CN107777492A - The control system and method for elevator are taken by robot - Google Patents
The control system and method for elevator are taken by robot Download PDFInfo
- Publication number
- CN107777492A CN107777492A CN201711014020.4A CN201711014020A CN107777492A CN 107777492 A CN107777492 A CN 107777492A CN 201711014020 A CN201711014020 A CN 201711014020A CN 107777492 A CN107777492 A CN 107777492A
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- China
- Prior art keywords
- robot
- controller
- elevator
- lift appliance
- taken
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
-
- 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
-
- 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
-
- 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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/50—Adaptations of switches or switchgear with operating or control mechanisms mounted in the car or cage or in the lift well or hoistway
-
- 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
- B66B2201/104—Call input for a preferential elevator car or indicating a special request
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The present invention relates to the control system that elevator is taken by a kind of robot, including hoistway, car, call module, robot and lift appliance, the lift appliance includes at least one controller, the controller performs the destination of the Robot Selection for calling the floor where the bridge railway carriage or compartment reaches the robot after receiving the boarding instruction of the robot.The present invention further simultaneously discloses the control method that elevator is taken by a kind of robot.The present invention can realize robot autonomous disengaging elevator and can reach gone floor, and control system of the present invention is independently of the control system of elevator in itself, does not interfere with the control system of elevator in itself.
Description
Technical field
The present invention relates to field of intelligent control, more specifically to a kind of robot take elevator control system and
Method.
Background technology
In recent years, deepened continuously with the development and artificial intelligence study of robot technology, intelligent mobile robot is in people
Play the part of more and more important role in class life, be used widely in numerous areas.
In some application scenarios, robot may be used for across in the scene of floor, for example across floor carry out user draws
Lead, send article etc., and in this scene, robot is often based on taking elevator to realize across floor operation.And in machine
During device people independently carries out elevator ride, robot needs to call elevator, takes elevator and determine whether to have arrived at
The destination to be gone.
The content of the invention
The technical problem to be solved in the present invention is, there is provided the control system and method for elevator are taken by a kind of robot.
The technical solution adopted for the present invention to solve the technical problems is：The control system of elevator is taken by a kind of robot,
Including hoistway, car, call module, robot and lift appliance, the lift appliance includes at least one controller, described
Controller is held for calling the floor where the bridge railway carriage or compartment reaches the robot after receiving the boarding instruction of the robot
The destination of the row Robot Selection.
In the present invention, the lift appliance includes the first controller, second controller, the 3rd controller, the robot
Arrived respectively with first controller and the second controller wireless connection, first controller for calling the car
Floor up to where the robot, the second controller turn the instruction of the Robot Selection destination received
The 3rd controller is issued to go to perform.
In the present invention, wherein first controller is arranged in the hoistway, the second controller and the described 3rd
Controller is arranged in the car.
In the present invention, switch is provided with first controller, the call module is controlled by switching, first control
Device processed is in parallel with the call module.
In the present invention, the second controller is connected by control line with the 3rd controller.
In the present invention, elevator push button control panel is provided with the car, switch is provided with the 3rd controller, it is described
3rd controller is connected in parallel with the elevator push button control panel.
In the present invention, the elevator push button control panel is provided with " door open button ", " door close button ", " floor button 1 ...
N”。
In the present invention, the call module is provided with " upward ", " downward " button.
In the present invention, the robot is connected with first controller and second controller respectively by 2.4G radio communications
Connect.
The present invention further simultaneously discloses the control method that elevator is taken by a kind of robot, comprises the following steps：
S1. robot sends call instruction to the controller on lift appliance, and the controller receives the machine
The floor where the bridge railway carriage or compartment arrival robot is called after the boarding instruction of device people, and performs the mesh of the Robot Selection
Mark floor.
In the present invention, the step S1 is specifically included：
S11. the robot sends call instruction to the first controller on lift appliance；
S12. after first controller receives the call instruction of the robot, institute is arrived into lift appliance calling
Floor where stating robot；
S13. after the robot enters the lift appliance, to the second controller transmission installed in the lift appliance
Destination instructs；
S14. after the second controller receives the destination instruction of the robot, the destination is instructed
The 3rd controller performance objective floor being sent to installed in the lift appliance selects.
In the present invention, the step S12 further comprises：
S121. after first controller receives the call instruction of the robot, call is sent to the robot
Response instructs and notifies the robot to wait preset time；
S122. if the robot confiscates the lift appliance in the preset time and reaches the institute of robot
In the instruction of floor, then return and perform step S11；Otherwise step S123 is performed；
S123. if the lift appliance reaches floor where the robot, then the robot judges the elevator
Whether device is occupied, and step S11 is performed if it is, returning；Otherwise step S13 is performed.
In the present invention, the step S13 further comprises：
S131. the robot enter the lift appliance after, every preset time to the second controller send into
Enter the lift appliance response instruction；
S132. the second controller is replied to the robot enters response confirmation instruction, and notifies the robot
Wait, the lift appliance, which is closed the door, to be run.
The invention has the advantages that the present invention can realize robot autonomous disengaging elevator and can reach gone building
Layer, and control system of the present invention is independently of the control system of elevator in itself, does not interfere with the control system of elevator in itself
System.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the block diagram for the control system that elevator is taken by robot of the present invention；
Fig. 2 is the Organization Chart for the control system that elevator is taken by robot of the present invention；
Fig. 3 is the flow chart for the control method that elevator is taken by robot of the present invention.
Embodiment
Fig. 1, Fig. 2 are the block diagram and Organization Chart for the control system that elevator is taken by robot of the present invention, are of the invention
One embodiment, as described in Figure.The control system includes robot 1, lift appliance 2, computer room 3, car 4, hoistway 5 and call
Module 9.The lift appliance 2 includes at least one controller, and the controller after receiving the boarding instruction of robot 1 for exhaling
Make the bridge railway carriage or compartment reach the floor where robot 1, and perform the destination of the selection of robot 1.Of the invention one or more
In individual embodiment, lift appliance 2 of the present invention includes three controllers, i.e. the first controller 6, second controller 7 and
3rd controller 8, but the present invention is not limited thereto, according to actual conditions one or two controller can also be used to complete above-mentioned
The function of elevator is taken by robot 1.
Elevator push button control panel 10 is provided with car 4, by the elevator push button control panel 10 can control door-opened elevator,
Close the door and the desired floor reached, elevator push button control panel 10 are provided with " door open button ", " door close button ", " floor button
1 ... N " etc..Computer room 3 can be connected by wireless bridge with server.First controller 6 is arranged on the hoistway 5 per first floor layer
On, the controller 8 of second controller 7 and the 3rd is arranged in car 4.
Call module 9 is located at and used per the outside call of floor, provided with " upward ", " downward " button.First controller 6
It is interior to be provided with switch, " upward ", " downward " button of call module 9 are controlled by switching, the first controller 6 and call module 9 are simultaneously
Connection.
The controller 8 of second controller 7 and the 3rd distinguishes external power adapter, and second controller 7 passes through control line and the
Three controllers 8 connect, and in the one or more embodiments of the present invention, the power supply adaptor is the power adaptation from DC 12V
Device.
Switch is provided with 3rd controller 8, the 3rd controller 8 is connected in parallel with elevator push button control panel 10, therefore will not
Have influence on the control system of elevator in itself.
In one or more embodiments of the invention, robot turns 2.4G radio communications and the described first control by serial ports
Device 6 and second controller 7 processed connect, and after the first controller 6 receives calling signal, the first controller 6 leads to the calling signal
The system calling of elevator in itself is crossed to the place floor of robot 1, in the present embodiment, the system of elevator in itself refers to call module
9,.
After the car 4 of elevator reaches 1 place floor of robot, robot 1 can establish radio communication with second controller 7
Afterwards, robot 1 can independently enter car, and send command selection destination to second controller 7, then by elevator in itself
System elevator run to destination, after reaching destination, elevator door is opened, and robot leaves elevator.
Wherein, second controller 7 is that the instruction sent according to robot 1 goes to control the 3rd controller 8, realizes robot 1
Door open-close control when passing in and out elevator, floor select control and floor detection function etc..
Fig. 3 is the flow chart for the control method that elevator is taken by robot of the present invention, as shown in the figure.
Step A1, robot send call instruction to the first controller, notify the first controller to need boarding.
Step A2, after the first controller receives shown call instruction, call simultaneously sends call response instruction notification machine
People waits.
Step A3, robot wait preset time (such as 30 seconds), judge whether elevator reaches, and step is performed if reached
A4, otherwise return to step A1.
Step A4, elevator set out floor where reaching robot.
Whether step A5, system judge occupied in elevator, such as whether have had robot in elevator.Such as
Fruit is occupied, performs step A6, otherwise performs step A8.
Step A6, second controller send elevator to robot and take instruction notification robot.
Step A7, after robot receives the elevator occupancy instruction that second controller is sent, after waiting preset time, return to step
Rapid A1.
Step A8, if elevator does not have occupied, second controller sends boarding instruction query robot to robot is
It is no to need boarding, if performing step A10, otherwise perform step A9.
