisclosed certain principles.
Brief description of the drawings
In conjunction with the drawings disclosure exemplary embodiment is described in more detail, of the present disclosure above-mentioned withAnd other object, Characteristics and advantages will become more obvious, wherein, in disclosure exemplary embodiment,Identical reference number represents same parts conventionally.
Fig. 1 shows according to the schematic diagram of the system of automatic turnover elevator of the present disclosure.
Fig. 2 shows according to exhaling control module and lift car in the system of automatic turnover elevator of the present disclosureThe schematic diagram of the connection of key circuit.
Detailed description of the invention
Preferred embodiment of the present disclosure is described below with reference to accompanying drawings in more detail. Although shown this in accompanying drawingDisclosed preferred embodiment, but should be appreciated that, can realize the disclosure with various forms and should be by not hereThe embodiment setting forth limits. On the contrary, it is in order to make the disclosure more thorough and complete that these embodiment are provided,And the scope of the present disclosure intactly can be conveyed to those skilled in the art.
Embodiment 1
Fig. 1 shows according to the schematic diagram of the system of automatic turnover elevator of the present disclosure.
In this embodiment, can comprise according to the system of automatic turnover elevator of the present disclosure: inside exhale and control listUnit 101, server 102 and wireless energy control units 103. Inside exhale control module 101 can be positioned at lift carInside, and be connected in lift car key circuit 104, inside exhale control module 101 can obtain elevator shapeState, lights lift car button; Server 102 can by wireless with in exhale control module 101 to communicate by letter,Obtaining in state of elevator control exhales control module 101 to light the elevator of robot or intelligent vehicle place floorCar button; Wireless energy control units 103 can be positioned on robot or intelligent vehicle, by wireless respectively withServer 102 with in exhale control module 101 to communicate by letter, Control Server 102 is called out elevator, and control in exhaleControl module 101 is lighted the lift car button of designated floor.
This embodiment is by making robot or intelligent vehicle carry out automatic call elevator by the wireless elevator of lighting, andExit elevator from moving entering the lift car button of lighting designated floor after elevator, realize robot or intelligenceEnergy vehicle automatically passes in and out elevator and completes its task to arrive needed floor.
Describe in detail below according to the system of automatic turnover elevator of the present disclosure.
Obtain state and light button
In one example, inside exhale control module 101 can be positioned at lift car inside, and be connected to elevatorIn car key circuit 104, inside exhale control module 101 can obtain state of elevator, light lift carKey; Server 102 can by wireless with in exhale control module 101 to communicate by letter, obtain state of elevator and controlInside exhale control module 101 to light the lift car button of robot or intelligent vehicle place floor.
In one example, inside exhale control module 101 can be parallel to lift car key circuit 104, pass throughRead the level of lift car key circuit 104 to obtain state of elevator, by conducting lift car button electricityRoad 104 is to light the lift car button of robot or intelligent vehicle place floor or designated floor. Particularly,Can adopt method in parallel, by photoelectrical coupler and relay respectively with lift car button two ends, LEDLamp two ends join, and then state and the trigger button switch of inquiry LED lamp.
In inquiry lift car key circuit when the state of LED lamp, can be by photoelectrical coupler control end"+" end joins with the positive pole of elevator button, and "-" end joins with the negative pole of elevator button, elevator button like thisLED lamp light after, just have electric current and flow through from photoelectrical coupler control end, and then controlled terminal will beReveal low level state, on the contrary, if the LED lamp in elevator button wiring diagram is not lighted, controlledEnd will present the state of high level. Like this, by ceaselessly inquiring about and just can know LED in elevator buttonThe state of lamp.
In the time that needs are lighted lift car button, can be by of one end of Control end and elevator buttonEnd joins, and the other end of Control end and the other end of elevator button join, like this by controlling relayThe control end of device just can conducting elevator button two ends, and then the bright robot of control point bright spot or intelligent vehicle instituteAt the lift car button of floor or designated floor.
