CN109552953A - The system and method for robot autonomous disengaging elevator - Google Patents
The system and method for robot autonomous disengaging elevator Download PDFInfo
- Publication number
- CN109552953A CN109552953A CN201811458104.1A CN201811458104A CN109552953A CN 109552953 A CN109552953 A CN 109552953A CN 201811458104 A CN201811458104 A CN 201811458104A CN 109552953 A CN109552953 A CN 109552953A
- Authority
- CN
- China
- Prior art keywords
- carriage
- module
- robot
- controller
- wireless communication
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- 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
-
- 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
- B66B2201/405—Details of the change of control mode by input of special passenger or passenger group
-
- 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)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of system and methods of robot autonomous disengaging elevator, including elevator, carriage and elevator control system, further include: the first controller, it is installed in the carriage, first controller is connect with the elevator control system, first controller is used to control the carriage and reaches destination and obtain the status information of the carriage, and first controller has the first wireless communication module；Second controller, is installed on the top of the elevator, and the second controller has the second wireless communication module；And robot, there is the third wireless communication module communicated with first controller and the second controller, the third wireless communication module sends control instruction to first controller, and the third wireless communication module receives the status information.The system and method for robot autonomous disengaging elevator provided by the invention, improves the robot autonomous ability for taking elevator, reduces scheme implementation cost.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of system and method for robot autonomous disengaging elevator.
Background technique
Mobile robot works sometimes for being arranged in different floor according to task, such as from second floor autonomous to ten
Complete task in building.In such a scenario, inevitably, robot, which needs independently to take a lift, goes to destination, therefore,
How to make the entirely autonomous seating elevator of robot is current urgent problem.
In the prior art, common scheme is robot by the sensor being separately positioned on elevator and each floor, is sentenced
Position where power-off ladder controls elevator and goes to destination, robot passes through by the controller being installed on lift car
The antenna of each floor is set and the antenna being arranged in carriage is realized and the interactive controlling of elevator.However, existing technology
Scheme is due to needing to configure the interconnection between multiple components and multicomponent, and practical application is difficult, higher cost.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of robot autonomous disengaging electricity
The system and method for ladder improves the robot autonomous ability for taking elevator, reduces scheme implementation cost.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of system of robot autonomous disengaging elevator, comprising: elevator, carriage and elevator controlling system
System, further includes:
First controller, first controller are installed in the carriage, first controller and the elevator control
System connection processed, first controller are used to control the carriage and reach destination and obtain the state letter of the carriage
Breath, first controller have the first wireless communication module；
Second controller, the second controller are installed on the top of the elevator, and the second controller has the
Two wireless communication modules；And
Robot, the robot have the third channel radio communicated with first controller and the second controller
Believe module, the third wireless communication module sends control instruction, the third wireless communication module to first controller
Receive the status information.
It is according to the present invention it is robot autonomous disengaging elevator system, by setting carriage, elevator top and
Controller in robot makes robot no matter outside carriage or cab interior, can realize with elevator control system
It more stably communicates, is more easier robot to the control and state recognition of carriage, realize that independently multiplying carriage goes to target building
Layer.
In addition, the robot enters before the carriage, the third wireless communication module is to second channel radio
Believe that module sends the control instruction, the control instruction is sent to described first wirelessly via second wireless communication module
Communication module, the control instruction make first controller control the carriage to reach floor where the robot, institute
After stating carriage stop, the control instruction makes the carriage be moved to the destination.Robot is located at outside carriage as a result,
When, car status information is obtained by the second wireless communication module of elevator top and control carriage is mobile, is overcome because of the
One controller is located inside elevator, the communication barrier problem of caused first controller and the outer robot of elevator.
In addition, the robot obtains the status information, the robot root by second wireless communication module
The instruction for whether entering the carriage is executed according to the status information, after the robot enters the carriage, passes through described the
One wireless communication module obtains the status information, and the robot executes whether leave the carriage according to the state information
Instruction, alternatively, passing through second wireless communication module after the robot enters the carriage and obtaining state letter
Breath, the robot execute the instruction for whether leaving the carriage according to the state information.In this case, robot position
It, can be logical with the first wireless communication module and the second wireless communication module respectively according to third wireless communication module when cab interior
The power of letter signal selects optimal communication module to be attached, and improves communication performance and stability.
