CN110963379A - Service robot elevator taking system based on cloud platform and elevator taking method thereof - Google Patents
Service robot elevator taking system based on cloud platform and elevator taking method thereof Download PDFInfo
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- CN110963379A CN110963379A CN201911271645.8A CN201911271645A CN110963379A CN 110963379 A CN110963379 A CN 110963379A CN 201911271645 A CN201911271645 A CN 201911271645A CN 110963379 A CN110963379 A CN 110963379A
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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
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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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
- B66B1/3446—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
- 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
- B66B2201/4615—Wherein the destination is registered before boarding
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The service robot elevator taking system based on the cloud platform comprises elevator control equipment, car top communication equipment, well shaft transmission equipment, the cloud platform and the service robot. The elevator control equipment is in communication connection with the cloud platform through a mobile communication network. The car top communication equipment is arranged on the top of the elevator car and is in communication connection with the elevator control equipment through the hoistway transmission equipment. The service robot establishes communication connection with the cloud platform through a mobile communication network when outside the car so as to perform information interaction with the elevator control equipment through the cloud platform, establishes communication connection with the car top communication equipment through a short-distance wireless communication mode when inside the car, or establishes communication connection with the cloud platform through the mobile communication network so as to perform information interaction with the elevator control equipment. The invention also discloses a method for the service robot to take the elevator automatically. The service robot can automatically take the elevator without assembling a mechanical arm for pressing a key.
Description
Technical Field
The invention relates to the technology of Internet of things, in particular to the technology of a robot taking an elevator.
Background
In recent years, with the development of robotics, more and more service robots appear in the field of vision of people, and start to replace a part of human work, such as a delivery robot, a sweeping robot, and the like. In the past, most of the schemes for taking the elevator by the service robot adopt a mode of simulating a person to press the elevator, for example, the service robot uses a camera to acquire and process images to search buttons of an elevator call board and an elevator display board, and then uses a manipulator to press the buttons after finding the buttons. The key is searched by using the camera, a certain time is consumed in the process, and the robot has to scan the elevator by using the camera on site, compare whether the collected picture has the button or not and search the button which needs to be pressed at present. In the process, the service robot is either waiting outside the elevator or staying in the elevator car, occupies a huge space, and can cause certain interference to other passengers by using a manipulator to press the elevator. Therefore, the existing service robot ladder-taking scheme increases the corollary equipment and operation cost of the robot and increases the ladder-taking time of the robot.
With the rapid development of the internet of things, it is possible to replace the conventional physical elevator taking way by adopting a command way which can be read and understood by a wireless communication transmission elevator. Therefore, the service robot can be used without a matched mechanical arm to push a button, the hardware cost is reduced, the time for acquiring, processing and searching the button by a camera is saved, a corresponding processing algorithm is not required to be written, and the software cost is reduced.
Disclosure of Invention
The invention aims to provide a service robot elevator taking system which can realize automatic taking of an elevator without assembling a mechanical arm for pressing a key.
Another object of the present invention is to provide a method for a service robot to automatically ride an elevator.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the service robot elevator taking system based on the cloud platform comprises elevator control equipment, car roof communication equipment, hoistway transmission equipment, the cloud platform and a service robot; the elevator control equipment is in communication connection with the cloud platform through a mobile communication network and is used for controlling the operation of the elevator; the car top communication equipment is arranged at the top of the elevator car and is in communication connection with the elevator control equipment through the hoistway transmission equipment; the service robot establishes communication connection with the cloud platform through a mobile communication network when outside the car so as to perform information interaction with the elevator control equipment through the cloud platform, establishes communication connection with the car top communication equipment through a short-distance wireless communication mode when inside the car, or establishes communication connection with the cloud platform through the mobile communication network so as to perform information interaction with the elevator control equipment, and thus automatic elevator taking is realized.