In fact, when the people in car presses elevator button, two wires of elevator plate internal switch button because ofShort circuit and conducting, now apparatus for controlling elevator receives the signal of button short circuit, can trigger a high level and enterAnd light corresponding LED lamp, in the time of the corresponding floor of elevator car arrives, corresponding LED lamp extinguishes, high electricityThe flat low level that becomes. According in the system of automatic turnover elevator of the present disclosure, inside exhale control module 101 to controlButton processed has two wires, and the state that detects lamp has two wires. For each elevator button, inside exhale controlUnit 101 can have 4 wires to connect, and two wires are parallel to elevator button two ends, adopts relay sideCase, realizes electromagnetic isolation; Two wires are parallel to the two ends of LED lamp, adopt voltage detecting scheme, realizePhotoelectricity isolation.
Fig. 2 shows according to exhaling control module 101 and elevator in the system of automatic turnover elevator of the present disclosureThe schematic diagram of a kind of connected mode of car key circuit 104. As shown in Figure 2, inside exhale control module 101201 ends can be connected to the positive pole of LED lamp, 202 ends can be connected to the positive pole of elevator button, 203End can, for holding altogether, can be connected to the negative pole (or ground connection) of LED lamp and elevator button simultaneously. But,It will be appreciated by those skilled in the art that can adopt in various connected mode general known in the art and exhale and control listUnit 101 is connected to lift car key circuit 104, to obtain state and the lightening LED lamp of elevator.
Call out and enter elevator
In one example, wireless energy control units 103 can be positioned on robot or intelligent vehicle, by nothingLine is communicated by letter with server 102, and Control Server 102 is called out elevator. In fact, at lift car not at machineWhen device people or intelligent vehicle place floor, wireless energy control units 103 cannot be set up with the interior control module 101 of exhalingWireless connections, therefore can make wireless energy control units 103 first carry out radio communication with server 102, and thenIn being controlled by server 102, exhale control module 101 to obtain state of elevator and call out elevator.
In one example, to call out elevator can comprise: arrive assigned address at robot or intelligent vehicleIn situation, described wireless energy control units 103 Control Servers 102 obtain state of elevator and light robot orThe lift car button of intelligent vehicle place floor is to call out elevator; And be that elevator arrives at state of elevatorIn situation, waited for for first scheduled time and enter elevator.
In one example, entering elevator can comprise: judge whether front meets entry condition; ForwardlyDo not meet in the situation of entry condition, waited for for second scheduled time and again judge the whether satisfied bar that enters in frontPart; In the situation that judging that front does not meet entry condition and reaches the first pre-determined number, be defined as enteringElevator, and after elevator leaves, again call out elevator; And meet forwardly in the situation of entry condition, enterEnter elevator.
In fact, be " going out " if inquire the state of corresponding LED lamp, mean that elevator arrivesReach robot place floor. Now, (object is that wait elevator cab door is beaten can to wait for for first scheduled timeOpen), can judge afterwards whether front meets entry condition. Not meeting forwardly (can in the situation of entry conditionCan situation be that car people is more, or the interlock elevator adopting, be not certain elevator arrival etc.), wait for secondThe scheduled time, rejudge front and whether meet entry condition and attempt certain number of times (the first pre-determined number).In the situation that judging that front does not meet entry condition and reaches the first pre-determined number, be defined as entering elevator,And after leaving, again calls out in elevator elevator.
In one example, first scheduled time can, for the time of waiting for that elevator door is opened, can be set to1-5s, preferably, first scheduled time can be set to 2s.
In one example, second scheduled time can for again judge front whether meet entry condition etc.Treat the time, can be set to 3-15s, preferably, second scheduled time can be set to 5s.
In one example, the first pre-determined number can be for to judge that front does not meet the judgement number of times of entry condition,Can be set to 2-10 time, preferably, the first pre-determined number can be set to 3 times.
In one example, can judge that whether front meets and enter by laser sensor or Xtion sensorCondition. But it will be appreciated by those skilled in the art that and can adopt various sensing known in the art or observation sideFormula judges whether front meets entry condition.
Exit elevator
In one example, wireless energy control units 103 can by wireless with in exhale control module 101 to communicate by letter,In control, exhale control module 101 to light the lift car button of designated floor. In fact, robot or intelligenceVehicle is in lift car time, wireless energy control units 103 can be directly with in exhale the wireless company of control module 101Connect, thereby exhale control module 101 to light the lift car button of designated floor in controlling.
In one example, exiting elevator can comprise: the situation that enters elevator at robot or intelligent vehicleUnder, light designated floor and obtain state of elevator; And be the feelings that elevator arrives designated floor at state of elevatorUnder condition, waited for for the 3rd scheduled time and exit elevator.
