CN114572783B - Control board card for interaction of signals of robot and elevator and control method - Google Patents
Control board card for interaction of signals of robot and elevator and control method Download PDFInfo
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- CN114572783B CN114572783B CN202210231699.7A CN202210231699A CN114572783B CN 114572783 B CN114572783 B CN 114572783B CN 202210231699 A CN202210231699 A CN 202210231699A CN 114572783 B CN114572783 B CN 114572783B
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- 230000003993 interaction Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The disclosure relates to the technical field of robot control, and provides a control board card for robot and elevator signal interaction and a control method. The control board card includes: the signal receiving and transmitting module is in wireless connection with the robot; a plurality of floor button switch control modules correspond with the floor button switch of elevator respectively, and floor button switch control module includes: a switch control circuit connected in parallel on a button instruction control circuit between the elevator main control board and the floor button switch, and a voltage detection circuit connected in parallel on the button instruction control circuit between the elevator main control board and the floor button switch; the controller can control the corresponding switch control line to be closed when the signal receiving and transmitting module receives a target floor instruction sent by the robot, and control the signal receiving and transmitting module to send a floor arrival instruction to the robot when the voltage detection line detects that the button indicates that the control line has a voltage difference jump. The method is simpler to install, low in difficulty and more economical in implementation cost.
Description
Technical Field
The disclosure relates to the technical field of robot control, in particular to a control board card for robot and elevator signal interaction and a control method.
Background
When a robot running in a scene such as a hotel, a building, a community and the like enters and exits an elevator, floor information of an elevator car is required to be acquired to control the robot to take the elevator. For example, the robot calls elevator 1 in elevator hall 2, then the robot needs to control the lighting of the button 1 on the call panel in elevator 1; when the elevator 1 reaches the floor 1, a signal of the elevator car at the floor 2 needs to be sent to the robot, and the robot enters the elevator after receiving the signal; similarly, when the robot goes out of the elevator, the information of the floor where the car is located needs to be acquired in the same way, and the robot goes out of the elevator at the corresponding destination floor.
Currently, there are two ways for a robot to acquire the floor where an elevator car is located: the first is that the floor where the elevator is located is judged by measuring the distance between two modules through two sensors arranged on the top of the elevator car and the top of the elevator shaft, and then the floor information data of the elevator car of the robot is sent to the floor; the second type is to use the original magnetic isolation plates installed in the elevator shaft (each floor of the elevator is provided with corresponding magnetic isolation plates), and calculate the number of the passing electromagnetic plates through a sensor to obtain the floor information of the elevator car. The first scheme requires two modules to be vertically installed up and down, the situation that signals cannot be received can occur to an ultra-high floor, hardware and installation cost are high, the second scheme requires a magnetic isolation plate for an installed elevator, and two sensors (a robot departure floor calibration sensor, a photoelectric sensor are high in installation requirement and a certain requirement on installer skills) are required to be installed at the same time.
Therefore, the realization cost of the robot for acquiring the floor where the elevator car is located in the prior art is high, and a certain technical difficulty exists in realizing the installation of equipment. Therefore, how to obtain elevator car floor information by a robot at low cost and with easy implementation to assist the robot in taking an elevator is a technical problem in current robotic applications.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a control board card and a control method for interaction between a robot and elevator signals, so as to solve the problem in the prior art how to obtain elevator car floor information by the robot with low cost and easy implementation.
In a first aspect of embodiments of the present disclosure, there is provided a control board card for robot and elevator signal interaction, comprising: the signal receiving and transmitting module is in wireless connection with the robot; a plurality of floor button switch control modules, every floor button switch control module corresponds with a floor button switch of elevator, every floor button switch control module includes: the switch control circuit is connected in parallel to the button instruction control circuit between the elevator main control board and the floor button switch, and the voltage detection circuit is connected in parallel to the button instruction control circuit between the elevator main control board and the floor button switch; and the controller is respectively and electrically connected with the signal receiving and transmitting module, the button instruction control circuit and the button instruction control circuit, and can control the switch control circuit in the corresponding floor button switch control module to be closed when the signal receiving and transmitting module receives a target floor instruction sent by the robot, and control the control signal receiving and transmitting module to send a floor arrival instruction to the robot when the voltage detection circuit detects that the button instruction control circuit has a voltage difference jump.
In a second aspect of the embodiments of the present disclosure, a control method for signal interaction between a robot and an elevator is provided, and the control method is applied to the control board card, and includes: receiving a target floor instruction sent by a robot; based on the target floor instruction, controlling the switch control circuit where the corresponding floor button switch is located to be closed; and under the condition that the button where the floor button switch is positioned is detected to indicate that the control circuit has voltage difference jump, sending a floor arrival instruction to the robot, and controlling the switch control circuit to be disconnected.
Compared with the prior art, the embodiment of the disclosure has the beneficial effects that: the control board card is directly arranged in the elevator car and is electrically connected with a circuit between the elevator main control board and the floor button switch, so that the stability and the accuracy of signal interaction are ensured, and mistakes are not easy to occur; meanwhile, the installation difficulty of the control board card in the elevator car is low, and compared with the existing implementation mode, the control board card is lower in cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a scene schematic diagram of an application scene of an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a control board card for robot and elevator signal interaction provided by an embodiment of the present disclosure;
fig. 3 is a circuit diagram of a circuit and control board card between an elevator main control board and a floor push button switch provided by an embodiment of the present disclosure;
fig. 4 is a circuit diagram of a circuit and control board card between another elevator main control board and floor push-button switch provided by an embodiment of the present disclosure;
fig. 5 is a flow chart of a control method for robot-elevator signal interaction provided in an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of the controller in fig. 3 provided in an embodiment of the present disclosure.
Reference numerals illustrate:
1. a robot; 2. an elevator car; 21. an elevator main control board; 22. a floor instruction button panel; 221. floor push-button switch; 23. a button instruction control circuit; 24. the button indicates a control line; 3. a server; 4. a network; 5. a control board card; 51. a signal receiving and transmitting module; 52. a floor button switch control module; 521. a switch control circuit; 5211. a circuit switch; 522. a voltage detection circuit; 53. a controller; 531. a processor; 532. a memory; 533. computer program.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
Fig. 1 is a scene diagram of an application scene of an embodiment of the present disclosure. The application scenario may include a robot 1, an elevator car 2, a server 3, and a network 4. The scenario shown in fig. 1 may include a hotel, a building, a community, etc., wherein, an elevator main control board 21 and a floor instruction button panel 22 are provided on an elevator car 2, the elevator main control board 21 is used for controlling the elevator car 2 to lift and stop, the floor instruction button panel 22 is provided with a plurality of floor button switches 221 corresponding to floors respectively, and a user presses the floor button switch 221 corresponding to a desired floor to send an instruction to the elevator main control board 21, so that the elevator main control board 21 controls the elevator to go to the corresponding floor and stop. In the application scenario of the present disclosure, a control board 5 for signal interaction between the robot and the elevator is further provided in the elevator car 2, and the control board 5 is connected to a line between the elevator main control board 21 and the floor command button panel 22 for realizing signal interaction between the robot and the elevator.
For example, when the robot 1 is outside the elevator car 2, the robot 1 may send a destination floor instruction (the current floor number) to the control board 5 on the elevator car 2, after receiving the destination floor instruction, the control board 5 will automatically trigger the floor button switch 221 corresponding to the destination floor instruction to send an instruction to the elevator main control board, so that the elevator main control board 21 controls the elevator car 2 to go to the floor corresponding to the destination floor instruction and stop, and then, when the elevator car 2 arrives at the destination floor, the control board 5 will also send an instruction for the elevator to arrive to the robot 1, so that the robot 2 automatically enters the elevator car 2. Similarly, when the robot 1 is in the elevator car, the signal interaction with the elevator is the same as that of the robot 1 outside the elevator, so that the description is omitted here.
The robot 1 is applied to provide various services in a hotel, building, etc. scene, for example, take-out is given by the robot 1 for a user in some buildings.
The server 3 may be a server providing various services, for example, a background server receiving a request transmitted from a robot and a control board card on an elevator car with which communication connection is established, and the background server may receive and analyze a request transmitted from the robot and forward the generated processing result to the control board card. The server 3 may be a server, a server cluster formed by a plurality of servers, or a cloud computing service center, which is not limited in the embodiment of the present disclosure.
The server 3 may be hardware or software. When the server 3 is hardware, it may be various electronic devices that provide various services to the robot 1. When the server 3 is software, it may be a plurality of software or software modules providing various services to the robot 1, or may be a single software or software module providing various services to the robot 1, which is not limited by the embodiments of the present disclosure.
The network 4 may be a wired network using coaxial cable, twisted pair wire, and optical fiber connection, or may be a wireless network that can implement interconnection of various communication devices without wiring, for example, bluetooth (Bluetooth), near field communication (Near Field Communication, NFC), infrared (Infrared), etc., which is not limited by the embodiments of the present disclosure.
It should be noted that the specific types, numbers and combinations of the robots 1, the elevator cars 2, the servers 3 and the network 4 may be adjusted according to the actual requirements of the application scenario, which is not limited by the embodiments of the present disclosure.
Fig. 2 is a schematic structural diagram of a control board card for robot and elevator signal interaction provided in an embodiment of the present disclosure. As shown in fig. 1, the control board card includes: a signal transceiver module 51, a plurality of floor button switch control modules 52 (only one is shown in fig. 2 for ease of understanding), and a controller 53, wherein the signal transceiver module 51 is wirelessly connected to the robot; each floor button switch control module 52 corresponds to one floor button switch 221 of the elevator, and each floor button switch control module 52 includes: a switch control line 521 and a voltage detection line 522, the switch control line 521 is connected in parallel to the button instruction control line 23 between the elevator main control board 21 and the floor button switch 221, and the voltage detection line 522 is connected in parallel to the button instruction control line 24 between the elevator main control board 21 and the floor button switch 221; the controller 53 is electrically connected to the signal transceiver module 51, the switch control line 521, and the voltage detection line 522, respectively, and is capable of controlling the switch control line 521 in the corresponding floor button switch control module 52 to be closed when the signal transceiver module 51 receives a target floor instruction transmitted by the robot, and controlling the control signal transceiver module 51 to transmit a floor arrival instruction to the robot when a button indication control line 24 is detected to have a voltage difference jump through the voltage detection line 522.
Specifically, only the lines between the elevator main control board 21 and one of the floor push-button switches 221 on the floor command push-button panel 22, namely, the push-button command control line 23 and the push-button command control line 24 are shown in fig. 2. In addition, the control board 5 in fig. 2 only shows the floor button switch control modules 52 corresponding to one floor button switch 221, and in practice, the number of floor button switch control modules 52 on the control board 5 is plural, generally the same as the number of floor button switches 221, and the floor button switch control modules 52 are in one-to-one correspondence with the floor button switches 221.
Since the types of elevators are many, the number of lines between the elevator main control board 21 and the floor push-button switches 221 on the floor command push-button panel 22 in the elevator car can be differentiated by the type of elevator. In connection with fig. 2, there are typically 3 lines or 4 lines of lines between the elevator main control board 21 and each floor push button switch 221.
In some embodiments, for the case of 4 lines between the elevator main control board 21 and the floor push-button switch 221, see fig. 3, a circuit diagram of a line and a control board card between the elevator main control board and the floor push-button switch is provided in an embodiment of the disclosure. As shown in fig. 3, there are 4 lines, lines A1, A2, B1 and B2, respectively, between the elevator main control board 21 and the floor push button switch 221. Where lines A1 and A2 are button instruction control lines 23, and lines B1 and B2 are button instruction control lines 24.
Specifically, two lines A1 and A2 where the button command control line 23 is located and the floor button switch 221 are sequentially connected in series on the elevator main control board 21, which is equivalent to a switch loop, and when the floor button switch 221 is pressed, the lines A1 and A2 are equivalent to two button signal lines to send corresponding floor commands to the elevator main control board 21. Accordingly, as shown in fig. 3, in the embodiment of the present disclosure, the switch control circuit 521 includes a circuit switch 5211, where the circuit switch 5211 includes at least two terminals and an enable terminal, and the two terminals are connected in parallel with the circuits A1 and A2, which is equivalent to connecting an enable switch in parallel between the two button command control circuits 23 (i.e., the circuits A1 and A2) between the elevator main control board 21 and the floor button switch 221, so that when the controller 53 controls the circuit switch 5211 to be closed, which is equivalent to triggering the floor button switch.
Specifically, in the application scenario of fig. 1, when the robot 1 sends a destination floor instruction to the control board 5, the control board 5 receives the destination floor instruction through the signal transceiver module 51, and the controller 53 controls the circuit switch 5211 of the switch control line 521 connected to the floor button switch corresponding to the destination floor instruction to be closed based on the destination floor instruction, which corresponds to automatically pressing the floor button switch 221, so that the elevator main control board 21 controls the elevator car 2 to go to the floor corresponding to the destination floor instruction.
Further, the circuit switch 5211 where the switch control circuit 521 is located may be a relay switch, or may be a MOS switch or a triode switch. If a relay switch is used, the cost is lower; if the MOS transistor switch or the triode switch is used, the control board card 5 has higher integration level and occupies less space. Therefore, what type of circuit switch is used may be selected according to the actual situation, and the embodiment of the present disclosure is not limited thereto.
In addition, two lines B1 and B2 where the button indication control line 522 is located are light indication lines, and the two lines B1 and B2 are generally connected to indication lamps of the floor button switches 221, and are used for turning on the corresponding floor button switches 221 after the floor button switches 221 are pressed or the circuit switch 5211 is closed, so as to indicate that a signal that the floor button switches 221 are pressed has been successfully sent to the elevator main control board; and after the elevator main control board 21 controls the elevator car to reach the floor corresponding to the floor button switch 221, the elevator main control board 21 controls the extinguishing floor button switch 221.
Specifically, in conjunction with fig. 3, the lines B1 and B2 are two power lines of the indicator lights of the floor push switch 221, and when the elevator main control board 21 controls the indicator lights of the floor push switch 221 to be turned off after the elevator car 2 reaches the floor corresponding to the floor push switch 221, the voltage difference between the lines B1 and B2 will be changed. Therefore, two detection lines are connected in parallel to the lines B1 and B2, and a jump in the voltage difference between the lines B1 and B2 is monitored by detecting the voltage between the two detection lines to determine whether the elevator car reaches the floor corresponding to the floor push button switch 221. That is, the voltage detection line 522 includes two detection lines, one end of the two detection lines is connected in parallel to the lines B1 and B2, respectively, the other end of the two detection lines is electrically connected to the controller, when the controller detects a jump in the voltage difference between the other ends of the two detection lines, it is determined that the elevator has reached the floor corresponding to the floor button switch, and a notification instruction is sent to the robot via the signal transceiver module 51 so that the robot correctly enters/exits the elevator car 2.
In some embodiments, for the case of 3 lines between the elevator main control board 21 and the floor push button switch 221, see fig. 4, a circuit diagram of a circuit and a control board card between another elevator main control board and the floor push button switch provided by the embodiments of the present disclosure is provided. As shown in figure 4 of the drawings,
there are 3 lines, respectively lines C1, C2 and C2, between the elevator main control board 21 and the floor push button switch 221. Here, lines C1 and C2 are button instruction control lines 23, and lines C2 and C3 are button instruction control lines 24. The embodiment of the present disclosure differs from the 4 lines of fig. 3 in that: one of the light indication lines of the button indication control line and one of the button signal lines of the button indication control line 23 are a common line. As for the control principle between the control board card 5 and the 3 lines, the working principle of the button instruction control line 23 and the button instruction control line 24 are the same, so that the description thereof is omitted.
In some embodiments, the signal transceiver module 51 in the control board card 5 is a wireless network communication module. Specifically, the signal transceiver module 51 may be a 4G communication module, a 5G communication module, a WIFI communication module, a ZigBee communication module, or a radio communication module, which is not limited in the implementation of the present disclosure.
The control board card for the interaction of the robot and the elevator signals is arranged in the elevator car and is electrically connected with a circuit between the elevator main control board and the floor button switch, so that the stability and the accuracy of the signal interaction are ensured, and errors are not easy to occur; meanwhile, the control board is low in mounting difficulty of the control board in the elevator car, and compared with the existing implementation mode, the control board is lower in cost.
Referring to fig. 5, fig. 5 is a flowchart of a control method for robot-elevator signal interaction provided in an embodiment of the present disclosure. The control method of fig. 5 for robot interaction with elevator signals can be performed by the control board card 5 in fig. 2. As shown in fig. 5, the control method for robot and elevator signal interaction includes:
s501, receiving a target floor instruction sent by a robot;
s502, based on a target floor instruction, controlling a switch control circuit where a corresponding floor button switch is located to be closed;
and S503, when the situation that the button where the floor button switch is located indicates that the control line has a voltage difference jump is detected, a floor arrival instruction is sent to the robot, and the switch control line is controlled to be disconnected.
Specifically, in connection with the application scenario of fig. 1, the destination floor instruction sent by the robot may be the floor number of any floor to which the elevator car 2 can go. In practical applications, the robot 1 may send the destination floor instruction directly to the control board 5 through the network 4, for example, the robot 1 may send the destination floor instruction directly to the control board 5 through the 4G network. Alternatively, the robot 1 may send a destination floor command to the server 3 via the network 4, and then the server 3 sends the destination floor command to the control board 5 in the elevator car 2.
For example, in some embodiments, receiving a target floor instruction sent by a robot includes: and receiving a floor target instruction sent by the robot to a server, wherein the robot is connected with the server through a network.
Further, referring to fig. 3, the control board 5 performs voltage difference jump detection on the button indication control line after the switch control line is closed based on the destination floor instruction until the button indication control line has a voltage difference jump. In practical applications, whether the robot 1 is outside or inside the elevator car, the control board card can switch the connection mode with the robot 1 after the robot 1 enters the elevator car.
For example, after the robot enters the elevator car, the robot can be in short-distance wireless communication connection with the robot 1 through the signal transceiver module, so that the communication quality between the robot 1 and the control board card 5 is ensured, and the situation that the control board card delays a command for notifying the arrival of the floor of the robot 1 due to unstable external network or server and the like is avoided. Thus, with such an embodiment, the signal transceiver module on the control board card 5 may include a plurality of different wireless network communication modules including a bluetooth communication module, a near field communication module, an infrared communication module, and the like, to which the disclosed embodiments are not limited.
The control method for the interaction of the robot and the elevator signal is realized by receiving a target floor instruction sent by the robot; based on the target floor instruction, controlling the switch control circuit where the corresponding floor button switch is located to be closed; under the condition that the voltage difference jump exists in the button indication control circuit where the floor button switch is detected, floor arrival instructions are sent to the robot, and the switch control circuit is controlled to be disconnected, so that timely and efficient interaction of signals between the robot and the elevator is realized, and compared with the existing interaction mode, the floor switch is small in installation difficulty and lower in cost.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein in detail.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not constitute any limitation on the implementation process of the embodiments of the disclosure.
Fig. 6 is a schematic structural diagram of the controller in fig. 3 provided in an embodiment of the present disclosure. As shown in fig. 6, the controller 53 of the embodiment of the present disclosure includes: a processor 531, a memory 532 and a computer program 533 stored in the memory 532 and executable on the processor 531. The steps in the control method embodiment of fig. 5 described above are implemented by processor 531 when executing computer program 533.
Illustratively, the computer program 533 may be partitioned into one or more modules/units, which are stored in the memory 532 and executed by the processor 531 to complete the present disclosure. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 533 in the controller 53.
The controller 53 may include, but is not limited to, a processor 531 and a memory 532. It will be appreciated by those skilled in the art that fig. 6 is merely an example of the controller 53 and is not meant to be limiting of the controller 53, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the controller may further include an input-output interface, a network access device, a bus, etc. In some embodiments, the controller 3 may be a single-chip microcomputer.
The processor 531 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 532 may be an internal storage unit of the controller 53, for example, a hard disk or a memory of the controller 53. The memory 532 may also be an external storage device of the controller 53, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the controller 53. Further, the memory 532 may also include both an internal storage unit and an external storage device of the controller 53. The memory 532 is used to store computer programs and other programs and data required by the controller. The memory 532 may also be used to temporarily store data that has been output or is to be output.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed control board card and control method may be implemented in other manners. For example, the control board card embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, there may be additional divisions in actual implementation, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method of the above-described embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the embodiment of the control method described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included in the scope of the present disclosure.
Claims (9)
1. A control board card for robot and elevator signal interaction, comprising:
the signal receiving and transmitting module is in wireless connection with the robot;
a plurality of floor button switch control modules, every floor button switch control module corresponds with a floor button switch of elevator, every floor button switch control module includes: the switch control circuit is connected in parallel to a button instruction control circuit between the elevator main control board and the floor button switch, and the voltage detection circuit is connected in parallel to a button instruction control circuit between the elevator main control board and the floor button switch;
the button instruction control circuit between the elevator main control board and the floor button switch comprises two button signal lines; the button indication control circuit between the elevator main control board and the floor button switch comprises two light indication lines; one of the light indication lines of the button indication control line and one of the button signal lines of the button instruction control line are a shared line;
and the controller is respectively and electrically connected with the signal receiving and transmitting module, the button instruction control circuit and the button instruction control circuit, and can control the switch control circuit in the corresponding floor button switch control module to be closed when the signal receiving and transmitting module receives the target floor instruction sent by the robot, and control the signal receiving and transmitting module to send a floor arrival instruction to the robot when the voltage detection circuit detects that the button instruction control circuit has a voltage difference jump.
2. The control board card for robot and elevator signal interaction of claim 1, wherein the switch control circuit includes a circuit switch including two terminals connected in parallel with two button signal lines of the button command control circuit and an enable terminal electrically connected to the controller.
3. The control board card for robot and elevator signal interaction of claim 2, wherein the circuit switch is a relay switch.
4. The control board card for robot and elevator signal interaction of claim 2, wherein the circuit switch is a MOS transistor switch.
5. The control board card for robot and elevator signal interaction of claim 2, wherein the circuit switch is a triode switch.
6. The control board card for robot and elevator signal interaction of claim 2, wherein the voltage detection line comprises two detection lines, one end of the two detection lines being connected in parallel with two light indication lines of the button indication control line, and the other end of the two detection lines being electrically connected with the controller.
7. The control board card for robot and elevator signal interaction of any of claims 1-6, wherein the signal transceiver module is a wireless network communication module.
8. A control method for robot and elevator signal interaction, applied to the control board card of any one of claims 1-7, characterized in that the control method comprises:
receiving a target floor instruction sent by a robot;
based on the target floor instruction, controlling a switch control circuit where a corresponding floor button switch is positioned to be closed;
and under the condition that the button where the floor button switch is positioned is detected to indicate that the control circuit has voltage difference jump, sending a floor arrival instruction to the robot, and controlling the switch control circuit to be disconnected.
9. The control method according to claim 8, wherein the receiving the destination floor instruction sent by the robot includes: and receiving a floor target instruction sent by the robot to a server, wherein the robot is connected with the server through a network.
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| CN115028034A (en) * | 2022-06-28 | 2022-09-09 | 江苏威尔曼科技有限公司 | Elevator button expansion method, system, device and storage medium |
| CN115893138B (en) * | 2022-10-27 | 2024-08-02 | 合肥瓦力觉启机器人科技有限公司 | Wireless interaction system in AGV dolly elevator car |
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