CN105858383A - Automatic elevator-in/out system and method - Google Patents
Automatic elevator-in/out system and method Download PDFInfo
- Publication number
- CN105858383A CN105858383A CN201610377829.2A CN201610377829A CN105858383A CN 105858383 A CN105858383 A CN 105858383A CN 201610377829 A CN201610377829 A CN 201610377829A CN 105858383 A CN105858383 A CN 105858383A
- Authority
- CN
- China
- Prior art keywords
- elevator
- lift car
- case
- robot
- intelligent vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an automatic elevator-in/out system and method. The system can comprise an internal calling unit, a distance measurement and communication unit and a main control unit, wherein the internal calling unit is positioned in an elevator car and connected with an elevator car key circuit and can lighten the elevator car key; the distance measurement and communication unit is positioned at the top end of an elevator shaft, communicates and measures distance with the internal calling unit through a wireless way, obtains the first distance value between the elevator car and the top end of the elevator shaft and receives and forwards the control signals of the main control unit; the main control unit is mounted in the robot, communicates with the distance measurement and communication unit through a wireless way and is configured to control the robot or intelligent vehicle to go in/out of the elevator.
Description
Technical field
The present invention relates to the system of a kind of automatic turnover elevator, more specifically, relate to a kind of robot or intelligence
Energy 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 have been obtained for extensively applying.
Particularly recently, the appearance of commercial service robot, frees hotel staff especially from loaded down with trivial details thing
Out, robot or intelligent vehicle complete to guide, send the things such as thing.So it is possible not only to make client's body
High-tech enjoyment can be arrived, more can reduce the personnel cost in hotel, be a development trend of future technology.
Inventor finds, robot or intelligent vehicle, in the case of guiding, sending the tasks such as thing, need
Call and pass in and out elevator floor required for arriving, therefore, it is necessary to a kind of robot of exploitation or intelligent vehicle
The system and method for automatic turnover elevator.
The information being disclosed in background of invention part is merely intended to deepen the general background technology to the present invention
Understanding, and be not construed as recognizing or imply in any form that this information structure is for people in the art
Prior art well known to Yuan.
Summary of the invention
The present invention proposes the system and method for a kind of automatic turnover elevator, and it can be by making robot or intelligence
Elevator can be automatically passed in and out by vehicle, it is achieved robot or intelligent vehicle arrive by wireless lift car key of lighting
Reach required floor and complete its task.
According to an aspect of the invention, it is proposed that the system of a kind of automatic turnover elevator, described system can be wrapped
Including: inside exhale unit, it is positioned at inside lift car, is connected in lift car key circuit, described in exhale
Unit can light lift car button；Range finding and communication unit, it is positioned at elevator stair shaft top, by nothing
Line is exhaled unit to communicate and is found range in described, obtains first between lift car and elevator stair shaft top
Distance value, receives and forwards the control signal of main control unit；And main control unit, its be arranged on robot or
In intelligent vehicle, and by wireless and described range finding and communication unit communication, described main control unit is configured to
Control robot or intelligent vehicle turnover elevator.
According to another aspect of the invention, it is proposed that a kind of method of automatic turnover elevator, described method is permissible
Including: arrive in robot or intelligent vehicle and specify position, and the feelings different from lift car place floor
Under condition, light the lift car button of robot or intelligent vehicle place floor to call elevator；In robot
Or intelligent vehicle arrive specify position, and identical with lift car place floor in the case of, light elevator
Car door opening key is to call elevator；It is, in the case of elevator arrives, to enter elevator at state of elevator；At machine
In the case of device people or intelligent vehicle are in lift car, light the lift car button of designated floor；With
And in the case of state of elevator is elevator arrival designated floor, exit elevator, wherein, enter elevator and include:
Waited for first scheduled time and judge whether front meets entry condition；The feelings of entry condition it are unsatisfactory in front
Under condition, waited for second scheduled time and again judge whether front meets entry condition；Judging that front is discontented with
In the case of foot entry condition reaches the first pre-determined number, it is defined as cannot be introduced into elevator, and leaves at elevator
After again call elevator；And in the case of front meets entry condition, enter elevator, wherein, exit
Elevator includes: waited for the 3rd scheduled time and judges whether front meets exit criteria；It is unsatisfactory for moving back in front
In the case of going out condition, waited for the 4th scheduled time and again judge whether front meets exit criteria；Sentencing
Disconnected front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, being defined as exiting elevator, and
Designated floor is again lighted after elevator leaves designated floor；And in the case of front meets exit criteria,
Exit elevator.
