CN109748165B - Robot and elevator interaction method - Google Patents
Robot and elevator interaction method Download PDFInfo
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- CN109748165B CN109748165B CN201910201660.9A CN201910201660A CN109748165B CN 109748165 B CN109748165 B CN 109748165B CN 201910201660 A CN201910201660 A CN 201910201660A CN 109748165 B CN109748165 B CN 109748165B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003993 interaction Effects 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 9
- 230000005693 optoelectronics Effects 0.000 claims description 4
- 230000005674 electromagnetic induction Effects 0.000 claims description 3
- 238000003909 pattern recognition Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B66B1/02—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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/103—Destination call input before entering the elevator car
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- 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
- B66B2201/212—Travel time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention discloses a robot and elevator interaction method, which comprises the steps that a robot acquires an elevator position in advance, the time of the elevator floor position reaching the floor where the robot is located is measured and calculated, and when the time of the robot reaching the elevator is the same as the time of the elevator reaching a target floor or within a set allowable time difference range, the robot calls the elevator; after the elevator arrives, the robot obtains the opening state of the elevator door, and after the elevator door is opened, the robot enters the elevator; after the elevator reaches the specified floor of the robot, the robot obtains the opening state of the elevator door, and after the elevator door is opened, the robot drives out of the elevator. The invention can reduce the waiting time of the robot when the robot takes the elevator, and has higher working efficiency; the opening and closing state of the elevator door is obtained, and the elevator is started to move in and out at the moment when the elevator door is opened, so that the elevator door does not need to be started again after being completely opened, the time is saved, and the working efficiency of the robot is improved.
Description
[ Field of technology ]
The invention belongs to the technical field of interaction between robots and elevators, and particularly relates to an interaction method between a robot and an elevator.
[ Background Art ]
Robots are machine devices that automatically perform work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology. The robot has the task of assisting or replacing the work of human work, such as the industry, the construction industry or dangerous work, and is rapidly developed and applied in a plurality of industries. For example, in the service industries such as restaurants, hotels and the like, the service robot can be used for delivering goods, ordering food and the like.
At present, the robot can not realize interaction with the elevator, and the robot can not sit up and down the elevator to serve the users of the target floor, so that each floor can only be provided with one robot to serve the users of the floor, and the cost is high. Some methods for interaction between a robot and an elevator are also proposed in the prior art, but in the process of interaction between the robot and the elevator, a process of waiting for the arrival of the elevator exists, so that the working efficiency of the robot is low.
[ Invention ]
The invention aims to provide a robot and elevator interaction method, which avoids the robot waiting for an elevator and greatly improves the working efficiency of the robot.
The invention realizes the aim through the following technical scheme: a robot-elevator interaction method comprising the steps of:
The method comprises the following steps:
before the robot enters the elevator, acquiring the elevator position in advance, measuring and calculating the time of the elevator floor to the robot floor, and calling the elevator by the robot when the time of the robot to the elevator is the same as the time of the elevator to the robot floor or within a set allowable time difference range;
after the elevator arrives, the robot acquires the opening state of the elevator door, and after the elevator door is acquired to be opened, the robot enters the elevator;
After the elevator reaches the specified floor of the robot, the robot obtains the opening state of the elevator door, and after the elevator door is opened, the robot drives out of the elevator.
Further, the method for acquiring the elevator position in advance by the robot comprises the steps of installing sensing equipment on an elevator car and in an elevator hoistway, acquiring floor position information of an elevator, wherein the sensing equipment is electrically connected with an elevator control unit, and transmitting the elevator floor position information acquired by the sensing equipment to the robot through a communication module electrically connected with the elevator control unit.
Further, the sensing device comprises a receiving unit and a floor identifier;
one of the receiving units and the floor identifiers is arranged at the corresponding position of the elevator car, and the other is arranged in the elevator well;
The floor marking is installed at a position corresponding to the position of the receiving unit.
Further, the receiving unit comprises a contact type receiving mode and a non-contact type receiving mode;
the contact receiving unit comprises, but is not limited to, a contact switch, a capacitive touch switch and a force sensor;
the non-contact receiving unit comprises, but is not limited to, a near field induction receiver, an electromagnetic signal, an optoelectronic signal receiver, a pattern recognition device and an acoustic receiving device;
Further, the floor identifier corresponds to a receiving unit, including but not limited to an electronic identifier, an IC card, an ID card, a magnetic stripe, an optoelectronic signal transmitter, a two-dimensional code, a bar code, an acoustic transmitter, and a contacted unit.
