CN111099462A - Intelligent robot elevator taking control method and system - Google Patents

Intelligent robot elevator taking control method and system Download PDF

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Publication number
CN111099462A
CN111099462A CN201811261778.2A CN201811261778A CN111099462A CN 111099462 A CN111099462 A CN 111099462A CN 201811261778 A CN201811261778 A CN 201811261778A CN 111099462 A CN111099462 A CN 111099462A
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China
Prior art keywords
elevator
robot
floor
control
button
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CN201811261778.2A
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CN111099462B (en
Inventor
李标彬
刘小京
黄永康
马正文
丘彬
张志辉
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Shenzhen Wanglong Intelligent Technology Co ltd
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Shenzhen Wanglong Intelligent Technology Co ltd
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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
    • 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
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators

Abstract

The invention relates to a robot elevator taking control method and a robot elevator taking control system, wherein the robot elevator taking control system is arranged outside an original elevator control system of an elevator and is isolated from the elevator control system, an elevator state detector and an external elevator floor controller are added, a robot elevator taking instruction is transmitted to the control system of the elevator through the external elevator floor controller, and the state of the elevator is transmitted to a robot through the elevator state detector, so that the robot elevator taking is realized without changing the original elevator control system, no safety pressure is brought to an elevator manufacturer, and a robot scheme company is not required to make complicated arrangement suitable for different elevators. The universal robot is stronger in universality and can adapt to various robots and elevators.

Description

Intelligent robot elevator taking control method and system
Technical Field
The invention relates to the field of elevator taking control of robots, in particular to an elevator taking control method and system for an intelligent robot.
Background
Nowadays, the rapid rise of E-business express delivery and take-out orders, the package delivery and food delivery amount is very large, the delivery pressure is increased day by day, and in order to deal with the contradiction between the gradually increased labor cost and the delivery pressure of adding codes continuously, the 'delivery robot' replaces manpower to solve the delivery of the 'last kilometer'. In terms of service level and actual scenes, the 'distribution robot' rolls artificial logistics in some aspects, the robot can save a large amount of labor cost, experience interestingness and privacy of users are improved, and therefore short-distance transportation and distribution tend to finally become special service of the 'distribution robot'. In the future, more and more deliveries will be made unmanned.
However, most robots only realize the movement of the flat space for a long time, and the robots immediately get into impasse when encountering a complex vertical floor environment, particularly the difficulty of taking an elevator. However, in the present residential and work environment, the floors are higher and higher, and the service requirements for the robots are becoming more important and urgent. Therefore, how to efficiently and cost-effectively realize the purpose of going upstairs by taking the stairs by the robot becomes a first problem before the robot eyes are delivered.
In view of the limitations of practical price, robot function, efficiency and the like, the current commercial robots cannot achieve artificial intelligence like a human, cannot know the state of the elevator through naked eyes like a human, and cannot achieve the purpose of taking the elevator by pressing keys on the elevator like a human with flexible arms. When the robot takes the elevator, the robot and the elevator can communicate and interact only by means of other technical modes, and the robot can take the elevator smoothly.
Although it is technically not difficult to communicate between the robot and the elevator, it is still difficult in the current situation for the robot company to independently get through the "robot to go upstairs" passage in the elevator industry. Because the elevator manufacturer needs to coordinate to open a control protocol, the elevator taking command of the robot is connected to the control protocol of the elevator, and the realization difficulty is very high. At present, about 600 elevator brands exist in the national market, and the brands are different from each other as elevator control systems and protocols. The robot manufacturer adds the passing scheme of the robot into different bottom layer control logics, and the communication cost is extremely high. Meanwhile, the robot company as a 'going outside' in an elevator system lacks necessary technology accumulation, once a safety accident occurs, the division of technical responsibility is difficult to define, and an elevator manufacturer bearing the safety and lifetime responsibility of the elevator bears huge pressure.
On the other hand, it is difficult for elevator manufacturers to independently solve the problem of 'going upstairs by a robot'. As described above, elevator control systems and protocols in different elevator brands are different, and a single elevator manufacturer can only solve the problem that a robot takes a home elevator, and cannot realize a general elevator taking scheme by the robot.
Disclosure of Invention
The invention aims to solve the problems and provides a method and a system for controlling a robot to take an elevator, which have stronger universality and can adapt to various robots and elevators.
The control method for the robot to take the elevator comprises the following steps: s1: receiving an instruction sent by the robot for calling the elevator to a starting floor where the robot is located, and controlling a button on an elevator floor control keyboard in the car to act corresponding to the starting floor so as to inform an own floor control center of the elevator to control the elevator to run to the starting floor; s2: the state of the elevator is sent to the robot, so that the robot checks whether the elevator reaches a starting floor and the door is opened in place, and when the elevator reaches the starting floor and the door is opened in place, the door opening button is continuously pressed to receive a command sent by the robot so as to keep the state of opening the elevator door in place, so that the robot enters the elevator; s3: receiving a command of closing the elevator door and a command of going to a target floor sent by the robot after the robot enters the elevator, releasing the door opening button to allow the elevator to automatically close the elevator door or controlling the door closing button to act to close the elevator door, and controlling the action of a button corresponding to the target floor on an elevator floor control keyboard in the elevator car to inform an own floor control center of the elevator to control the elevator to run to the target floor; s4: the state that the elevator reaches the destination floor is sent to the robot, and a door opening button is pressed by receiving a command sent by the robot so as to keep the opening state of the elevator door, so that the robot can enter the elevator; and when the door is opened in place, a command is sent to continuously press the door opening button so as to keep the elevator door in an in-place opening state, so that the robot leaves the elevator; s5: and receiving a command sent by the robot after the robot leaves the elevator, and releasing the door opening button to close the elevator door.
In some embodiments, the following technical features are also included:
and the authority control is carried out on the robot taking the elevator, whether the robot has communication authority or authority to call the elevator or authority to take the elevator to the destination floor is judged, and the robot having legal authority can call and take the elevator to the destination floor is ensured.
Before step S1, communication is achieved with the robot through a wireless communication network.
The method for pressing or releasing the button comprises the following steps: and the effect that the button of the starting floor is pressed is realized by simulating the manual pressing of the elevator button and physically exciting to light the elevator button.
The method for judging whether the robot has the communication authority or whether the robot has the authority to call the elevator comprises the following steps: and identifying whether the robot carries equipment which has the elevator taking authority and can indicate the identity mark of the robot.
The method for judging whether the robot has the communication authority or whether the robot has the authority to call the elevator comprises the following steps: and receiving the merchant number and the terminal number reported by the robot, and judging that the robot has no authority if the robot cannot send the merchant number and the terminal number or if the merchant number or the terminal number is not in the list of the robot which has the authority although sending is available.
The method for judging whether the robot has the communication authority or whether the robot has the authority to call the elevator comprises the following steps: receiving a communication message which is sent by the robot and encrypted by a secret key, and verifying the message validity after decryption; if the robot is not allowed to receive or the verification service is illegal after receiving and decrypting, the robot is judged to be not allowed to have permission; if the robot is legal, the robot is judged to have the authority.