The method for the service robot to take the elevator automatically comprises the following steps:
the service robot sends a call request to the elevator control equipment, wherein the call request comprises information of a starting floor and a target floor;
after receiving the call request, the elevator control equipment feeds back confirmation to the service robot, controls the elevator car to move to the starting floor and informs the service robot after reaching the starting floor;
after receiving the notification, the service robot sends a door opening maintaining request to the elevator control equipment;
after receiving the door opening maintaining request, the elevator control equipment controls the car door of the elevator to be kept open and informs the service robot to enter the car;
after the service robot enters the car, if a short-distance wireless communication signal is searched, information interaction is carried out with the elevator control equipment in a short-distance wireless communication mode, if the short-distance wireless communication signal is not searched, information interaction is continuously carried out with the elevator control equipment through a mobile communication network, and then a door opening release holding request is sent to the elevator control equipment;
after receiving the request of releasing the door to be kept, the elevator control equipment controls the car door to be closed and informs the service robot, controls the car to run to a target floor and then informs the service robot of reaching the target floor;
the service robot sends a door opening maintaining request to the elevator control equipment, and after the elevator control equipment receives the door opening maintaining request, the elevator control equipment controls a car door of the elevator to be kept open and informs the service robot to go out of the car;
after the service robot leaves the car, sending a door opening release holding request to elevator control equipment;
the elevator control device controls the car door to be closed and notifies the service robot when receiving the release door holding request.
The invention at least comprises the following advantages:
1. in the embodiment of the invention, the service robot sends the command to the cloud platform in a wireless communication mode, the cloud platform forwards the command to the elevator controller to control the elevator to move up and down, the service robot is not required to be assembled with a mechanical arm to press the elevator key, and a camera is not required to acquire the information of the elevator key, so that the hardware cost is reduced, and the time for acquiring, processing and searching the button by the camera is saved;
2. by adopting the technical scheme of the invention, the service robot can remotely call the elevator, and the elevator reaches the starting floor where the service robot is located, so that the elevator taking time of the service robot is saved, the waiting time of passengers is shortened, and the working efficiency of the elevator is improved.
Drawings
Fig. 1 illustrates a schematic diagram of a service robot ladder-taking system based on an aerial platform according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a connection relationship between devices located in a computer room according to an embodiment of the present invention.
Fig. 3 shows a functional block diagram of a protocol conversion module according to an embodiment of the invention.
Fig. 4 illustrates a connection diagram of equipment located within a hoistway according to an embodiment of the present invention.
FIG. 5 shows a functional block diagram of a service robot according to an embodiment of the present invention.
Fig. 6 shows a schematic data transmission diagram of a service robot outside a car according to an embodiment of the present invention.
Figure 7 shows a schematic diagram of data transmission when a service robot is in a car according to an embodiment of the invention.
Fig. 8 shows a schematic diagram of the connection of a cloud platform with multiple elevators and multiple service robots according to an embodiment of the invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Fig. 1 illustrates a schematic diagram of a service robot ladder-taking system based on an aerial platform according to an embodiment of the present invention. Referring to fig. 1, a service robot elevator taking system based on a cloud platform according to an embodiment of the present invention includes an elevator control device 11, a machine room power carrier modem 12, a machine room gateway 13, a protocol conversion module 14, a car top communication device 2, a hoistway transmission device 3, a cloud platform 4, and a service robot 5.
Please refer to fig. 2. In the present embodiment, the elevator control device 11, the machine room power carrier modem 12, the machine room gateway 13, and the protocol conversion module 14 are all provided in the machine room. The elevator control device 11 is used to control the operation of an elevator, typically an elevator control cabinet. The machine room power carrier modem 12 is connected to the hoistway transmission device 3 and the machine room gateway 13, respectively. The machine room power carrier modem 12 is configured to perform modulation and demodulation operations on a power carrier signal and a data signal, modulate the data signal so that the data signal is transmitted on the hoistway transmission device 3 in a power carrier manner, and demodulate the data signal from the power carrier signal transmitted by the hoistway transmission device 3. The hoistway transmission device 3 is a power line or a trailing cable provided in a hoistway. The machine room gateway 13 is connected with the protocol conversion module 14 and is in communication connection with the cloud platform 4 through a mobile communication network. The mobile communication network may be a 4G mobile communication network or a 5G mobile communication network, and accordingly, the machine room gateway 13 is a 4G gateway or a 5G gateway. The protocol conversion module 14 is connected to the elevator control device 11, and the protocol conversion module 14 is configured to convert a communication protocol format of data transmitted between the machine room gateway 13 and the elevator control device 11.