Methods and apparatus of the present invention has other characteristic and advantage, these characteristics and advantage from being expressly incorporated herein
In accompanying drawing and specific embodiment subsequently in will be apparent from, or by the accompanying drawing being incorporated herein
Stating in detail in specific embodiment subsequently, these the drawings and specific embodiments are provided commonly for explaining this
The certain principles of invention.
Accompanying drawing explanation
By combining accompanying drawing, exemplary embodiment of the present is described in more detail, the present invention above-mentioned with
And other purpose, feature and advantage will be apparent from, wherein, in exemplary embodiments of the present invention,
Identical reference number typically represents same parts.
Fig. 1 shows the schematic diagram of the system of the elevator of turnover automatically according to the present invention.
Fig. 2 exhales unit and lift car button in showing the system of the elevator of turnover automatically according to the present invention
The schematic diagram of the connection of circuit.
Detailed description of the invention
It is more fully described the present invention below with reference to accompanying drawings.Although accompanying drawing showing, the present invention's is preferred real
Execute example, however, it is to be appreciated that may be realized in various forms the present invention and should be by embodiments set forth here
Limited.On the contrary, it is provided that these embodiments are to make the present invention more thorough and complete, and can be by
The scope of the present invention intactly conveys to those skilled in the art.
Embodiment 1
Fig. 1 shows the schematic diagram of the system of the elevator of turnover automatically according to the present invention.
In this embodiment, exhale in may include that according to the system of the automatically turnover elevator of the present invention unit 101,
Range finding and communication unit 102 and main control unit 103.Inside exhale unit 101 to be positioned at inside lift car, connect
In lift car key circuit 104, described in exhale unit 101 can light lift car button；Range finding
And communication unit 102 is positioned at elevator stair shaft top, by wireless with described in exhale unit 101 to communicate and
Range finding, obtains the first distance value between lift car and elevator stair shaft top, receives and forward main control unit
The control signal of 103；Main control unit 103 is arranged in robot or intelligent vehicle, and by wireless and described
Range finding and communication unit 102 communicate, and main control unit 103 is configured to control robot or intelligent vehicle turnover
Elevator.
This embodiment is passed in and out by wireless lift car key of lighting automatically by making robot or intelligent vehicle
Elevator, it is achieved the floor required for robot or intelligent vehicle arrival completes its task.
The following detailed description of the system automatically passing in and out elevator according to the present invention.
Calling elevator
In one example, inside exhale unit 101 to may be located at inside lift car, be connected to lift car
In key circuit 104, it is possible to light lift car button；Range finding and communication unit 102 may be located at elevator ladder
Well top, by wireless and described in exhale unit 101 communicate and find range, obtain lift car and elevator
The first distance value between stair shaft top, receives and forwards the control signal of main control unit 103；Main control unit
103 may be mounted in robot or intelligent vehicle, and are led to described range finding and communication unit 102 by wireless
Letter, main control unit 103 is configured to control robot or intelligent vehicle turnover elevator.
It practice, in the case of robot or intelligent vehicle arrive and specify position (elevator doorway), need
Calling elevator is to enter lift car.And exist when elevator cab door is closed signal isolation, robot or
The main control unit 103 of intelligent vehicle cannot exhale the unit 101 directly company of foundation with being positioned within lift car
Connect, accordingly, it would be desirable to exhale unit 101 in connecting by other means.
Preferably, can be provided with and be positioned at range finding and communication unit 102, the main control unit on elevator stair shaft top
103 can carry out radio communication with range finding and communication unit 102.Wherein, main control unit 103 can pass through
433M radio communication communicates with range finding and communication unit 102.433M radio communication has the most through walls
Ability, in the case of the building at elevator place is not the highest (such as, not higher than 50 meters), master control list
Signal between unit 103 and range finding and communication unit 102 is more stable.But those skilled in the art should manage
Solving, the present invention is not restricted to this, can use between main control unit 103 and range finding and communication unit 102
Various communication known in the art communicates.