Further, when the receiving unit is installed on the elevator car, the receiving unit acquires floor information through the floor identifier;
when the receiving units are installed in the elevator shafts, each receiving unit code corresponds to a floor number, and after the floor identification on the elevator car is obtained, the floor where the elevator car is located can be known.
Furthermore, an inertial speed measuring unit is arranged on the elevator car, and the real-time running position of the elevator is calculated by measuring the time, acceleration and speed information of the elevator from starting acceleration to uniform running and decelerating running when the elevator is about to reach the target position.
Further, wherein measuring the time for the elevator floor position to reach the robot floor comprises:
Calculating the time when the floor position of the elevator reaches the floor of the robot according to the acquired floor difference between the floor of the elevator and the floor of the robot and the time required by the elevator to walk one floor;
the elevator running time comprises starting acceleration time, middle uniform speed time and arrival deceleration time.
Further, wherein when the robot arrives at the elevator at a time close to the time, the robot calls the elevator, the steps include:
According to the travelling speed of the robot and the distance between the robot and the elevator, calculating the time of the robot to the elevator in real time, and calling the elevator by the system when the time of the robot to the elevator is the same as the time of the elevator to the floor where the robot is located or within the set allowable time difference range;
If the robot encounters an obstacle on the way to the elevator to cause delay arrival, the robot calls the elevator once at intervals before entering the elevator, so that the elevator is ensured not to leave in advance.
Further, after the elevator arrives, the robot obtains the instant opening state of the elevator door, and when the opening degree of the elevator door is available for the robot to enter or exit the elevator through the timing robot.
Further, the method for acquiring the instant opening state of the elevator door by the robot comprises the steps of installing an opening and closing state acquisition device on an elevator car to acquire the opening and closing state of the door;
the opening and closing state acquisition device can also be arranged on an entrance guard gate outside the elevator or on an elevator door;
The opening and closing state acquisition device comprises, but is not limited to, a contact switch, an electromagnetic induction switch, a photoelectric induction switch, an ultrasonic induction switch or a signal which invades the elevator to acquire an elevator door opening and closing signal.
Compared with the prior art, the interaction method of the robot and the elevator has the beneficial effects that: when the robot is used for taking an elevator, the time for waiting for the elevator is reduced, and the working efficiency is higher; the opening and closing state of the elevator door is obtained, and the elevator is started to move in and out at the moment when the elevator door is opened, so that the elevator door does not need to be started again after being completely opened, the time is saved, and the working efficiency of the robot is improved.
[ Description of the drawings ]
FIG. 1 is a control flow diagram of an embodiment of the present invention;
Fig. 2 is a structural frame diagram of a control principle according to an embodiment of the present invention.
[ Detailed description ] of the invention
Examples:
referring to fig. 1, the present embodiment is a method for interacting a robot with an elevator, which includes the following steps:
1) Before the robot enters the elevator, acquiring the elevator position in advance, measuring and calculating the time of the floor where the elevator is located to the floor where the robot is located, judging whether the time of the robot to the elevator is the same as the time of the elevator to the floor where the robot is located or within a set allowable time difference range, if the time of the robot to the elevator is the same as the time of the elevator to the floor where the robot is located or within the allowable time range, the robot calls the elevator, otherwise, the robot continues to move towards the direction of taking the elevator;
2) After the elevator arrives, the robot acquires the instant opening state of the elevator door, if the elevator door opening and closing state acquisition device detects that the elevator door is separated once, a signal is sent to the robot, when the opening degree of the elevator door just can allow the robot to pass, the robot enters the elevator and sends a target floor signal to the elevator, and the elevator is controlled to go to a target floor through the elevator control unit;
3) After the elevator reaches a floor appointed by the robot, the robot acquires the instant opening state of the elevator door, if the elevator door opening and closing state acquiring device detects that the elevator door is separated once, a signal is sent to the robot, and when the opening degree of the elevator door just can allow the robot to pass through, the robot drives out of the elevator.
The robot includes, but is not limited to, unmanned equipment, intelligent mobile equipment, remote sensing mobile equipment.
The method comprises the steps that the position of an elevator can be obtained in advance through sensing equipment arranged on an elevator car and in an elevator well, and the position information of any floor where the elevator is located can be obtained; and an inertial speed measuring unit is arranged on the elevator car, and the real-time running position of the elevator is calculated by measuring the time, acceleration and speed information of the elevator from starting acceleration to uniform running and decelerating running when the elevator is about to reach a target position through the inertial speed measuring unit.