Fig. 3 shows a functional block diagram of the protocol conversion module 14 according to an embodiment of the invention. The protocol conversion module 14 includes an MCU 141. The 4G gateway generally has an RS485 interface or an RS232 interface, the communication bus of the elevator control cabinet is generally a CAN bus, and each elevator uses an RSL bus, so the protocol conversion module 14 of this embodiment CAN convert the protocols of most elevators between RS232 (RS 485) and CAN (RSL). When an instruction sent by the service robot is sent to the 4G gateway of the elevator machine room through the cloud platform or when the instruction sent by the service robot is sent to the 4G gateway of the elevator machine room through the power carrier modem, the 4G gateway can automatically send received data to the protocol conversion module through the serial port, and then the protocol conversion module converts the received data into a protocol instruction of the elevator and sends the protocol instruction to the communication bus of the elevator control cabinet.
Please refer to fig. 4. The ceiling communication device 2 is disposed on the top of the elevator car 61, and is connected in communication with the elevator control device 11 via the hoistway transmission device 3. In this embodiment, the car top communication device 2 includes a WIFI module 21 and a car power carrier modem 22, the WIFI module 21 is connected to the car power carrier modem 22, and the car power carrier modem 22 is connected to the hoistway transmission device 3. The hoistway transmission device 3 is a power line or a trailing cable, such as a 220V illumination line, provided in the hoistway. The car power carrier modem 22 is used for modulating and demodulating signals on the hoistway transmission device 3, and can demodulate and send signals from the machine room to the WIFI module 21 (such as a router). Otherwise, the data sent by the WIFI module 21 is modulated and loaded into the shaft transmission device 3, and sent to the machine room.
Please refer to fig. 5. In the present embodiment, the service robot 5 has a robot main control board 50, a WIFI module 51, and a DTU (data transmission unit) 52 having a 4G function. The reason why the WIFI module 51 is provided is that in some buildings, the moving cellular signal does not completely cover the elevator shaft and the elevator car, and when the service robot 5 is in the car, the signal shielding is too high, so that the service robot cannot be connected to the cloud platform 4 and cannot send a command to operate the elevator. If the elevator of the building is also covered by the network, the service robot can also communicate with the elevator in the elevator car through the cloud platform, and only the DTU52 is arranged.
The service robot 5 establishes communication connection with the cloud platform 4 through the mobile communication network when the service robot is outside the car so as to perform information interaction with the elevator control equipment 11 through the cloud platform 4, and the process of signal transmission is shown in fig. 6.
When the service robot 5 is in the car, the service robot establishes a communication connection with the car top communication device 2 through a short-distance wireless communication mode (in this embodiment, WIFI communication), and a signal transmission process is as shown in fig. 7, or establishes a communication connection with the cloud platform 4 through a mobile communication network to perform information interaction with the elevator control device, so that automatic elevator taking is realized. Optionally, when the service robot 5 searches for a WIFI signal of the car roof, the service robot automatically connects to WIFI to realize WIFI communication, and if the service robot cannot search for the WIFI signal, the service robot continues to communicate with the cloud platform 4 and sends an instruction to the elevator control device 11 through the cloud platform.
When there are a plurality of service robots 5 and a plurality of elevators, these service robots 5 and elevator control devices 11 are provided with respective codes. When they are connected to the cloud platform 4, a mapping table is generated. Thus, when a certain service robot wants to connect to a certain elevator, the cloud platform 4 will automatically distribute the instruction sent by the certain service robot to the certain elevator, and the data returned by the certain elevator will also be distributed to the certain service robot by the cloud platform. The cloud platform is a channel for communication between the service robot and the elevator, solves the problems of limitation of transmission distance and communication quality of traditional wireless communication, and can provide better service for the service robot.