Preferably, range finding and communication unit 102 can include the UWB base station being positioned at elevator stair shaft top, logical
Cross in the wireless signal received is sent to by UWB base station and exhale unit 101.Specifically, unit 101 is inside exhaled
Can include the UWB label being positioned at elevator car roof, UWB label and range finding and communication unit 102
Wireless connections are carried out by UWB communication so that inside exhale unit 101 finally to receive between UWB base station
To the control signal of main control unit 103, simultaneously, it is achieved the range finding between lift car and elevator stair shaft top.
It is to be understood by those skilled in the art that the present invention is not restricted to this, can use between label and base station
Various communication known in the art communicates and/or finds range, and, UWB base station and UWB
Label can also lay respectively at bottom elevator stair shaft bottom and lift car, or be placed on and be easy to UWB base station
And other positions of range finding between UWB label.
In one example, inside exhale unit 101 can be parallel to described lift car key circuit 104, pass through
Turn on described lift car key circuit 104 to light lift car button.Research lift car key control
Principle can see that the lift car button lighting designated floor in lift car, lift car will before
Toward designated floor, same principle can be used according to the system of the elevator of turnover automatically of the present invention.Inside exhale list
Unit 101 can be in parallel with multiple lift car buttons respectively by multiple relays.Can be by Control
One end of end connects with one end of lift car button, the other end of Control end and lift car button
The other end connect, so by control relay control end just can turn on elevator button two ends, and then
Light lift car button.
Fig. 2 exhales unit 101 and lift car in showing the system of the elevator of turnover automatically according to the present invention
A kind of schematic diagram of the connected mode of key circuit 104.201 ends of unit 101 are exhaled in as in figure 2 it is shown,
May be coupled to the positive pole of lift car button, 202 ends may be coupled to the negative pole of lift car button and (or connect
Ground).It will be appreciated by those skilled in the art that and various connected mode known in the art can be used to exhale list by interior
Unit 101 is connected to lift car key circuit 104, to light the LED of lift car button.
Preferably, multiple relays can only connect multiple floors of robot or the arrival of intelligent vehicle needs
Lift car button.Such as, if robot only needs 1,2,6,8 ... and layer (possible situation is 3-5,7
Layer is region, non-guest room, and robot does not have 3-5, the task of 7 layers), then relay 1 can be made to connect 1
Layer button, relay 2 connects 2 layers of button, and relay 3 connects 6 layers of button, and relay 4 connects 8 layers
Button etc..As such, it is possible to be effectively improved the utilization ratio of hardware resource.
In one example, arrive at robot or intelligent vehicle and specify position, and with lift car place
In the case of floor difference, described main control unit can control described in exhale unit to light robot or intelligent vehicle
The lift car button of place floor is to call elevator；Arrive in robot or intelligent vehicle and specify position,
And in the case of identical with lift car place floor, described main control unit can control described in exhale unit
Light lift car door opening key to call elevator.
Specifically, in the case of robot or intelligent vehicle arrive and specify position (that is, elevator doorway),
Unit 101 can be exhaled to call elevator in being controlled by main control unit 103.If robot or intelligent vehicle
Different from the floor at lift car place, then can light robot or intelligent vehicle place floor (specifies building
Layer) lift car button, lift car will go to designated floor.If lift car has been positioned at machine
Device people or the floor at intelligent vehicle place, then according to the setting of elevator self, now light the elevator of this floor
If car button, this lift car button can extinguish again, and elevator cab door also will not be opened.Therefore,
Need to light lift car door opening key, so that elevator cab door is opened.
In one example, at robot or the demarcation distance value of intelligent vehicle place floor and the first distance value
Between difference more than setting in the case of threshold value, determine robot or intelligent vehicle and building, lift car place
Layer is different；And between robot or demarcation distance value and first distance value of intelligent vehicle place floor
In the case of difference is less than or equal to setting threshold value, determine robot or intelligent vehicle and lift car place floor
Identical.
In particular it is required that by range finding and communication unit 102 with interior exhale unit 101 to find range, to obtain
The first distance value between lift car and elevator stair shaft top.Inside exhale unit 101 to finding range and can communicate
Unit 102 sends distance measurement request, then, between UWB label and UWB base station the short time (such as,
Repeatedly find range in 100ms), obtain the multiple distance values between lift car and elevator stair shaft top.So
After, remove the minima in multiple distance value and maximum, ask for the average distance of remaining multiple distance value
Value, using this average departure distance values as the first distance value between lift car and elevator stair shaft top.Wherein,
Range finding number of times can be 3-20 time, it is preferable that range finding number of times can be 5 times.