The sensing equipment comprises a receiving unit and a floor identifier; one of the receiving units and the floor identifiers is arranged at the corresponding position of the elevator car, and the other is arranged in the elevator well; the floor identifier is installed at a position corresponding to the position of the receiving unit when the elevator passes each floor. The receiving unit comprises a contact type and non-contact type receiving mode; the contact receiving unit comprises, but is not limited to, a contact switch, a capacitive touch switch and a force sensor; the non-contact receiving unit comprises, but is not limited to, a near field induction receiver, an electromagnetic signal, an optoelectronic signal receiver, a pattern recognition device, and an acoustic receiving device.
The floor mark corresponds to the receiving unit and comprises but is not limited to a conductive sheet, a mechanical protrusion, an electronic mark, an IC card, an ID card, a magnetic strip, a photoelectric signal transmitter, a two-dimensional code, a bar code, an acoustic transmitter and a contacted unit
When the receiving unit is installed on an elevator car, the receiving unit acquires floor information through the floor identifications, wherein the number of the floor identifications is equal to that of the floors; when the receiving units are installed in the elevator shafts, each receiving unit code corresponds to a floor number, and after the floor identification on the elevator car is obtained, the floor where the elevator car is located can be known.
The elevator position can be acquired in advance, and the floor information of the elevator can be acquired by reading an elevator self control system.
Wherein, the time of measuring and calculating the floor position of elevator place to the floor of robot place specifically includes: calculating the time when the floor position of the elevator reaches the floor of the robot according to the acquired floor difference between the floor of the elevator and the floor of the robot and the time required by the elevator to walk one floor; the elevator running time comprises starting acceleration time, middle uniform speed time and arrival deceleration time. According to the starting acceleration time, the arriving deceleration time and the elevator running acceleration, a starting acceleration path and a stopping deceleration path are calculated, then a total path is calculated according to the floor difference and the height of each floor, the starting acceleration path and the stopping deceleration path are subtracted from the total path to obtain an intermediate uniform speed path, the intermediate uniform speed path is divided by the elevator uniform speed running speed to obtain the intermediate uniform speed running time, and therefore the total time required by the elevator from the floor where the elevator is located to the floor where the robot is located is obtained.
When the robot arrives at the elevator at the same time as the above time or within a set allowable time difference, the robot calls the elevator, which comprises: according to the travelling speed of the robot and the distance between the robot and the elevator, calculating the time of the robot to the elevator in real time, and calling the elevator by the system when the time of the robot to the elevator is the same as the time of the elevator to the floor where the robot is located or within the set allowable time difference range; if the robot encounters an obstacle on the way to the elevator to cause delay arrival, the robot calls the elevator once at set time intervals before entering the elevator, and the continuous elevator calling ensures that the elevator cannot leave in advance.
When the elevator arrives, the robot acquires the opening of the elevator door by installing an open-close state acquisition device on the elevator car, and acquires the open-close state of the door. The open-close state acquisition device is arranged on an entrance guard gate outside the elevator or on an elevator door. The opening and closing state acquisition device comprises, but is not limited to, a contact switch, an electromagnetic induction switch, a photoelectric induction switch, an ultrasonic induction switch or a signal which invades the elevator to acquire an elevator door opening and closing signal.
An elevator control unit is arranged in the elevator, the robot sends a target floor request to the elevator, and the elevator is controlled to go to the target floor through the elevator control unit. The elevator control unit comprises card swiping equipment and a communication module, and the communication module can communicate with the robot. After the card swiping equipment acquires the floor information, a floor button is immediately lightened to go to a target floor; the card swiping device not only can collect the traditional card swiping signal, but also can acquire the information sent by the wireless communication module, and can realize the dual purposes of man and machine; the card swiping device can be integrated or combined with the card swiping unit and the analog signal transmitting unit, the analog signal transmitting unit is arranged at a corresponding position where the card swiping device can receive signals, and the card swiping device can collect traditional card swiping signals and analog signals sent by the analog signal transmitting unit; if the card swiping unit is installed in the elevator, the robot can control the elevator to go to the target floor only by installing the analog signal transmitting unit at the corresponding position where the card swiping device can receive the signal.
Referring to fig. 2, the present embodiment further provides a robot-elevator interaction system, which includes a robot control unit installed on the robot, and a first communication module communicating with the robot control unit; the elevator control system comprises an opening and closing state acquisition device, an elevator control unit, a floor information acquisition unit and a second communication module, wherein the opening and closing state acquisition device is arranged on an elevator car, the elevator control unit is used for controlling the operation and the stop of an elevator and the opening of an elevator door, and the second communication module is communicated with the elevator control unit; the elevator control unit is communicated with the open-close state acquisition device; floor marks which are arranged in the elevator well and are matched with the floor information acquisition unit to realize the acquisition of the elevator position information; the first communication module is in signal communication with the second communication module.
