CN109665388A - A kind of method and system of the riding elevator of robot - Google Patents
A kind of method and system of the riding elevator of robot Download PDFInfo
- Publication number
- CN109665388A CN109665388A CN201811557757.5A CN201811557757A CN109665388A CN 109665388 A CN109665388 A CN 109665388A CN 201811557757 A CN201811557757 A CN 201811557757A CN 109665388 A CN109665388 A CN 109665388A
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- Prior art keywords
- elevator
- robot
- riding
- floor
- response
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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
- B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
-
- 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
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/224—Avoiding potential interference between elevator cars
-
- 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
-
- 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
Abstract
The present invention provides a kind of method and system of riding elevator of robot, and wherein method includes receiving the call request of robot, further comprising the steps of: to obtain elevator operation information, and according to the elevator operation format assigned elevator response；The assigned elevator enters dedicated operational mode, reaches floor where robot；Robot enter elevator concurrently go out on missions layer instruction；After reaching the task layer, judge that robot exits elevator, the assigned elevator exits dedicated operational mode.The present invention carries out information exchange using robot and elevator, by the operational mode for changing elevator, it provides for the riding elevator of robot and conveniently services, and after robot riding elevator elevator operation mode change, it allows the robot to accurately to reach target zone and tightly tracks and judge without the operation floor to elevator, realize that the full-automatic intelligent of robot disengaging elevator can control, to greatly facilitate the intelligent management of robot.
Description
Technical field
The present invention relates to the technical field of mobile robot, the method and system of especially a kind of riding elevator of robot.
Background technique
With the rapid development of science and technology, miscellaneous robot comes into being, meanwhile, with the quick hair of electric business
Exhibition, express delivery, take-away manpower expenditure have become the important payment cost of each platform, dispensing machine people also just becomes each large platform
The new direction of " last one kilometer " dispatching is solved the problems, such as with start-up company.It is inevitably met in the dispatching of hotel and office building
To riding elevator problem, and the uncertain factors such as other passenger's interference can be encountered during riding elevator, influence robot
The efficiency and safety of dispatching.
The patent of invention of Publication No. CN107962574A disclose it is a kind of can automatically using the robot system of elevator and
Method, described can include automatically the robot being made of hardware platform and control method using the robot system of elevator and method
System and robot use elevator method automatically.The hardware platform includes robot and key executing agency communication unit, machine
Device people, key executing agency, the control method include that detection key is pressed and receives and parse the packet that machine human hair is sent
Containing actuation of keys, to guarantee the function of robot disengaging elevator, the key executing agency is a kind of combinable structure, is fitted
A variety of push button panel are answered, the system of install convenient, the robot disengaging elevator does not need to get through with elevator device, ensure that electricity
The independence and safety of terraced system.The system must select ability and machine after a specific elevator installation communication unit
People communicates, and cannot freely select elevator ride.
Summary of the invention
In order to solve the above technical problems, the present invention proposes a kind of method and system of riding elevator of robot, utilizes
Information exchange is carried out with robot and elevator, by changing the operational mode of elevator, is provided for the riding elevator of robot convenient fast
Prompt service, and after robot riding elevator elevator operation mode change, allow the robot to accurately reach target zone
It tightly tracks and judges without the operation floor to elevator, realize that the full-automatic intelligent of robot disengaging elevator can control, thus
Greatly facilitate the intelligent management of robot.
An object of the present disclosure is to provide a kind of method of riding elevator of robot, and the call including receiving robot is asked
It asks, further comprising the steps of:
Step 1: obtaining elevator operation information, and according to the elevator operation format assigned elevator response；
Step 2: the assigned elevator enters dedicated operational mode, reaches floor where robot；
Step 3: robot enter elevator concurrently go out on missions layer instruction；
Step 4: after reaching the task layer, judging that robot exits elevator, the assigned elevator exits dedicated operational mode.
Preferably, the wireless communication module for being mounted on escalator is used to receive the call request of robot, and this is asked
It asks and is sent to control centre.
In any of the above-described scheme preferably, the step 1 includes the whole elevator operations letter for obtaining escalator
Breath.