Preferably, UWB label can be mutually aligned with in the vertical direction with UWB base station, so that range finding knot
Fruit is more accurate.
Preferably, when elevator is installed the system automatically passing in and out elevator according to the present invention, can be to each
The distance value of floor carries out initial alignment, to obtain the demarcation distance value of each floor.Such as, at elevator car
When railway carriage or compartment is positioned at 1 layer, unit 101 and range finding and communication unit 102 in passing through, can be exhaled repeatedly to demarcate survey
Away from, obtain the multiple distance values between lift car and elevator stair shaft top.Then, multiple distance value is removed
In minima and maximum, ask for the average departure distance values of remaining multiple distance value, by this average departure distance values
As the demarcation distance value of 1 layer.By that analogy, it is possible to obtain obtain the demarcation distance value of each floor.Respectively
The demarcation distance value of individual floor can be exhaled in unit 101 or range finding and communication unit 102 in being stored in, such as,
Can exhale in being stored in the flash memory of unit 101 or range finding and communication unit 102.Wherein, every layer
Demarcate range finding number of times can be 50-200 time, it is preferable that demarcation find range number of times can be 100 times.
When robot or intelligent vehicle call elevator, inside exhale unit 101 can send distance measurement request, thus
Obtain the first distance value now.Robot or the demarcation distance value of intelligent vehicle place floor and first away from
In the case of difference between distance values is more than certain range of error (more than setting threshold value), it may be determined that machine
Device people or intelligent vehicle are different from lift car place floor；And at robot or intelligent vehicle place floor
Demarcate the difference between distance value and the first distance value in certain range of error (less than or equal to setting threshold value)
In the case of, it may be determined that robot or intelligent vehicle are identical with lift car place floor.This setting threshold value
Can be 0.2m-1.5m, it is preferable that this setting threshold value can be 1m.In general, between floor
It is divided into about 3m, uses this setting threshold value can be prevented effectively from the state of false judgment elevator.
Then, in the case of state of elevator is elevator arrival, robot or intelligent vehicle can enter elevator.
In one example, exhale unit 101 by 2.4G channel radio at described main control unit 103 in described
Letter is directly set up in the case of connecting, it may be determined that state of elevator is that elevator arrives.When elevator arrives, elevator
Car door is opened, and main control unit 103 and interior exhaling can be isolated with ring off signal between unit 101, directly set up
Connecting, now, main control unit 103 may determine that state of elevator is that elevator arrives.But those skilled in the art
Should be appreciated that and can use various communication known in the art, such as 433M, UWB etc.,
With realize main control unit 103 and interior exhale between unit 101 be directly connected to.
Enter elevator
In one example, enter elevator may include that first scheduled time of wait and judge that front is the fullest
Foot entry condition；In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again judge
Whether front meets entry condition；Judging that front is unsatisfactory for entry condition and reaches the situation of the first pre-determined number
Under, it is defined as cannot be introduced into elevator, and after elevator leaves, again calls elevator；And meet in front into
In the case of entering condition, enter elevator.
It practice, determine that lift car has arrived at robot place floor.At this point it is possible to wait that first is pre-
Fix time (purpose is to wait for elevator cab door and fully opens), may determine that whether front meets afterwards and enter bar
Part.In the case of front is unsatisfactory for entry condition, (possible situation is that car people is more, and front has people
Enter elevator etc.), waited for second scheduled time, rejudge whether front meets entry condition and attempt certain time
Number (the first pre-determined number).Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number,
It is defined as cannot be introduced into elevator, and after elevator leaves, again calls elevator.
In one example, first scheduled time can be to wait the time that elevator cab door fully opens, can
To be set to 1-5s, it is preferable that first scheduled time could be arranged to 2s.
In one example, second scheduled time can be again judge front whether meet entry condition etc.
Treat the time, could be arranged to 3-15s, it is preferable that second scheduled time could be arranged to 5s.
In one example, the first pre-determined number can be to judge the judgement number of times that front is unsatisfactory for entry condition,
Could be arranged to 2-10 time, it is preferable that the first pre-determined number could be arranged to 3 times.
In one example, described main control unit can judge front by laser sensor or Xtion sensor
Whether meet entry condition.It is to be understood by those skilled in the art that can use known in the art various
Sensing or view mode judge whether front meets entry condition.