The keys are synchronized into the elevator floor controller and robot through Ukey or password envelopes.
The method for judging whether the robot has the communication authority or whether the robot has the authority to call the elevator comprises the following steps: and receiving a short message verification code sent by the robot, authenticating, judging that the robot has the authority by an authentication rule, and judging that the robot has no authority if the robot does not have the authority.
The method for judging whether the robot has the communication authority or whether the robot has the authority to call the elevator comprises the following steps: and receiving the network dynamic verification code sent by the robot, authenticating, judging that the right exists by an authentication rule, and judging that the right does not exist otherwise.
Controlling the robot to take the elevator is carried out according to at least one of the following modes: according to elevator control, according to floor control, according to authority control and according to time period control.
Collecting the states of a plurality of elevators, including the running states of the elevators, the door states and the current floor state information of the elevators, and sending the states of the elevators to the robot so that the robot can check the situations of the cages and select which cage to take by the machine; or through judgment, preferentially allocating the nearest elevator car and informing the robot of the allocated elevator car number so that the robot goes to the corresponding elevator door to wait for the arrival of the elevator.
After the effective information of the robot is identified, if the robot has a VIP function, the VIP function of the elevator is triggered, and at the moment, the elevator does not respond to the calling-out command of the elevator except the robot, so that the robot can share the elevator alone; when the robot reaches the destination floor, the elevator exits the VIP function, and the elevator is recovered to be in a normal use state.
When the elevator got into fire control fire alarm, moved away to avoid possible earthquakes, overhauld the state, fire control fire alarm, moved away to avoid possible earthquakes, overhauld state information were uploaded for the robot in intelligence to inform the robot and refuse the robot to take the elevator this moment, so that the robot can suitably deal with, early warning in advance.
And if the response of the robot cannot be received within the set time, releasing the elevator and allowing the elevator to normally run.
Before the action of a button corresponding to the starting floor on a floor control keyboard of an elevator in a control car and before the action of a button corresponding to the target floor on the floor control keyboard of the elevator in the control car, whether the corresponding floor is registered or not is checked through a detection circuit, and the action of the button corresponding to the floor on the keyboard is controlled when the registration is not confirmed, so that the situation that the number of the elevator is mistakenly cancelled due to the redundant button action is prevented; the eliminating mark refers to: after the elevator floor selection button is pressed to register the target floor, before the elevator reaches the target floor, the registration state of the target floor is cancelled by pressing the floor button again or pressing the floor button twice in succession, and the elevator stops the stop operation at the target floor.
The method comprises the steps that after a button corresponding to a starting floor on an elevator floor control keyboard in a control car acts, an elevator reaches the starting floor, and after a button corresponding to a target floor on the elevator floor control keyboard in the control car acts, the elevator reaches the target floor, the registration state of the corresponding floor is repeatedly detected, after the fact that the corresponding floor button is repeatedly pressed by a person to cause false cancellation is found, the button corresponding to the floor on the elevator floor control keyboard in the car is timely controlled again to act, the floor is ensured to be in the registration state, and the car is ensured to stop at the floor.
When an instruction sent by a robot for calling an elevator to a starting floor where the robot is located is received, target floor information to which the robot intends to go is also received, whether the robot intends to go to a higher floor or a lower floor is determined according to the starting floor where the robot is located and the target floor to which the robot intends to go, whether the elevator is connected with the robot when going upwards or connected with the robot when going downwards is determined, whether the elevator needs to pass through a reset floor when arriving at the starting floor in a correct running direction is determined according to the current position of the elevator, and a button action corresponding to the starting floor on an elevator floor control keyboard in a car is controlled when the elevator does not pass through the reset floor is determined; the reset floor is as follows: when the elevator ascends to reach the highest floor or descends to reach the lowest floor, all the keys are cancelled.
The method for detecting the state of the button comprises the following steps: and detecting the terminal voltage of a floor control key display lamp in the car, if the terminal voltage reaches or exceeds a set value, judging that the floor is registered, and otherwise, indicating that the floor is not registered.
The invention provides a robot elevator taking control system, which comprises an external elevator floor controller and an elevator state detector, wherein the external elevator floor controller is used for receiving the state detected by the elevator state detector and is in control connection with an elevator own floor control center to control the elevator to run, and simultaneously the external elevator floor controller is also communicated with a robot, the external elevator floor controller comprises a processor and a memory, and a computer program is stored in the memory and can be executed by the processor so as to control the robot elevator taking by adopting the control method as claimed in claims 1-15.
The invention also relates to a computer storage medium storing a program which is executable to perform the above-mentioned method.
The robot taking elevator control system is arranged outside the original elevator control system of the elevator, is isolated from the elevator control system, and transmits the elevator taking command of the robot to the control system of the elevator through the external elevator floor controller by adding the elevator state detector and the external elevator floor controller, and transmits the elevator state to the robot through the elevator state detector, so that the robot can smoothly take the elevator without changing the original control system of the elevator, no safety pressure is brought to an elevator manufacturer, and the robot scheme company is not required to make complicated arrangement suitable for different elevators.
Drawings
Fig. 1A is a schematic block diagram of a robot riding elevator control system according to an embodiment of the present invention.
Fig. 1B is a schematic diagram of a connection scheme of elevator floor controllers according to an embodiment of the present invention.
Fig. 2 is a flow chart of the robot elevator taking process according to the embodiment of the invention.
Fig. 3 is a block diagram of an elevator status detector system according to an embodiment of the present invention.
Fig. 4 is a schematic view of the installation of the elevator state detector according to the embodiment of the present invention.
Fig. 5 is a schematic diagram of a photoelectric sensor according to an embodiment of the present invention.
FIG. 6 shows a photoelectric sensor and a magnetic shield according to an embodiment of the present invention.
Detailed Description
In order to solve the problem of taking the elevator by the robot, the following embodiments of the invention mainly solve the following problems to be solved by taking the elevator by the robot:
1. the robot generally does not have eyes and flexible arms, and can not accurately observe the positions of keys required by riding provided by the elevator through the eyes like a human, and accurately press the corresponding keys by two hands so as to achieve the purposes of calling the elevator and selecting a target floor.
2. The vision algorithm of the robot is generally inferior to that of human eyes, and whether an elevator to be taken arrives or not, whether a door is opened or not and whether the robot can get in or out of a car or not cannot be judged.
Meanwhile, in some embodiments, the following problems are solved, so that the robot can take the ladder more smoothly and reliably:
3. the vision algorithm of the robot is generally inferior to the human eyes, and the current various states of each elevator car, such as the floor and the running direction, cannot be accurately judged through the algorithm, and the elevator to be taken cannot be accurately selected.
4. At present, the robot generally moves slowly, has long time for getting in and out of the elevator door and is easily clamped by the elevator door.
5. At present, the elevator generally has a 'number canceling' function, namely when a certain floor of an elevator floor selection key panel is pressed by mistake, a user can cancel the floor registration by operating the same floor key so as to improve the operation efficiency of the elevator. There are various ways of eliminating the number, one way, that is, quickly double-clicking the floor button twice, can cancel the registered floor. In the second mode, the floor is registered when the floor button is pressed for an odd number of times, and the floor is canceled when the floor button is pressed for an even number of times. When the robot takes the elevator, the robot cannot identify whether the floor is registered or not through eyes like a person, and the robot blindly presses the key in a certain mode, so that the floor number which is originally registered can be cancelled, and the purpose of going to the floor can not be achieved.