In any of the above-described scheme preferably, the elevator operation information include in elevator whether someone, elevator
At least one of the floor of the distance and calling elevator of traffic direction, elevator apart from floor where robot at present.
In any of the above-described scheme preferably, the step 1 further includes by the state of elevator of the specified response elevator
It is sent to the robot.
In any of the above-described scheme preferably, the dedicated operational mode includes exiting group control system, no longer response electricity
Ladder calls and completes at least one of floor where reaching robot after calling in existing sedan-chair.
In any of the above-described scheme preferably, the step 2 further includes when the specified response elevator will reach machine
Robot is informed in advance before floor where device people.
In any of the above-described scheme preferably, the step 2 further includes when the specified response elevator reaches robot
While the floor of place, opens the door and wait robot.
In any of the above-described scheme preferably, the step 3 includes when the specified response elevator receives described appoint
It is engaged in after layer instruction, makes the following judgment and operate:
1) only have robot to enter carriage, then register and instruct in sedan-chair and close the door immediately；
2) after someone and robot enter elevator together, elevator door is not closed, automatic to play warning voice；
3) when robot not yet enters elevator, if someone enters elevator and presses floor button, elevator door is not closed, from
It is dynamic to play warning voice.
In any of the above-described scheme preferably, in the specified response running process of elevator, the specified response electricity
Instruction of the ladder only in response to the robot.
In any of the above-described scheme preferably, in the specified response running process of elevator, other personnel press building
Meeting voice prompting cannot service when layer button for it.
In any of the above-described scheme preferably, in the specified response running process of elevator, the elevator of escalator
Direction board show temporarily deactivate.
The system that second purpose of the invention is to provide a kind of riding elevator of robot, including robot and N platform elevator, are also wrapped
It includes with lower module:
Wireless communication module and control centre, the system are run under the method as described in claim 1.
Preferably, the wireless communication module is mounted on the escalator, and the call for receiving robot is requested.
In any of the above-described scheme preferably, the wireless communication module is also used to the call of the robot to request
It is sent to control centre.
In any of the above-described scheme preferably, the control centre is used to obtain whole elevator operations of escalator
Information.
In any of the above-described scheme preferably, the elevator operation information include in elevator whether someone, elevator
At least one of the floor of the distance and calling elevator of traffic direction, elevator apart from floor where robot at present.
In any of the above-described scheme preferably, the control centre is also used to be pacified according to the elevator operation information
Arrange assigned elevator response.
In any of the above-described scheme preferably, the control centre is also used to the elevator shape of the specified response elevator
State is sent to the robot.
In any of the above-described scheme preferably, automatically into dedicated operation mould after elevator becomes specified response elevator.
In any of the above-described scheme preferably, the dedicated operational mode includes exiting group control system, no longer response electricity
Ladder calls and completes at least one of floor where reaching robot after calling in existing sedan-chair.
In any of the above-described scheme preferably, pre- before the floor where the specified response elevator will reach robot
First inform robot.
In any of the above-described scheme preferably, where the specified response elevator reaches robot while floor,
It opens the door and waits robot.
In any of the above-described scheme preferably, after the specified response elevator receives task layer instruction, into
The following judgement of row and operation:
1) only have robot to enter carriage, then register and instruct in sedan-chair and close the door immediately；
2) after someone and robot enter elevator together, elevator door is not closed, automatic to play warning voice；
3) when robot not yet enters elevator, if someone enters elevator and presses floor button, elevator door is not closed, from
It is dynamic to play warning voice.
In any of the above-described scheme preferably, in the specified response running process of elevator, the specified response electricity
Instruction of the ladder only in response to the robot.
In any of the above-described scheme preferably, in the specified response running process of elevator, other personnel press building
Meeting voice prompting cannot service when layer button for it.
In any of the above-described scheme preferably, in the specified response running process of elevator, the elevator of escalator
Direction board show temporarily deactivate.
The invention proposes a kind of system and method for the riding elevator of robot, do not need that equipment is installed in elevator interior,
The structure that elevator will not be destroyed, to can be avoided robot waiting time too long bring many by the way of the selection of preferential elevator
Problem.
Detailed description of the invention
Fig. 1 is the flow chart of a preferred embodiment of the method for the riding elevator of robot according to the invention.