Step A9, if second controller does not receive robot boarding signal, elevator normal operation is simultaneously left, knot
Beam.
Step A10, if robot needs to take elevator, boarding response instruction is sent to second controller, notify the
Two controllers need boarding.
Step A11, elevator persistently open the door, and second controller is transmitted into instruction to robot, and notice robot can enter
Enter elevator.
Step A12, robot enter during elevator, and each preset time (such as 5 seconds) continues to send out to second controller
A boarding response is sent to instruct.
Step A13, after robot enters elevator, elevator response instruction is transmitted into second controller, notifies the second control
Device processed comes into elevator, while robot continues once to enter to second controller transmission every preset time (such as 30 seconds)
Elevator response instructs.
Step A14, second controller is replied to be confirmed after instructing into response, and notice robot waits, elevator shutdown operation,
Reach destination.
Step A15, second controller are sent to up to instruction, notice machine elevator for people to robot and have arrived at target building
Layer, may exit off.
Step A16, robot continue to second controller during elevator is left every preset time (such as 5 seconds)
Instruction is once left in transmission.
Step A17, second controller are replied after robot leaves confirmation command, and elevator persistently opens the door, wait robot from
Open.
Step A18, after robot leaves elevator, sent to second controller and leave response instruction, second controller is replied
After robot leaves response confirmation, notice robot confirms to leave.Robot continues to travel, and elevator also continues to run.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (11)
1. the control system of elevator, including hoistway, car and call module are taken by a kind of robot, it is characterised in that also include
Robot and lift appliance, the lift appliance include at least one controller, and the controller is used to receive the robot
Boarding instruction after call the bridge railway carriage or compartment and reach floor where the robot, and perform the target building of the Robot Selection
Layer.
2. the control system of elevator is taken by robot according to claim 1, it is characterised in that the lift appliance includes
First controller, second controller, the 3rd controller, the robot control with first controller and described second respectively
Device wireless connection, first controller are used to call the floor where the car arrival robot, second control
The instruction of the Robot Selection destination received is transmitted to the 3rd controller and goes to perform by device processed.
3. the control system of elevator is taken by robot according to claim 2, it is characterised in that wherein described first control
Device is arranged in the hoistway, and the second controller and the 3rd controller are arranged in the car.
4. the control system of elevator is taken by the robot according to Claims 2 or 3, it is characterised in that first control
Switch is provided with device, controls the call module by switching, first controller is in parallel with the call module.
5. the control system of elevator is taken by robot according to claim 4, it is characterised in that the second controller leads to
Control line is crossed to be connected with the 3rd controller.
6. the control system of elevator is taken by robot according to claim 5, it is characterised in that electricity is provided with the car
Terraced key control panel, the 3rd controller is interior to be provided with switch, the 3rd controller and the elevator push button control panel
It is connected in parallel.
7. the control system of elevator is taken by robot according to claim 1, it is characterised in that the call module is provided with
" upward ", " downward " button.
8. the control method of elevator is taken by a kind of robot, it is characterised in that comprises the following steps：
S1. robot sends call instruction to the controller on lift appliance, and the controller receives the robot
Boarding instruction after call the bridge railway carriage or compartment and reach floor where the robot, and perform the target building of the Robot Selection
Layer.
9. the control method of elevator is taken by robot according to claim 8, it is characterised in that the step S1 is specifically wrapped
Include：
S11. the robot sends call instruction to the first controller on lift appliance；
S12. after first controller receives the call instruction of the robot, the machine is arrived into lift appliance calling
Floor where device people；
S13. after the robot enters the lift appliance, target is sent to the second controller installed in the lift appliance
Floor instructs；
S14. after the second controller receives the destination instruction of the robot, the destination is instructed and sent
To the 3rd controller performance objective floor selection installed in the lift appliance.
10. the control method of elevator is taken by robot according to claim 9, it is characterised in that the step S12 enters one
Step includes：
S121. after first controller receives the call instruction of the robot, call response is sent to the robot
Instruct and notify the robot to wait preset time；
S122. if the robot confiscates the lift appliance in the preset time and reaches building where the robot
The instruction of layer, then return and perform step S11；Otherwise step S123 is performed；
S123. if the lift appliance reaches floor where the robot, then the robot judges the lift appliance
It is whether occupied, perform step S11 if it is, returning；Otherwise step S13 is performed.