Example one
The block diagram of the control system for the robot riding the elevator is shown in fig. 1, and comprises two parts 1 and 2 in the figure. The part 1 is an external elevator floor controller, hereinafter referred to as an external elevator floor controller, and the part 2 is an elevator state detector. In fig. 1, "elevator floor control center" is a standard system of elevator manufacturers, and the manufacturers, models, and the like are not limited. The robot takes the elevator control system, and equipment is additionally arranged on the basis of an elevator system, so that the function of taking the elevator by the robot is realized. The 1 st part external elevator floor controller and the 2 nd part elevator state detector are both independent of an elevator system, are installed on the top of an elevator car, are convenient to install, are not restricted by elevators of different brands, and are wide in applicability.
The external elevator floor controller 1 is connected to the local area network switch through a wired network/WiFi, and the robot establishes communication with the external elevator floor controller 1 through the WiFi. The external elevator floor controller 1 is installed in an elevator car, is connected between an elevator floor control keyboard in an elevator system and an elevator self-owned floor control center through a key line and a relay, realizes the operation of elevator floor buttons and door opening and closing buttons so as to receive a robot instruction, and realizes the functions of door opening and closing, external calling (the robot calls the elevator to the floor where the robot is located in a waiting hall), and internal calling (the robot directly registers a target floor after entering the car). The functions of door opening and closing, external calling and internal calling of the external elevator floor controller are realized by door opening and closing buttons and floor buttons in an operation keyboard of an elevator system controlled by a relay.
The external elevator floor controller 1 is connected with the elevator state detector 2 in an RS485 mode, and elevator state data are obtained from the elevator state detector 2. The elevator state detector 2 is directly linked with the elevator to detect the running state of the elevator, collects state data related to the elevator and sends the state data to the external elevator floor controller 1 in an RS485 mode, and the external elevator floor controller 1 uploads the state related to the elevator to the robot through a local area network.
The advantages of the system are as follows: firstly, the robot transmits a signal to an external elevator floor controller to send an elevator taking demand to the external elevator floor controller, the artificial pressing of an elevator button is simulated, the elevator button is physically excited and lightened, and the problem that the robot does not have flexible arms is solved; the running condition of the elevator can be detected through the elevator state detector, states of a floor where the elevator is located, the elevator door opening and closing and the like are obtained and transmitted to the robot, and the problem that the robot does not have two eyes is solved; the elevator state detector is directly linked with the elevator to detect the running state of the elevator, and the elevator state is not acquired from the original elevator system through a protocol, so that the coordination cost with different elevator manufacturers is saved; secondly, the robot taking the elevator control system is isolated from the elevator control system, so that the technical risk can be greatly reduced, and the responsibility is easy to divide when safety accidents happen; moreover, the scheme has strong universality, can meet different elevator brands or systems, and can reduce the marginal cost of scheme popularization.
The robot elevator taking process of the embodiment is shown in fig. 2. The method comprises the following steps:
step 1: the robot is connected with wifi of a starting floor (initial floor), and after the robot is successfully connected with the server, the elevator is called to the floor where the robot is located.
Step 2: the robot checks the state of the elevator, finds that the elevator reaches the departure floor, and issues a command to press the door opening button when the door is opened in place (the state of opening the elevator door in place is maintained, so that the robot enters the elevator).
And step 3: the robot enters the elevator, is connected with wifi in the car, and after the robot is successfully reconnected with the server, the robot sends a command to release a door opening button (close the elevator door) and call the door in.
And 4, step 4: the robot checks the state of the elevator, finds that the elevator reaches the destination floor, and sends a command to press the door opening button when the door is opened in place (the state of opening the elevator door in place is kept, so that the robot leaves the elevator).
And 5: and after the robot leaves the elevator, sending a command to release the door opening button and disconnecting the connection.
The robot elevator taking process realization principle is further explained as follows:
[ corresponding to step 1 of robot elevator taking process ]
When ordinary people take the elevator, the people manually press the up/down outbound button of the elevator waiting hall, and the elevator can reach the floor where the people are. A robot cannot usually perform the action of pressing the outbound button as a human would. The robot of the embodiment establishes a communication link with an external elevator floor controller through a local area network, sends an external call instruction to the external elevator floor controller through a TCP/IP protocol, the external elevator floor controller intelligently judges according to the current running direction of an elevator, automatically outputs an opening signal of the floor where the robot is located to an elevator system at a proper time, and outputs an intelligent relay signal to the elevator system according to whether the floor which needs to be opened registers or not, if the floor is in an unregistered state, outputs a relay closing signal of the same way at once, simulates the action of pressing a floor button by a human, and at the moment, the floor button where the robot is located is lightened. If the floor is registered, the relay closing signal is not output any more.
The robot calls outside, which is equal to the fact that a person lights an uplink button or a downlink button of an outside call panel in a waiting hall, in order to reduce the complexity of the system, the system does not control the outside call panel of each floor waiting hall (for example, if a certain elevator has 60 floors, 60 outside call panels need to be controlled, the system becomes abnormally large), but the system realizes the function of calling outside by lighting the floor buttons in the car, which is equal to the fact that a person presses the floor buttons in the car, so that the elevator reaches the floor where the robot is located, and is equal to the effect that the robot presses the uplink button or the downlink button of the outside call panel of the waiting hall of the floor where the robot is located.
This approach simplifies the system but requires a solution to the problem of different elevator travel directions that may result in automatic number cancellation. For example, some elevators clear the illuminated floor buttons on the handwheel when reversing (i.e., elevator reversing will cancel). Assuming that the elevator is at the 2 nd floor at the moment, in the process of descending to the lowest floor and the 1 st floor, a person presses the floor buttons of the 12 th floor and the 13 th floor, when the elevator arrives at the 1 st floor, the registered floor buttons of the 12 th floor and the 13 th floor are emptied when the door is opened, the floor button lamps of the 12 th floor and the 13 th floor are turned off, at the moment, the floor buttons of the 12 th floor and the 13 th floor need to be registered again, and the elevator can go to the 12 th floor and the 13 th floor.
For example, the robot needs to go from floor 1 to floor 6, the robot sends an instruction of 'call out elevator to floor 1, go upwards' to the external elevator floor controller when the robot is in the hall waiting at floor 1, and after the external elevator floor controller receives the instruction, the external elevator floor controller intelligently judges according to the running direction of the elevator and outputs a floor 1 opening signal to the elevator system at a proper time.
Example one: if the current elevator is in the descending state, no opening signal is output to the elevator system. When the elevator is reversed, the opening signal is output to the elevator system. (prevent to export and open the corresponding floor signal to the elevator system, after the elevator system succeeds in registering the floor, after going down to the lowest registration or exhale the floor, when commuting, the elevator will empty the registered floor.);
example two: if the current elevator is in a stop state on a certain floor, because the elevator is in an idle state at the moment, immediately outputting a floor-1 opening signal to the elevator system;
example three: if the current elevator is on the-1 th floor and the current running direction is the ascending direction, the running direction of the elevator is the same as the direction of the robot taking the elevator, the problem of reversing and eliminating the number of the elevator does not exist, and a floor-1 opening signal is immediately output to the elevator system.