Fig. 2 is the structure chart of a preferred embodiment of the system of the riding elevator of robot according to the invention.
Fig. 3 is the structure chart of another preferred embodiment of the system of the riding elevator of robot according to the invention.
Fig. 4 is the specific implementation method process of another embodiment of the method for the riding elevator of robot according to the invention
Figure.
Specific embodiment
The present invention is further elaborated with specific embodiment with reference to the accompanying drawing.
Embodiment one
As shown in Figure 1, executing step 100, the call request of robot is received, the wireless communication module for being mounted on escalator is used for
The call request of robot is received, and the request is sent to control centre.Step 110 is executed, all electricity of escalator are obtained
Terraced running state information, and according to the elevator operation format assigned elevator response, specify the elevator of response elevator
State is sent to the robot.Elevator operation information include in elevator whether someone, the current traffic direction of elevator, elevator
At least one of the floor of distance and calling elevator apart from floor where robot.Execute step 120, the assigned elevator into
Enter dedicated operational mode, reaches floor where robot.Dedicated operational mode includes exiting group control system, no longer responding elevator call
It is and completes at least one of floor where reaching robot after calling in existing sedan-chair.When the specified response elevator will reach
Robot is informed in advance before floor where robot, where the specified response elevator reaches robot while floor, is opened
Door waiting robot.Execute step 130, robot enter elevator concurrently go out on missions layer instruction.When the specified response elevator connects
After receiving the task layer instruction, makes the following judgment and operate: 1) only having robot to enter carriage, then register in sedan-chair and instruct simultaneously
It closes the door immediately；2) after someone and robot enter elevator together, elevator door is not closed, automatic to play warning voice；3) work as machine
When device people not yet enters elevator, if someone enters elevator and presses floor button, elevator door is not closed, automatic to play warning
Voice.In specified response running process of elevator, instruction of the specified response elevator only in response to the robot；Specified response electricity
In terraced operational process, meeting voice prompting cannot service when other personnel press floor button for it；Specified response elevator was run
Cheng Zhong, the direction board of the elevator of escalator show and temporarily deactivate.It executes step 140 and judges machine after reaching the task layer
People exits elevator, and the assigned elevator exits dedicated operational mode.
Embodiment two
As shown in Fig. 2, a kind of system of the riding elevator of robot includes robot 200, wireless communication module 210, control centre
220 and N platform elevator 230.
Robot 200 completes information exchange by wireless communication module 210 and control centre 220.
Wireless communication module 210 is mounted on the escalator, and the call for receiving robot 200 is requested；For machine
The call request of device people 200 is sent to control centre.
Control centre 220 is used to obtain whole elevator operation information of escalator, and elevator operation information includes
Whether someone, the current traffic direction of elevator, elevator the distance of floor and call the floor of elevator where the robot in elevator
At least one of.Control centre 200 is also used to according to elevator operation format assigned elevator response, by specified response electricity
The state of elevator of ladder is sent to the robot.
N platform elevator 230 is single control elevator or multiple control lift.Automatically into special after elevator 230 becomes specified response elevator
It include exiting group control system, no longer response elevator-calling and completing to arrive after calling in existing sedan-chair with operational mode with operational mode
At least one of floor where up to robot.Before the specified response elevator will reach 200 place floor of robot in advance
It informs robot 200, while specified response elevator reaches 200 place floor of robot, opens the door and wait robot 200.When
After specified response elevator receives the task layer instruction, makes the following judgment and operate: 1) only having robot to enter carriage, then
It instructs in registration sedan-chair and closes the door immediately；2) after someone and robot enter elevator together, elevator door is not closed, automatic to play police
Tell sound；3) when robot not yet enters elevator, if someone enters elevator and presses floor button, elevator door is not related to
It closes, it is automatic to play warning voice.In the specified response running process of elevator, the specified response elevator is only in response to the machine
The instruction of device people；In the specified response running process of elevator, meeting voice prompting cannot when other personnel press floor button
It is serviced for it；In the specified response running process of elevator, the direction board of the elevator of escalator shows and temporarily deactivates.
