CN114803738A - Control method for avoiding floor making mistakes by robot - Google Patents
Control method for avoiding floor making mistakes by robot Download PDFInfo
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- CN114803738A CN114803738A CN202210454087.4A CN202210454087A CN114803738A CN 114803738 A CN114803738 A CN 114803738A CN 202210454087 A CN202210454087 A CN 202210454087A CN 114803738 A CN114803738 A CN 114803738A
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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
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- 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
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a control method for avoiding a floor of a robot making mistakes, which comprises the following steps: setting hardware: setting an elevator RFID radio frequency electronic tag; setting a floor RFID radio frequency electronic tag; setting an RFID scanner; inputting floor information; and setting an alarm device. According to the control method for avoiding the floor making mistakes of the robot, the first RFID radio frequency electronic tag, the RFID scanner and the first alarm module are arranged, when the robot carries out distribution, after the first RFID radio frequency electronic tag is scanned in an elevator, when the information of the first RFID radio frequency electronic tag scanned by the RFID scanner is matched with the information of the target floor, the robot carries out normal distribution, when the information of the first RFID radio frequency electronic tag scanned by the RFID scanner is not matched with the information of the target floor, the robot stops distribution, sends out an alarm through the first alarm module, and carries out input of the target floor again, so that the condition that the floor making mistakes occurs when the robot carries out distribution is effectively avoided.
Description
Technical Field
The invention relates to the technical field of distribution robots, in particular to a control method for avoiding floors with errors of robots.
Background
An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions.
At present, the intelligent robot can be used for realizing the non-contact treatment of doctors and patients, wherein the intelligent delivery robot mainly undertakes the work of delivering medicines, delivering meals into an isolation area and recovering bedding and medical wastes in a hospital area, and the intelligent delivery robot can realize the functions of automatically opening and closing a door, automatically taking an elevator, automatically avoiding obstacles, automatically charging and the like through the intelligent scheduling of a brain control center without the operation of personnel; the ultraviolet disinfection lamp is arranged in the cabinet, so that the safety of the box body and articles can be kept at any time; the robot also has the remote real-time voice and video communication function, can directly communicate with nurses or patients in isolation wards through a dispatching system, and can replace the nurses to send meals, cases, laboratory sheets and the like. However, in the actual operation process of the existing intelligent robot, some problems may also occur, for example, the intelligent robot needs to take an elevator autonomously and leave the elevator for operation in a designated floor during the process of distributing medicines or meals, however, the situation of an error elevator is very easy to occur during the process of taking the elevator autonomously, thereby affecting the distribution accuracy.
Therefore, the invention provides a control method for avoiding the floor of the robot making mistakes.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a control method for avoiding a floor where a robot makes mistakes.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for avoiding a floor of a robot making a mistake comprises the following steps:
(1) and setting hardware:
a. setting of elevator RFID radio frequency electronic tags:
arranging a first RFID radio frequency electronic tag in the elevator;
b. setting of a floor RFID radio frequency electronic tag:
arranging a second RFID radio frequency electronic tag corresponding to each floor at the outlet of the elevator door of each floor;
c. setting of the RFID scanner:
arranging an RFID scanner outside the robot, and connecting the RFID scanner with a central control module of the robot through signals;
d. entering of floor information:
inputting information such as the layout, the three-dimensional drawing, the area and the like of each floor into a robot central control module;
e. setting an alarm device:
a first alarm module and a second alarm module which are in signal connection with a robot remote control terminal are arranged in the robot, wherein the first alarm module and the second alarm module are both in signal connection with a robot central control module;
(2) and the control method comprises the following steps:
s1, the robot acquires the information of the target floor:
the control personnel transmit the distribution floor information to a signal receiver inside the robot by using a remote control terminal and through the Internet of things wireless communication technology, and the signal receiver transmits a signal to a central control module of the robot through a data conversion module;
s2, scanning of the first RFID radio frequency electronic tag:
the robot scans each first RFID radio frequency electronic tag in the elevator through an RFID scanner until the first RFID radio frequency electronic tag corresponding to the target floor is scanned;
s3, comparing the first RFID radio frequency electronic tag;
s4, controlling the elevator;
the RFID scanner transmits the information of a first RFID radio frequency electronic tag corresponding to the scanned target floor to the remote control terminal, and the remote control terminal controls the elevator to run to the floor;
s5, scanning of a second RFID radio frequency electronic tag:
the elevator door is opened, and after the robot leaves the elevator, the second RFID radio frequency electronic tag outside the floor elevator is scanned again through the RFID scanner;
and S6, comprehensive comparison.
Preferably, the information of each first RFID radio frequency electronic tag in the elevator is matched with the information of each floor.
