CN108946350A - A kind of boarding system, method, apparatus and the storage medium of robot assisted - Google Patents
A kind of boarding system, method, apparatus and the storage medium of robot assisted Download PDFInfo
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- CN108946350A CN108946350A CN201810848275.9A CN201810848275A CN108946350A CN 108946350 A CN108946350 A CN 108946350A CN 201810848275 A CN201810848275 A CN 201810848275A CN 108946350 A CN108946350 A CN 108946350A
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- Prior art keywords
- robot
- ladder
- boarding
- dispatch
- personnel
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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
- B66B1/02—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
- B66B1/3415—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
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0012—Devices monitoring the users of the elevator system
-
- 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
- B66B2201/403—Details of the change of control mode by real-time traffic data
-
- 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
- B66B2201/4661—Call registering systems for priority users
- B66B2201/4669—Call registering systems for priority users using passenger condition detectors
-
- 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
- B66B2201/4676—Call registering systems for checking authorization of the passengers
Abstract
The invention discloses boarding system, method, apparatus and the storage mediums of a kind of robot assisted, it is related to elevator technology field, the boarding system includes monitoring device, dispatch robot and master controller, monitoring device and dispatch robot communicate to connect, the status information of monitoring and tracking ladder personnel, and status information is sent to dispatch robot；Dispatch robot and master controller communicate to connect, and receiving status information obtains the ladder request of ladder personnel, and status information and boarding demand are sent to master controller；Master controller carries out elevator dispatching according to ladder request and current elevator operation, and elevator dispatching result is fed back to dispatch robot；Dispatch robot also conveys elevator dispatching result to ladder personnel.Above-mentioned technical proposal realizes effective interaction between robot and elevator main controller, improves the dispatching efficiency and work fluency of elevator, cost of labor is reduced, so that robot preferably serves ladder personnel.
Description
Technical field
The present embodiments relate to field of intelligent control technology more particularly to a kind of boarding systems of robot assisted, side
Method, device and storage medium.
Background technique
With the high speed development of artificial intelligence, robot has been able to the substitution mankind and is engaged in basic work, such as passenger-in-elevator
Member's authentication send express delivery and transports goods.
Based on the elevator of traditional scheduler control, substantially it is designed for the boarding demand of the mankind, in machine and people
Lack effective interaction between class and between robot and elevator main controller, cause work fluency decline, manually at
This increase.
Summary of the invention
In view of this, boarding system, method, apparatus and storage that the embodiment of the present invention provides a kind of robot assisted are situated between
Matter, interactive efficiency is low between robot and elevator main controller in the prior art to solve, work fluency decline and artificial
The technical issues of increased costs, realizes effective interaction between robot and elevator main controller, improves the dispatching efficiency of elevator
With work fluency, cost of labor is reduced, so that robot preferably serves ladder personnel, realizes the intelligent pipe of building
Reason, improves the safety of building.
In a first aspect, the embodiment of the invention provides a kind of boarding systems of robot assisted, comprising: monitoring device, tune
Spend robot and master controller；
The monitoring device and the dispatch robot communicate to connect, and the state for monitoring and tracking ladder personnel is believed
Breath, and the status information is sent to the dispatch robot；
The dispatch robot and the master controller communicate to connect, and for receiving the status information, multiply described in acquisition
The ladder request of terraced personnel, and the status information and boarding demand are sent to the master controller；
The master controller, for carrying out elevator dispatching according to the ladder request and current elevator operation, and will
Elevator dispatching result feeds back to the dispatch robot；
The dispatch robot is also used to convey the elevator dispatching result to the ladder personnel.
Further, the dispatch robot is built-in with authentication database, and the dispatch robot is also used to basis
The ladder request verifies the boarding permission of the ladder personnel from the authentication database.
It further, further include service robot；
The service robot and the dispatch robot communicate to connect, and the control for receiving dispatch robot transmission refers to
It enables, is acted according to the control instruction.
Second aspect, the embodiment of the invention provides a kind of boarding methods of robot assisted, comprising:
The status information of monitoring device monitoring and tracking ladder personnel, and the status information is sent to scheduling machine
People；
The dispatch robot receives the status information, obtains the ladder request of the ladder personnel, and by the shape
State information and boarding demand are sent to master controller；
The master controller carries out elevator dispatching according to the ladder request and current elevator operation, and by elevator
Scheduling result feeds back to the dispatch robot；
The dispatch robot conveys the elevator dispatching result to the ladder personnel.