Embodiment three
The invention discloses a kind of control methods of the riding elevator of robot.It is asked including the call of system receiver device people
It asks, judges the current floor of robot, arrange specified elevator response, and its elevator status data called is sent to by response
Robot；After the selected response elevator response robot calling of system, into dedicated operational mode, will no longer it respond outside other Rooms
Calling, exits group control system, completes floor where reaching robot after calling in existing sedan-chair；Machine is informed before being up in advance
People opens the door and waits after arrival while informing robot；After judging that robot enters carriage, robot is waited to issue task
The instruction of (purpose) layer, i.e. registration sedan-chair is interior after receiving instructs and closes the door immediately；To avoid the riding elevator of other personnel, elevator at this time
The instruction of corresponding machine people, when other personnel press floor button can voice prompting cannot be serviced for it, ask riding other electricity
Ladder；After reaching target zone, opens the door and wait, after judging that robot goes out elevator, close the door immediately and restore normal operation mode.Completion machine
The riding elevator controlling of device people.This patent robot and elevator carry out information exchange, are machine by changing the operational mode of elevator
Device people riding elevator offer conveniently services, and after robot riding elevator elevator operation mode change so that machine
Device people can accurately reach target zone and tightly track and judge without the operation floor to elevator, realize that robot passes in and out elevator
Full-automatic intelligent can control, to greatly facilitate the intelligent management of robot.
A kind of control method of the riding elevator of robot, the information interactive device including robot and elevator control system,
The call of system receiver device people is requested, and is judged the current floor of robot, is arranged specified elevator response, and it is exhaled by response
The elevator status data cried is sent to robot；
After the selected response elevator response robot calling of system, into dedicated operational mode, other Room outgoing calls will be no longer responded
It cries, exits group control system, complete floor where reaching robot after calling in existing sedan-chair；
Robot is informed before will reaching in advance, after arrival while informing robot, opens the door and waits；
After judging that robot enters carriage, robot is waited to issue the instruction of task (purpose) layer, the i.e. interior instruction of registration sedan-chair after receiving
And it closes the door immediately；
To avoid the riding elevator of other personnel, the at this time instruction of elevator corresponding machine people, other personnel press floor button
When can voice prompting cannot be serviced for it, ask riding other elevators；
After reaching target zone, opens the door and wait, after judging that robot goes out elevator, close the door immediately and restore normal operation mode.
Example IV
As shown in figure 3, a kind of system of the riding elevator of robot includes elevator, elevator information controller, Cloud Server and machine
People.
Elevator information control is installed on elevator(lift) machine room, carries out the friendship of real time bidirectional data by wireless network/cable with elevator
Mutually, real time bidirectional data interaction is carried out by 4G and Cloud Server.
Cloud Server is mounted on Central Control Room, carries out real time bidirectional data interaction by 4G and robot.
Embodiment five
The information exchange of robot and escalator is completed by Cloud Server by " elevator information interactive system ", exhaling including elevator
It cries, the instruction registration of purpose stop, the change etc. of elevator operation.
As shown in figure 4, robot issues ladder request to Cloud Server, Cloud Server passes through elevator information after being connected to request
Interaction controller inquires state of elevator.State of elevator is fed back to Cloud Server, Cloud Server root by elevator information interaction controller
Assigned elevator is arranged according to state of elevator, and the information of assigned elevator is sent to robot.Robot will go out photos and sending messages and be sent to
Starting layer is sent to assigned elevator by elevator information interaction controller by Cloud Server, Cloud Server, and assigned elevator is no longer rung
Other outgoing calls are answered, the starting layer is directly reached.Assigned elevator sends what elevator will reach to robot before reaching starting layer
Information.It after elevator reaches, opens the door and waits, elevator controlling mode becomes single user state.Robot enters elevator, sends out to Cloud Server
It is fed into elevator confirmation, Cloud Server sends confirmation message to robot after elevator confirmation to elevator feedback acknowledgment information.Machine
Device person selects destination floor, and elevator registration destination instructs and closes elevator door.Elevator passes through Cloud Server for register information
It is sent to robot in real time with floor information.After reaching target zone, door-opened elevator is kept, and waits robot confirmation, and will reach
Information is sent to robot by Cloud Server.Robot receive reach information after, leave elevator, and send leave message to
Cloud Server.Cloud Server confirms that robot has left by elevator information interaction controller, and elevator is closed the door, and restores full-automatic shape
State.