Preferably, the second RFID radio frequency electronic tag in each floor is matched with the first RFID radio frequency electronic tag information corresponding to the floor set in the elevator.
Preferably, the height of the RFID scanner outside the robot is the same as the height of the first RFID radio frequency electronic tag in the elevator and the height of the second RFID radio frequency electronic tag in the floor.
Preferably, in the control method, S3 compares the first RFID radio frequency electronic tag information scanned by the RFID scanner with the target floor information, so as to obtain a first comparison result.
Preferably, the first comparison result shows that the first RFID radio frequency electronic tag information scanned by the RFID scanner matches with the target floor information, the robot central control module controls the robot to normally deliver, the first comparison result shows that the first RFID radio frequency electronic tag information scanned by the RFID scanner does not match with the target floor information, and the robot central control module controls the robot to stop delivering and sends an alarm through the first alarm module.
Preferably, in the control method S6, the robot central control module compares the information of the second RFID radio frequency electronic tag scanned by the RFID scanner with the information of the scanned first RFID radio frequency electronic tag and the target floor to obtain a second comparison result.
Preferably, the second comparison result shows that the information of the second RFID radio frequency electronic tag scanned by the RFID scanner matches with the information of the scanned first RFID radio frequency electronic tag and the target floor, the robot central control module controls the robot to normally deliver, the second comparison result shows that the information of the second RFID radio frequency electronic tag scanned by the RFID scanner does not match with the information of the scanned first RFID radio frequency electronic tag and the target floor, and the robot central control module controls the robot to stop delivering and sends an error floor alarm through the second alarm module.
The invention has the following beneficial effects:
1. according to the control method for avoiding the floor making mistakes of the robot, the first RFID radio frequency electronic tag, the RFID scanner and the first alarm module are arranged, when the robot carries out distribution, after the first RFID radio frequency electronic tag is scanned in an elevator, when the information of the first RFID radio frequency electronic tag scanned by the RFID scanner is matched with the information of the target floor, the robot carries out normal distribution, when the information of the first RFID radio frequency electronic tag scanned by the RFID scanner is not matched with the information of the target floor, the robot stops distribution, sends out an alarm through the first alarm module, and carries out input of the target floor again, so that the condition that the floor making mistakes occurs when the robot carries out distribution is effectively avoided.
2. According to the control method for avoiding the floor with the fault of the robot, the second RFID radio frequency electronic tag, the RFID scanner and the second alarm module are arranged, when the robot goes out of an elevator and normally enters a distribution floor, the second RFID radio frequency electronic tag of the floor is scanned through the RFID scanner, the robot normally distributes after the information of the second RFID radio frequency electronic tag scanned through the RFID scanner is matched with the information of the scanned first RFID radio frequency electronic tag and the information of a target floor, the information of the second RFID radio frequency electronic tag scanned through the RFID scanner is not matched with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, the robot stops distribution, the second alarm module sends out the alarm of the fault floor, related personnel are reminded of correcting operation, and the condition that the wrong goods are delivered is avoided.
Drawings
FIG. 1 is a schematic diagram of the control flow of the distribution robot in the elevator of the present invention;
fig. 2 is a schematic diagram of a control flow of the distribution robot in the floor according to the present 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.
Example 1
Referring to fig. 1, a control method for avoiding a floor where a robot makes a mistake includes:
(1) and setting hardware:
b. setting of elevator RFID radio frequency electronic tags:
arranging a first RFID radio frequency electronic tag in the elevator;
the information of each first RFID radio frequency electronic tag in the elevator is matched with the information of each floor.
b. Setting of a floor RFID radio frequency electronic tag:
arranging a second RFID radio frequency electronic tag corresponding to each floor at the outlet of the elevator door of each floor;
and the second RFID radio frequency electronic tags in each floor are matched with the first RFID radio frequency electronic tag information corresponding to the floors arranged in the elevator.
c. Setting of the RFID scanner:
arranging an RFID scanner outside the robot, and connecting the RFID scanner with a central control module of the robot through signals;
the height of the RFID scanner outside the robot is the same as the height of the first RFID radio frequency electronic tag in the elevator and the height of the second RFID radio frequency electronic tag in the floor.
d. Entering of floor information:
inputting information such as the layout, the three-dimensional drawing, the area and the like of each floor into a robot central control module;
e. setting an alarm device:
a first alarm module and a second alarm module which are in signal connection with a robot remote control terminal are arranged in the robot, wherein the first alarm module and the second alarm module are both in signal connection with a robot central control module;
(2) and the control method comprises the following steps:
s1, the robot acquires the information of the target floor:
the control personnel transmit the distribution floor information to a signal receiver inside the robot by using a remote control terminal and through the Internet of things wireless communication technology, and the signal receiver transmits a signal to a central control module of the robot through a data conversion module;
s2, scanning of the first RFID radio frequency electronic tag:
the robot scans each first RFID radio frequency electronic tag in the elevator through an RFID scanner until the first RFID radio frequency electronic tag corresponding to the target floor is scanned;
s3, comparing the first RFID radio frequency electronic tag
And comparing the information of the first RFID radio frequency electronic tag scanned by the RFID scanner with the information of the target floor to obtain a first comparison result.
And the first comparison result shows that the information of the first RFID radio frequency electronic tag scanned by the RFID scanner is not matched with the information of the target floor, and the robot central control module controls the robot to stop delivery and sends an alarm through the first alarm module.
In this embodiment, by setting the first RFID radio frequency electronic tag, the RFID scanner, and the first alarm module, when the robot is in the process of delivery, after the first RFID radio frequency electronic tag is scanned in the elevator, when the information of the first RFID radio frequency electronic tag scanned by the RFID scanner matches with the information of the target floor, the robot delivers normally, when the information of the first RFID radio frequency electronic tag scanned by the RFID scanner does not match with the information of the target floor, the robot stops delivery, and sends an alarm through the first alarm module, and re-inputs the target floor, thereby effectively avoiding the occurrence of a wrong floor during delivery.
Example 2
Referring to fig. 2, a control method for avoiding a floor where a robot makes a mistake includes:
(1) and setting hardware:
c. setting of elevator RFID radio frequency electronic tags:
arranging a first RFID radio frequency electronic tag in the elevator;
the information of each first RFID radio frequency electronic tag in the elevator is matched with the information of each floor.
b. Setting of a floor RFID radio frequency electronic tag:
arranging a second RFID radio frequency electronic tag corresponding to each floor at the outlet of the elevator door of each floor;
and the second RFID radio frequency electronic tags in each floor are matched with the first RFID radio frequency electronic tag information corresponding to the floors arranged in the elevator.
c. Setting of the RFID scanner:
arranging an RFID scanner outside the robot, and connecting the RFID scanner with a central control module of the robot through signals;
the height of the RFID scanner outside the robot is the same as the height of the first RFID radio frequency electronic tag in the elevator and the height of the second RFID radio frequency electronic tag in the floor.
d. Entering of floor information:
inputting information such as the layout, the three-dimensional drawing, the area and the like of each floor into a robot central control module;
e. setting an alarm device:
a first alarm module and a second alarm module which are in signal connection with a robot remote control terminal are arranged in the robot, wherein the first alarm module and the second alarm module are both in signal connection with a robot central control module;
(2) and the control method comprises the following steps:
s1, the robot acquires the information of the target floor:
the control personnel transmit the distribution floor information to a signal receiver inside the robot by using a remote control terminal and through the Internet of things wireless communication technology, and the signal receiver transmits a signal to a central control module of the robot through a data conversion module;
s2, scanning of the first RFID radio frequency electronic tag:
the robot scans each first RFID radio frequency electronic tag in the elevator through an RFID scanner until the first RFID radio frequency electronic tag corresponding to the target floor is scanned;
s3, comparing the first RFID radio frequency electronic tag;
the first comparison result shows that the information of the first RFID radio frequency electronic tag scanned by the RFID scanner is matched with the information of the target floor, and the central control module of the robot controls the robot to normally deliver;
s4, controlling the elevator;
the RFID scanner transmits the information of a first RFID radio frequency electronic tag corresponding to the scanned target floor to the remote control terminal, and the remote control terminal controls the elevator to run to the floor;
s5, scanning of a second RFID radio frequency electronic tag:
the elevator door is opened, and after the robot leaves the elevator, the second RFID radio frequency electronic tag outside the floor elevator is scanned again through the RFID scanner;
s6, comprehensive comparison:
and the robot central control module compares the information of the second RFID radio frequency electronic tag scanned by the RFID scanner with the information of the scanned first RFID radio frequency electronic tag and the target floor to obtain a second comparison result.
And the second comparison result shows that the information of the second RFID radio frequency electronic tag scanned by the RFID scanner is matched with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, the robot central control module controls the robot to normally deliver, the second comparison result shows that the information of the second RFID radio frequency electronic tag scanned by the RFID scanner is not matched with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, and the robot central control module controls the robot to stop delivering and sends out an error floor alarm through the second alarm module.