The method for realizing the automatic elevator taking of the service robot by the elevator taking system of the service robot based on the cloud platform comprises the following steps:
the service robot 5 sends a call request to the elevator control device 11, the call request including information of a departure floor and a destination floor;
the elevator control device 11 receives the call request and feeds back confirmation to the service robot 5, controls the elevator car 61 to move to the starting floor, and informs the service robot 5 after reaching the starting floor;
after receiving the notification, the service robot 5 sends a door opening maintaining request to the elevator control device 11;
after receiving the door opening maintaining request, the elevator control device 11 controls the car door of the elevator to be kept open and informs the service robot 5 of entering the car;
after the service robot 5 enters the car, if a short-distance wireless communication signal is searched, information interaction is carried out with the elevator control equipment 11 in a short-distance wireless communication mode, if the short-distance wireless communication signal is not searched, information interaction is continuously carried out with the elevator control equipment 11 through a mobile communication network, and then a door opening release holding request is sent to the elevator control equipment 11;
the elevator control device 11 controls the car door to be closed and notifies the service robot after receiving the request for releasing the door-open hold, controls the car to travel to the target floor, and then notifies the service robot 5 that the target floor has been reached;
the service robot 5 sends a door opening maintaining request to the elevator control equipment 11, and after the elevator control equipment 11 receives the door opening maintaining request, the elevator control equipment controls a car door of the elevator to be kept open and informs the service robot 5 to go out of the car;
after the service robot 5 leaves the car, it sends a release door open hold request to the elevator control device 11;
the elevator control device 11 controls the car door to be closed and notifies the service robot 5 of the release of the door-open holding request.
The following describes an example of the entire procedure of the service robot for automatically taking a ladder in conjunction with a specific application example. In this application example, the service robot 5 is on floor 3, wants to go to floor 5, and the elevator car is on floor 1, and the procedure of taking the elevator is as follows:
the service robot firstly sends a call request, the elevator control equipment 11 registers the 3 th floor and goes up after receiving the call request, and feeds back that the service robot 5 receives the application;
after the elevator car arrives at the 3 rd floor, the elevator control equipment 11 sends 'the elevator car arrives at the 3 rd floor', and after the service robot 5 receives the elevator car, the elevator control equipment sends 'the service robot keeps the door opening state'; the elevator control device 11 receives the back door opening hold and feeds back the door opening hold to the service robot 5, namely, informs the service robot 5 that the elevator car can be entered;
after the service robot 5 enters the car 61, if a WIFI signal is searched, the WIFI is automatically connected, otherwise, the WIFI module of the service robot does not work; then the service robot 5 sends "release door open hold", the elevator control device 11 feeds back "the door open hold has been released", and then controls the car 61 to move to floor 5;
after arriving at floor 5, the elevator control equipment 11 sends 'the floor 5 is arrived', and after the service robot 5 receives 'the door opening state is kept'; the elevator control equipment 11 receives the back door opening hold and feeds back the door opening hold to the service robot, namely, informs the service robot that the elevator car can be taken out;
after the service robot 5 leaves the elevator car, it sends "release door holding", and the elevator control device 11 feeds back "the door holding is released".
According to the service robot elevator taking system based on the cloud platform, the service robot serving a single floor can be expanded to serve multiple floors without placing one service robot on each floor, so that the cost is saved, the working efficiency is improved, and for example, workers do not need to take the elevator to move goods from other floors to a target floor and then send the goods to the service robot.
Claims (6)
1. A service robot elevator taking system based on a cloud platform is characterized by comprising elevator control equipment, car roof communication equipment, well shaft transmission equipment, the cloud platform and the service robot;
the elevator control equipment is in communication connection with the cloud platform through a mobile communication network and is used for controlling the operation of an elevator;
the car top communication equipment is arranged at the top of the elevator car and is in communication connection with the elevator control equipment through the hoistway transmission equipment;
the service robot establishes communication connection with the cloud platform through a mobile communication network when the service robot is outside the car so as to perform information interaction with the elevator control equipment through the cloud platform, establishes communication connection with the car top communication equipment through a short-distance wireless communication mode when the service robot is inside the car, or establishes communication connection with the cloud platform through the mobile communication network so as to perform information interaction with the elevator control equipment, and thus automatic elevator taking is realized.
2. The cloud platform-based services robot ride system of claim 1, wherein the car top communication device comprises a WIFI module and a car power carrier modem, the WIFI module being connected with the car power carrier modem, the car power carrier modem being connected with the hoistway transmission device;
the close-range wireless communication mode is WIFI communication.