Further, the status information of the monitoring device monitoring and tracking ladder personnel, specifically includes:
Monitoring device monitors the quantity of the ladder personnel, tracks position, the direction of motion and the fortune of the ladder personnel
Dynamic speed.
Further, the ladder request includes: the identity information and destination of ladder personnel.
Further, further includes:
Dispatch robot verifies the boarding permission of the ladder personnel according to the ladder request.
Further, further includes:
Service robot receives the control instruction that dispatch robot is sent, and is acted according to the control instruction.
The third aspect, the embodiment of the invention provides a kind of boarding devices of robot assisted, comprising:
Tracking module is monitored, monitoring device is set to, for monitoring and tracking the status information of ladder personnel, and will be described
Status information is sent to dispatch robot；
Sending module is set to the dispatch robot, for receiving the status information, obtains the ladder personnel
Ladder request, and the status information and boarding demand are sent to master controller；
Feedback module is set to the master controller, for according to the ladder request and current elevator operation, into
Row elevator dispatching, and elevator dispatching result is fed back into the dispatch robot；
Module is conveyed, the dispatch robot is set to, for conveying the elevator dispatching result to the ladder personnel.
Fourth aspect, the embodiment of the invention provides a kind of storage medium comprising computer executable instructions, the meters
Calculation machine executable instruction as computer processor when being executed for executing the boarding of the robot assisted as described in second aspect
Method.
Boarding system, method, apparatus and the storage medium of a kind of robot assisted provided by the above embodiment, the boarding system
System includes monitoring device, dispatch robot and master controller, and monitoring device and dispatch robot communicate to connect, monitoring and tracking
The status information of ladder personnel, and status information is sent to dispatch robot；Dispatch robot and master controller communicate to connect,
Receiving status information obtains the ladder request of ladder personnel, and status information and boarding demand is sent to master controller；Master control
Device processed carries out elevator dispatching according to ladder request and current elevator operation, and elevator dispatching result is fed back to dispatcher
Device people；Dispatch robot also conveys elevator dispatching as a result, to solve robot and elevator master control in the prior art to ladder personnel
The technical issues of interactive efficiency is low between device processed, and the decline of work fluency and cost of labor increase, realizes robot and elevator
Effective interaction between master controller improves the dispatching efficiency and work fluency of elevator, cost of labor is reduced, so that robot
Ladder personnel is preferably served, realizes the intelligent management of building, improves the safety of building.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the boarding system for robot assisted that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of the boarding method of robot assisted provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of working state schematic representation of the boarding system for robot assisted that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram of the boarding device for the robot assisted that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of structural schematic diagram of the boarding system for robot assisted that the embodiment of the present invention one provides, such as Fig. 1 institute
Show, which includes: monitoring device 110, dispatch robot 120 and master controller 130.
Monitoring device 110 and dispatch robot 120 communicate to connect, for monitoring and tracking the status information of ladder personnel,
And status information is sent to dispatch robot 120；Dispatch robot 120 and master controller 130 communicate to connect, for receiving shape
State information obtains the ladder request of ladder personnel, and status information and boarding demand is sent to master controller 130；Main control
Device 130 for carrying out elevator dispatching according to ladder request and current elevator operation, and elevator dispatching result is fed back to
Dispatch robot 120；Dispatch robot 120 is also used to convey elevator dispatching result to ladder personnel.
In embodiment, monitoring device 110 is millimetre-wave radar, and millimetre-wave radar has to dust, mist, rain, avenges susceptibility
It is not high, the strong feature of penetration capacity, and it is small by the radiation of natural light and heat source.Millimetre-wave radar is reflected by detecting
Electromagnetic wave carries out the detection of the speed of service, distance and location information etc., and very sensitive to the micro-displacement of object, can be with
Detect the location variation less than 1 millimeter.It is analyzed and processed, is may be implemented to multiplying according to the collected data of millimetre-wave radar
The tracking of the quantity and moving condition of terraced personnel.The status information of ladder personnel includes the location of ladder personnel, movement
Direction, the speed of movement and quantity of ladder personnel etc..After monitoring device determines specific ladder personnel, real-time monitoring this multiply
Status information of the terraced personnel in monitoring range.The status information of the ladder personnel monitored is sent to dispatch robot, with
So that dispatch robot gets the state of ladder personnel, including waiting the number of terraced ladder personnel, the position of ladder personnel
It sets, moving direction and the speed of movement etc..