In this embodiment, by setting the second RFID radio frequency electronic tag, the RFID scanner, and the second alarm module, when the robot goes out of the elevator and normally enters the floor for delivery, the second RFID radio frequency electronic tag on the floor is scanned by the RFID scanner, after the information of the second RFID radio frequency electronic tag scanned by the RFID scanner matches with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, the robot normally delivers, the information of the second RFID radio frequency electronic tag scanned by the RFID scanner does not match with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, the robot terminates delivery, and sends out an error floor alarm through the second alarm module, so as to remind the relevant people to correct the operation, thereby avoiding the occurrence of wrong delivery of the article.
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. A control method for avoiding a floor of a robot making a mistake is characterized by comprising the following steps:
(1) and setting hardware:
setting of elevator RFID radio frequency electronic tags:
arranging a first RFID radio frequency electronic tag in the elevator;
b. setting of a floor RFID radio frequency electronic tag:
arranging a second RFID radio frequency electronic tag corresponding to each floor at the outlet of the elevator door of each floor;
c. setting of the RFID scanner:
arranging an RFID scanner outside the robot, and connecting the RFID scanner with a central control module of the robot through signals;
d. entering of floor information:
inputting information such as the layout, the three-dimensional drawing, the area and the like of each floor into a robot central control module;
e. setting an alarm device:
a first alarm module and a second alarm module which are in signal connection with a robot remote control terminal are arranged in the robot, wherein the first alarm module and the second alarm module are both in signal connection with a robot central control module;
(2) and the control method comprises the following steps:
s1, the robot acquires the information of the target floor:
the control personnel transmit the distribution floor information to a signal receiver inside the robot by using a remote control terminal and through the wireless communication technology of the Internet of things, and the signal receiver transmits a signal to a central control module of the robot through a data conversion module;
s2, scanning of the first RFID radio frequency electronic tag:
the robot scans each first RFID radio frequency electronic tag in the elevator through an RFID scanner until the first RFID radio frequency electronic tag corresponding to the target floor is scanned;
s3, comparing the first RFID radio frequency electronic tag;
s4, controlling the elevator;
the RFID scanner transmits the information of a first RFID radio frequency electronic tag corresponding to the scanned target floor to the remote control terminal, and the remote control terminal controls the elevator to run to the floor;
s5, scanning of a second RFID radio frequency electronic tag:
the elevator door is opened, and after the robot leaves the elevator, the second RFID radio frequency electronic tag outside the floor elevator is scanned again through the RFID scanner;
and S6, comprehensive comparison.
2. A control method for avoiding floor errors of a robot according to claim 1, characterized in that: and the information of each first RFID radio frequency electronic tag in the elevator is matched with the information of each floor.
3. A control method for avoiding floors where robots make mistakes according to claim 1, characterized in that: and the second RFID radio frequency electronic tags in each floor are matched with the first RFID radio frequency electronic tag information corresponding to the floors arranged in the elevator.
4. A control method for avoiding floors where robots make mistakes according to claim 1, characterized in that: the height of the RFID scanner outside the robot is the same as the height of the first RFID radio frequency electronic tag in the elevator and the height of the second RFID radio frequency electronic tag in the floor.
5. A control method for avoiding floors where robots make mistakes according to claim 1, characterized in that: in the control method, in step S3, the first RFID radio frequency electronic tag information scanned by the RFID scanner is compared with the target floor information to obtain a first comparison result.
6. The control method for avoiding floor fault of robot according to claim 5, characterized in that: the first comparison result shows that the first RFID radio frequency electronic tag information scanned by the RFID scanner is matched with the target floor information, the robot central control module controls the robot to normally deliver, the first comparison result shows that the first RFID radio frequency electronic tag information scanned by the RFID scanner is not matched with the target floor information, and the robot central control module controls the robot to stop delivering and gives an alarm through the first alarm module.
7. A control method for avoiding a floor in which a robot makes a mistake according to claim 1, characterized in that: in the control method S6, the robot central control module compares the information of the second RFID radio frequency electronic tag scanned by the RFID scanner with the information of the scanned first RFID radio frequency electronic tag and the target floor to obtain a second comparison result.
8. The control method for avoiding floor fault of robot according to claim 7, characterized in that: the second comparison result shows that the information of the second RFID radio frequency electronic tag scanned by the RFID scanner is matched with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, the robot central control module controls the robot to normally deliver, the second comparison result shows that the information of the second RFID radio frequency electronic tag scanned by the RFID scanner is not matched with the information of the scanned first RFID radio frequency electronic tag and the information of the target floor, and the robot central control module controls the robot to stop delivering and sends out an error floor alarm through the second alarm module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210454087.4A CN114803738A (en) | 2022-04-24 | 2022-04-24 | Control method for avoiding floor making mistakes by robot |
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| CN202210454087.4A CN114803738A (en) | 2022-04-24 | 2022-04-24 | Control method for avoiding floor making mistakes by robot |
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