Exit elevator
In one example, in the case of robot or intelligent vehicle are in lift car, can light
The lift car button of designated floor；It is in the case of elevator arrives designated floor at state of elevator, robot
Or intelligent vehicle can exit elevator..
In one example, the difference demarcated between distance value and the first distance value in designated floor is less than
In the case of setting threshold value, determine that state of elevator is that elevator arrives designated floor.
Specifically, when robot or intelligent vehicle are in lift car, main control unit 103 can control
Unit 101 is inside exhaled to light the lift car button of designated floor, so that lift car goes to designated floor.?
During lift car moves, unit 101 is inside exhaled (such as, 100ms) to send at certain intervals
Distance measurement request, thus obtain the first distance value in real time.Demarcation distance value and the first distance value in designated floor
Between difference in certain range of error (setting threshold value) time, it is possible to think that state of elevator is elevator
Have arrived at designated floor, elevator can be exited.This setting threshold value can be 0.2m-1.5m, it is preferable that should
Setting threshold value can be 1m.
Owing to the time interval of distance measurement request is shorter, and can communicate by UWB communication simultaneously and survey
Away from, therefore the response speed of robot or intelligent vehicle is very fast, when lift car arrives designated floor, permissible
Perform to exit the logic of elevator at once, other staff will not be delayed and pass in and out elevator.
In one example, exit elevator may include that the 3rd scheduled time of wait and judge that front is the fullest
Foot exit criteria；In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again judge
Whether front meets exit criteria；Judging that front is unsatisfactory for exit criteria and reaches the situation of the second pre-determined number
Under, it is defined as exiting elevator, and after elevator leaves designated floor, again lights designated floor；And
In the case of front meets exit criteria, exit elevator.Wherein, described 3rd scheduled time is for waiting electricity
The time that ladder door is opened；Described 4th scheduled time is again to judge the wait whether front meets exit criteria
Time；And described second pre-determined number is to judge the judgement number of times that front is unsatisfactory for exit criteria.
Specifically, if elevator has arrived at the floor gone required for robot, then waited for the 3rd scheduled time
(purpose is to wait for elevator cab door and fully opens)；Judge whether afterwards to meet exit criteria, discontented in front
In the case of foot exit criteria (possible situation is that car people is more, has blocked the space in front), wait the 4th
The scheduled time also judges whether to meet exit criteria again；Judging that front is unsatisfactory for exit criteria and reaches second
In the case of pre-determined number, it is defined as exiting elevator, and again lights after elevator leaves designated floor
Designated floor；And in the case of front meets exit criteria, exit elevator.
In one example, the 3rd scheduled time can be to wait the time that elevator door is opened, and could be arranged to
1-5s, it is preferable that the 3rd scheduled time could be arranged to 2s.
In one example, the 4th scheduled time can be again judge front whether meet exit criteria etc.
Treat the time, could be arranged to 3-15s, it is preferable that the 4th scheduled time could be arranged to 5s.
In one example, the second pre-determined number can be to judge the judgement number of times that front is unsatisfactory for exit criteria,
Could be arranged to 2-10 time, it is preferable that the second pre-determined number could be arranged to 3 times.
In one example, can judge whether front meets by laser sensor or Xtion sensor to exit
Condition.It is to be understood by those skilled in the art that various sensing known in the art or watcher can be used
Formula judges whether front meets exit criteria.
In one example, described main control unit 103 can exhale unit by 2.4G radio communication in described
101 communicate.It will be understood by those skilled in the art that the radio communication of the present invention is not limited to this, master control
Unit 103 can exhale unit 101 to lead to by various wireless communication technologys known in the art in described
Letter, such as 433M, UWB etc..
In sum, robot or intelligent vehicle can be made to lead to according to the system of the elevator of turnover automatically of the present invention
Cross wireless lift car key of lighting and automatically pass in and out elevator, it is achieved robot or intelligent vehicle arrive required
Floor complete its task.Additionally, this system is less to the transformation of elevator itself, it is possible to effectively reduce construction
Transformation cost and complexity, meanwhile, relatively low to the signal degree of dependence of elevator itself, it is possible to reduction by
The probability made mistakes in the signal fault of elevator own.
It will be understood by those skilled in the art that the purpose of description to embodiments of the invention above is only for example
Property ground explanation embodiments of the invention beneficial effect, be not intended to limit embodiments of the invention to
Any example gone out.