In addition, first wireless communication module is at least one, first controller further includes electric life controller, institute
It states electric life controller to connect with the elevator control system, first wireless communication module is connect with the electric life controller.
Hereby it is achieved that the first wireless communication module directly obtains status information by electric life controller and controls the movement of elevator.
In addition, first wireless communication module is located at the top of the carriage, first wireless communication module is two
A, first wireless communication module has an antenna, the antenna of one of them first wireless communication module is to described
It is stretched out outside carriage, the antenna of another first wireless communication module extend into the inside of the carriage.This
In the case of, the first wireless communication module can be connected to cab interior and external communication, ensure communication robust.
In addition, the status information include at least floor locating for the switch state of door of the carriage, the carriage and
One of described carriage motion state.Can be judged whether according to status information can be with into or out sedan-chair for robot as a result,
Compartment.
In addition, first wireless communication module includes at least bluetooth module, WiFi module, ZigBee module, 315 nothings
One of wire module, LoRa wireless module, 433 wireless modules, ultra wide band module, second wireless communication module at least wrap
Include bluetooth module, WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules, ultra wide band mould
One of block, the third wireless communication module include at least bluetooth module, WiFi module, ZigBee module, 315 wireless moulds
One of block, LoRa wireless module, 433 wireless modules, ultra wide band module.In this case, the first wireless communication module
It may be implemented steadily short-distance wireless communication with the second wireless communication module, and after robot enters in carriage, robot
Steadily short-distance wireless communication can be realized with the first wireless communication module.
In addition, second wireless communication module further includes at least one of 4G module, 5G module, NB-IOT module,
The third wireless communication module further includes at least one of 4G module, 5G module, NB-IOT module.Work as robot as a result,
When outside carriage, can be realized with the second wireless communication module across floor and stablize ground wireless communication, without in each building
Layer configures wireless communication module.
In addition, second wireless communication module and the third wireless communication module pass through 4G module, 5G module, NB-
At least one of IOT module is communicated.It in this case, can be with second wirelessly when robot is located at outside carriage
Communication module is realized across floor and stablizes ground wireless communication, without configuring wireless communication module in each floor.
In addition, first wireless communication module and second wireless communication module use short-distance wireless communication technology
Communication.As a result, when robot is located at cab interior, realize that the first wireless communication module and the second wireless communication module are directly logical
Letter, communication barrier problem caused by overcoming because of elevator.
The present invention also provides a kind of methods of robot autonomous disengaging elevator, comprising:
Robot establishes in 4G, 5G, NB-IOT extremely before entering carriage with the second controller for being set to elevator top
A kind of few communication connection；
The robot sends control instruction to the second controller, and the control instruction is via the second controller
It is sent to the first controller being installed in the carriage, first controller is connect with elevator control system, and described first
Controller is used to control the carriage and reaches destination and obtain the status information of the carriage；
The control instruction makes first controller control the carriage to reach floor where the robot, described
After robot enters the carriage, the control instruction makes the carriage be moved to destination.
The method of robot autonomous disengaging elevator according to the present invention can be with the when robot is located at carriage outside
Two controllers realize across floor and steadily 4G or 5G or NB-IOT wireless communication, due on second controller and carriage
First controller can be communicated steadily, and robot may be implemented the control to elevator control system and can obtain in real time
The status information of carriage is taken, after safely entering carriage, carriage is safely left after reaching destination, and be not necessarily to
Wireless communication module is configured in each floor.
In addition, this method further include: the robot obtains the status information, the machine by the second controller
Device people execute according to the state information whether enter the carriage instruction, the robot enter the carriage after, pass through
First controller obtains the status information, and the robot executes whether leave the carriage according to the state information
Instruction, it is described alternatively, obtain the status information by the second controller after the robot enters the carriage
Robot executes the instruction for whether leaving the carriage according to the state information.In this case, robot is located at carriage
When internal, optimal communication mould can be selected with the power of the first controller and second controller signal of communication respectively according to robot
Block is attached, and improves communication performance and stability.