The open-close state acquisition device is connected with the elevator control unit and sends out the open-close state of the door through the second communication module so that the robot can acquire the open-close state of the elevator door.
The floor information acquisition unit acquires the floor signal of the elevator car through the first communication module, and the second communication module transmits the floor signal of the elevator car to the robot to acquire the floor information of the elevator car.
The number of the floor identifications is consistent with the number of the floors, and each floor identification is provided with an independent code corresponding to the floor.
The floor marks are graphic marks, cameras arranged on the elevator car are enabled to read, the number of the graphic marks is consistent with the number of the floors, each graphic mark is provided with an independent code corresponding to each floor, and the cameras are in communication connection with the floor signal acquisition unit.
The floor mark is a no-carrier communication emitter arranged at one end of the elevator shaft and a no-carrier communication receiver arranged on the elevator car, and the no-carrier communication receiver is in communication connection with the floor signal acquisition unit.
The floor sign can replace the laser range finder of installing on elevator car, acquires the elevator height through measuring the distance of elevator car and the fixed reference object in elevator well bottom or top, converts out the floor position, installation laser range finder is connected with floor signal acquisition unit communication.
According to the interaction method and system of the robot and the elevator, before the robot takes the elevator, the elevator position information is acquired in advance, and then the elevator is called in advance according to the time when the robot runs to the elevator position and the time when the elevator reaches the floor where the robot is located; by acquiring the instantaneous opening and closing state of the elevator door, the action of entering and exiting the elevator is started at the moment when the elevator door is opened, and the elevator door does not need to be started after being completely opened, so that the time is saved, and the working efficiency of the robot is further improved; when the elevator arrives at the floor where the robot is located, if the robot encounters an obstacle to delay arriving in the process of running to the elevator position, the elevator is kept at the floor where the robot is located by calling the elevator in a mode that the robot interval is set for time, and the phenomenon that the robot does not enter the elevator yet and the elevator leaves is effectively avoided.
What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (10)
1. A robot and elevator interaction method is characterized in that: the method comprises the following steps:
Before the robot enters the elevator, acquiring the elevator position in advance, measuring and calculating the time of the floor where the elevator is located to the floor where the robot is located, and calling the elevator by the robot when the time of the robot reaching the elevator is the same as the time of the elevator reaching the floor where the robot is located or within a set allowable time difference range;
after the elevator arrives, the robot acquires the opening state of the elevator door, and after the elevator door is acquired to be opened, the robot enters the elevator;
After the elevator reaches the specified floor of the robot, the robot obtains the opening state of the elevator door, and after the elevator door is opened, the robot drives out of the elevator.
2. The robot-elevator interaction method of claim 1, wherein: the method for acquiring the elevator position in advance by the robot comprises the steps of installing sensing equipment on an elevator car and in an elevator shaft, acquiring floor position information of an elevator, wherein the sensing equipment is electrically connected with an elevator control unit, and transmitting the elevator floor position information acquired by the sensing equipment to the robot through a communication module electrically connected with the elevator control unit.
3. The robot-elevator interaction method of claim 2, wherein: the sensing equipment comprises a receiving unit and a floor identifier;
one of the receiving units and the floor identifiers is arranged at the corresponding position of the elevator car, and the other is arranged in the elevator well;
The floor marking is installed at a position corresponding to the position of the receiving unit.
4. A robot-elevator interaction method as claimed in claim 3, characterized in that: the receiving unit comprises a contact type receiving unit and a non-contact type receiving unit;
the contact receiving unit comprises, but is not limited to, a contact switch, a capacitive touch switch and a force sensor;
The non-contact receiving unit comprises, but is not limited to, a near field induction receiver, an electromagnetic signal, an optoelectronic signal receiver, a pattern recognition device, and an acoustic receiving device.
5. A robot-elevator interaction method as claimed in claim 3, characterized in that: the floor mark corresponds to the receiving unit and comprises, but is not limited to, a conductive sheet, a mechanical protrusion, an electronic mark, an IC card, an ID card, a magnetic stripe, a photoelectric signal transmitter, a two-dimensional code, a bar code, an acoustic transmitter and a contacted unit.