Dispatch robot 120 has information input interface, for identity characteristic information and the input of boarding demand etc..Boarding
Personnel can have the method for unique features to carry out identity characteristic by identity card, recognition of face, fingerprint recognition or two dimensional code etc.
The input of information, can be by inputting the destination of access on information input interface or issuing the language of wanted arrival floor
Sound delivering ladder request etc..Dispatch robot obtains the status information and information for the ladder personnel that monitoring device sends over
Collected ladder request information of input interface etc., and it is sent to master controller 130.
Master controller 130 receives the status information and ladder request for the ladder personnel that dispatch robot 120 sends over
Information analyzes the quantity for needing the personnel of boarding and floor to be achieved, is scheduled according to the operating status of current elevator,
Optimal elevator dispatching scheme is cooked up so that ladder personnel reaches destination, while main control in most fast optimal mode
The device 130 elevator dispatching results cooked up feed back to dispatch robot 120.Dispatch robot 120 receives elevator dispatching knot
Ladder personnel is communicated to after fruit, ladder personnel carries out waiting ladder to specified lift port according to the elevator dispatching result, wherein conveys
Method can there are many, for example ladder personnel is shown to by the method for display screen, passenger-in-elevator informed by way of voice
Member, or by sending elevator dispatching result etc. to the mobile phone of ladder personnel.
A kind of boarding system of robot assisted provided in this embodiment, including monitoring device, dispatch robot and master
Controller, monitoring device and dispatch robot communicate to connect, the status information of monitoring and tracking ladder personnel, and by status information
It is sent to dispatch robot；Dispatch robot and master controller communicate to connect, and receiving status information obtains the boarding of ladder personnel
Request, and status information and boarding demand are sent to master controller；Master controller is run according to ladder request and current elevator
State carries out elevator dispatching, and elevator dispatching result is fed back to dispatch robot；Dispatch robot is also conveyed to ladder personnel
Elevator dispatching is as a result, with solution, interactive efficiency is low between robot and elevator main controller in the prior art, under work fluency
The technical issues of drop and cost of labor increase, realizes effective interaction between robot and elevator main controller, improves elevator
Dispatching efficiency and work fluency, reduce cost of labor and so that robot preferably serves ladder personnel realize building
Intelligent management improves the safety of building.
On the basis of the above embodiments, which further includes memory module, which is stored with body
Part validation database, the authentication database are preserved by registering the verification information with the ladder personnel of authorization.Work as scheduling
It include the identity information of ladder personnel, dispatcher when robot gets the ladder request of ladder personnel, in the ladder request
Device people can match the identity information with the verification information in authentication database, if met, allow the boarding
Personnel's boarding needs that the ladder personnel is notified to carry out interim registration authorization and carry out boarding again if not meeting.
The boarding system of the robot assisted further includes service robot in addition to dispatch robot.The function of service robot
Can be simpler for dispatch robot, for receive dispatch robot transmission control instruction acted.
According to the difference of specific service function, service robot is specifically further divided into guided robot and distributed robot etc..?
In practical application, there are some ladder personnels to need to guide company boarding, such as disabled person's boarding or special visiting personnel etc.,
Dispatch robot contact guided robot comes guide service；Courier or food delivery personnel need to carry out article delivery, scheduling
After robot receives the ladder request of this kind of personnel, contact distributed robot receives article, according to the ladder request by needs
The floor information of delivery is sent to master controller, and master controller carries out elevator dispatching, and elevator dispatching result is sent to scheduling
Robot, dispatch robot according to the elevator dispatching result to distributed robot send control instruction, control distributed robot into
Delivery is completed in row boarding, and courier and food delivery personnel do not need boarding.
Embodiment two
Fig. 2 is a kind of flow chart of the boarding method of robot assisted provided by Embodiment 2 of the present invention.The present embodiment can
The case where suitable for robot assisted boarding, the boarding method are executed by the boarding system of robot assisted.It, should with reference to Fig. 2
The boarding method of robot assisted specifically includes the following steps:
S210, monitoring device monitoring and the status information for tracking ladder personnel, and the status information is sent to scheduling
Robot.