The system and method for robot autonomous disengaging elevator provided by according to the present invention, by being arranged in carriage, elevator
Controller at the top of well and in robot makes robot no matter outside carriage or cab interior, can be with elevator control
System realization processed more stably communicates, and is more easier robot to the control and state recognition of carriage, realizes and independently multiply carriage
Go to destination.
Detailed description of the invention
Fig. 1 shows the schematic diagram of the system of robot autonomous disengaging elevator involved in embodiments of the present invention；
Fig. 2 shows the flow charts of the method for robot autonomous disengaging elevator involved in embodiments of the present invention；
Fig. 3 shows the robot disengaging of the method for robot autonomous disengaging elevator involved in embodiments of the present invention
The flow chart of carriage.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
As shown in Figure 1, the system 1 of robot autonomous disengaging elevator involved in present embodiment includes elevator 70, sedan-chair
Compartment 60 and elevator control system (not shown).Specifically, elevator 70 is the hoistway for installing elevator, carriage 60 be elevator to
Carrying and the box-shaped space for transporting personnel and goods and materials, elevator control system control the operation of elevator.Robot autonomous disengaging elevator
System 1 further include the first controller 10, second controller 20 and robot 30.
Further, the first controller 10 is installed in carriage 60.First controller 10 is connect with elevator control system.The
One controller 10 is used to control carriage 60 and reaches destination and obtain the status information of carriage 60.Specifically, destination
Robot 30 be can be according to the instruction floor to be gone to.First controller 10 has the first wireless communication module 11.
Further, second controller 20 is installed on the top of elevator 70.Second controller 20 has the second channel radio
Believe module 21.
Further, robot 30 has the third radio communication mold communicated with the first controller 10 and second controller 20
Block 31.Third wireless communication module 31 sends control instruction to the first controller 10.Specifically, third wireless communication module 31
Control instruction is sent to the second wireless communication module 21, control instruction is sent to first wirelessly via the second wireless communication module 21
Communication module 11, and then elevator control system is sent to by the first controller 10.
Further, control instruction may include the destination information to be gone to of robot 30.In this case, electric
Terraced control system controls carriage 60 according to control instruction and goes to destination.Further, control instruction can also include machine
People 30 is currently located the information of floor 50.In this case, carriage 60 first goes to current institute, robot 30 according to control instruction
In floor 50, destination is gone to again after robot entrance.
Further, third wireless communication module 31 receives the status information.Specifically, being located in robot 30
When 60 outside of carriage, status information is sent to the second wireless communication module 21, status information warp by the first wireless communication module 11
Third wireless communication module 31 is sent to by the second wireless communication module 21.Status information can include at least opening for the door of carriage
One of 60 motion state of floor locating for off status, carriage 60 and carriage.In the present embodiment, status information is at least wrapped
Include the door of carriage 60 switch state and carriage 60 locating for floor.In this case, robot 30 can be according to acquisition
Status information judges whether carriage 60 has arrived at that robot 30 is currently located floor 50 and whether carriage 60 beaten
It opens, status information makes execution into the movement of carriage 60 or continues waiting for the arrival of carriage 60 based on the received for robot 30.
It is overcome as a result, because the first controller 10 is located inside elevator 70, caused first controller 10 and the outer machine of elevator 70
The communication barrier problem of people 30.
Further, when robot 30 is located at 60 inside of carriage, status information can be by the first wireless communication module 11
It is sent directly to third wireless communication module 31.Or status information can be sent to the second nothing by the first wireless communication module 11
Line communication module 21, and third wireless communication module 31 is sent to via the second wireless communication module 21.In this case, machine
Device people 30 can judge whether carriage 60 have arrived at destination and carriage 60 according to the status information of acquisition
Have already turned on, robot 30 based on the received status information make execute leave carriage 60 movement or continue waiting for carriage 60
Reach destination.It, can be according to third wireless communication module 31 respectively with first when robot 30 is located at 60 inside of carriage as a result,
The power of 21 signal of communication of wireless communication module 11 and the second wireless communication module selects optimal communication module to be attached.