6. A robot-elevator interaction method as claimed in claim 3, characterized in that: when the receiving unit is installed on an elevator car, the receiving unit acquires floor information through the floor identifier;
when the receiving units are installed in the elevator shafts, each receiving unit code corresponds to a floor number, and after the floor identification on the elevator car is obtained, the floor where the elevator car is located can be known.
7. The robot-elevator interaction method of claim 1, wherein: an inertial speed measuring unit is arranged on the elevator car, and the real-time running position of the elevator is calculated by measuring the time, acceleration and speed information of the elevator from starting acceleration to uniform running and decelerating running when the elevator is about to reach a target position.
8. The robot-elevator interaction method of claim 7, wherein: wherein the time for measuring and calculating the floor position of the elevator to reach the floor of the robot comprises the following steps:
Calculating the time when the floor position of the elevator reaches the floor of the robot according to the acquired floor difference between the floor of the elevator and the floor of the robot and the time required by the elevator to walk one floor;
the elevator running time comprises starting acceleration time, middle uniform speed time and arrival deceleration time.
9. The robot-elevator interaction method of claim 8, wherein: wherein when the robot arrives at the elevator at a time close to the above time, the robot calls the elevator, the steps comprising:
According to the travelling speed of the robot and the distance between the robot and the elevator, calculating the time of the robot to the elevator in real time, and calling the elevator by the system when the time of the robot to the elevator is the same as the time of the elevator to the floor where the robot is located or within the set allowable time difference range;
If the robot encounters an obstacle on the way to the elevator to cause delay arrival, the robot calls the elevator once at intervals before entering the elevator, so that the elevator is ensured not to leave in advance.
10. The robot-elevator interaction method of claim 1, wherein: after the elevator arrives, the robot obtains the instant opening state of the elevator door, and when the opening degree of the elevator door is available for the robot to enter or exit the elevator through the timing robot; in particular, the method comprises the steps of,
Installing an open-close state acquisition device on an elevator car to acquire the open-close state of a door;
or the open-close state acquisition device is arranged on an entrance guard gate outside the elevator or on an elevator door;
The opening and closing state acquisition device comprises, but is not limited to, a contact switch, an electromagnetic induction switch, a photoelectric induction switch, an ultrasonic induction switch or a signal which invades the elevator to acquire an elevator door opening and closing signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/124134 WO2020155858A1 (en) | 2019-01-30 | 2019-12-09 | Method for interaction between robot and elevator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920167609 | 2019-01-30 | ||
| CN2019201676096 | 2019-01-30 |
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| Publication Number | Publication Date |
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| CN109748165A CN109748165A (en) | 2019-05-14 |
| CN109748165B true CN109748165B (en) | 2024-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910201660.9A Active CN109748165B (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction method |
| CN201920338132.3U Active CN210735884U (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction system |
| CN201910271021.XA Pending CN110116947A (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interactive system and method |
| CN201910271019.2A Active CN109987463B (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system and method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
| CN201920453032.5U Active CN210710187U (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920338132.3U Active CN210735884U (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction system |
| CN201910271021.XA Pending CN110116947A (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interactive system and method |
| CN201910271019.2A Active CN109987463B (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system and method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
| CN201920453032.5U Active CN210710187U (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system |
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| CN (6) | CN109748165B (en) |
| WO (3) | WO2020155858A1 (en) |
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| CN109748165B (en) * | 2019-01-30 | 2024-05-14 | 苏州优智达机器人有限公司 | Robot and elevator interaction method |
| CN112390099B (en) * | 2019-08-15 | 2023-03-17 | 纳恩博（北京）科技有限公司 | Dispatching method and device of transportation equipment, storage medium and electronic device |
| CN110482348B (en) * | 2019-08-15 | 2021-11-26 | 广东嘉腾机器人自动化有限公司 | Automatic AGV logistics control system and method for elevator |
| CN110606414B (en) * | 2019-08-27 | 2022-04-29 | 日立楼宇技术（广州）有限公司 | Robot elevator taking method and device, computer equipment and storage medium |
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| WO2020155859A1 (en) | 2020-08-06 |
| CN210824958U (en) | 2020-06-23 |
| WO2020155860A1 (en) | 2020-08-06 |
| WO2020155858A1 (en) | 2020-08-06 |
| CN109987463B (en) | 2024-03-19 |
| CN109987463A (en) | 2019-07-09 |
| CN109748165A (en) | 2019-05-14 |
| CN210710187U (en) | 2020-06-09 |
| CN210735884U (en) | 2020-06-12 |
| CN110116947A (en) | 2019-08-13 |
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