In one example, exiting elevator can comprise: judge whether front meets exit criteria; ForwardlyDo not meet in the situation of exit criteria, waited for for the 4th scheduled time and again judge whether front meets and exit articlePart; In the situation that judging that front does not meet exit criteria and reaches the second pre-determined number, be defined as exitingElevator, and after elevator leaves designated floor, again light designated floor; And meet forwardly exit criteriaSituation under, exit elevator.
Particularly, in the situation that robot or intelligent vehicle enter elevator, light the button of designated floor alsoObtain state of elevator, when the state of LED lamp that inquires designated floor is when " going out ", mean that elevatorThrough arriving the required floor going of robot, waited for for the 3rd scheduled time (object is that wait car door is opened);Judge whether afterwards to meet exit criteria, do not meet forwardly that in the situation of exit criteria, (possible situation is sedan-chairPeople from railway carriage or compartment is more, has blocked the space in front), waited for for the 4th scheduled time and again judge whether to meet and exit articlePart; In the situation that judging that front does not meet exit criteria and reaches the second pre-determined number, be defined as exitingElevator, and after elevator leaves designated floor, again light designated floor; And meet forwardly exit criteriaSituation under, exit elevator.
In one example, the 3rd scheduled time can, for the time of waiting for that elevator door is opened, can be set to1-5s, preferably, the 3rd scheduled time can be set to 2s.
In one example, the 4th scheduled time can for again judge front whether meet exit criteria etc.Treat the time, can be set to 3-15s, preferably, the 4th scheduled time can be set to 5s.
In one example, the second pre-determined number can be for to judge that front does not meet the judgement number of times of exit criteria,Can be set to 2-10 time, preferably, the first pre-determined number can be set to 3 times.
In one example, can judge that whether front meets and exit by laser sensor or Xtion sensorCondition. But it will be appreciated by those skilled in the art that and can adopt various sensing known in the art or observation sideFormula judges whether front meets exit criteria.
In one example, server 102 can be for being positioned at the network server of outside machine room, controlled in wirelessUnit 103 can by 2.4G radio communication respectively with server 102 and in exhale control module 101 to lead toLetter. It will be understood by those skilled in the art that radio communication of the present disclosure is not limited to this, wireless energy control units103 can by various wireless communication technologys known in the art and server 102 and in exhale control module 101Communicate for example 433M, UWB etc.
In one example, server 102 can be for being positioned at the outer network server in high in the clouds, wireless energy control units103 by 4G radio communication respectively with server 102 and in exhale control module 101 to communicate. This areaTechnical staff should understand, and radio communication of the present disclosure is not limited to this, and wireless energy control units 103 can be led toCross various remote radio communication technology known in the art and server 102 and in exhale control module 101 to carry outCommunication, for example 2G, 3G, 4G etc.
In one example, wireless energy control units 103 can also comprise height sensor, and it can obtain works asThe residing height of front robot or intelligent vehicle. Wireless energy control units 103 can be based on current robot or intelligenceThe residing height of energy vehicle, judges whether state of elevator is that elevator arrives designated floor. Particularly, can be pre-First set the corresponding altitude range of the corresponding number of plies, for example, can set the height of the 3rd layer, corresponding elevatorFor 9-12 rice, the current robot of obtaining when height sensor or the residing height of intelligent vehicle 9-12 rice itBetween time, wireless energy control units 103 can judge state of elevator be elevator arrive designated floor (3 layers), therebyCan further carry out the operation of waiting for for the 3rd scheduled time and exiting elevator. In system, add controlled in wirelessUnit 103 can exhale control module 101 to obtain state of elevator to combine with interior to highly judging, thereby guaranteesRobot or intelligent vehicle arrive correct floor, have reduced the risk of makeing mistakes.
It will be understood by those skilled in the art that the object of the description to embodiment of the present disclosure is above only for exampleThe beneficial effect of property ground explanation embodiment of the present disclosure, be not intended to by embodiment of the present disclosure be limited toAny example going out.
Embodiment 2
According to embodiment of the present disclosure, a kind of method of automatic turnover elevator is provided, described method can be wrappedDraw together: the in the situation that of robot or intelligent vehicle arrival assigned address, wireless energy control units Control Server obtainsGet state of elevator and light robot or the lift car button of intelligent vehicle place floor with call out elevator; ?State of elevator is in the situation of elevator arrival, waits for that first scheduled time also entered elevator; In robot or intelligenceCan enter in the situation of elevator by vehicle, light designated floor and obtain state of elevator; And at state of elevator beElevator arrives in the situation of designated floor, waits for for the 3rd scheduled time and exits elevator.