In this case, by the controller being arranged in carriage 60,70 top of elevator and robot 30, make machine
Device people 30 can realize with elevator control system and more stably communicate, make no matter inside 60 outside of carriage or carriage 60
Robot 30 is more easier the control and state recognition of carriage 60, realizes that independently multiplying carriage goes to destination.
In some instances, the first wireless communication module 11 is at least one.First controller 10 further includes elevator controlling
Device (not shown).Electric life controller is connect with elevator control system.First wireless communication module 11 is connect with electric life controller.
Specifically, electric life controller is mobile for obtaining status information and control elevator.The control instruction sent by robot 30
After reaching electric life controller, sends and instruct from electric life controller to elevator control system.Hereby it is achieved that the first wireless communication module
11 directly obtain status information by electric life controller and control the movement of elevator.It is understood that robot 30 is to elevator
Controller sends the process of control instruction, simulates user by elevator controlling keyboard, the process to take a lift.
In some instances, the first wireless communication module 11 is located at the top of carriage 60.First wireless communication module 11 is
Two.First wireless communication module 11 has antenna.The antenna of one of them the first wireless communication module 11 is to outside carriage 60
It stretches out, the antenna of another the first wireless communication module 11 extend into the inside of carriage 60.In this case, first is wireless
Communication module 11 can be connected to 60 inside of carriage and external communication, ensure communication robust.
In some instances, the first wireless communication module 11 is one.First wireless communication module 11 is located at carriage 60
Top.In this case, the first wireless communication module 11 establishes communication connection with outside with 60 inside of carriage simultaneously.
In some instances, the first wireless communication module 11 include at least bluetooth module, WiFi module, ZigBee module,
One of 315 wireless modules, LoRa wireless module, 433 wireless modules, ultra wide band module.Second wireless communication module 21 to
It less include bluetooth module, WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules, ultra-wide
One of band module.Third wireless communication module 31 includes at least bluetooth module, WiFi module, ZigBee module, 315 nothings
One of wire module, LoRa wireless module, 433 wireless modules, ultra wide band module.Specifically, the first wireless communication module
11, the second wireless communication module 21 and the communication module having the same of third wireless communication module 31.It in this case, can be real
Existing each communication module establishes communication connection between each other.In some instances, the first wireless communication module 11 includes WiFi mould
Block, the second wireless communication module 21 and third wireless communication module 31 also include WiFi module.First wireless communication module as a result,
11 and second wireless communication module 21 may be implemented steadily short-distance wireless communication, and robot 30 enters in carriage 60
Afterwards, robot 30 can realize steadily short-distance wireless communication with the first wireless communication module 21.
In some instances, the first wireless communication module 11 is two.Two the first wireless communication modules 11 can be common
For bluetooth module, WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules, ultra wide band mould
One of block.In some instances, two the first wireless communication modules 11 are WiFi module.It is understood that at this time
Second wireless communication module 21 and third wireless communication module 31 also include WiFi module.In this case, the first channel radio
Letter module 11 and the second wireless communication module 21 can realize sustainedly and stably communication connection, and robot 30 enters in carriage 60
Afterwards, robot 30 can realize steadily short-distance wireless communication with the first wireless communication module 21.
In some instances, the second wireless communication module 21 further include 4G module, 5G module, in NB-IOT module extremely
Few one kind.Third wireless communication module 31 further includes at least one of 4G module, 5G module, NB-IOT module.It is specific and
Speech, the second wireless communication module 21 include at least one of 4G module, 5G module, NB-IOT module and bluetooth module,
WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules, at least one in ultra wide band module
Kind.Third wireless communication module 21 includes including at least one of 4G module, 5G module, NB-IOT module and bluetooth mould
Block, WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules, in ultra wide band module extremely
Few one kind.As a result, when robot 30 is located at 60 outside of carriage, it can realize with the second wireless communication module 21 across floor and stabilization
Ground wireless communication, without configuring wireless communication module in each floor.