The status information of ladder personnel includes quantity, the direction of movement and speed of movement etc., and this kind of status information can be with
The conversion of the data informations such as phase, frequency, time and the distance change measured by monitoring device obtains.
Monitoring device may be mounted at the different location in building, enters and leaves hall for example, being mounted on, detects National People's Congress people from Room
The case where member, issues dispatch robot according to the quantity of personnel and concentration so that dispatch robot according to the actual situation will
Relevant information is distributed to other service robots or elevator main controller.Enter building monitoring that ladder personnel register
Afterwards, which is locked according to the registration situation of the personnel, and tracks activity situation of the personnel in building；Monitoring device may be used also
Outside carriage to be mounted on each floor on the fixation position of waiting position, monitoring device is at a distance from elevator door and gate at this time
It is the shortest distance that is determining, being completely in carriage by demarcating ladder personnel in advance, i.e., monitoring device measures at this time
Distance is D1, and ladder personnel leaves the longest distance that carriage is closed without influencing gate completely, i.e., monitoring device measures at this time
Distance be D2, and D1 > D2, set the distance for the ladder personnel that monitoring device measures as D, ladder personnel reaches target building
Layer, gate are opened, and ladder personnel leaves elevator, if D < D2, may determine that ladder personnel walks out elevator；Ladder personnel enters sedan-chair
When compartment, if D > D1, it may determine that ladder personnel enters elevator.The status information of ladder personnel is sent to dispatch robot,
Dispatch robot can send instructions to master controller according to the status information to carry out elevator dispatching.
It is explained it should be noted that the ladder personnel in the present embodiment can do expansion, not only includes the people for carrying out boarding
Member also includes the robot etc. for carrying out boarding.
S220, the dispatch robot receive the status information, obtain the ladder request of the ladder personnel, and by institute
It states status information and boarding demand is sent to master controller.
Dispatch robot receiving status information understands the boarding quantity of ladder personnel, the active state etc. inside and outside carriage
Situation, and be sent to master controller, with allow master controller it is whether fully loaded according to ladder personnel, whether completely into or leave sedan-chair
Compartment open the door or shutdown acts, without the manual operation of ladder personnel.It gets in the ladder request of ladder personnel and mentions
Take out the destination of ladder personnel and the quantity of statistics ladder personnel, and will analysis treated that result is sent to main control
Device, master controller carry out elevator dispatching, carry out boarding to distribute most suitable elevator resources to ladder personnel.
S230, the master controller carry out elevator dispatching according to the ladder request and current elevator operation, and will
Elevator dispatching result feeds back to the dispatch robot.
Master controller according to status information and ladder request, obtain the initial floor of boarding and the destination of ladder personnel with
And the quantity of ladder personnel, electricity is carried out closer to terraced floor etc. is called together according to the situation that current elevator is run, such as which elevator
Trapeziodal modulation degree is with the resource of optimal scheme to ladder personnel.After master controller completes elevator dispatching analysis processing, by elevator dispatching knot
Fruit feeds back to dispatch robot.
S240, dispatch robot convey the elevator dispatching result to the ladder personnel.
Since master controller can not carry out human-computer interaction with ladder personnel, so needing dispatch robot will be electric as medium
The scheduling result of ladder is conveyed to ladder personnel.Specifically, dispatch robot is provided with display screen, it can be by the number of ladder personnel
And corresponding elevator dispatching shows for ladder personnel access, or, dispatch robot is provided with communication module, and multiplies
The communication modules such as the bluetooth module in the mobile terminal of terraced personnel carry out data interaction, and elevator dispatching result is sent directly to multiply
On the mobile terminal of terraced personnel, or, dispatch robot is provided with voice module, by elevator dispatching knot by way of voice broadcast
Fruit tells ladder personnel etc. with voice messaging.
Technical solution provided in this embodiment monitors by monitoring device and tracks the status information of ladder personnel, and will
Status information is sent to dispatch robot；Dispatch robot receiving status information, obtains the ladder request of ladder personnel, and by shape
State information and boarding demand are sent to master controller；Master controller carries out electricity according to ladder request and current elevator operation
Trapeziodal modulation degree, and elevator dispatching result is fed back into dispatch robot；Dispatch robot to ladder personnel convey elevator dispatching as a result,
Realize effective interaction between ladder personnel, robot and elevator main controller, dispatching efficiency and the work for improving elevator are smooth
Property, cost of labor is reduced so that robot preferably serves ladder personnel and realizes the intelligent management of building, improves building
The safety of space.