This embodiment is by making robot or intelligent vehicle carry out automatic call elevator by the wireless elevator of lighting, andExit elevator from moving entering the lift car button of lighting designated floor after elevator, realize robot or intelligenceEnergy vehicle automatically passes in and out elevator and completes its task to arrive needed floor.
In one example, entering elevator can comprise: judge whether front meets entry condition; ForwardlyDo not meet in the situation of entry condition, waited for for second scheduled time and again judge the whether satisfied bar that enters in frontPart; In the situation that judging that front does not meet entry condition and reaches the first pre-determined number, be defined as enteringElevator, and after elevator leaves, again call out elevator; And meet forwardly in the situation of entry condition, enterEnter elevator.
In one example, exiting elevator can comprise: judge whether front meets exit criteria; ForwardlyDo not meet in the situation of exit criteria, waited for for the 4th scheduled time and again judge whether front meets and exit articlePart; In the situation that judging that front does not meet exit criteria and reaches the second pre-determined number, be defined as exitingElevator, and after elevator leaves designated floor, again light designated floor; And meet forwardly exit criteriaSituation under, exit elevator.
It will be understood by those skilled in the art that the object of the description to embodiment of the present disclosure is above only for exampleThe beneficial effect of property ground explanation embodiment of the present disclosure, be not intended to by embodiment of the present disclosure be limited toAny example going out.
Below described each embodiment of the present disclosure, above-mentioned explanation is exemplary, not exhaustive,And be also not limited to disclosed each embodiment. Do not departing from the scope and spirit of illustrated each embodimentIn situation, many modifications and changes are all apparent for those skilled in the art.The selection of term used herein, is intended to explain best the principle, practical application of each embodiment or to marketIn the improvement of technology, or make other those of ordinary skill of the art can understand disclose each hereinEmbodiment.
Claims (10)
1. a system that automatically passes in and out elevator, described system comprises:
Inside exhale control module, it is positioned at lift car inside, and is connected in lift car key circuit instituteIn stating, exhale control module can obtain state of elevator, light lift car button;
Server, its by wireless and described in exhale control module to communicate by letter, obtain state of elevator and control described inInside exhale control module to light the lift car button of robot or intelligent vehicle place floor, and
Wireless energy control units, it is positioned on robot or intelligent vehicle, and described wireless energy control units is by wirelessRespectively with described server with described in exhale control module to communicate by letter, control described server and call out elevator, and controlMaking in described exhales control module to light the lift car button of designated floor.
2. the system of automatic turnover elevator according to claim 1, wherein, exhales control module in describedBe parallel to described lift car key circuit, the level by reading described lift car key circuit is to obtainState of elevator, by lift car key circuit described in conducting to light robot or intelligent vehicle place floorOr the lift car button of designated floor.
3. the system of automatic turnover elevator according to claim 1, wherein, turnover elevator comprises:
In the situation that robot or intelligent vehicle arrive assigned address, described in described wireless energy control units controlServer obtain state of elevator and light robot or the lift car button of intelligent vehicle place floor with call outElevator;
In the situation that state of elevator is elevator arrival, wait for that first scheduled time also entered elevator;
In the situation that robot or intelligent vehicle enter elevator, light designated floor and obtain state of elevator;And
In the situation that state of elevator is elevator arrival designated floor, the 3rd scheduled time of wait is also exited elevator.
4. the system of automatic turnover elevator according to claim 1, wherein, described server is for being positioned atThe interior network server of outside machine room, described wireless energy control units by 2.4G radio communication respectively with described serviceDevice and described in exhale control module to communicate.
5. the system of automatic turnover elevator according to claim 1, wherein, described server is for being positioned atThe outer network server in high in the clouds, described wireless energy control units by 4G radio communication respectively with described server and instituteIn stating, exhale control module to communicate.