3. The cloud platform-based service robot elevator taking system according to claim 1 or 2, wherein the service robot elevator taking system comprises a machine room power carrier modem, a machine room gateway and a protocol conversion module, and the elevator control device, the machine room power carrier modem, the machine room gateway and the protocol conversion module are all arranged in a machine room;
the machine room power line carrier modem is respectively connected with the hoistway transmission equipment and the machine room gateway; the machine room gateway is connected with the protocol conversion module and is in communication connection with the cloud platform through a mobile communication network; the protocol conversion module is connected with the elevator control equipment and is used for converting the communication protocol format of data transmitted between the machine room gateway and the elevator control equipment.
4. The cloud platform based services robot ride according to claim 1, wherein the hoistway transmission device is a power line or a trailing cable disposed in a hoistway.
5. The cloud platform-based service robot elevator taking system according to claim 1, wherein the mobile communication network is a 4G mobile communication network or a 5G mobile communication network.
6. A method for realizing automatic elevator taking of a service robot by using the elevator taking system based on the cloud platform as claimed in any one of claims 1 to 5, which is characterized by comprising the following steps:
the service robot sends a call request to the elevator control equipment, wherein the call request comprises information of a starting floor and a target floor;
after receiving the call request, the elevator control equipment feeds back confirmation to the service robot, controls the elevator car to move to the starting floor and informs the service robot after reaching the starting floor;
after receiving the notification, the service robot sends a door opening maintaining request to the elevator control equipment;
after the elevator control equipment receives the door opening maintaining request, controlling the car door of the elevator to be kept open, and informing the service robot to enter the car;
after the service robot enters the car, if a short-distance wireless communication signal is searched, information interaction is carried out with the elevator control equipment in a short-distance wireless communication mode, if the short-distance wireless communication signal is not searched, information interaction is continuously carried out with the elevator control equipment through a mobile communication network, and then a door opening release holding request is sent to the elevator control equipment;
after receiving the request of releasing the door opening and keeping, the elevator control equipment controls the car door to close and informs the service robot, controls the car to move to the target floor and then informs the service robot of reaching the target floor;
the service robot sends a door opening maintaining request to the elevator control equipment, and after the elevator control equipment receives the door opening maintaining request, the elevator control equipment controls a car door of the elevator to be kept open and informs the service robot to go out of the car;
after the service robot leaves the car, sending a door opening release holding request to elevator control equipment;
the elevator control device controls the car door to be closed and notifies the service robot when receiving the release door holding request.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911271645.8A CN110963379A (en) | 2019-12-12 | 2019-12-12 | Service robot elevator taking system based on cloud platform and elevator taking method thereof |
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| CN201911271645.8A CN110963379A (en) | 2019-12-12 | 2019-12-12 | Service robot elevator taking system based on cloud platform and elevator taking method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111731958A (en) * | 2020-06-16 | 2020-10-02 | 北京云迹科技有限公司 | Method for robot to take elevator in queue, elevator internet of things device and system |
| CN112102542A (en) * | 2020-10-12 | 2020-12-18 | 深圳市富士智能系统有限公司 | Robot interaction system and method based on Internet of things |
| CN113460816A (en) * | 2021-07-06 | 2021-10-01 | 山东新一代信息产业技术研究院有限公司 | System for robot takes elevator independently |
| WO2021228224A1 (en) * | 2020-05-14 | 2021-11-18 | 拉扎斯网络科技（上海）有限公司 | Elevator taking method for unmanned device, elevator control method, elevator scheduling method, unmanned device, elevator control device, elevator scheduling cloud platform, and elevator taking system for unmanned device |
| CN114476882A (en) * | 2022-01-07 | 2022-05-13 | 广州市申迪计算机系统有限公司 | Elevator control method and device, mobile terminal and storage medium |
| CN114671309A (en) * | 2022-04-14 | 2022-06-28 | 广东铃木电梯有限公司 | Elevator robot control system and method |
| CN114988238A (en) * | 2022-05-12 | 2022-09-02 | 上海景吾酷租科技发展有限公司 | System and method, storable medium suitable for robot and elevator interaction |
| EP4112523A1 (en) * | 2021-06-30 | 2023-01-04 | OTIS Elevator Company | Communication network switching system and method for elevator system, and elevator system |
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