On the basis of the above embodiments, specifically, the monitoring device monitors and the status information of tracking ladder personnel,
Specifically include: monitoring device monitors the quantity of the ladder personnel, tracks position, the direction of motion and the fortune of the ladder personnel
Dynamic speed.
In embodiment, monitoring device is specifically as follows millimetre-wave radar.Millimetre-wave radar is reflected by receiving
The information such as the phase of radar signal and time, can monitor the quantity of ladder personnel.With the movement of ladder personnel, it is reflected back
The information such as the phase for the radar signal come and time can also change, to realize position, the movement side of tracking ladder personnel
To and movement velocity etc..
On the basis of the above embodiments, optionally, ladder request includes: the identity information and target building of ladder personnel
Layer.
When ladder personnel issues ladder request to dispatch robot, optionally, need to input boarding on dispatch robot
The identity information of people, such as identity card, driver's license or other identification codes with unique features information Jing Guo registration verification, such as
Two dimensional code, fingerprint or iris etc., it is also necessary to input destination to be achieved needed for ladder personnel, which can be one
A or multiple, after selection target floor, ladder personnel can carry out boarding by the sequence of setting, in order to which monitoring device is real-time
Track the boarding situation of ladder personnel.
On the basis of the above embodiments, the boarding method of the robot assisted further include: dispatch robot is according to
Ladder request verifies the boarding permission of the ladder personnel.
Dispatch robot gets the identity information of ladder personnel according to the ladder request that ladder personnel inputs, and transfers inside
The authentication database of storage preserves the boarding permission of the personnel pre-registered in the authentication database.It will be current
The identity information of ladder personnel matched with the authentication information in authentication database, if it does, then the passenger-in-elevator
Member has boarding permission, can carry out boarding by gate inhibition.If the identity information of the ladder personnel is in authentication database
In do not find occurrence, then it fails to match, which cannot pass through gate inhibition.The ladder personnel can apply temporarily at this time
Access authority, specifically, application information is sent to service robot by the ladder personnel, service robot typing this application is interim
Specific verification information, such as two dimensional code are generated after the information of the ladder personnel of access, are sent to the mobile terminal of the ladder personnel,
The ladder personnel can issue ladder request to dispatch robot by this verification information, and dispatch robot re-starts verifying,
Judge whether the ladder personnel is registered and has boarding permission.
On the basis of the above embodiments, the boarding method of the robot assisted further include: service robot receives scheduling
The control instruction that robot is sent, is acted according to the control instruction.
Service robot can have multiple, according to the object of service or the difference of function, particularly may be divided into guided robot
With distributed robot etc..Guided robot can be set at the first floor hall of floor, for guiding ladder personnel to carry out boarding,
It is excessive and disorder in discrepancy peak period period ladder personnel to prevent, it is arrived specifically, ladder personnel can be guided or be accompanied
It carries out waiting ladder at target elevator, or even accompanies ladder personnel and reach destination etc..Distributed robot is arranged in delivery point, this send
Goods point is generally used for helping delivery person, as courier or food delivery personnel transfer cargo.Delivery person such as send delivery information
Destination, room number and consignee's name of goods etc. are input to distributed robot, and distributed robot multiplies according to delivery information sending
To dispatch robot, which is sent to master controller to carry out elevator dispatching by dispatch robot for ladder request.Dispatcher
The elevator dispatching knot of information, the information that service robot is sent and master controller feedback that device people monitors according to monitoring device
Fruit generates control instruction, and is sent to service robot.Service robot guides ladder personnel time according to control instruction
Ladder accompanies ladder personnel boarding and transfers the movement such as cargo for delivery person.
Embodiment three
Fig. 3 is a kind of working state schematic representation of the boarding system for robot assisted that the embodiment of the present invention three provides.Such as
Shown in Fig. 3, the boarding system of the robot assisted can specifically include monitoring device 301, dispatch robot 302, master controller
303, service robot 304, disabled passenger-in-elevator 305 and delivery person 306, wherein service robot 304 can have multiple.?
In practical application, the working condition of the boarding system of robot assisted can there are many, the present embodiment is to common working condition
It illustrates.