6. the system of automatic turnover elevator according to claim 3, wherein, enters elevator and comprises:
Judge whether front meets entry condition;
Do not meet forwardly in the situation of entry condition, waited for for second scheduled time and again whether judge frontMeet entry condition;
In the situation that judging that front does not meet entry condition and reaches the first pre-determined number, be defined as enteringElevator, and after elevator leaves, again call out elevator; And
Meet forwardly in the situation of entry condition, enter elevator,
Wherein, described first scheduled time is the time of waiting for that elevator door is opened;
Described second scheduled time is again to judge whether front meets the stand-by period of entry condition; And
Described the first pre-determined number is to judge that front does not meet the judgement number of times of entry condition.
7. the system of automatic turnover elevator according to claim 3, wherein, exits elevator and comprises:
Judge whether front meets exit criteria;
Do not meet forwardly in the situation of exit criteria, waited for for the 4th scheduled time and again whether judge frontMeet exit criteria;
In the situation that judging that front does not meet exit criteria and reaches the second pre-determined number, be defined as exitingElevator, and after elevator leaves designated floor, again light designated floor; And
Meet forwardly in the situation of exit criteria, exit elevator,
Wherein, described the 3rd scheduled time is the time of waiting for that elevator door is opened;
Described the 4th scheduled time is again to judge whether front meets the stand-by period of exit criteria; And
Described the second pre-determined number is to judge that front does not meet the judgement number of times of exit criteria.
8. the system of automatic turnover elevator according to claim 3, wherein, described wireless energy control unitsBased on current robot or the residing height of intelligent vehicle, judge whether state of elevator is that elevator arrives appointment buildingLayer.
9. a method that automatically passes in and out elevator, comprising:
The in the situation that of robot or intelligent vehicle arrival assigned address, wireless energy control units Control Server obtainsGet state of elevator and light robot or the lift car button of intelligent vehicle place floor with call out elevator;
In the situation that state of elevator is elevator arrival, wait for that first scheduled time also entered elevator;
In the situation that robot or intelligent vehicle enter elevator, light designated floor and obtain state of elevator;And
In the situation that state of elevator is elevator arrival designated floor, the 3rd scheduled time of wait is also exited elevator.
10. the method for automatic turnover elevator according to claim 9,
Wherein, entering elevator comprises:
Judge whether front meets entry condition;
Do not meet forwardly in the situation of entry condition, waited for for second scheduled time and again whether judge frontMeet entry condition;
In the situation that judging that front does not meet entry condition and reaches the first pre-determined number, be defined as enteringElevator, and after elevator leaves, again call out elevator; And
Meet forwardly in the situation of entry condition, enter elevator,
Wherein, exiting elevator comprises:
Judge whether front meets exit criteria;
Do not meet forwardly in the situation of exit criteria, waited for for the 4th scheduled time and again whether judge frontMeet exit criteria;
In the situation that judging that front does not meet exit criteria and reaches the second pre-determined number, be defined as exitingElevator, and after elevator leaves designated floor, again light designated floor; And
Meet forwardly in the situation of exit criteria, exit elevator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610073323.2A CN105600631B (en) | 2016-02-02 | 2016-02-02 | System and method for automatically entering and exiting elevator |
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|---|---|---|---|
| CN201610073323.2A CN105600631B (en) | 2016-02-02 | 2016-02-02 | System and method for automatically entering and exiting elevator |
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| CN105600631B CN105600631B (en) | 2020-02-11 |
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| CN113104686A (en) * | 2018-04-11 | 2021-07-13 | 拉扎斯网络科技（上海）有限公司 | Elevator operation control method, elevator control equipment and application server |
| CN113104686B (en) * | 2018-04-11 | 2023-01-10 | 拉扎斯网络科技（上海）有限公司 | Elevator operation control method, elevator control equipment and application server |
| CN108861905A (en) * | 2018-06-22 | 2018-11-23 | 广州思八客科技有限公司 | Control method, apparatus and computer equipment that elevator is taken by robot |
| CN111099461A (en) * | 2018-10-26 | 2020-05-05 | 深圳市旺龙智能科技有限公司 | Elevator control method and system for intelligently improving reliability of robot taking elevator |
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| CN111099462B (en) * | 2018-10-26 | 2022-02-01 | 深圳市旺龙智能科技有限公司 | Intelligent robot elevator taking control method and system |
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| CN109823931B (en) * | 2019-02-28 | 2021-10-08 | 北京三快在线科技有限公司 | Elevator taking method and device for intelligent mobile equipment, electronic equipment and storage medium |
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