Embodiment 2
According to embodiments of the invention, it is provided that a kind of method of automatic turnover elevator, described method can be wrapped
Include: arrive in robot or intelligent vehicle and specify position, and the situation different from lift car place floor
Under, light the lift car button of robot or intelligent vehicle place floor to call elevator；In robot or
Intelligent vehicle arrive specify position, and identical with lift car place floor in the case of, light elevator car
Railway carriage or compartment door opening key is to call elevator；It is, in the case of elevator arrives, to enter elevator at state of elevator；At machine
In the case of people or intelligent vehicle are in lift car, light the lift car button of designated floor；And
It is, in the case of elevator arrives designated floor, to exit elevator at state of elevator.Wherein, enter elevator can wrap
Include: waited for first scheduled time and judge whether front meets entry condition；It is unsatisfactory for entry condition in front
In the case of, waited for second scheduled time and again judge whether front meets entry condition；Judging front
It is unsatisfactory in the case of entry condition reaches the first pre-determined number, being defined as cannot be introduced into elevator, and at elevator
Elevator is again called after leaving；And in the case of front meets entry condition, enter elevator.Wherein,
Exit elevator may include that the 3rd scheduled time of wait and judge whether front meets exit criteria；In front
In the case of being unsatisfactory for exit criteria, waited for the 4th scheduled time and again judge that front is whether the most satisfied and exit article
Part；Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, being defined as exiting
Elevator, and after elevator leaves designated floor, again light designated floor；And meet exit criteria in front
In the case of, exit elevator.
This embodiment is by making robot or intelligent vehicle automatically pass in and out elevator by wireless elevator of lighting, real
Floor required for existing robot or intelligent vehicle arrival completes its task.
In one example, first scheduled time can be to wait the time that elevator door is opened；Second pre-timing
Between can be again to judge the waiting time whether front meets entry condition；And, the first pre-determined number can
Think the judgement number of times judging that front is unsatisfactory for entry condition.
In one example, described 3rd scheduled time can be to wait the time that elevator door is opened；Described
Four scheduled times can be again to judge the waiting time whether front meets exit criteria；And described second
Pre-determined number can be to judge the judgement number of times that front is unsatisfactory for exit criteria.
It will be understood by those skilled in the art that the purpose of description to embodiments of the invention above is only for example
Property ground explanation embodiments of the invention beneficial effect, be not intended to limit embodiments of the invention to
Any example gone out.
Being described above various embodiments of the present invention, described above is exemplary, and non-exclusive,
And it is also not necessarily limited to disclosed each embodiment.In the scope and spirit without departing from illustrated each embodiment
In the case of, many modifications and changes will be apparent from for those skilled in the art.
The selection of term used herein, it is intended to explain that the principle of each embodiment, reality are applied or to market best
In the improvement of technology, or make other those of ordinary skill of the art be understood that disclose herein each
Embodiment.
Claims (10)
1. a system for automatic turnover elevator, described system includes:
Inside exhaling unit, it is positioned at inside lift car, is connected in lift car key circuit, described in exhale
Unit can light lift car button；
Range finding and communication unit, it is positioned at elevator stair shaft top, by wireless and described in exhale unit to lead to
Letter and range finding, obtain the first distance value between lift car and elevator stair shaft top, receive and forward master control
The control signal of unit；And
Main control unit, it is arranged in robot or intelligent vehicle, and by wireless with described range finding and communication
Unit communication, described main control unit is configured to control robot or intelligent vehicle turnover elevator.
The system of automatic turnover elevator the most according to claim 1, wherein, described in exhale unit in parallel
To described lift car key circuit, by turning on described lift car key circuit to light lift car
Key.
The system of automatic turnover elevator the most according to claim 1, wherein, turnover elevator includes:
Arrive in robot or intelligent vehicle and specify position, and the situation different from lift car place floor
Under, exhale unit to light robot or the elevator car of intelligent vehicle place floor in the control of described main control unit is described
Railway carriage or compartment button is to call elevator；
Arrive in robot or intelligent vehicle and specify position, and the situation identical with lift car place floor
Under, exhale unit to light lift car door opening key to call elevator in the control of described main control unit is described；
It is, in the case of elevator arrives, to enter elevator at state of elevator；
In the case of robot or intelligent vehicle are in lift car, light the lift car of designated floor
Button；And
It is, in the case of elevator arrives designated floor, to exit elevator at state of elevator.