In some instances, the first wireless communication module 11 includes 433 wireless modules.Second wireless communication module 21 can be with
Including 4G module and 433 wireless modules.Third wireless communication module 31 may include 4G module and 433 wireless modules.This
In the case of, when robot 30 is located at 60 outside of carriage, the 4G module and third wireless communication module of the second wireless communication module 21
31 4G module establishes steadily communication connection, also, without configuring wireless communication module in each floor.30, robot
When 60 inside of carriage, the 4G module of the second wireless communication module 21 is sent to the 4G module of third wireless communication module 31 to be established
Communication connection request, meanwhile, 433 nothings of 433 wireless modules of the first wireless communication module 11 to third wireless communication module 31
Wire module sends the request for establishing communication connection.Third wireless communication module 31 is according to signal strength or weakness selection and the first wireless communication
433 wireless modules of module 11, which are established, to be wirelessly connected, or is established 4G with the 4G module of the second wireless communication module 21 and connect.?
In this case, when the 4G signal in elevator 70 is strong, robot 30 can be communicated independently by 4G signal, and in elevator
When 4G signal in well 70 is weak, robot 30 can be communicated by 433 wireless modules, be overcome because robot 30 is located at elevator
Communication barrier problem caused by well 70.It is understood that the second wireless communication module 21 can also be wirelessly communicated with third
Module 31 establishes 5G communication or NB-IOT communication, and this will not be repeated here.
In some instances, the first wireless communication module 11 is two.First wireless communication module 11 includes 433 wireless
Module.Two the first wireless communication modules 11 are respectively positioned on 60 top of carriage.The antenna of one of them 433 wireless module is to carriage 60
Outside is stretched out, and the antenna of another 433 wireless module extend into the inside of carriage 60.In this case, two first it is wireless
Communication module 11 can be connected to 60 inside of carriage and external communication, ensure communication robust.
In some instances, the first wireless communication module 11 is one.First wireless communication module 11, second wireless communication
Module 21, third wireless communication module 31 include 433 wireless modules.When robot 30 is located at 60 inside of carriage, pass through 4G mould
At least one of block, 5G module, NB-IOT module are established with the second wireless communication module 21 and are communicated to connect, the second wireless communication
433 wireless communication modules of 433 wireless modules of module 21 and the first wireless communication module 11 establish connection.In such case
Under, the first wireless communication module 11 establishes communication connection with outside with 60 inside of carriage simultaneously.
As shown in Fig. 2, the present invention also provides a kind of methods 100 of robot autonomous disengaging elevator, comprising:
S1: robot establishes in 4G, 5G, NB-IOT before entering carriage with the second controller for being set to elevator top
At least one communication connection；
S2: robot sends control instruction to second controller, and control instruction is sent to via second controller and is installed on
The first controller in carriage, the first controller are connect with elevator control system, and the first controller is arrived for controlling the carriage
Up to the status information of destination and the acquisition carriage；
S3: control instruction makes the first controller control carriage reach the floor where robot, after robot enters carriage,
Control instruction makes carriage be moved to destination.
In this case, it when robot is located at outside carriage, can be realized with second controller across floor and steadily
4G or 5G or NB-IOT wireless communication, since second controller and the first controller in carriage can steadily be led to
Letter, robot may be implemented the control to elevator control system and can obtain the status information of carriage in real time, so as to safety
After ground enters carriage, carriage is safely left after reaching destination, and without configuring wireless communication in each floor
Module.
Further, as shown in figure 3, the method 100 of robot autonomous disengaging elevator further include:
S10: the robot obtains the status information by the second controller, and the robot is according to the shape
State information executes the instruction for whether entering the carriage；
S20: after the robot enters the carriage, obtaining the status information by first controller, described
Robot executes the instruction for whether leaving the carriage according to the state information, alternatively, the robot enters the carriage
Afterwards, the status information is obtained by the second controller, the robot executes whether leave according to the state information
The instruction of the carriage.
