CN109095309B - Method and device for calibrating elevator floor by using robot and robot - Google Patents
Method and device for calibrating elevator floor by using robot and robot Download PDFInfo
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- CN109095309B CN109095309B CN201810891717.8A CN201810891717A CN109095309B CN 109095309 B CN109095309 B CN 109095309B CN 201810891717 A CN201810891717 A CN 201810891717A CN 109095309 B CN109095309 B CN 109095309B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Elevator Control (AREA)
Abstract
The application discloses a method and a device for calibrating elevator floors by using a robot and the robot, so as to solve the problem of how to avoid the unmatched floor number of the obtained floor and the actual floor number. The method for calibrating the floor of the elevator by using the robot comprises the following steps: establishing communication connection with the robot on the designated channel; responding to a sensing signal from a proximity sensor disposed on the elevator car; when the induction signal is received, acquiring the number of target floors stored in the robot; comparing the number of the target floors with the number of the testing floors; and if the number of the target floor layers is not equal to the number of the testing floor layers, storing the number of the testing floor layers serving as the number of the target floor layers into the robot. The calibration method compares the floor number obtained or determined by the robot with the actual floor number in real time, so that the reliability is improved, and the production and maintenance cost is greatly reduced.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a method and a device for calibrating an elevator floor by using a robot, and further relates to the robot for calibrating the elevator floor.
Background
Nowadays, the automatic elevator system is basically realized in high-rise buildings where people live or travel on business trips, and the life of people is facilitated. Particularly, in recent commercial service robots, elevator service personnel are relieved from troublesome matters, and the robots perform such things as guidance and object delivery. Therefore, customers can enjoy the fun of high technology, the cost of property personnel can be reduced, and the method is a development trend of future science and technology.
With the rapid development of intelligent robot technology, the production automation of intelligent robots in the industrial field is realized, service robots in families bring great convenience to the lives of people, and special robots such as search and rescue robots, transportation robots and the like are also provided, so that the work and the life of people are continuously intelligentized and automated.
If the number of floors of the elevator is judged by the robot, the existing technical scheme is that the robot and a control system of an elevator manufacturer perform interactive control, the elevator control system performs feedback to obtain and determine the floor where the elevator is located, the method needs the robot to communicate with the elevator control system frequently, and in the past, the number of floors obtained or determined by the robot and the actual number of floors can deviate, so that potential safety hazards exist.
The information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The main purpose of the present application is to provide a method for calibrating elevator floors by using a robot, thereby avoiding the problem that the number of acquired floors is not matched with the number of actual floors.
In order to solve the above problems, the present application relates to a method of calibrating an elevator floor using a robot, which may include: establishing communication connection with the robot on the designated channel; responding to a sensing signal from a proximity sensor provided on an elevator car, wherein a sensed part corresponding to the proximity sensor is provided at a test floor; when the induction signal is received, acquiring the number of target floors stored in the robot; comparing the number of the target floors with the number of the testing floors; and if the number of the target floor layers is not equal to the number of the testing floor layers, storing the number of the testing floor layers serving as the number of the target floor layers into the robot.
Further, the proximity sensor may be disposed on top of the elevator car; and the sensed component may be disposed on a wall at the test floor or on an elevator guide rail at the test floor.
Further, the proximity sensor may be a capacitive proximity sensor, an inductive proximity sensor, or an optoelectronic touch sensor. And the number of test floors may be floor 1, and the distance between the proximity sensor and the sensed member may be set to 1 to 2 cm.
Further, the number of target floors can be obtained by the following steps: receiving blocking information from the robot, wherein the blocking information comprises: a blocking event and a blocking direction between a signal source on the robot and the elevator magnetism isolating plate; calculating blocking times according to the blocking event and the blocking direction in the blocking information; and taking the calculated blocking times as the number of the floors of the target elevator.
Further, the blocking event is: contact between a signal source emitted from the robot and an elevator magnetic shield; the blocking direction is determined by the order of contact between at least two signal sources emitted from the robot and an elevator magnetic shield.
Further, the signal source may be an infrared signal source, and the contacting sequence may include: in the direction from the top layer to the bottom layer, from top to bottom and from bottom to top.
The present application also relates to a device for calibrating elevator floors using a robot, which may include: the communication module establishes communication connection with the robot on the designated channel; a response module which responds to a sensing signal from a proximity sensor arranged on an elevator car, wherein a sensed part corresponding to the proximity sensor is arranged on a test floor; the floor acquisition module acquires the number of target floors stored in the robot when receiving the induction signal; the comparison module compares the number of the target floors with the number of the testing floors; and the storage module is used for storing the number of the testing floors into the robot as the number of the target floors if the number of the target floors is not equal to the number of the testing floors.
Furthermore, the present application relates to a robot for calibrating elevator floors, comprising a computer memory disposed inside the robot, a computer processor and a computer program stored in the computer memory and executable in the computer processor, the computer program implementing a method which may comprise the steps of: acquiring the number of target floors; responding to a sensing signal from a proximity sensor provided on an elevator car, wherein a sensed part corresponding to the proximity sensor is provided at a test floor; when the induction signal is received, comparing the number of the target floor with the number of the testing floor; and if the number of the target floor layers is not equal to the number of the testing floor layers, setting the number of the testing floor layers as the number of the target floor layers.
The beneficial effect of this application is: according to the calibration method, the number of the floor layers acquired or determined by the robot is compared with the number of the actual floor layers in real time, and the target floor information stored in the robot is corrected in time according to the comparison result, so that the reliability is improved, and the production and maintenance cost is greatly reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a flow chart of a method of calibrating elevator floors with a robot according to an embodiment of the application; and
fig. 2 is yet another flow chart of a method of calibrating elevator floors with a robot according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "configured" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the method for calibrating an elevator floor using a robot of the present application may include the steps of: firstly, in step S11, a communication connection is established with the robot on the designated channel, specifically, the application firstly confirms the ID of the robot moving into the designated elevator, and then reads the channel where the robot is located, so as to establish a communication connection with the robot on the channel, and the communication connection can be through wireless communication connection modes such as WIFI, bluetooth, 3G, and 4G. Subsequently, at step S12, it is judged whether the robot enters the elevator, and if so, the following steps are continued, and if it is judged that the robot does not enter the elevator or does not reach a designated area in the elevator, the present application commands and controls the robot to enter the elevator or performs an alarm processing step to interrupt the execution of the following steps. Specifically, whether the robot has entered the elevator or not may be actively determined by a camera or a position sensor provided inside the robot, or passively determined by receiving feedback information of the robot.
Next, at step S13, the present invention responds to the sensing signal from the proximity sensor disposed on the elevator car at the control side, wherein, in order to make the sensing signal more accurate and the verification more accurate, the proximity sensor may be disposed on the top of the elevator car, and the sensed part corresponding to the proximity sensor is disposed on the test floor, for example, on the wall of the 1 st floor or on the elevator guide rail at the 1 st floor, to ensure that the distance between the proximity sensor and the sensed part is 1 to 2 cm. Further, the proximity sensor may be a capacitive proximity sensor, an inductive proximity sensor, or an optoelectronic contact sensor, and accordingly, the sensed component may be a metal conductor, a magnetic member, or a light emitter.
Next, in step S14, when the sensing signal is received, the present invention obtains a target floor number stored in the robot, wherein the target floor number is obtained by: receiving blocking information from the robot, wherein the blocking information comprises: a blocking event and a blocking direction between a signal source on the robot and an elevator magnetic isolation plate (namely a light screen); calculating blocking times according to the blocking event and the blocking direction in the blocking information; and taking the calculated blocking times as the number of the floors of the target elevator.
Wherein the blocking information comprises at least: and blocking events and blocking directions between the signal source on the robot and the elevator magnetic isolation plate. Specifically, a signal source (such as a light source and an infrared signal source) transmitted by the robot is arranged, and a blocking event is formed by detecting whether the signal source is blocked by a blocking component on the elevator, specifically, the characteristics of linear transmission and difficult diffusion of the infrared signal source can be utilized, and the advantages of easy control, safety and high precision are utilized. In addition, at least two groups of infrared geminate transistors are arranged on the robot, the blocking direction can be judged according to the blocking sequence of the infrared geminate transistors, and the total number of blocking times can be calculated by accumulating the blocking times. That is to say, the blocking times are calculated according to the blocking event and the blocking direction in the blocking information, and a specific calculation manner may be that, if the blocking direction is downward (i.e., a block is formed from bottom to top in the direction from the top floor), it may be considered that the elevator is moving upward, the current floor number and the blocking times are added, and the target floor number may be calculated. On the contrary, if the blocking direction is upward (i.e. in the direction from the top floor to the bottom floor, blocking is formed from top to bottom), the elevator can be considered to be downward, and the current floor number is subtracted from the blocking times, so that the target floor number can be calculated.
Next, in steps S15 and S16, the present invention compares the target floor number with the test floor number, and if the target floor number is not equal to the test floor number, the present invention stores the test floor number as the target floor number into the robot.
According to yet another embodiment of the present application, the present application also relates to an apparatus for calibrating an elevator floor using a robot, the apparatus comprising: the communication module is used for establishing communication connection with the robot on the designated channel; a response module which responds to a sensing signal from a proximity sensor arranged on an elevator car, wherein a sensed part corresponding to the proximity sensor is arranged on a test floor; the floor acquisition module is used for acquiring the number of target floors stored in the robot when receiving the induction signal; the comparison module is used for comparing the number of the target floors with the number of the testing floors; and the storage module is used for storing the number of the testing floors into the robot as the number of the target floors if the number of the target floors is not equal to the number of the testing floors.
In addition, the present application also provides a robot for calibrating elevator floors, comprising a computer memory disposed therein, a computer processor, and a computer program stored in the computer memory and executable in the computer processor.
As shown in fig. 2, the computer program implemented method includes: step S21, first, it is determined whether the robot has entered the elevator, if yes, step S22 is executed to obtain the destination floor number, where the manner of obtaining the destination floor number is described in detail in step S14, and is not described here again. In step S23, in response to a sensing signal from a proximity sensor provided on the elevator car, in which a sensed part corresponding to the proximity sensor is provided at the test floor, this step S23 is similar to the above step S13 except that the responding main body in this step is a robot instead of the control device on the control side. Finally, in steps S24 and S25, when the robot receives the sensing signal, the number of target floors is compared with the number of test floors, and if the number of target floors is not equal to the number of test floors, the number of test floors is set as the number of target floors and stored.
The computer software program to which the present application relates may be stored in a computer readable storage medium, which may include: any physical device capable of carrying computer program code, virtual device, flash disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only computer Memory (ROM), Random Access computer Memory (RAM), electrical carrier wave signal, telecommunications signal, and other software distribution media, and the like.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (9)
1. A method of calibrating an elevator floor using a robot, comprising:
establishing communication connection with the robot on the designated channel;
responding to a sensing signal from a proximity sensor provided on an elevator car, wherein a sensed part corresponding to the proximity sensor is provided at a test floor;
when the induction signal is received, acquiring the number of target floors stored in the robot;
comparing the number of the target floors with the number of the testing floors; and
if the number of the target floor layers is not equal to the number of the testing floor layers, storing the number of the testing floor layers serving as the number of the target floor layers into the robot;
the number of the target floors is obtained through the following steps:
receiving blocking information from the robot, wherein the blocking information comprises: a blocking event and a blocking direction between a signal source on the robot and the elevator magnetism isolating plate;
calculating blocking times according to the blocking event and the blocking direction in the blocking information; and
and taking the calculated blocking times as the floor number of the target elevator.
2. The method of calibrating an elevator floor with a robot of claim 1, wherein the proximity sensor is disposed on top of an elevator car; and arranging the sensed component on a wall at the test floor or on an elevator guide rail at the test floor.
3. Method for calibrating an elevator floor with a robot according to claim 1 or 2, characterized in that the proximity sensor is a capacitive proximity sensor, an inductive proximity sensor or a photoelectric contact sensor.
4. Method for calibrating floors of elevators with a robot according to claim 1 or 2, characterized in that the test floor number is floor 1.
5. Method for calibrating an elevator floor with a robot according to claim 1 or 2, characterized in that the distance between the proximity sensor and the sensed component is set to 1 to 2 cm.
6. The method of calibrating an elevator floor with a robot of claim 1, wherein the blocking event is: contact between a signal source emitted from the robot and an elevator magnetic shield; the blocking direction is determined by the order of contact between at least two signal sources emitted from the robot and an elevator magnetic shield.
7. The method of claim 6, wherein the signal source is an infrared signal source, and the contacting sequence comprises: in the direction from the top layer to the bottom layer, from top to bottom and from bottom to top.
8. An apparatus for calibrating a floor of an elevator using a robot, comprising:
the communication module is configured to establish communication connection with the robot on the designated channel;
a response module configured to respond to a sensing signal from a proximity sensor provided on an elevator car, wherein a sensed part corresponding to the proximity sensor is provided at a test floor;
a floor acquisition module configured to acquire a number of target floors stored in the robot when the sensing signal is received;
a comparison module configured to compare the number of target floors with the number of test floors; and
the storage module is configured to store the number of the test floors into the robot as the number of the target floors if the number of the target floors is not equal to the number of the test floors;
the number of the target floors is obtained through the following steps:
receiving blocking information from the robot, wherein the blocking information comprises: a blocking event and a blocking direction between a signal source on the robot and the elevator magnetism isolating plate;
calculating blocking times according to the blocking event and the blocking direction in the blocking information; and
and taking the calculated blocking times as the floor number of the target elevator.
9. A robot for calibrating elevator floors, the robot comprising a computer memory disposed within the robot, a computer processor, and a computer program stored in the computer memory and executable in the computer processor, characterized in that the computer program implements a method comprising the steps of:
acquiring the number of target floors;
responding to a sensing signal from a proximity sensor provided on an elevator car, wherein a sensed part corresponding to the proximity sensor is provided at a test floor;
when the induction signal is received, comparing the number of the target floor with the number of the testing floor; and
if the number of the target floor layers is not equal to the number of the test floor layers, setting the number of the test floor layers as the number of the target floor layers;
the number of the target floors is obtained through the following steps:
receiving blocking information from the robot, wherein the blocking information comprises: a blocking event and a blocking direction between a signal source on the robot and the elevator magnetism isolating plate;
calculating blocking times according to the blocking event and the blocking direction in the blocking information; and
and taking the calculated blocking times as the floor number of the target elevator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891717.8A CN109095309B (en) | 2018-08-07 | 2018-08-07 | Method and device for calibrating elevator floor by using robot and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810891717.8A CN109095309B (en) | 2018-08-07 | 2018-08-07 | Method and device for calibrating elevator floor by using robot and robot |
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| CN109095309A CN109095309A (en) | 2018-12-28 |
| CN109095309B true CN109095309B (en) | 2020-03-27 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723604B (en) * | 2019-09-20 | 2022-03-22 | 深圳优地科技有限公司 | Elevator control method and device |
| CN110980458B (en) * | 2019-12-31 | 2022-01-11 | 深圳优地科技有限公司 | Method for controlling robot to go out of elevator and robot |
| US20210284498A1 (en) * | 2020-03-16 | 2021-09-16 | Otis Elevator Company | Elevator inspection system with robot configured to inspect operational conditions of elevator car |
| CN112173900A (en) * | 2020-08-14 | 2021-01-05 | 上海景吾智能科技有限公司 | Floor self-learning method of robot calling landing equipment |
| CN114436105B (en) * | 2020-10-30 | 2024-05-07 | 蒂升家用电梯(上海)有限公司 | Fault detection method of elevator leveling induction system |
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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 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |