CN114671309A - Elevator robot control system and method - Google Patents
Elevator robot control system and method Download PDFInfo
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- CN114671309A CN114671309A CN202210389267.9A CN202210389267A CN114671309A CN 114671309 A CN114671309 A CN 114671309A CN 202210389267 A CN202210389267 A CN 202210389267A CN 114671309 A CN114671309 A CN 114671309A
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- 230000006698 induction Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 10
- 230000002159 abnormal effect Effects 0.000 abstract description 2
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- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012384 transportation and delivery Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4676—Call registering systems for checking authorization of the passengers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an elevator robot control system and method, which comprises the following steps: the elevator robot controller is used for controlling the elevator robot to run, receiving an external service instruction and controlling the elevator robot to reach a set elevator sensing range; controlling the elevator robot to automatically enter the elevator car after the elevator door is opened, and automatically moving out of the elevator and completing service according to a set route after receiving an arrival signal of the elevator; the elevator control platform is used for controlling the elevator to run, receiving an external service instruction, controlling the elevator car to open and close the door after a set elevator robot is identified in an elevator sensing range, opening the door after the elevator runs to a set floor, and sending a signal to the elevator robot. The elevator robot and the elevator control platform are distributed, communication is not needed between the elevator robot and the elevator control platform, and the problem that the elevator robot cannot normally run due to abnormal communication is avoided.
Description
Technical Field
The invention relates to the technical field of elevator robot control, in particular to an elevator robot control system and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
An elevator robot refers to an autonomous mobile robot adapted to be controlled by an elevator in a civil high-rise building, and is generally used to accomplish inter-floor article transportation. The elevator robot is widely used as a facility for vertical transportation in a building, and is a development direction for realizing unmanned and automatic vertical logistics in an intelligent building.
In the prior art, an elevator robot is provided with a special control device which can communicate with an elevator control platform and can control an elevator; when receiving an external service instruction, the elevator robot communicates with the elevator control platform through the platform to call elevator service, and controls the door opening-closing-floor selection actions of the elevator through communication protocol signals and completes one elevator service.
The elevator service is completed by the elevator robot to control the elevator in the process, and the technical problem is as follows in the mode:
(1) the external signal access controls the operation of the elevator, which may cause the problems of interference, misoperation and the like of the elevator self control system;
(2) functional hardware and software for controlling elevator service are required to be arranged on the elevator robot, so that the cost is increased, and the popularization, the popularization and the application of products are not facilitated;
(3) the signal communication between the elevator robot platform and the elevator control platform can provide service only by being opened, and the realization of the control functions of the elevator robot and the elevator control platform is greatly influenced when signal interference, shielding or channel blockage occurs; if the prior art can not provide effective service at all under the scenes of a plurality of elevator robots of different brands and elevators of different specifications (different communication protocols);
(4) the elevator robot is associated with the communication-control of the elevator, has potential safety hazards and does not meet the requirements of relevant safety technical specifications.
Disclosure of Invention
In order to solve the problems, the invention provides an elevator robot control system and an elevator robot control method.
In some embodiments, the following technical scheme is adopted:
an elevator robot control system comprising:
the elevator robot controller is used for controlling the elevator robot to run, receiving an external service instruction and controlling the elevator robot to reach a set elevator sensing range; controlling the elevator robot to automatically enter the elevator car after the elevator door is opened, and automatically moving out of the elevator and completing service according to a set route after receiving an arrival signal of the elevator;
the elevator control platform is used for controlling the operation of an elevator, receiving an external service instruction, controlling the elevator car to open and close the door after a set elevator robot is identified in an elevator sensing range, opening the door after the elevator operates to a set floor, and sending a station arrival signal to the elevator robot.
As an alternative embodiment, the elevator robot controller and the elevator control platform receive different external service commands respectively;
the external service instruction received by the elevator robot controller comprises: the plane path for executing the service comprises the following steps: the elevator car automatically enters the elevator after being opened, and automatically exits the elevator and finishes service according to the set planned path;
the external service command received by the elevator control platform comprises: the method comprises the steps of identifying a set elevator robot, automatically opening a car door after successful identification, opening the car door to a required floor, and opening the car door after the set floor is reached, and sending a signal of arrival of the elevator to the elevator robot.
As an optional implementation manner, a signal receiving device is arranged on the elevator robot, a signal transmitting device is arranged in the elevator car, after the elevator runs to a set floor and opens the door, a signal is transmitted to the elevator robot through the signal transmitting device, and after the elevator robot receives the signal, the elevator robot automatically moves out of the elevator.
As an optional implementation manner, an elevator robot recognition device is arranged on the elevator and is used for performing non-contact recognition on an IC card, an AMR electromagnetic signal, an AMR voice or an AMR image arranged on the elevator robot, and after the recognition is successful, the elevator car door is opened.
As an optional embodiment, the elevator is provided with an elevator robot feature recognition device, the elevator control platform registers feature information of all elevator robots in advance, performs feature recognition on the elevator robots entering the elevator sensing area, and when the recognized features are matched with the elevator robot feature information specified in the external service command, the recognition is successful, and the elevator car door is opened.
As an optional implementation manner, the elevator robot recognition device or the elevator robot feature recognition device is connected with an elevator operation command board, after recognition is successful, the elevator determines the floor to which the elevator robot arrives according to the received external service command, the elevator operation command board sends a signal to an elevator control system, and the elevator control system controls the elevator to arrive at the designated service landing.
As an optional implementation manner, a plane path for executing the task is planned for the elevator robot based on the scene map, and the elevator robot is guided to move according to the set path through path navigation.
In other embodiments, the following technical solutions are adopted:
an elevator robot control method comprising:
the elevator robot controller and the elevator control platform respectively receive external service instructions;
controlling the elevator robot to move to a set elevator sensing range, identifying the elevator robot in the sensing range by the elevator, and opening an elevator car door after successful identification;
the elevator robot automatically enters an elevator car;
the elevator is controlled to run to a set floor and a car door is opened according to the received external service instruction;
and sending an elevator arrival signal to the elevator robot, and after receiving the arrival signal, the elevator robot automatically moves out of the elevator and completes elevator service according to a set path.
Furthermore, a signal receiving device is arranged on the elevator robot, a signal transmitting device is arranged in the elevator car, after the elevator runs to a set floor and opens a door, a signal is transmitted to the elevator robot through the signal transmitting device, and after the elevator robot receives the signal, the elevator robot automatically moves out of the elevator.
Compared with the prior art, the invention has the beneficial effects that:
(1) the elevator robot and the elevator control platform are distributed, communication is not needed between the elevator robot and the elevator control platform, and the problem that the elevator robot cannot normally run due to abnormal communication is avoided.
(2) The invention does not need to arrange a special elevator control system on the elevator robot, thereby reducing the design cost and the influence on the operation of the elevator.
(3) When a plurality of elevator robots are arranged, the distributed deployment is beneficial to the management and backup of data; meanwhile, the elevator robot and the elevator are not limited by the product model and the communication protocol, and the universality of the elevator robot is improved.
Additional features and advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a diagram of an elevator robot control system framework in an embodiment of the present invention;
fig. 2 is a schematic view of operation control of a plurality of elevator robots in the embodiment of the present invention;
fig. 3 is a schematic diagram of elevator robot feature identification and floor selection in an embodiment of the present invention;
fig. 4 is a schematic view of an elevator robot and an elevator interacting in an embodiment of the invention;
fig. 5 is a schematic diagram of an elevator control process in an embodiment of the present invention;
fig. 6 is a schematic view of an elevator robot control process in an embodiment of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
In one or more embodiments, an elevator robot control system is disclosed, referring to fig. 1, specifically comprising:
(1) the elevator robot controller is used for controlling the elevator robot to run, receiving an external service instruction and controlling the elevator robot to reach a set elevator sensing range; controlling an elevator robot to automatically enter an elevator car after an elevator door is opened, and automatically moving out of the elevator and completing set services (such as express delivery, file delivery and the like) according to a set route after receiving an arrival signal of the elevator;
(2) the elevator control platform is used for controlling the elevator to run, receiving an external service instruction, controlling the elevator car to open and close the door after a set elevator robot is identified in an elevator sensing range, opening the door after the elevator runs to a set floor, and sending a signal to the elevator robot.
In the embodiment, external service signals are respectively sent to the elevator robot controller and the elevator control platform, and the elevator robot automatically moves according to the instruction of the elevator robot controller; the elevator registers service according to the instruction of an elevator control platform, an elevator robot automatically moves to an elevator sensing area, the elevator identifies the characteristic information of the elevator robot, after the characteristic information is successfully identified, an elevator car door is opened, the elevator robot automatically enters the elevator car, at the moment, the operation of the elevator robot is separated from the control of an elevator robot controller, the elevator takes over the floor vertical control, after the elevator runs to a set floor, the elevator car door is opened, meanwhile, a signal of arriving at the station is transmitted to the elevator robot, and after the elevator robot receives the signal of arriving at the station, the elevator robot automatically moves out; at the moment, the elevator robot completes the elevator service according to the set path and returns according to the original path according to the control command of the elevator robot controller.
In this embodiment, the elevator robot realizes the service between floors of a certain time, and the control process thereof is composed of the following three stages:
-the path of travel of the elevator robot is controlled by the elevator robot controller before the robot enters the elevator car;
-the robot enters the elevator car and the elevator control platform controls the elevator operation to realize the vertical operation of the elevator robot;
-arrival at the service floor, arrival at the station signaled by the elevator, and reception of the signal by the robot, movement out of the elevator car, after which the path of movement within the flat floor is controlled by the elevator robot controller.
In the embodiment, the elevator robot controller and the elevator control platform respectively receive different external service instructions; wherein:
the external service instruction received by the elevator robot controller comprises: the plane path for executing the service comprises the following steps: the elevator car automatically enters the elevator after being opened, and automatically exits the elevator and finishes service according to the set planned path;
the external service command received by the elevator control platform comprises: the method comprises the steps of identifying a set elevator robot, automatically opening a car door after successful identification, opening the car door to a required floor, and opening the car door after the set floor is reached, and sending a signal of arrival of the elevator to the elevator robot.
The external service instruction can be sent out through a network, a wireless intelligent terminal or a manual mode.
In some embodiments, the elevator is provided with an elevator robot recognition device for performing non-contact recognition of an IC card, an electromagnetic signal, a robot voice, a robot image, or the like provided in the elevator robot, and after the recognition is successful, the elevator car door is opened. This way can be applied to the application scenario of single elevator robot.
In other embodiments, referring to fig. 2, the elevator is provided with an elevator robot feature recognition device, the elevator control platform is provided with a robot feature database, feature information of all elevator robots is registered in advance, feature recognition is performed on the elevator robots entering the elevator sensing area, and when the recognized features are matched with the elevator robot feature information specified in the external service command, recognition is successful, and the elevator car door is opened. This way can be applicable to a plurality of elevator robot's application scenarios.
With reference to fig. 3, the elevator robot recognition device or the elevator robot feature recognition device described above is connected to an elevator operation command board and communicates through a CAN; after the elevator robot is successfully identified, the floor to which the elevator robot needs to arrive is determined according to the received external service command, the elevator control command board sends a signal to the elevator control system, and the elevator control system controls the elevator to arrive at the designated service landing. In this embodiment, after the elevator robot recognition device or the elevator robot feature recognition device successfully recognizes an elevator robot, the elevator command board sends a "recognition success" signal to the elevator control system, and the elevator control system provides operation services such as opening and closing an elevator door and moving the elevator to a set floor according to a received external service command.
In this embodiment, with reference to fig. 4, a signal receiving device (for example, a radio frequency receiving device) is disposed on the elevator robot, a signal transmitting device (for example, a radio frequency transmitting device) is disposed in the elevator car, when the elevator runs to a set floor and opens the door, the signal transmitting device transmits a signal to the elevator robot, and the elevator robot receives the signal and then automatically moves out of the elevator.
Fig. 5 presents a schematic view of an elevator control process, the elevator control platform receiving an external service command, comprising: identifying a set elevator robot, automatically opening a car door after successful identification, and obtaining information such as floors required to be reached; identifying an elevator robot in an elevator sensing area, and opening an elevator car door after successful identification to enable the elevator robot to enter an elevator; then the vertical stroke of the robot is taken over, and the elevator is controlled to run to a specified floor. The car door is opened, meanwhile, a signal is transmitted to the elevator robot through the signal transmitting device, and after the elevator robot receives the signal, the elevator is considered to arrive at a station and automatically moves out of the elevator.
Fig. 6 shows a schematic diagram of a control process of an elevator robot, wherein the elevator robot receives an external service instruction, includes plane path information for executing the service, moves from an initial position to an elevator sensing range, enters an elevator after an elevator car door is opened, automatically moves out of the elevator after receiving an elevator arrival signal, completes a predetermined service according to a set path, and returns according to an original path after the service is finished.
In this embodiment, the following method may be adopted for a path from an initial floor parking position to a landing door position of the floor, and a path from the elevator robot to a service floor and leaving the elevator and then moving autonomously at the service floor:
firstly, an elevator robot controller plans a plane path (a vertical path is taken over by an elevator) for executing a service instruction at the time through an indoor map in the system, and the map guides AMR to move by arranging navigation devices such as wifi, Bluetooth, UWB (Ultra Wide Band, UWB wireless carrier communication) and the like on an initial floor and all floors which can be served;
and secondly, in the application scene of the restricted path (such as a storehouse, a restricted space and the like), a navigation device such as a laser, a sensor, a geomagnetic rail and the like is arranged in a guiding mode. At present, the technologies are mature and applied to the fields of AGV and AMR path planning.
In the whole process of the embodiment, the elevator robot and the elevator do not need to communicate, so that the influence of communication abnormity on the system operation is avoided, and the safe and stable operation of the elevator is ensured; the method is particularly suitable for a scene that a plurality of elevator robots provide elevator service.
Example two
In one or more embodiments, an elevator robot control method is disclosed, which specifically includes the following processes:
(1) the elevator robot controller and the elevator control platform respectively receive external service instructions;
(2) controlling the elevator robot to move to a set elevator sensing range, identifying the elevator robot in the sensing range by the elevator, and opening an elevator car door after successful identification;
(3) the elevator robot automatically enters an elevator car;
(4) the elevator is controlled to run to a set floor and a car door is opened according to the received external service instruction;
(5) and sending an elevator arrival signal to the elevator robot, and after receiving the arrival signal, the elevator robot automatically moves out of the elevator and completes the elevator service according to a set path.
The elevator robot is provided with a signal receiving device, a signal transmitting device is arranged in an elevator car, after the elevator runs to a set floor and opens a door, a signal is transmitted to the elevator robot through the signal transmitting device, and after the elevator robot receives the signal, the elevator robot automatically moves out of the elevator.
The specific implementation of the above process has been described in detail in the first embodiment, and is not described in detail here.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present invention.
Claims (9)
1. An elevator robot control system, comprising:
the elevator robot controller is used for controlling the elevator robot to run, receiving an external service instruction and controlling the elevator robot to reach a set elevator sensing range; controlling an elevator robot to automatically enter an elevator car after an elevator door is opened, and automatically moving out of the elevator and completing service according to a set route after receiving an elevator arrival signal;
the elevator control platform is used for controlling the operation of an elevator, receiving an external service instruction, controlling the opening and closing of an elevator car after a set elevator robot is identified in an elevator induction range, automatically opening a door after the elevator runs to a set floor, and sending a signal of arriving at the station to the elevator robot.
2. An elevator robot control system according to claim 1, wherein the elevator robot controller and the elevator control platform receive different external service commands, respectively;
the external service instruction received by the elevator robot controller comprises: the plane path for executing the service comprises the following steps: the elevator car automatically enters the elevator after being opened, and automatically exits the elevator and finishes service according to the set planned path;
the external service command received by the elevator control platform comprises: the method comprises the steps of identifying a set elevator robot, automatically opening a car door after successful identification, opening the car door to a required floor, and opening the car door after the set floor is reached, and sending a signal of arrival of the elevator to the elevator robot.
3. The elevator robot control system according to claim 1, wherein the elevator robot is provided with a signal receiving device, a signal transmitting device is provided in the elevator car, the elevator is operated to a set floor and opened, and then a signal is transmitted to the elevator robot through the signal transmitting device, and the elevator robot automatically moves out of the elevator after receiving the signal.
4. The elevator robot control system according to claim 1, wherein an elevator robot recognition device is provided on the elevator for non-contact recognition of an IC card, an AMR electromagnetic signal, an AMR voice or an AMR image provided on the elevator robot, and after the recognition is successful, the door of the elevator car is opened.
5. An elevator robot control system according to claim 1, wherein an elevator is provided with an elevator robot feature recognition device, and the elevator control platform registers feature information of all the elevator robots in advance, performs feature recognition of the elevator robots entering the elevator sensing zone, and when the recognized features match the elevator robot feature information specified in the external service order, the recognition is successful and the elevator car door is opened.
6. An elevator robot control system according to claim 4 or 5, characterized in that the elevator robot recognition means or the elevator robot feature recognition means are connected to and communicate with an elevator operating command board, and after successful recognition, the elevator determines the floor to which the elevator robot is going according to the received external service command, and the elevator operating command board sends a signal to the elevator control system, and the elevator control system controls the elevator to reach the designated service landing.
7. The elevator robot control system according to claim 1, wherein a planar path for performing the task is planned for the elevator robot based on the scene map, and the elevator robot is guided to move along the set path by path navigation.
8. An elevator robot control method characterized by comprising:
the elevator robot controller and the elevator control platform respectively receive external service instructions;
controlling the elevator robot to move to a set elevator sensing range, identifying the elevator robot in the sensing range by the elevator, and opening an elevator car door after successful identification;
the elevator robot automatically enters an elevator car;
the elevator is controlled to run to a set floor and a car door is opened according to the received external service instruction;
and sending an elevator arrival signal to the elevator robot, and after receiving the arrival signal, the elevator robot automatically moves out of the elevator and completes elevator service according to a set path.
9. The elevator robot control method according to claim 8, wherein the elevator robot is provided with a signal receiving device, a signal transmitting device is provided in the elevator car, the elevator is operated to a set floor and opened, and then the signal is transmitted to the elevator robot through the signal transmitting device, and the elevator robot is automatically moved out of the elevator after receiving the signal.
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| CN202210389267.9A CN114671309A (en) | 2022-04-14 | 2022-04-14 | Elevator robot control system and method |
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| CN202210389267.9A CN114671309A (en) | 2022-04-14 | 2022-04-14 | Elevator robot control system and method |
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| CN112591571A (en) * | 2020-12-22 | 2021-04-02 | 哈尔滨工业大学（深圳） | Intelligent robot taking elevator autonomously and control method thereof |
| CN112723052A (en) * | 2020-12-31 | 2021-04-30 | 长城汽车股份有限公司 | Elevator dispatching method and device |
| CN113657565A (en) * | 2021-08-17 | 2021-11-16 | 乐聚(深圳)机器人技术有限公司 | Robot cross-floor moving method and device, robot and cloud server |
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