11. the control method of elevator is taken by the robot according to claim 9 or 10, it is characterised in that the step S13
Further comprise：
S131. after the robot enters the lift appliance, institute is transmitted into the second controller every preset time
State lift appliance response instruction；
S132. the second controller is replied to the robot enters response confirmation instruction, and notifies the robot to wait,
The lift appliance, which is closed the door, to be run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711014020.4A CN107777492B (en) | 2017-10-25 | 2017-10-25 | Control system and method for robot taking elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711014020.4A CN107777492B (en) | 2017-10-25 | 2017-10-25 | Control system and method for robot taking elevator |
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| Publication Number | Publication Date |
|---|---|
| CN107777492A true CN107777492A (en) | 2018-03-09 |
| CN107777492B CN107777492B (en) | 2020-04-28 |
Family
ID=61435348
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|---|---|---|---|
| CN201711014020.4A Active CN107777492B (en) | 2017-10-25 | 2017-10-25 | Control system and method for robot taking elevator |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109019207A (en) * | 2018-08-07 | 2018-12-18 | 北京云迹科技有限公司 | Utilize the method, apparatus and robot of robot control elevator floor indicator light |
| CN109019201A (en) * | 2018-08-07 | 2018-12-18 | 北京云迹科技有限公司 | Method for transmitting signals and system |
| CN109164813A (en) * | 2018-10-31 | 2019-01-08 | 长安大学 | A kind of unmanned express delivery robot elevator device and control method up and down |
| CN109230922A (en) * | 2018-11-22 | 2019-01-18 | 苏州米机器人有限公司 | A kind of elevator up-down enabling control device for robot |
| CN109552953A (en) * | 2018-11-30 | 2019-04-02 | 深圳市普渡科技有限公司 | The system and method for robot autonomous disengaging elevator |
| CN109761119A (en) * | 2018-12-25 | 2019-05-17 | 歌尔股份有限公司 | A kind of elevator control method, device, equipment and elevator device |
| CN109823931A (en) * | 2019-02-28 | 2019-05-31 | 北京三快在线科技有限公司 | Boarding method, apparatus, electronic equipment and the storage medium of Intelligent mobile equipment |
| CN110116947A (en) * | 2019-01-30 | 2019-08-13 | 苏州优智达机器人有限公司 | Robot remote elevator interactive system and method |
| CN110488813A (en) * | 2019-07-29 | 2019-11-22 | 广州启盟信息科技有限公司 | A kind of building robot patrol method and building robot |
| CN110606414A (en) * | 2019-08-27 | 2019-12-24 | 日立楼宇技术（广州）有限公司 | Robot elevator taking method and device, computer equipment and storage medium |
| CN110759192A (en) * | 2018-11-21 | 2020-02-07 | 苏州优智达机器人有限公司 | Robot, robot and elevator interaction automatic control system and control method |
| CN111153298A (en) * | 2019-12-31 | 2020-05-15 | 北京猎户星空科技有限公司 | Robot elevator taking method |
| CN111170096A (en) * | 2019-12-17 | 2020-05-19 | 浙江欣奕华智能科技有限公司 | Robot self-help elevator riding auxiliary device, system and method |
| CN111591841A (en) * | 2020-05-14 | 2020-08-28 | 拉扎斯网络科技（上海）有限公司 | Ladder taking method of unmanned equipment, unmanned equipment and system |
| CN111731958A (en) * | 2020-06-16 | 2020-10-02 | 北京云迹科技有限公司 | Method for robot to take elevator in queue, elevator internet of things device and system |
| CN112047214A (en) * | 2020-09-07 | 2020-12-08 | 深圳优地科技有限公司 | Elevator riding method, elevator riding device, elevator riding system, storage medium, and elevator device control method |
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|---|---|---|---|---|
| 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 |
| CN109019207A (en) * | 2018-08-07 | 2018-12-18 | 北京云迹科技有限公司 | Utilize the method, apparatus and robot of robot control elevator floor indicator light |
| CN109019201A (en) * | 2018-08-07 | 2018-12-18 | 北京云迹科技有限公司 | Method for transmitting signals and system |
| CN109164813A (en) * | 2018-10-31 | 2019-01-08 | 长安大学 | A kind of unmanned express delivery robot elevator device and control method up and down |
| CN110759192B (en) * | 2018-11-21 | 2022-03-22 | 苏州优智达机器人有限公司 | Robot, robot and elevator interaction automatic control system and control method |
| CN110759192A (en) * | 2018-11-21 | 2020-02-07 | 苏州优智达机器人有限公司 | Robot, robot and elevator interaction automatic control system and control method |
| CN109230922A (en) * | 2018-11-22 | 2019-01-18 | 苏州米机器人有限公司 | A kind of elevator up-down enabling control device for robot |
| CN109552953A (en) * | 2018-11-30 | 2019-04-02 | 深圳市普渡科技有限公司 | The system and method for robot autonomous disengaging elevator |
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