For a better understanding of the present invention, the above combination specific embodiments of the present invention are described in detail, but are not
Limitation of the present invention.Any simple modification made to the above embodiment according to the technical essence of the invention, still belongs to
In the range of technical solution of the present invention.In this specification the highlights of each of the examples are it is different from other embodiments it
Locate, the same or similar part cross-reference between each embodiment.For system embodiments, due to itself and method
Embodiment corresponds to substantially, so being described relatively simple, the relevent part can refer to the partial explaination of embodiments of method.
Claims (10)
1. a kind of method of the riding elevator of robot, the call request including receiving robot, which is characterized in that further include following
Step:
Step 1: obtaining elevator operation information, and according to the elevator operation format assigned elevator response；
Step 2: the assigned elevator enters dedicated operational mode, reaches floor where robot；
Step 3: robot enter elevator concurrently go out on missions layer instruction；
Step 4: after reaching the task layer, judging that robot exits elevator, the assigned elevator exits dedicated operational mode.
2. the method for the riding elevator of robot as described in claim 1, it is characterised in that: be mounted on the wireless telecommunications of escalator
Module is used to receive the call request of robot, and the request is sent to control centre.
3. the method for the riding elevator of robot as described in claim 1, it is characterised in that: the step 1 includes obtaining elevator
Between whole elevator operation information.
4. the method for the riding elevator of robot as claimed in claim 3, it is characterised in that: the elevator operation packet
It includes in elevator and whether distance apart from floor where robot of someone, the current traffic direction of elevator, elevator and to call the building of elevator
At least one of layer.
5. the method for the riding elevator of robot as claimed in claim 4, it is characterised in that: the step 1 further includes will be described
The state of elevator of specified response elevator is sent to the robot.
6. the method for the riding elevator of robot as claimed in claim 5, it is characterised in that: the dedicated operational mode includes moving back
At least one of robot place floor is reached after calling in group control system, no longer response elevator-calling and the existing sedan-chair of completion out.
7. the method for the riding elevator of robot as described in claim 1, it is characterised in that: the step 2 further includes when described
Robot is informed in advance before floor where specified response elevator will reach robot.
8. the method for the riding elevator of robot as claimed in claim 8, it is characterised in that: the step 2 further includes when described
Where specified response elevator reaches robot while floor, opens the door and wait robot.
9. the method for the riding elevator of robot as described in claim 1, it is characterised in that: the step 3 includes working as the finger
Determine to make the following judgment and operate after response elevator receives task layer instruction:
1) only have robot to enter carriage, then register and instruct in sedan-chair and close the door immediately；
2) after someone and robot enter elevator together, elevator door is not closed, automatic to play warning voice；
3) when robot not yet enters elevator, if someone enters elevator and presses floor button, elevator door is not closed, from
It is dynamic to play warning voice.
10. a kind of system of the riding elevator of robot, including robot and N platform elevator, which is characterized in that further include with lower die
Block:
Wireless communication module and control centre, the system are run under the method as described in claim 1.
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| CN201811557757.5A CN109665388A (en) | 2018-12-19 | 2018-12-19 | A kind of method and system of the riding elevator of robot |
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| CN201811557757.5A CN109665388A (en) | 2018-12-19 | 2018-12-19 | A kind of method and system of the riding elevator of robot |
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| CN111392531A (en) * | 2020-04-17 | 2020-07-10 | 蓓安科仪（北京）技术有限公司 | Method for starting elevator by medical robot and control system thereof |
| CN111606157A (en) * | 2020-05-29 | 2020-09-01 | 北京海益同展信息科技有限公司 | Elevator control method and system, conveying robot and elevator controller |
| CN111747250A (en) * | 2020-06-11 | 2020-10-09 | 七彩瓢虫(沈阳)创意科技有限公司 | Control method and system for robot and person mixed elevator |
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| US20210302971A1 (en) * | 2020-03-25 | 2021-09-30 | Savioke, Inc. | Devices, systems and methods for autonomous robot navigation and secure package delivery |
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