In this case, when robot is located at cab interior, can according to robot respectively with the first controller and second
The power of controller signal of communication selects optimal communication module to be attached, and improves communication performance and stability.
It is understood that controller, communication mode and this reality involved in the method 100 of robot autonomous disengaging elevator
Apply involved in mode it is robot autonomous disengaging elevator system 1 involved in it is identical, this will not be repeated here.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (12)
1. a kind of system of robot autonomous disengaging elevator, including elevator, carriage and elevator control system,
It is characterised by comprising:
First controller, first controller are installed in the carriage, first controller and the elevator controlling system
System connection, first controller are used to control the carriage and reach destination and obtain the status information of the carriage, institute
The first controller is stated with the first wireless communication module；
Second controller, the second controller are installed on the top of the elevator, and the second controller has the second nothing
Line communication module；And
Robot, the robot have the third radio communication mold communicated with first controller and the second controller
Block, the third wireless communication module send control instruction to first controller, and the third wireless communication module receives
The status information.
2. the system of robot autonomous disengaging elevator as described in claim 1, which is characterized in that described in the robot enters
Before carriage, the third wireless communication module sends the control instruction, the control to second wireless communication module
Instruction is sent to first wireless communication module via second wireless communication module, and the control instruction makes described first
Controller controls the carriage and reaches floor where the robot, and after the carriage stops, the control instruction makes described
Carriage is moved to the destination.
3. the system of robot autonomous disengaging elevator as claimed in claim 1 or 2, which is characterized in that the robot passes through
Second wireless communication module obtains the status information, and the robot executes whether enter institute according to the state information
The instruction of carriage is stated, after the robot enters the carriage, the state is obtained by first wireless communication module and is believed
Breath, the robot executes the instruction for whether leaving the carriage according to the state information, alternatively, the robot enters institute
After stating carriage, the status information is obtained by second wireless communication module, the robot is according to the state information
The instruction for whether leaving the carriage executed.
4. the system of robot autonomous disengaging elevator as described in claim 1, which is characterized in that first radio communication mold
Block is at least one, and first controller further includes electric life controller, the electric life controller and the elevator control system
Connection, first wireless communication module are connect with the electric life controller.
5. the system of robot autonomous disengaging elevator as claimed in claim 4, which is characterized in that first radio communication mold
Block is located at the top of the carriage, and first wireless communication module is two, and first wireless communication module has antenna,
The antenna of one of them first wireless communication module is to stretching out outside the carriage, another described first channel radio
The antenna of letter module extend into the inside of the carriage.
6. the system of robot autonomous disengaging elevator as described in claim 1, which is characterized in that the status information is at least wrapped
Include one of floor and the carriage motion state locating for the switch state of the door of the carriage, the carriage.
7. the system of robot autonomous disengaging elevator as described in claim 1, which is characterized in that first radio communication mold
Block include at least bluetooth module, WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules,
One of ultra wide band module, second wireless communication module include at least bluetooth module, WiFi module, ZigBee module,
One of 315 wireless modules, LoRa wireless module, 433 wireless modules, ultra wide band module, the third wireless communication module
Including at least bluetooth module, WiFi module, ZigBee module, 315 wireless modules, LoRa wireless module, 433 wireless modules, surpass
One of Wideband module.
8. the system of robot autonomous disengaging elevator as claimed in claim 7, which is characterized in that second radio communication mold
Block further includes at least one of 4G module, 5G module, NB-IOT module, and the third wireless communication module further includes 4G mould
At least one of block, 5G module, NB-IOT module.
9. the system of robot autonomous disengaging elevator as described in claim 1, which is characterized in that second radio communication mold
Block is communicated with the third wireless communication module by least one of 4G module, 5G module, NB-IOT module.
10. the system of robot autonomous disengaging elevator as described in claim 1, which is characterized in that first wireless communication
Module is communicated with the second communication module using short-distance wireless communication technology.