The system of automatic turnover elevator the most according to claim 3, wherein, at robot or intelligent vehicle
In the case of the difference demarcated between distance value and the first distance value of place floor is more than setting threshold value, really
Determine robot or intelligent vehicle different from lift car place floor；And
The difference demarcated between distance value and the first distance value at robot or intelligent vehicle place floor is less than
In the case of setting threshold value, determine that robot or intelligent vehicle are identical with lift car place floor.
The system of automatic turnover elevator the most according to claim 3, wherein, described main control unit with
Exhale unit to pass through in described in the case of 2.4G radio communication directly sets up connection, determine that state of elevator is elevator
Arrive.
The system of automatic turnover elevator the most according to claim 3, wherein, enters elevator and includes:
Waited for first scheduled time and judge whether front meets entry condition；
In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again whether judge front
Meet entry condition；
Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number, being defined as cannot be introduced into
Elevator, and after elevator leaves, again call elevator；And
In the case of front meets entry condition, enter elevator,
Wherein, described first scheduled time is to wait the time that elevator door is opened；
Described second scheduled time is again to judge the waiting time whether front meets entry condition；And
Described first pre-determined number is to judge the judgement number of times that front is unsatisfactory for entry condition.
The system of automatic turnover elevator the most according to claim 3, wherein, in the demarcation of designated floor
In the case of difference between distance value and the first distance value is less than or equal to setting threshold value, determine that state of elevator is
Elevator arrives designated floor.
The system of automatic turnover elevator the most according to claim 3, wherein, exits elevator and includes:
Waited for the 3rd scheduled time and judge whether front meets exit criteria；
In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again whether judge front
Meet exit criteria；
Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, being defined as exiting
Elevator, and after elevator leaves designated floor, again light designated floor；And
In the case of front meets exit criteria, exit elevator,
Wherein, described 3rd scheduled time is to wait the time that elevator door is opened；
Described 4th scheduled time is again to judge the waiting time whether front meets exit criteria；And
Described second pre-determined number is to judge the judgement number of times that front is unsatisfactory for exit criteria.
The system of automatic turnover elevator the most according to claim 1, wherein, described main control unit passes through
433M radio communication communicates with described range finding and communication unit.
10. a method for automatic turnover elevator, including:
Arrive in robot or intelligent vehicle and specify position, and the situation different from lift car place floor
Under, light the lift car button of robot or intelligent vehicle place floor to call elevator；
Arrive in robot or intelligent vehicle and specify position, and the situation identical with lift car place floor
Under, light lift car door opening key to call elevator；
It is, in the case of elevator arrives, to enter elevator at state of elevator；
In the case of robot or intelligent vehicle are in lift car, light the lift car of designated floor
Button；And
It is, in the case of elevator arrives designated floor, to exit elevator at state of elevator,
Wherein, enter elevator to include:
Waited for first scheduled time and judge whether front meets entry condition；
In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again whether judge front
Meet entry condition；
Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number, being defined as cannot be introduced into
Elevator, and after elevator leaves, again call elevator；And
In the case of front meets entry condition, enter elevator,
Wherein, exit elevator to include:
Waited for the 3rd scheduled time and judge whether front meets exit criteria；
In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again whether judge front
Meet exit criteria；
Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, being defined as exiting
Elevator, and after elevator leaves designated floor, again light designated floor；And
In the case of front meets exit criteria, exit elevator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610377829.2A CN105858383B (en) | 2016-05-31 | 2016-05-31 | The system and method for automatic disengaging elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610377829.2A CN105858383B (en) | 2016-05-31 | 2016-05-31 | The system and method for automatic disengaging elevator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105858383A true CN105858383A (en) | 2016-08-17 |