Step 2 corresponding to the elevator taking process of the robot, the robot cannot accurately judge whether the elevator reaches the floor where the robot is located or not by the current visual algorithm, and cannot judge whether the elevator door is opened or not. The solution in the present embodiment is achieved as follows: after a communication link is established between the robot and the external elevator floor controller, the robot can send an instruction to the external elevator floor controller to start an elevator state automatic reporting function, after the elevator state is started, the external elevator floor controller can actively report the elevator state to the robot once the elevator state is changed, and the reporting is not stopped until overtime time is reached or the robot sends an instruction to close the automatic reporting function. The robot can also send an elevator state inquiry command periodically to acquire the elevator state, and the external elevator floor controller can respond to the elevator state once the robot sends the inquiry command. After the robot can acquire the state of the elevator, once the current floor of the elevator is found to be equal to the floor where the robot is located and the elevator door is in the door-opening in-place state, the robot indicates that the elevator arrives, and the robot can start to enter the car from the elevator waiting hall.
The robot can not realize the anti-pinch function by itself and can only realize the anti-pinch function by matching with an external elevator floor controller. In the process that the robot enters the elevator car from the elevator waiting hall or comes out of the elevator car to the elevator waiting hall, if the elevator starts to be closed in the process of entering and exiting, the robot can be clamped by the elevator door, once the robot is clamped, the robot detects that the object distance is too close, the robot can enter an emergency stop state, and the robot cannot smoothly enter and exit the elevator car. This embodiment solves this problem through following mode, explains below with the robot entering the car from the hall for waiting for elevator as an example, because the process that the robot comes out to the hall for waiting for elevator from the car is similar, this situation is no longer repeated: when the robot passes through under the help of external elevator floor controller, when confirming can get into the car, the robot need to send the instruction of holding open door button n second to external elevator floor controller, and here n is 0 ~ 99 seconds, and when external elevator floor controller received this instruction, the relay closure signal of the same kind of output immediately, the open door button of control elevator keeps open door button to hold down always. After the robot receives the response signal that the external elevator floor controller successfully holds the door-opening button, the robot can start to enter the car, if the robot enters the car, the holding time is not enough, the instruction of holding the door-opening button for n seconds can be sent again, and the external elevator floor controller continues to hold the door-opening button.
After the robot smoothly enters the car, the elevator needs to register a target floor, the robot can send an instruction of calling the target floor to an external elevator floor controller according to an external elevator calling instruction mode, the external elevator floor controller immediately outputs an opening signal of the target floor to the external floor controller 1 after receiving the instruction, and the external floor controller 1 determines how to operate according to whether the floor needing to be opened is registered or not: if the floor button is not registered, a relay closing signal is immediately output, the action of pressing the floor button by a human is simulated, and the target floor button is lightened. If the floor is registered, the relay closing signal is not output any more. For example, the robot needs to go from floor 1 to floor 6, and assuming that the robot has already entered the car smoothly at present, the robot sends a command of "call 6 floor in" to the external elevator floor controller, and after the external elevator floor controller receives the command, the external elevator floor controller immediately outputs an opening signal of the destination floor to the elevator floor controller 1, and the elevator floor controller 1 determines whether the floor to be opened is registered or not. If the current elevator has other people to take the elevator and the other people have manually operated 6 floors, the elevator floor controller 1 does not output any signal, if the current elevator 6 floors are not registered, the elevator floor controller 1 immediately outputs a relay closing signal, the action of pressing a 6-floor button by a human is simulated, and at the moment, a target floor button is lightened.
The robot takes the elevator control system to have the authentication function, and the robot of any manufacturer can not use the elevator taking function. The message of robot communication is encrypted through UKey and then sent to the elevator floor controller 1, and the elevator floor controller 1 verifies the message validity after decryption. If not, the communication is interrupted immediately. The UKey is a USB interface encryption device, can be inserted into a USB port of the robot, contains a PSAM card and stores a Key Key, and the robot cannot read the Key in the UKey, can only write in message data to be encrypted and read the encrypted message data. Other manufacturers cannot acquire a legal UKey, so that unauthorized robots cannot access the system and use the elevator taking function.
To understand the present embodiment in further detail, the elevator state detector 2 will be further described below.
Fig. 3 is a block diagram of the elevator state detector system of the present embodiment. The elevator state detector is a set of independent devices which can be adapted to different control systems. And the elevator state detector is small and exquisite in material object, simple and convenient to install and wide in applicability.
As shown in fig. 3, the elevator state detector comprises a photoelectric sensor 21, a door opening in-place detector 22, a door closing in-place detector 23, a base station resetting device 24 and an elevator state signal processor 25, and the photoelectric sensor 21 can detect information of the elevator ascending, descending, stopping and the current floor where the elevator is located, and can also intelligently detect the current total floor number. The open door in-place detector 22 and the closed door in-place detector 23 can detect the open door in-place and signal of the front door/back door through Hall proximity switches. The base station reset device 24 is also shown as a hall proximity switch for the base station reset function when an elevator condition detection error occurs. That is to say, when the elevator state detects the fault of the floor where the elevator is currently located, the device can forcibly reset the floor where the elevator is currently located to the corresponding floor as long as the elevator stops at the base station once, and usually selects a non-negative number of common floors, such as 1 floor (english: the ground floor). In the figure, an elevator state signal processor 25 part is a core control part of an elevator state detector and is responsible for acquiring signals of 21, 22, 23 and 24 parts, and the signals are uploaded to an external elevator floor controller in an RS485 mode after being processed. The elevator state detection comprises the following two parts.
Detecting the state of the elevator door: the state of the elevator door is detected by installing a hall proximity switch on the door in the manner shown in fig. 4. Two hall proximity switches of door installation in the elevator, these two switches cooperation magnet steel use, and hall switch detects the magnet steel and can send a signal. When the inner door of the elevator is closed, the door-closing in-place Hall switch detects a signal sent by the magnetic steel, and the elevator state detector can judge that the elevator door is in a door-closing in-place state through the signal after receiving the signal. When the inner door of the elevator is opened, the door opening in-place Hall switch detects a signal sent by the magnetic steel, and the elevator state detector can judge that the elevator door is in the door opening in-place state through the signal after receiving the signal. When the hall switches in the door closing and in place do not detect the magnetic steel, the elevator state detector judges whether the elevator door is in the door opening state or the door closing state.
In fig. 4, 41 is a hall switch for opening door to place, 42 is a hall switch for closing door to place, 43 is a hall switch for resetting base station, 44 is magnetic steel, 45 is elevator hoistway, 46 is elevator car, 47 is elevator outer door, and 48 is outer elevator inner door. The Hall switch is arranged on the top of the car on the inner door side of the elevator; the magnetic steel corresponding to the Hall switch for in-place door opening and in-place door closing is arranged at the top of the inner door of the elevator, and the magnetic steel corresponding to the base station reset Hall switch is only arranged at the corresponding position on the well of a certain close-up floor; the U-shaped groove photoelectric sensor is arranged on the outer wall of the lift car and moves along with the movement of the lift car; the magnetic isolation plate is arranged on the wall of the shaft, and the magnetic isolation plate is required to be arranged at the corresponding position of each floor.
Detecting the running state of the elevator: the running state of the elevator comprises ascending, descending and stopping, and the detection of the three states is performed by using the U-shaped groove photoelectric sensor 21 and the magnetism isolating plate 6. The U-shaped groove photoelectric sensor 21 is shown in fig. 5, in which there are two sets of correlation sensing modules (A1 module, A2 module, B1 module, B2 module, A1A2 is above and B1B2 is below), A1B1 is a signal transmitting module, and A2B2 is a signal receiving module. The sensor is installed on the outer wall of an elevator car, 5 is an installation hole position in the figure, a baffle (a magnetic isolation plate is used as the baffle, as shown in figure 6) is installed at the corresponding position of each layer on the wall of an elevator shaft and is used for shielding a correlation module of a U-shaped groove photoelectric sensor 21, and the installation positions of the photoelectric sensor 21 and the magnetic isolation plate are shown in figure 3. When the elevator runs, the U-shaped groove photoelectric sensor 21 runs along with the elevator. When the elevator ascends, the two correlation modules A1A2 are firstly shielded in the ascending process of the U-shaped groove photoelectric sensor 21, corresponding signals are output to the elevator state detector, and then the B1B2 module is shielded to output signals; when the elevator descends, the B1B2 module is firstly shielded, and then the A1A2 module is shielded to output signals. The elevator state detector can judge whether the elevator ascends or descends according to the sequence of the two signals. The elevator stopping state is judged according to whether the two modules are shielded for a long time or not and whether the elevator door is closed to the right position or not, namely the elevator is in a flat-floor state and has no up-down or down-down calling, namely the elevator stays temporarily on a certain middle floor in the up-going or down-going process and is not in the elevator stopping state, but continuously keeps in the up-going or down-going state.
Elevator floor information detection: the floor information is mainly the number of the floor where the elevator is located at present, and the detection is carried out by matching the U-shaped groove photoelectric sensor and a base station reset Hall switch. When the elevator state detector is installed, information of some floors (the number of negative floors and the total number of floors) can be set according to the site situation of the floor, which is information that does not change. When the state detector is installed and debugged, the state detector starts to operate from the lowest floor, and corresponding position information is recorded and stored and sent to the elevator controller every floor. If the lowest floor is a negative first floor, when the lowest floor starts to operate from the negative first floor and detects an uplink state, the U-shaped groove photoelectric sensor is supposed to be shielded by the baffle corresponding to the first floor sequentially by the A1A2 and the B1B2 modules, the current floor is the first floor, and when the U-shaped groove photoelectric sensor correlation module is not shielded by the next baffle, the current floor is the first floor. If the U-shaped groove photoelectric sensor correlation module is shielded, judging whether the building is an ascending floor or a descending floor according to the sequence of the shielded modules A1A2 and B1B2, judging the ascending and descending state, and then judging the current floor according to the previous current floor (the current floor is a first floor, and then detecting the ascending state, the current floor is changed into a second floor). The floor base station reset Hall switch is a correction mechanism device which is set up for dealing with floor information detection errors caused by some abnormal conditions (such as sudden power failure, abnormal shielding and The like), The sensor is installed on an elevator car, The detection object is installed on a common floor, and a non-negative common floor, such as 1 floor (English style: The ground floor), is usually selected. When the elevator arrives at the first floor, the base station resets the Hall switch to detect the corresponding object, and sends a signal to the elevator state detector. After receiving the signal, the elevator state detector can judge whether to reset the floor information of the base station according to whether the elevator door is in the door opening position, and the condition of setting the door opening position is to reduce the correction error caused by false triggering. Therefore, when the floor information of the elevator state detector detects an abnormal condition, the elevator can be immediately and forcibly reset as long as the elevator runs to the first floor and the door is opened to the place. The setting of the base station reset mechanism can greatly reduce the abnormal condition of the elevator state detector.
Floor control button state information in the car: the elevator state detector is provided with a voltage detection device which detects the terminal voltage of a floor control key display lamp in the elevator car, and if the terminal voltage is 0, the key is judged not to be pressed; if the voltage reaches or exceeds the set value, the key is judged to be pressed. Because when a certain floor elevator button is pressed down, the LED display lamp of the corresponding floor button can be lightened, so that whether the button is pressed down or not can be known by detecting the voltage at the two ends of the display lamp.
In order to ensure the stability of the system, the reliability of signals for opening and closing the elevator door in place needs to be ensured. The elevator operating environment is more complicated, especially goods lift a bit, because of long-term delivery goods leads to the elevator to open the door or when closing the door, door vibrations are big, can lead to hall switch and magnet steel position to take place the dislocation, is unfavorable for a state signal to detect. Therefore, the cuboid magnetic strip with a large area is specially selected, the larger the area is, the smaller the requirement on the position accuracy of the Hall switch and the magnetic steel is, and therefore the magnetic strip with the large area is matched with the Hall switch to realize the reliable detection of door opening in-place signals and door closing in-place signals, the fault tolerance of the system is improved, and the system is suitable for more elevator systems.
Front-back door information detection: elevators today are more and more complex and elevators with two corresponding front and back doors are also more and more common. Therefore, the elevator state detector designs a corresponding front and back door information detection mechanism, and the principle is that two sets of elevator door state detection sensors respectively detect the states of the front and back doors and then upload the states to an elevator controller.
Example two
The embodiment is provided with the function of preventing the robot from mistakenly eliminating the number.
When a certain floor button of the elevator button panel is pressed down, the elevator system can register the floor corresponding to the button and simultaneously light the LED lamp at the back of the floor button. Part of elevators have the function of eliminating numbers, and the number eliminating mode has multiple modes, namely, a floor button is quickly and doubly clicked twice, so that registered floors can be cancelled. In the second mode, the floor is registered when the floor button is pressed for an odd number of times, and the floor is canceled when the floor button is pressed for an even number of times. When the robot takes the elevator, since the robot cannot recognize whether or not a floor has been registered by eyes like a person, if it cannot recognize that a floor has been registered, a floor registration command is blindly transmitted to the elevator controller to register the floor when the robot communicates with the elevator controller, which may cause the floor number that has been registered to be negated. Based on the above situation, the following cancellation prevention scheme is designed.
The scheme for preventing the robot from mistakenly eliminating the number is as follows: an optical coupling detection circuit is additionally arranged on the elevator detector 2 or the externally connected elevator floor controller 1, the input end of the optical coupling detection circuit is connected to two ends of an LED lamp circuit at the back of an elevator key, and whether a floor is registered or not is identified through the voltage states at two ends of the detection circuit. After the elevator controller recognizes the floor registration condition, there are two ways: in the first method, the robot is notified of the registration status of all floors, and after knowing that the floor to which the robot wants to go has been registered, the robot does not send a floor registration command to the elevator controller. Mode 2, the robot still sends a floor registration command to the elevator controller, and the elevator controller judges whether the floor to which the robot wants to go is registered or not, and if the floor is registered, the robot is not helped to send a floor registration signal. To achieve a more intelligent system, the system is implemented in a second way, as shown in fig. 1B.
The principle is as follows: when a floor is registered in the elevator system, the LED lamp at the back of the floor button is lightened, and the detection circuit detects the corresponding voltage state at the two ends of the LED lamp circuit at the moment, so that the floor can be known to be registered. When the detection circuit detects another state, it is known that the floor is not registered.
EXAMPLE III
The embodiment is provided with a function of preventing the number from being cancelled by mistake. Similar to but different from the embodiment, the embodiment solves the problem of false cancellation by a person, but not by a robot: when the robot calls the elevator outside the car to light the floor button in the car, the elevator taking personnel in the car may mistakenly think that the floor is mistakenly lighted because no person in the car goes to the floor, and then the robot artificially carries out the number cancellation operation. Therefore, the technical scheme can be used for solving the problems that:
scheme 1: the robot inquires the registration state of each floor in the elevator car in real time or at regular time through an external elevator floor controller or an elevator state detector, and when people's number is cancelled, an external calling instruction is sent again.
Scheme 2: the external elevator floor controller 1 receives a floor registration instruction sent by the robot and registers a corresponding floor, before the elevator car reaches the floor, the external elevator floor controller or the elevator state detector repeatedly inquires the registration state of the floor, and when the registration state is found to be cancelled, the external elevator floor controller simulates the pressing of a corresponding button of the floor again to register the floor again.
Scheme 3: connect external elevator floor controller 1 between elevator floor control keyboard and the elevator of car in-house floor control center, when someone button, this button signal of external elevator floor controller 1 intercepting earlier, if judge this floor that this people pressed this moment when open, then do not send this manual operation instruction to just can not cause the number of canceling.
Example four
The present embodiment provides a policing function.
In practical application, the elevator needs to be controlled for safety, efficiency, man-machine sharing and other factors. To solve this problem, the patent proposes the following solution.
1. According to elevator control: can set up external elevator floor controller through modes such as software setting or punching the card, external elevator floor controller forbids the robot to take advantage of the ladder: for example during high peak hours, the elevator is set to disabled and the robot is not allowed to pass.
2. Controlling according to floors: an external elevator floor controller can be set through software setting or card swiping and the like, the robot is forbidden to take the elevator on a certain floor, and the robot can take the elevator only on the floor with authority.
3. And (3) controlling according to the authority: an external elevator floor controller can be set through software setting or card swiping and the like, the external elevator floor controller allows robots in a specific list to take the elevator, and other robots do not allow the robot to take the elevator.
4. And (3) controlling according to time periods: the time period is set through software, and the robot is not allowed to take the elevator in the specified time period under the control of the elevator.
5. The above several controls can also be combined together for use, and for a certain floor, the control is carried out according to time periods: for example, in the time period from 0 point to 7 points and from 18 points to 24 points, the robot is not allowed to take the elevator, and the robot is effectively managed to take the elevator.
EXAMPLE five
The present embodiment provides an authorization function.
The robot takes the elevator control system to support the butt joint with the robots of different manufacturers, and the butt joint protocol needs to be standardized, so that the later maintenance workload is reduced as much as possible. The docking protocol uses a custom TCP/IP protocol, which is published to all robot vendors that need to dock. This presents a problem, given that the protocols are published to robot vendor a, vendor B, and vendor C, respectively. Then, as long as 3 manufacturers can access the local area network where the device is located, the 3 manufacturers can simultaneously communicate with the device and can control the device to execute corresponding operations. Assuming that the equipment is purchased for use by manufacturer a, manufacturer B and manufacturer C can use the equipment for free as long as they can intervene in the lan where the equipment is located, which is unfair to manufacturer a. To address this problem, we introduce an authorization system.
The technical scheme and principle are as follows:
the first scheme is as follows: the robot and the equipment communication must be authorized through a Bluetooth card, and then the elevator taking function can be used. For example: a robot manufacturer A purchases a set of robot taking an elevator control system, the manufacturer A can obtain a Bluetooth card with an elevator taking function, the Bluetooth card is placed on a robot body, when the robot approaches to equipment, the equipment can identify the Bluetooth card with the elevator taking authority, and the robot is allowed to use the elevator taking function after authentication operation is completed. The method can effectively ensure that the robot without the Bluetooth card cannot use the elevator taking function.
Scheme II: the device must first authenticate the robot for validity before beginning a business action with the robot. For example: a robot manufacturer A purchases a set of robot to take an elevator control system, the manufacturer A can obtain a merchant number and a terminal number, the robot needs to provide the merchant number and the terminal number for equipment authentication after being connected with the equipment, if the merchant number or the terminal number does not exist in an equipment list, communication is immediately interrupted, and the same merchant number and the same terminal number are not allowed to exist at the same time.
The third scheme is as follows: the message of robot communication is encrypted through UKey and then sent to the equipment, and the equipment verifies the message validity after decryption. If not, the communication is interrupted immediately. The UKey is a USB interface and can be inserted into a USB port of the robot, a PSAM card is contained inside the USB interface, a Key Key is stored inside the PSAM card, the robot cannot read the Key inside the UKey, only message data needing to be encrypted can be written in, and the encrypted message data can be read. Other manufacturers cannot access the system without authorization because the legal UKey cannot be obtained, and the elevator taking function is used.
And the scheme is as follows: the robot acquires the short message verification code, takes the short message verification code as an authorization certificate, and can use the elevator taking function after the equipment authentication is successful. For example: the robot manufacturer a purchases a set of robot taking an elevator control system, and pre-authorizes the SIM card mobile phone number used by the robot in advance. The robot of manufacturer A is provided with a 2G/3G/4G/5G or other mobile communication modules, the SIM card mobile phone number is used as the only identity authentication information of the robot, the robot needs to apply a short message verification code to a server before using an elevator, the server can judge whether the identity authentication information of the robot is in a pre-authorization list, and if the identity authentication information exists in the pre-authorization list, the verification code is generated and sent to the authenticated robot through a short message. When the robot takes the elevator, the short message verification code must be sent to the equipment for authentication, the robot can take the elevator normally according to the authentication rule, otherwise, the robot cannot take the elevator.
And a fifth scheme: the robot acquires the dynamic verification code through the network, and the elevator taking function can be used only after the equipment authentication is successful. For example: the robot manufacturer a purchases a set of robot riding elevator control system, and pre-authorizes the unique identity code (equipment serial number of the robot) of the robot in advance. Before the robot uses the elevator, the robot needs to apply for a network verification code from a server, the server can judge whether the identity authentication information of the robot is in a pre-authorization list, and if the identity authentication information exists in the pre-authorization list, a dynamic verification code is generated and sent to the authenticated robot through the network. When the robot takes the elevator, the robot must send the dynamic verification code to the equipment for authentication, the robot can take the elevator normally according to the authentication rule, otherwise, the robot cannot take the elevator.
The scheme can effectively solve the problem that other unauthorized manufacturers access the robot to take the elevator control system.
EXAMPLE six
The present embodiment is provided with a group control function.
When a plurality of elevators exist in the elevator waiting hall, the robot cannot know which elevator to sit when riding the elevator by adopting the technical scheme of the first embodiment. The present embodiment proposes a technical solution to solve this problem.
The technical scheme and principle are as follows:
the robot takes the elevator control system to design a dispatching function, a dispatching system is added, the dispatching system is respectively connected with elevator state detectors of a plurality of elevators (for example, the dispatching system is connected wirelessly or in a wired mode), the states of the plurality of elevators are collected, the states comprise the running state (ascending/descending/stopping) of each elevator, the door state (door opening in place, door opening in/door closing in place and door closing in place) and the floor where the elevator is located currently, the dispatching system preferentially allocates the nearest elevator car through intelligent judgment, informs the robot of the allocated elevator car number, and the robot moves to the corresponding elevator door to wait for the arrival of the elevator.
Before the robot does not know the assigned elevator car number, the robot only communicates with the dispatching system at the moment, but not with a separate robot in each elevator by taking the elevator control system; and after the robot does not know the number of the allocated elevator car, the robot can communicate with the robot in the car by taking the elevator control system to realize the elevator taking task of the robot in the elevator.
The scheme can effectively solve the problem that the robot does not know which elevator to take when facing a plurality of elevators; meanwhile, an optimal elevator taking route can be planned, the waiting time of robots and the time of robots such as elevators and the like are reduced, and the running cost of the elevators is saved.
EXAMPLE seven
The present embodiment sets guest system functions.
For the elevator provided with the management function in the fourth embodiment and the elevator provided with the authorization function in the fifth embodiment, if the robot really has a temporary elevator taking demand, the elevator taking function can be temporarily opened in the embodiment.
The technical scheme and principle are as follows:
the robot applies for a destination address, an elevator taking time range and an elevator taking request of a target floor by accessing the cloud visitor system, and the system can automatically authorize a temporary elevator taking dynamic verification code. When the robot arrives at the elevator waiting hall of the destination, the robot takes the elevator control system to communicate through the verification code, and the target floor which is applied in advance can be reached after the authentication (which can be granted by the resident through response) is passed. The following problems occur, the elevator cannot be taken, and the dynamic verification code needs to be applied again.
If the robot finds that the verification code is illegal when taking the elevator control system, the system immediately interrupts communication and cannot take the elevator
If the destination floor is inconsistent with the application, the system will immediately interrupt communication and cannot take the elevator.
If the time range of taking the elevator is exceeded, the system immediately interrupts communication and cannot take the elevator. (dynamic code certificate code can be sent from web page, also can be sent from short message)
Under the condition that the demand of taking the ladder by the robot is increased day by day, the scheme can effectively solve the problem that visitors of the robot take the ladder, effectively manage the behavior of taking the ladder by the robot and standardize the order of taking the ladder.
Example eight
The embodiment is provided with an elevator VIP function (special elevator function).
In order to ensure that the robot can rapidly reach a target floor, the robot has a VIP function of an elevator by taking an elevator control system. After the robot takes the elevator control system to recognize the effective information of the robot, the VIP function of the elevator is triggered, the elevator does not respond to the external calling instruction of the elevator, and the robot solely shares the elevator. When the robot reaches the destination floor, the elevator exits the VIP function, and the elevator is recovered to be in a normal use state.
Example nine
The embodiment is provided with a fire alarm/shock absorption/maintenance function.
The robot takes elevator control system and has an auxiliary fire alarm function, when the elevator enters a fire alarm state, the external elevator floor controller can intelligently upload fire alarm information to the robot and inform the robot to refuse to take the elevator at the moment, so that the intelligent processing program of the robot can appropriately correspond to the intelligent processing program, and early warning is performed in advance.
The robot takes the elevator control system and also has an auxiliary shock-proof alarm function, when the earthquake happens suddenly, the robot takes the elevator control system and can intelligently upload shock-proof alarm information to the robot, and the robot is informed of refusing to take the elevator at the moment, so that the intelligent processing program of the robot can appropriately correspond to early warning.
The robot takes the elevator control system and also has an auxiliary maintenance state prompt, when the elevator is in the maintenance state, the robot takes the elevator control system and can intelligently upload maintenance information to the robot, and the robot is informed of refusing to take the elevator at the moment, so that the intelligent processing program of the robot can appropriately correspond to the maintenance state prompt, and early warning is performed in advance.
The technical scheme and principle are as follows:
the external elevator floor controller is provided with a 1-way fire signal acquisition interface and supports four modes of level, switching value, normally open and normally closed. The robot is further provided with a switching value shock-proof alarm signal acquisition interface and a switching value maintenance signal acquisition interface, and when effective signals are acquired, the robot is actively reported to an external elevator floor controller.
Example ten
The present embodiment also provides an abnormality recovery function.
In the process of taking the elevator by the robot, network abnormality and some abnormal conditions of the robot can occur, and the elevator can not operate normally. Such as: because the robot acts slowly, when the robot enters and exits the elevator, the waiting time of n seconds is set, the elevator car door is closed after the robot waits for the robot to finish the entrance and exit, but if the network or the robot is abnormal and a waiting request is sent to the elevator without stopping sending, the elevator cannot continue to walk; for another example, if a robot enjoying a special elevator function fails, the elevator may be unnecessarily idle.
When the abnormal conditions occur, the robot takes the elevator control system to make a timely response, and the abnormal conditions are processed to ensure the normal use of the elevator.
The network exception handling scheme in this embodiment is as follows: when the network is abnormal and the robot and the external elevator floor controller cannot communicate with each other, the robot takes the elevator control system to release the elevator within the set time, so that the elevator operates normally, and after the network is normal, the robot communicates with the external elevator floor controller again to carry out normal robot taking the elevator.
Robot exception handling: when the robot is abnormal and the external elevator floor controller cannot receive instructions from the robot within a certain time, the robot takes the elevator control system to release the elevator control right, so that the elevator operates normally, and after the robot is normal, the robot communicates with the external elevator floor controller to carry out normal robot taking the elevator.

Claims (21)

1. A robot riding elevator control method is characterized by comprising the following steps:
s1: receiving an instruction sent by the robot for calling the elevator to a starting floor where the robot is located, and controlling a button on an elevator floor control keyboard in the car to act corresponding to the starting floor so as to inform an own floor control center of the elevator to control the elevator to run to the starting floor;
s2: the state of the elevator is sent to the robot, so that the robot checks whether the elevator reaches a starting floor and the door is opened in place, and when the elevator reaches the starting floor and the door is opened in place, the door opening button is continuously pressed to receive a command sent by the robot so as to keep the state of opening the elevator door in place, so that the robot enters the elevator;
s3: receiving a command of closing the elevator door and a command of going to a target floor sent by the robot after the robot enters the elevator, releasing the door opening button to allow the elevator to automatically close the elevator door or controlling the door closing button to act to close the elevator door, and controlling the action of a button corresponding to the target floor on an elevator floor control keyboard in the elevator car to inform an own floor control center of the elevator to control the elevator to run to the target floor;
s4: the state that the elevator reaches the destination floor is sent to the robot, and a door opening button is pressed by receiving a command sent by the robot so as to keep the opening state of the elevator door, so that the robot can enter the elevator; and when the door is opened in place, a command is sent to continuously press the door opening button so as to keep the elevator door in an in-place opening state, so that the robot leaves the elevator;
s5: and receiving a command sent by the robot after the robot leaves the elevator, and releasing the door opening button to close the elevator door.
2. The robot ride elevator control method of claim 1, further comprising the steps of: and the authority control is carried out on the robot taking the elevator, whether the robot has communication authority or authority to call the elevator or authority to take the elevator to the destination floor is judged, and the robot having legal authority can call and take the elevator to the destination floor is ensured.
3. The method for controlling robot riding an elevator according to claim 1, further comprising the steps of: before step S1, communication is achieved with the robot through a wireless communication network.
4. The method for controlling robot riding an elevator according to claim 1, wherein the method for pressing or releasing the button is: and the effect that the button of the starting floor is pressed is realized by simulating the manual pressing of the elevator button and physically exciting to light the elevator button.
5. The robot riding elevator control method of claim 2, wherein the method of determining whether the robot has a communication authority or an authority to call an elevator is: and identifying whether the robot carries equipment which has the elevator taking authority and can indicate the identity mark of the robot.
6. The robot riding elevator control method of claim 2, wherein the method of determining whether the robot has a communication authority or an authority to call an elevator is: and receiving the merchant number and the terminal number reported by the robot, and judging that the robot has no authority if the robot cannot send the merchant number and the terminal number or if the merchant number or the terminal number is not in the list of the robot which has the authority although sending is available.
7. The robot riding elevator control method of claim 2, wherein the method of determining whether the robot has a communication authority or an authority to call an elevator is: receiving a communication message which is sent by the robot and encrypted by a secret key, and verifying the message validity after decryption; if the robot is not allowed to receive or the verification service is illegal after receiving and decrypting, the robot is judged to be not allowed to have permission; if the robot is legal, the robot is judged to have the authority.
8. The robot-based ride elevator control method of claim 2, wherein the key is synchronized into the elevator floor controller and the robot through a Ukey or cryptographic envelope.
9. The robot riding elevator control method of claim 2, wherein the method of determining whether the robot has a communication authority or an authority to call an elevator is: and receiving a short message verification code sent by the robot, authenticating, judging that the robot has the authority by an authentication rule, and judging that the robot has no authority if the robot does not have the authority.
10. The robot riding elevator control method of claim 2, wherein the method of determining whether the robot has a communication authority or an authority to call an elevator is: and receiving the network dynamic verification code sent by the robot, authenticating, judging that the right exists by an authentication rule, and judging that the right does not exist otherwise.
11. The robot-based elevator control method according to claim 2, wherein the control of the robot-based elevator is performed in at least one of the following manners: according to elevator control, according to floor control, according to authority control and according to time period control.
12. The robot-based elevator control method according to claim 1, further comprising collecting the states of a plurality of elevators including the operation states of the elevators, the door states, the current floor states of the elevators, and transmitting the elevator states to the robot so that the robot checks the states of the respective cars and the machine selects which car to take; or through judgment, preferentially allocating the nearest elevator car and informing the robot of the allocated elevator car number so that the robot goes to the corresponding elevator door to wait for the arrival of the elevator.
13. The robot-based elevator control method according to claim 1, wherein after recognizing the valid information of the robot, if the robot has a VIP function, the VIP function of the elevator is triggered, and at this time, the elevator does not respond to an elevator call command except the robot, so that the robot can solely share the elevator; when the robot reaches the destination floor, the elevator exits the VIP function, and the elevator is recovered to be in a normal use state.
14. The method as claimed in claim 1, wherein when the elevator enters a fire alarm, shock absorber and maintenance state, the robot is intelligently uploaded with the fire alarm, shock absorber and maintenance state information, and is informed that the robot refuses to take the elevator at the moment, so that the robot can properly respond and early warn.
15. The robot-based elevator control method according to claim 1, wherein if the response of the robot is not received within a set time, the elevator is released to allow the elevator to operate normally.
16. The elevator control method for improving the reliability of the robot taking the elevator according to claim 1, characterized in that before the button action corresponding to the departure floor on the elevator floor control keyboard in the control car and before the button action corresponding to the destination floor on the elevator floor control keyboard in the control car, whether the corresponding floor is registered is checked through the detection circuit, and the button action corresponding to the floor on the control keyboard is controlled when the non-registration is confirmed, so as to prevent the false number cancellation of the elevator caused by the redundant button action; the eliminating mark refers to: after the elevator floor selection button is pressed to register the target floor, before the elevator reaches the target floor, the registration state of the target floor is cancelled by pressing the floor button again or pressing the floor button twice in succession, and the elevator stops the stop operation at the target floor.
17. The elevator control method according to claim 16, wherein the registration state of the corresponding floor is repeatedly detected after the elevator arrives at the departure floor after the button corresponding to the departure floor is operated on the elevator floor control keypad in the control car and before the elevator arrives at the destination floor after the button corresponding to the destination floor is operated on the elevator floor control keypad in the control car, and after the false cancellation is found out due to the repeated pressing of the button corresponding to the floor by a person, the button operation of the corresponding floor on the elevator floor control keypad in the control car is re-controlled in time to ensure that the floor is in the registration state and the car stops at the floor.
18. The elevator control method for improving the reliability of the robot taking the elevator as claimed in claim 1, characterized in that when receiving the command sent by the robot to call the elevator to the departure floor where the robot is located, the information of the target floor to which the robot intends to go is also received, and according to the departure floor where the robot is located and the target floor to which the robot intends to go, it is determined whether the robot intends to go to a higher floor or a lower floor, so as to determine whether the elevator is connected to the robot when going upwards or downwards, and thus it is determined whether the elevator intends to go to the departure floor in a correct running direction to pass through the reset floor according to the current position of the elevator, and when it is determined that the elevator does not pass through the reset floor, the button action corresponding to the departure floor on the elevator floor control keyboard in the elevator car is controlled; the reset floor is as follows: when the elevator ascends to reach the highest floor or descends to reach the lowest floor, all the keys are cancelled.
19. The elevator control method for improving the reliability of a robot riding an elevator according to claim 17, wherein the method of detecting the state of the button comprises: and detecting the terminal voltage of a floor control key display lamp in the car, if the terminal voltage reaches or exceeds a set value, judging that the floor is registered, and otherwise, indicating that the floor is not registered.
20. A robot elevator taking control system is characterized by comprising an external elevator floor controller and an elevator state detector, wherein the external elevator floor controller is used for receiving the state detected by the elevator state detector and is in control connection with an elevator own floor control center to control the elevator to run, and simultaneously the external elevator floor controller is also communicated with a robot, the external elevator floor controller comprises a processor and a memory, and a computer program is stored in the memory and can be executed by the processor so as to control the robot elevator taking by adopting the control method according to the claims 1-19.
21. A computer storage medium, characterized in that: stored with a program which is operative to perform the method of claims 1-19.
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