11. a kind of method of robot autonomous disengaging elevator, which is characterized in that
Robot establishes at least one in 4G, 5G, NB-IOT with the second controller for being set to elevator top before entering carriage
Kind communication connection；
The robot sends control instruction to the second controller, and the control instruction is sent via the second controller
To the first controller being installed in the carriage, first controller is connect with elevator control system, first control
Device is used to control the carriage and reaches destination and obtain the status information of the carriage；
The control instruction makes first controller control the carriage to reach floor where the robot, the machine
After people enters the carriage, the control instruction makes the carriage be moved to destination.
12. the method for robot autonomous disengaging elevator as claimed in claim 11, which is characterized in that the robot passes through institute
It states second controller and obtains the status information, the robot executes whether enter the carriage according to the state information
Instruction after the robot enters the carriage, obtains the status information, the robot root by first controller
The instruction for whether leaving the carriage is executed according to the status information, alternatively, passing through institute after the robot enters the carriage
It states second controller and obtains the status information, the robot executes whether leave the carriage according to the state information
Instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811458104.1A CN109552953A (en) | 2018-11-30 | 2018-11-30 | The system and method for robot autonomous disengaging elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811458104.1A CN109552953A (en) | 2018-11-30 | 2018-11-30 | The system and method for robot autonomous disengaging elevator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109552953A true CN109552953A (en) | 2019-04-02 |
Family
ID=65868392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811458104.1A Pending CN109552953A (en) | 2018-11-30 | 2018-11-30 | The system and method for robot autonomous disengaging elevator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109552953A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510463A (en) * | 2019-07-18 | 2019-11-29 | 特斯联（北京）科技有限公司 | A kind of elevator control system and method based on UWB |
| CN110589644A (en) * | 2019-09-23 | 2019-12-20 | 广东铃木电梯有限公司 | Intelligent robot system and method based on elevator communication |
| CN112239112A (en) * | 2020-11-19 | 2021-01-19 | 沈阳精云智能科技有限公司 | Elevator control system capable of realizing interaction with autonomous mobile robot |
| CN112529953A (en) * | 2020-12-17 | 2021-03-19 | 深圳市普渡科技有限公司 | Elevator space state judgment method and device and storage medium |
| CN114194966A (en) * | 2021-01-06 | 2022-03-18 | 苏州优智达机器人有限公司 | Robot control method, interaction system, robot, and storage medium |
| US12077409B2 (en) | 2019-09-18 | 2024-09-03 | Otis Elevator Company | Control system, elevator system and control method for machine passengers |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005053671A (en) * | 2003-08-06 | 2005-03-03 | Matsushita Electric Works Ltd | Autonomous mobile robot and elevator getting-on-and-off system for autonomous mobile robot |
| JP2013216408A (en) * | 2012-04-05 | 2013-10-24 | Mitsubishi Electric Building Techno Service Co Ltd | Conveyance elevator system for a plurality of robots, elevator control device, robot of elevator utilization type, and method of controlling elevator conveying a plurality of robots |
| CN105858382A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically getting in/out of elevator |
| CN106494954A (en) * | 2016-12-28 | 2017-03-15 | 重庆金鑫科技产业发展有限公司 | A kind of apparatus for controlling elevator and elevator control method |
| CN107777492A (en) * | 2017-10-25 | 2018-03-09 | 上海木爷机器人技术有限公司 | The control system and method for elevator are taken by robot |
| CN108163653A (en) * | 2017-12-11 | 2018-06-15 | 日立楼宇技术（广州）有限公司 | Elevator and the method and apparatus of robot boarding |
| CN209480995U (en) * | 2018-11-30 | 2019-10-11 | 深圳市普渡科技有限公司 | The system of robot autonomous disengaging elevator |
-
2018