| CN105858383B CN105858383B (en) | 2019-05-03 |
Family
ID=56641858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610377829.2A Active CN105858383B (en) | 2016-05-31 | 2016-05-31 | The system and method for automatic disengaging elevator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105858383B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107055241A (en) * | 2017-04-18 | 2017-08-18 | 上海木爷机器人技术有限公司 | The control method and system of elevator are taken by robot |
| CN110788864A (en) * | 2019-11-29 | 2020-02-14 | 上海有个机器人有限公司 | Method for robot to get in and out of elevator and robot control system for getting in and out of elevator |
| CN112591571A (en) * | 2020-12-22 | 2021-04-02 | 哈尔滨工业大学（深圳） | Intelligent robot taking elevator autonomously and control method thereof |
| DE102021103038A1 (en) | 2020-02-10 | 2021-08-12 | Metralabs Gmbh Neue Technologien Und Systeme | Method and system for moving a robot in an elevator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204719538U (en) * | 2015-07-01 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of AGV with call function |
| CN204737517U (en) * | 2015-06-30 | 2015-11-04 | 广东嘉腾机器人自动化有限公司 | Communication system of AGV and elevator |
| CN105074601A (en) * | 2013-03-28 | 2015-11-18 | 株式会社日立产机系统 | Automatic guided vehicle and automatic guided vehicle system |
| CN105600631A (en) * | 2016-02-02 | 2016-05-25 | 北京云迹科技有限公司 | Automatic elevator entrance and exit system and method |
-
2016
- 2016-05-31 CN CN201610377829.2A patent/CN105858383B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105074601A (en) * | 2013-03-28 | 2015-11-18 | 株式会社日立产机系统 | Automatic guided vehicle and automatic guided vehicle system |
| CN204737517U (en) * | 2015-06-30 | 2015-11-04 | 广东嘉腾机器人自动化有限公司 | Communication system of AGV and elevator |
| CN204719538U (en) * | 2015-07-01 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of AGV with call function |
| CN105600631A (en) * | 2016-02-02 | 2016-05-25 | 北京云迹科技有限公司 | Automatic elevator entrance and exit system and method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107055241A (en) * | 2017-04-18 | 2017-08-18 | 上海木爷机器人技术有限公司 | The control method and system of elevator are taken by robot |
| CN110788864A (en) * | 2019-11-29 | 2020-02-14 | 上海有个机器人有限公司 | Method for robot to get in and out of elevator and robot control system for getting in and out of elevator |
| DE102021103038A1 (en) | 2020-02-10 | 2021-08-12 | Metralabs Gmbh Neue Technologien Und Systeme | Method and system for moving a robot in an elevator |
| WO2021160623A1 (en) | 2020-02-10 | 2021-08-19 | Metralabs Gmbh Neue Technologien Und Systeme | Method and a system for conveying a robot in an elevator |
| CN112591571A (en) * | 2020-12-22 | 2021-04-02 | 哈尔滨工业大学（深圳） | Intelligent robot taking elevator autonomously and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105858383B (en) | 2019-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105905712A (en) | System and method for automatically getting on and getting off elevator | |
| CN106044419B (en) | The system and method for automatic disengaging elevator | |
| CN105858368A (en) | System and method for automatically calling elevator | |
| CN105600631A (en) | Automatic elevator entrance and exit system and method | |
| CN105600632B (en) | The system and method for automatic disengaging elevator | |
| CN105858383A (en) | Automatic elevator-in/out system and method | |
| CN105540356B (en) | The system and method for automatic calling elevator | |
| CN105565094A (en) | Method and system for entering and exiting elevator automatically | |
| US20130048436A1 (en) | Automated elevator car call prompting | |
| CN105858382A (en) | System and method for automatically getting in/out of elevator | |
| CN109987463A (en) | Robot and elevator interactive system and method | |
| EP3656717B1 (en) | Smart guidance for controlling passenger to enter correct elevator car | |
| WO2013033879A1 (en) | Elevator system and method for locating serving elevators in response to each prompted car call | |
| CN110304505A (en) | Elevator controlling interactive device, robot and elevator controlling interactive system | |
| CN105849024A (en) | Providing control commands to an elevator system with a personal terminal device | |
| CN107635902A (en) | Passenger transportation system | |
| CN109279461A (en) | The seamless tracking of passenger traffic flow in lift car | |
| CN109110601A (en) | The determination of the movement of passenger's relative elevator carriage | |
| CN108928690A (en) | A kind of terraced system and method for car elevator team control group | |
| JP7288739B2 (en) | Parking lot operation method and parking system | |
| CN109625027A (en) | A kind of Train Group work organization and operation control system | |
| CN105858372A (en) | Elevator Internet of Things system and method | |
| CN110626892B (en) | Elevator control system | |
| CN107246204A (en) | A kind of high-speed railway gate enabling control system and method | |
| CN105905713A (en) | System and method for automatically getting off elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |