CN114803737A - Elevator floor control and interaction method based on network and near field fusion - Google Patents

Elevator floor control and interaction method based on network and near field fusion Download PDF

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Publication number
CN114803737A
CN114803737A CN202210448310.4A CN202210448310A CN114803737A CN 114803737 A CN114803737 A CN 114803737A CN 202210448310 A CN202210448310 A CN 202210448310A CN 114803737 A CN114803737 A CN 114803737A
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China
Prior art keywords
elevator
intelligent robot
near field
interaction method
network
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Pending
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CN202210448310.4A
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Chinese (zh)
Inventor
邓坤霞
万博
刘敏
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Henan Jilida Robot Co ltd
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Henan Jilida Robot Co ltd
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Priority to CN202210448310.4A priority Critical patent/CN114803737A/en
Publication of CN114803737A publication Critical patent/CN114803737A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • B66B1/3492—Position or motion detectors or driving means for the detector
    • 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
    • B66B1/46—Adaptations of switches or switchgear
    • B66B1/468—Call registering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/02—Cages, i.e. cars
    • B66B11/0226—Constructional features, e.g. walls assembly, decorative panels, comfort equipment, thermal or sound insulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0012—Devices monitoring the users of the elevator system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
    • H04B5/77—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for interrogation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
    • H04L63/0876—Network architectures or network communication protocols for network security for authentication of entities based on the identity of the terminal or configuration, e.g. MAC address, hardware or software configuration or device fingerprint
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computing Systems (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Elevator Control (AREA)

Abstract

The invention discloses an elevator floor control and interaction method based on network and near field fusion, which comprises the following steps: s1, adding a cloud management terminal in the existing elevator system, wherein a plurality of elevators in the community are controlled by the cloud management terminal, and each elevator entrance is provided with a request module which is in communication connection with the elevator system; and S2, the intelligent robot is provided with an identity tag card and the like. This elevator layer control and interaction method, adopt elevator control high in the clouds cooperation RFID near field communication technique, realize intelligent robot's floor control, can realize intelligent robot takes the elevator by oneself, carry out the delivery service of visiting for the user, calculate through setting up height sensor and according to the high position, can effectually avoid the mistake to take off the elevator, can ensure accurate arrival destination, through setting up electromagnetic sensor, can be during taking, elevator system carries out the perception to intelligent robot in real time, avoid other people maliciously to move, thereby improve the security.

Description

Elevator floor control and interaction method based on network and near field fusion
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an elevator floor control and interaction method based on network and near field fusion.
Background
The NFC is developed by combining a wireless interconnection technology on the basis of a non-contact Radio Frequency Identification (RFID) technology, provides a very safe and fast communication mode for various electronic products which are increasingly popularized in daily life, and the 'near field' in the NFC Chinese name refers to radio waves close to an electromagnetic field.
Since radio waves are actually electromagnetic waves, it follows maxwell's equations, and electric and magnetic fields alternately perform energy conversion all the time when they propagate from a transmitting antenna to a receiving antenna and enhance each other when they are converted, for example, radio signals used in a mobile phone propagate by using this principle, which is called far-field communication. Within 10 wavelengths of electromagnetic waves, the electric field and the magnetic field are independent from each other, the electric field has little meaning, but the magnetic field can be used for short-distance communication, which is called near field communication.
Intelligent robots, a technology that contains considerable disciplinary knowledge, are almost all generated with artificial intelligence. However, the intelligent robot becomes more and more important in the current society, and more fields and posts need the intelligent robot to participate, so that the research of the intelligent robot is more and more frequent.
Unmanned delivery equipment can reach the life goods and materials on time under the condition of express delivery personnel shortage, ensures resident's life, also can avoid the infection risk that contacts many times and bring simultaneously. In some areas, the birds and vegetables are taken first to send the express by unmanned vehicles, and the express is directly sent to downstairs of the unit, and residents are informed of taking the express by short messages and telephones. Common distribution equipment comprises unmanned aerial vehicle distribution, intelligent robots, unmanned distribution vehicles and the like.
The existing intelligent robot can only distribute materials to downstairs public areas and cannot finish upstairs distribution. The main technical difficulty is that the intelligent robot cannot be matched with the existing elevator, cannot get off the elevator at a preset floor, and has great difficulty in taking the elevator autonomously.
To this end, the invention provides an elevator floor control and interaction method based on network and near field fusion.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an elevator floor control and interaction method based on network and near field fusion.
In order to achieve the purpose, the invention adopts the following technical scheme:
an elevator floor control and interaction method based on network and near field fusion comprises the following steps:
s1, adding a cloud management terminal in the existing elevator system, wherein a plurality of elevators in the community are controlled by the cloud management terminal, and each elevator entrance is provided with a request module which is in communication connection with the elevator system;
s2, the intelligent robot is provided with an identity tag card, the identity tag card can be communicated with a request module and is used for sending request information, and the request information comprises identity card information, upstairs and downstairs requirements and destination information;
s3, the intelligent robots are provided with cloud servers, the intelligent robots are communicated with the cloud servers through wireless networks, and the cloud servers can be communicated with cloud management ends of the elevator system through the Internet;
s4, the cloud server is also provided with a remote control client, a user logs in the remote control client through electronic equipment such as a mobile phone and the like, and can distribute tasks to the intelligent robot, wherein the task information comprises information such as a destination and a contact way;
s5, a special parking area for the robot is arranged in the elevator car, a positioning card reader is arranged on the car wall of the area, the positioning card reader corresponds to the position of the identity tag card of the intelligent robot, and the positioning card reader can perform wireless radio frequency communication with the identity tag card;
s6, an SLAM navigation system and an altitude sensor are arranged in the intelligent robot, real-time altitude can be obtained according to the altitude sensor, and after the intelligent robot reaches a target floor, the target floor can be confirmed according to the altitude value;
s7, all be provided with a plurality of distance sensor around intelligent robot, according to distance sensor perception elevator car inner wall, and intelligent robot starts braking system at the elevator operation in-process, prevents to roll.
Preferably, the request module comprises an elevator request button and a request reader, the request reader is an RFID card reader, the height of the request reader is 0.8-1.2 m, and the request reader is matched with the height of an identity tag card of the intelligent robot.
Preferably, the cloud management terminal of the elevator is provided with corresponding user authority and intelligent robot authority in advance.
Preferably, the elevator system comprises a wireless communication assembly, a driving motor, a controller and a judgment module, wherein the wireless communication assembly is used for communicating with the cloud management terminal, the driving motor is used for driving the elevator car, the controller is used for controlling the driving motor, the controller is in communication connection with a master control module of the elevator system, and the judgment module is used for judging whether the elevator car contains the intelligent robot or not.
Preferably, the judging module comprises an electromagnetic sensor installed inside the elevator car, and the electromagnetic sensor is used for sensing the intelligent robot inside the special parking area for the robot.
Preferably, an authority card reader is further arranged in the elevator system, and the authority card reader is arranged below an elevator button and used for identifying and limiting the authority of the user.
Preferably, the intelligent robot can pass through the layer of valid authority at least 5-10 times in unit time.
Preferably, the method for counting the height by the intelligent robot is that the height data is set to 0 coordinate on each floor of each building unit, and the height of the target floor is determined based on the height data of each floor of the elevator of the building, so as to avoid the floor from being dropped by mistake.
The invention has the following beneficial effects:
1. according to the elevator floor control and interaction method based on network and near field fusion, the elevator control cloud is matched with the RFID near field communication technology, floor control of the intelligent robot is achieved, the intelligent robot can take the elevator by itself to serve the user for home delivery, the elevator can be effectively prevented from being mistakenly taken off by setting the height sensor and calculating according to the height position, the accurate destination can be guaranteed, the elevator system can sense the intelligent robot in real time during taking, and other people are prevented from moving maliciously, so that the safety is improved.
2. The elevator floor control and interaction method based on network and near field fusion is characterized in that a special parking area for a robot is arranged in an elevator car, a positioning card reader is arranged on the car wall of the area, the positioning card reader corresponds to an identity tag card of an intelligent robot in position, the positioning card reader can perform wireless radio frequency communication with the identity tag card, and the intelligent robot in the elevator can be confirmed in real time.
Drawings
Fig. 1 is a schematic diagram of a structure of an intelligent robot distribution communication network according to the present invention;
fig. 2 is an execution flow chart of an elevator floor control and interaction method based on network and near field fusion, which is provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-2, an elevator floor control and interaction method based on network and near field fusion includes the steps of:
the first step is as follows: in the existing elevator system, a cloud management terminal is added, a plurality of elevators in a community are controlled by the cloud management terminal for authority limit, a request module is arranged at each elevator entrance, and the request module is in communication connection with the elevator system;
specifically, the request module comprises an elevator request button and a request reader, the request reader is an RFID card reader, the height of the request reader is 0.8 m, and the request reader is matched with the height of an identity tag card of the intelligent robot.
The RFID intelligent robot system is provided with a request button, the living demands of daily residents are guaranteed, and an RFID card reader is arranged to communicate with the intelligent robot.
The corresponding user permission and the intelligent robot permission are set in advance in the cloud management end of the elevator, the permission of the user is limited conveniently by setting the cloud management end, external personnel or local personnel are prevented from maliciously entering and exiting the multilayer building, the permission of the intelligent robot is set simultaneously, and other intelligent robots without permission are prevented from entering and exiting conveniently.
Whole elevator system includes wireless communication subassembly, driving motor, controller and judgement module, and the wireless communication subassembly is used for with cloud management end communication, and driving motor is used for driving elevator car, and the controller is used for controlling driving motor, and the controller is connected with elevator system's total accuse module communication.
The second step is that: the intelligent robot is provided with an identity tag card, the identity tag card can be communicated with the request module and is used for sending request information, and the request information comprises identity card information, upstairs and downstairs requirements and destination information;
the third step: the intelligent robot is provided with a cloud server, the intelligent robots are communicated with the cloud server through a wireless network, and the cloud server can be communicated with a cloud management end of the elevator system through the Internet;
the fourth step: the cloud server is also provided with a remote control client, a user logs in the remote control client through electronic equipment such as a mobile phone and the like and can distribute tasks to the intelligent robot, and the task information comprises information such as a destination, a contact way and the like;
the fifth step: a special parking area for the robot is arranged in the elevator car, a positioning card reader is arranged on the car wall of the area, the positioning card reader corresponds to the position of the identity tag card of the intelligent robot, and the positioning card reader can perform wireless radio frequency communication with the identity tag card; the judgment module is used for judging whether the elevator car contains the intelligent robot or not, the judgment module comprises an electromagnetic sensor installed inside the elevator car, and the electromagnetic sensor is used for sensing the intelligent robot inside the parking area special for the robot.
And a sixth step: an SLAM navigation system and an altitude sensor are arranged in the intelligent robot, real-time altitude can be obtained according to the altitude sensor, and target floor confirmation can be carried out according to the altitude value after the intelligent robot reaches the target floor;
the seventh step: all be provided with a plurality of distance sensor around intelligent robot, according to distance sensor perception elevator car inner wall, and intelligent robot starts braking system at elevator operation in-process, prevents to roll.
An authority card reader is also arranged in the elevator system, and the authority card reader is arranged below the elevator button and used for identifying and limiting the authority of the user.
In unit time of the intelligent robot, the floor can pass at least 10 times, so that the intelligent robot can conveniently pass in and out the floor for multiple times to prevent other situations from happening.
The intelligent robot height counting method includes setting height data as 0 coordinate in each floor of each building unit, and judging the height of the target floor based on the height data of each floor of the elevator in the building to avoid the floor being dropped by mistake.
The communication technology between the identity tag card and the positioning card reader and between the identity tag card and the RFID card reader is RFID, and Radio Frequency Identification (RFID) is a wireless communication technology, can identify a specific target through a radio signal and read and write related data, and does not need to establish mechanical or optical contact between an identification system and the specific target.
The radio signal is used to transmit data from the tag attached to the article by means of an electromagnetic field modulated at a radio frequency to automatically identify and track the article. Some tags can obtain energy from the electromagnetic field emitted by the identifier during identification without a battery, and the tags themselves have a power source and can actively emit radio waves (electromagnetic field tuned to radio frequency). The tag contains electronically stored information that can be identified within a few meters. Unlike bar codes, radio frequency tags need not be in the line of sight of the identifier, but can be embedded within the tracked object.
When the intelligent robot provided by the invention takes an elevator, firstly, a user accesses a remote control client through a mobile phone, a notebook computer, a tablet personal computer and a desktop computer or other electronic equipment to distribute tasks to the intelligent robot, wherein the task information comprises destinations and contact ways, then a cloud server controls the intelligent robot to go to the floor of the unit building, when the intelligent robot reaches the first floor of the unit building, the data obtained by a height sensor is recorded and set as the height of the first floor, then according to the floor height information carried by the cloud management end of the elevator, in the ascending process of the elevator, the floor height can be judged according to the height information, and after the intelligent robot reaches the target floor, the height information is rechecked to avoid the floor from being mistakenly dropped.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (8)

1. An elevator floor control and interaction method based on network and near field fusion is characterized by comprising the following steps:
s1, adding a cloud management terminal in the existing elevator system, wherein a plurality of elevators in the community are controlled by the cloud management terminal, and each elevator entrance is provided with a request module which is in communication connection with the elevator system;
s2, the intelligent robot is provided with an identity tag card, the identity tag card can be communicated with a request module and is used for sending request information, and the request information comprises identity card information, upstairs and downstairs requirements and destination information;
s3, the intelligent robots are provided with cloud servers, the intelligent robots are communicated with the cloud servers through wireless networks, and the cloud servers can be communicated with cloud management ends of the elevator system through the Internet;
s4, the cloud server is also provided with a remote control client, a user logs in the remote control client through electronic equipment such as a mobile phone and the like, and can distribute tasks to the intelligent robot, wherein the task information comprises information such as a destination and a contact way;
s5, a special parking area for the robot is arranged in the elevator car, a positioning card reader is arranged on the car wall of the area, the positioning card reader corresponds to the position of the identity tag card of the intelligent robot, and the positioning card reader can perform wireless radio frequency communication with the identity tag card;
s6, an SLAM navigation system and an altitude sensor are arranged in the intelligent robot, real-time altitude can be obtained according to the altitude sensor, and after the intelligent robot reaches a target floor, the target floor can be confirmed according to the altitude value;
s7, all be provided with a plurality of distance sensor around intelligent robot, according to distance sensor perception elevator car inner wall, and intelligent robot starts braking system at the elevator operation in-process, prevents to roll.
2. The elevator floor control and interaction method based on network and near field convergence according to claim 1, characterized in that: the request module comprises an elevator request button and a request reader, the request reader is an RFID card reader, the height of the request reader is 0.8-1.2 m, and the request reader is matched with the height of an identity tag card of the intelligent robot.
3. The elevator floor control and interaction method based on network and near field convergence according to claim 1, characterized in that: corresponding user permission and intelligent robot permission are set in advance in a cloud management end of the elevator.
4. The elevator floor control and interaction method based on network and near field convergence according to claim 1, characterized in that: the elevator system comprises a wireless communication assembly, a driving motor, a controller and a judgment module, wherein the wireless communication assembly is used for communicating with a cloud management end, the driving motor is used for driving an elevator car, the controller is used for controlling the driving motor, the controller is in communication connection with a master control module of the elevator system, and the judgment module is used for judging whether the elevator car contains an intelligent robot or not.
5. The elevator floor control and interaction method based on network and near field convergence according to claim 4, characterized in that: the judging module comprises an electromagnetic sensor arranged inside the elevator car, and the electromagnetic sensor is used for sensing the intelligent robot inside the special parking area of the robot.
6. The elevator floor control and interaction method based on network and near field convergence according to claim 1, characterized in that: and the elevator system is also provided with an authority card reader which is arranged below the elevator button and used for identifying and limiting the authority of the user.
7. The elevator floor control and interaction method based on network and near field convergence according to claim 1, characterized in that: the intelligent robot can pass through the layer of effective authority for at least 5-10 times in unit time.
8. The elevator floor control and interaction method based on network and near field convergence according to claim 1, characterized in that: the intelligent robot height counting method includes setting height data as 0 coordinate in each floor of each building unit, and judging the height of the target floor based on the height data of each floor of the elevator in the building to avoid the floor being dropped by mistake.
CN202210448310.4A 2022-04-26 2022-04-26 Elevator floor control and interaction method based on network and near field fusion Pending CN114803737A (en)

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205987389U (en) * 2016-08-05 2017-02-22 黄珲 Positioning system is protected to special equipment dimension
CN107421544A (en) * 2017-08-10 2017-12-01 上海大学 A kind of modular hotel's handling robot system
CN110937480A (en) * 2019-12-12 2020-03-31 广州赛特智能科技有限公司 Method and system for robot to take elevator autonomously
CN111747250A (en) * 2020-06-11 2020-10-09 七彩瓢虫(沈阳)创意科技有限公司 Control method and system for robot and person mixed elevator
CN112239112A (en) * 2020-11-19 2021-01-19 沈阳精云智能科技有限公司 Elevator control system capable of realizing interaction with autonomous mobile robot
US20210046650A1 (en) * 2019-08-18 2021-02-18 Cobalt Robotics Inc. Elevator interactions by mobile robot
CN112434913A (en) * 2020-11-02 2021-03-02 江苏智伙伴机器人科技有限公司 Takeout robot and indoor takeout distribution method based on robot
CN112607543A (en) * 2020-12-16 2021-04-06 日立楼宇技术（广州）有限公司 Elevator control system, method, device and computer equipment
CN112743549A (en) * 2021-02-02 2021-05-04 苏州优智达机器人有限公司 Robot control method, system, robot and program product

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205987389U (en) * 2016-08-05 2017-02-22 黄珲 Positioning system is protected to special equipment dimension
CN107421544A (en) * 2017-08-10 2017-12-01 上海大学 A kind of modular hotel's handling robot system
US20210046650A1 (en) * 2019-08-18 2021-02-18 Cobalt Robotics Inc. Elevator interactions by mobile robot
CN110937480A (en) * 2019-12-12 2020-03-31 广州赛特智能科技有限公司 Method and system for robot to take elevator autonomously
CN111747250A (en) * 2020-06-11 2020-10-09 七彩瓢虫(沈阳)创意科技有限公司 Control method and system for robot and person mixed elevator
CN112434913A (en) * 2020-11-02 2021-03-02 江苏智伙伴机器人科技有限公司 Takeout robot and indoor takeout distribution method based on robot
CN112239112A (en) * 2020-11-19 2021-01-19 沈阳精云智能科技有限公司 Elevator control system capable of realizing interaction with autonomous mobile robot
CN112607543A (en) * 2020-12-16 2021-04-06 日立楼宇技术（广州）有限公司 Elevator control system, method, device and computer equipment
CN112743549A (en) * 2021-02-02 2021-05-04 苏州优智达机器人有限公司 Robot control method, system, robot and program product

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Application publication date: 20220729