- 2018-11-30 CN CN201811458104.1A patent/CN109552953A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005053671A (en) * | 2003-08-06 | 2005-03-03 | Matsushita Electric Works Ltd | Autonomous mobile robot and elevator getting-on-and-off system for autonomous mobile robot |
| JP2013216408A (en) * | 2012-04-05 | 2013-10-24 | Mitsubishi Electric Building Techno Service Co Ltd | Conveyance elevator system for a plurality of robots, elevator control device, robot of elevator utilization type, and method of controlling elevator conveying a plurality of robots |
| CN105858382A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically getting in/out of elevator |
| CN106494954A (en) * | 2016-12-28 | 2017-03-15 | 重庆金鑫科技产业发展有限公司 | A kind of apparatus for controlling elevator and elevator control method |
| CN107777492A (en) * | 2017-10-25 | 2018-03-09 | 上海木爷机器人技术有限公司 | The control system and method for elevator are taken by robot |
| CN108163653A (en) * | 2017-12-11 | 2018-06-15 | 日立楼宇技术（广州）有限公司 | Elevator and the method and apparatus of robot boarding |
| CN209480995U (en) * | 2018-11-30 | 2019-10-11 | 深圳市普渡科技有限公司 | The system of robot autonomous disengaging elevator |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510463A (en) * | 2019-07-18 | 2019-11-29 | 特斯联（北京）科技有限公司 | A kind of elevator control system and method based on UWB |
| US12077409B2 (en) | 2019-09-18 | 2024-09-03 | Otis Elevator Company | Control system, elevator system and control method for machine passengers |
| CN110589644A (en) * | 2019-09-23 | 2019-12-20 | 广东铃木电梯有限公司 | Intelligent robot system and method based on elevator communication |
| CN112239112A (en) * | 2020-11-19 | 2021-01-19 | 沈阳精云智能科技有限公司 | Elevator control system capable of realizing interaction with autonomous mobile robot |
| CN112529953A (en) * | 2020-12-17 | 2021-03-19 | 深圳市普渡科技有限公司 | Elevator space state judgment method and device and storage medium |
| CN112529953B (en) * | 2020-12-17 | 2022-05-03 | 深圳市普渡科技有限公司 | Elevator space state judgment method and device and storage medium |
| CN114194966A (en) * | 2021-01-06 | 2022-03-18 | 苏州优智达机器人有限公司 | Robot control method, interaction system, robot, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109552953A (en) | The system and method for robot autonomous disengaging elevator | |
| CN209480995U (en) | The system of robot autonomous disengaging elevator | |
| CN105858368A (en) | System and method for automatically calling elevator | |
| CN107777492B (en) | Control system and method for robot taking elevator | |
| CN108163653A (en) | Elevator and the method and apparatus of robot boarding | |
| EP3418236B1 (en) | Determination of the motion of a passenger relative to an elevator car | |
| CN111747250A (en) | Control method and system for robot and person mixed elevator | |
| KR20100080278A (en) | Robot, robot control method, elevator system linked with robot and control method thereof | |
| JP2001151429A (en) | Elevator system | |
| CN105905712A (en) | System and method for automatically getting on and getting off elevator | |
| JP6668520B1 (en) | Elevator control device and elevator operating method | |
| JP2010023959A (en) | Moving system for autonomous traveling vehicle by elevator | |
| CN109279462A (en) | The automatic control system and method that robot is interacted with elevator | |
| CN106044421B (en) | A kind of intelligent interaction elevator device | |
| CN106006245A (en) | Wireless landing-calling method and device | |
| CN109573757A (en) | Call method and system based on mobile terminal | |
| CN106774352A (en) | The robot control system of automatical pilot transportation vehicle and single two-way automatical pilot transportation vehicle of drive | |
| CN108394768A (en) | Elevator control method, system and elevator management unit | |
| CN108275522A (en) | Intelligent mobile equipment boarding method, system and its elevator control gear interior exhale device | |
| CN207827605U (en) | Elevator control system | |
| CN204917491U (en) | Elevator floor intelligent control device based on mobile internet | |
| JP2015044668A (en) | Elevator group management control system | |
| CN105565092A (en) | Method and system for automatically calling linkage elevator | |
| JP5976871B1 (en) | Wireless transmission system | |
| CN105858382A (en) | System and method for automatically getting in/out of elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190402 |