In embodiment, dispatch robot 302 settings in order to guarantee the reliability and safety of elevator, by authorization
One.Elevator is a kind of special equipment, and reliability and security requirement are very high, realizes the function of robot assisted boarding,
It needs robot and elevator to realize the interaction of information, needs elevator to robot authorization.In order to avoid elevator data is maliciously usurped
Change with elevator device by malicious attack, authorization and data protocol need for confidentiality.It is handed over if information occurs for multiple robots and elevator
Mutually, then it needs to require height to the control system of elevator, the confidentiality of data protocol is also difficult to ensure.Therefore it is examined in security standpoint
Consider, the robot authorized using one is interacted with elevator, is first carried out the collection and processing of Primary Stage Data, is then fed back to master
Controller, this mode greatly reduce the data processing amount of master controller, have ensured elevator safety and reliability.Certainly,
Under the premise of realizing safety and reliability, multiple robots by authorization also can be set as dispatch robot and electricity
Ladder interacts.
Different according to the object of service, the robot assisted boarding system can there are many operating modes, such as permission
Validation Mode accompanies boarding mode and delivery mode etc..
Authority Verification mode is generally positioned at the gate inhibition in floor hall.The monitoring of monitoring device 301 enters the personnel in hall,
And voice or display reminding are issued to remind personnel to carry out visiting registration to the personnel that gate inhibition verifies are come.Dispatch robot
302, according to the registration situation of the personnel, are matched with the authentication database of itself storage, judge whether the personnel have and multiply
Terraced permission then allows the personnel to pass through gate inhibition if there is boarding permission, unmatched into boarding, then does not allow the personnel logical
It crosses, and reminds and carry out interim visiting registration to personnel, generate interim verification information for the personnel.The interim visiting personnel is according to facing
When verification information registered and authorized boarding is carried out by gate inhibition.Alternatively, interviewed personnel will apply for interim visiting personnel
Information is sent to service robot, and service robot 304 generates specific information, such as two-dimensional barcode information etc. after being verified,
It is sent on the mobile phone of temporarily visiting personnel, visiting personnel can be registered and be authorized by the two-dimensional barcode information.Monitoring
The monitoring of device 301 carries out the quantity of the ladder personnel in hall, tracks to ladder personnel, and the ladder personnel monitored
Quantity feeds back to dispatch robot 302.Dispatch robot 302 will need the personnel amount and target building of boarding within a certain period of time
Layer information is sent to master controller 303, and the number that master controller 303 is up to the elevator of different target floor feeds back to dispatcher
Device people 302, dispatch robot 302 remind the orderly boarding of ladder personnel in a manner of voice or display transmission etc. according to feedback result,
And the service robot 304 near getting in touch with guides service.
It accompanies boarding mode and typically serves in disabled person or special visiting personnel.When monitoring device 301 has monitored deformity
When the ladder request of passenger-in-elevator 305 or special visiting personnel, then boarding mode, the contact service of dispatch robot 302 are accompanied in starting
Robot 304 comes guide service and to accompany boarding.Meanwhile dispatch robot 302 sends out the ladder request of disabled passenger-in-elevator 305
It send to master controller 303, requests allocation of elevators.Master controller 303 runs shape according to the ladder request received and current elevator
State carries out elevator dispatching, gives disabled passenger-in-elevator 305 with the elevator resources of optimal scheme.Smoothly in order to ensure disabled passenger-in-elevator 305
Boarding, service robot 304 can accompany disabled passenger-in-elevator 305 according to control instruction and carry out boarding and reach destination.At this
In service process, the location information of oneself is sent to dispatch robot 302, dispatch robot 302 by service robot 304 in real time
Information exchange is carried out with master controller 303, ensures that service robot 304 can smoothly send disabled passenger-in-elevator 305 to target building
Layer.After service robot 304, which completes service, accompanies task, designated position is returned to, waits next task instruction.
Delivery mode typically serves in delivery person, such as courier and food delivery personnel etc..If there is delivery person 306
Cargo delivery is carried out, delivery person 306 sends ladder request to dispatch robot 302, which refers to the delivery of cargo
Request includes floor or specific room number that cargo needs to be sent to.Dispatch robot 302 is according to the ladder request, contact clothes
Business robot 304 receives cargo, and after cargo finishes receiving, the floor information that dispatch robot 302 needs the cargo to be sent to is sent out
Master controller 303 is given, the operating status of floor information and current elevator that master controller 303 is sent to according to the needs carries out
Elevator dispatching, to dispatch robot 302, dispatch robot 302 generates the elevator resources of optimal scheme according to elevator dispatching result
Control instruction, is sent to service robot 304, and control service robot 304 is serviced.Service robot 304 is being multiplied
During terraced delivery, the location information of oneself is transmitted to dispatch robot 302 in real time, and ladder request is sent to dispatcher
Device people 302, for dispatch robot 302 ladder request information side to master controller 303, it is complete that master controller 303 carries out elevator dispatching
Elevator dispatching result is fed back to dispatch robot 302 by Cheng Hou.The elevator dispatching result is sent to by dispatch robot 302 again
Service robot 304.After service robot 304 completes delivery task, information will be completed and feed back to dispatch robot 302, dispatched
Delivery completion information is fed back to delivery person 306 by robot 302, completes delivery task.Delivery is carried out in service robot 304
In the process, dispatch robot 302 reminds reception staff to reach in advance according to the location information of service robot 304 to prepare to connect
It receives object.
Dispatch robot 302 can also be according to 304 speed of service of service robot, it is contemplated that the time of lift port is reached, it will
These information feed back to master controller 303, and master controller 303 considers these information, Ke Yijie when distributing elevator resources
Save the waiting time.The time that will be reached according to elevator, robot need again into elevator time and also need to be implemented
Task, then the elevator that sub-distribution can take improves elevator main controller, adjusts so that elevator carries out optimal team control planning
Spend the interactive efficiency between robot and service robot.
Technical solution provided in this embodiment, by providing a kind of robot assisted boarding system, including monitoring device, tune
It spends for robot, master controller, service robot, disabled passenger-in-elevator and delivery person, to the tool of the robot assisted boarding
Body running mode is illustrated, and realizes effective interaction between ladder personnel, robot and elevator main controller, so as to elevator into
The optimal team control planning of row improves the dispatching efficiency and work fluency of elevator, cost of labor is reduced, so that robot is preferably
Ladder personnel is served, realizes the intelligent management of building, improves the safety of building.
Example IV
Fig. 4 is the structural schematic diagram of the boarding device for the robot assisted that the embodiment of the present invention four provides.The present embodiment mentions
The boarding device of the robot assisted of confession is integrated in the boarding system of robot assisted.With reference to Fig. 4, machine provided in this embodiment
The human-aided boarding device of device specifically includes: monitoring tracking module 410, sending module 420, feedback module 430 and reception and registration mould
Block 440.
Wherein, tracking module 410 is monitored, monitoring device is set to, for monitoring and tracking the status information of ladder personnel,
And the status information is sent to dispatch robot；Sending module 420 is set to the dispatch robot, for receiving
Status information is stated, obtains the ladder request of the ladder personnel, and the status information and boarding demand are sent to main control
Device；Feedback module 430 is set to the master controller, for carrying out according to the ladder request and current elevator operation
Elevator dispatching, and elevator dispatching result is fed back into the dispatch robot；Module 440 is conveyed, the scheduling machine is set to
People, for conveying the elevator dispatching result to the ladder personnel.
Technical solution provided in this embodiment is set to monitoring device by monitoring tracking device, for monitoring and tracking
The status information of ladder personnel, and the status information is sent to dispatch robot；Sending module is set to the dispatcher
Device people obtains the ladder request of the ladder personnel, and the status information and boarding are needed for receiving the status information
It asks and is sent to master controller；Feedback module is set to the master controller, for being transported according to the ladder request and current elevator
Row state carries out elevator dispatching, and elevator dispatching result is fed back to the dispatch robot；Module is conveyed to be set to the tune
Robot is spent, for conveying the elevator dispatching to the ladder personnel as a result, realizing between robot and elevator main controller
Effective interaction, improve the dispatching efficiency of elevator, work fluency, reduces cost of labor.
On the basis of the above embodiments, which is set to monitoring device, specifically for multiplying described in monitoring
The quantity of terraced personnel tracks position, the direction of motion and the movement velocity of the ladder personnel.
On the basis of the above embodiments, the ladder request includes: the identity information and destination of ladder personnel.
On the basis of the above embodiments, the boarding device of the robot assisted further include: Authority Verification module is set to
Dispatch robot, for verifying the boarding permission of the ladder personnel according to the ladder request.
On the basis of the above embodiments, the boarding device of the robot assisted further include: action module is set to service
Robot is acted for receiving the control instruction of dispatch robot transmission according to the control instruction.
The boarding device of robot assisted provided in this embodiment can be used for executing the machine that above-mentioned any embodiment provides
Human-aided boarding method, and have corresponding function and beneficial effect.
Embodiment five
The embodiment of the present invention five provides a kind of storage medium comprising computer executable instructions, and the computer is executable
Instruction by computer processor when being executed for executing a kind of boarding method of robot assisted, comprising:
The status information of monitoring device monitoring and tracking ladder personnel, and the status information is sent to scheduling machine
People；
The dispatch robot receives the status information, obtains the ladder request of the ladder personnel, and by the shape
State information and boarding demand are sent to master controller；
The master controller carries out elevator dispatching according to the ladder request and current elevator operation, and by elevator
Scheduling result feeds back to the dispatch robot；
The dispatch robot conveys the elevator dispatching result to the ladder personnel.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The boarding method for the robot assisted that executable instruction is not limited to the described above, can also be performed any embodiment of that present invention and is mentioned
Relevant operation in the boarding method of the robot assisted of confession, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes machine described in any embodiment of that present invention
The human-aided boarding method of device.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of boarding system of robot assisted characterized by comprising monitoring device, dispatch robot and main control
Device；
The monitoring device and the dispatch robot communicate to connect, for monitoring and tracking the status information of ladder personnel, and
The status information is sent to the dispatch robot；
The dispatch robot and the master controller communicate to connect, and for receiving the status information, obtain the passenger-in-elevator
The ladder request of member, and the status information and boarding demand are sent to the master controller；
The master controller, for according to the ladder request and current elevator operation, carrying out elevator dispatching, and by elevator
Scheduling result feeds back to the dispatch robot；
The dispatch robot is also used to convey the elevator dispatching result to the ladder personnel.
2. the boarding system of robot assisted according to claim 1, which is characterized in that the dispatch robot is built-in with
Authentication database, the dispatch robot are also used to be verified according to the ladder request from the authentication database
The boarding permission of the ladder personnel.
3. the boarding system of robot assisted according to claim 1, which is characterized in that further include service robot；
The service robot and the dispatch robot communicate to connect, for receiving the control instruction of dispatch robot transmission,
It is acted according to the control instruction.
4. a kind of boarding method of robot assisted characterized by comprising
The status information of monitoring device monitoring and tracking ladder personnel, and the status information is sent to dispatch robot；
The dispatch robot receives the status information, obtains the ladder request of the ladder personnel, and the state is believed
Breath and boarding demand are sent to master controller；
The master controller carries out elevator dispatching according to the ladder request and current elevator operation, and by elevator dispatching
As a result the dispatch robot is fed back to；
The dispatch robot conveys the elevator dispatching result to the ladder personnel.
5. the boarding method of robot assisted according to claim 4, which is characterized in that monitoring device monitoring and with
The status information of track ladder personnel, specifically includes:
Monitoring device monitors the quantity of the ladder personnel, tracks position, the direction of motion and the movement speed of the ladder personnel
Degree.
6. the boarding method of robot assisted according to claim 4, which is characterized in that the ladder request includes: to multiply
The identity information and destination of terraced personnel.
7. the boarding method of robot assisted according to claim 4, which is characterized in that further include:
Dispatch robot verifies the boarding permission of the ladder personnel according to the ladder request.
8. the boarding method of robot assisted according to claim 4, which is characterized in that further include:
Service robot receives the control instruction that dispatch robot is sent, and is acted according to the control instruction.
9. a kind of boarding device of robot assisted characterized by comprising
Tracking module is monitored, monitoring device is set to, for monitoring and tracking the status information of ladder personnel, and by the state
Information is sent to dispatch robot；
Sending module is set to the dispatch robot, for receiving the status information, obtains the boarding of the ladder personnel
Request, and the status information and boarding demand are sent to master controller；
Feedback module is set to the master controller, for carrying out electricity according to the ladder request and current elevator operation
Trapeziodal modulation degree, and elevator dispatching result is fed back into the dispatch robot；
Module is conveyed, the dispatch robot is set to, for conveying the elevator dispatching result to the ladder personnel.
10. a kind of storage medium comprising computer executable instructions, which is characterized in that the computer executable instructions by
For executing the boarding method of the robot assisted as described in any one of claim 4-8 when computer processor executes.
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