CN114988236A - Method and system for dispatching multiple elevators by robot - Google Patents
Method and system for dispatching multiple elevators by robot Download PDFInfo
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- CN114988236A CN114988236A CN202210481556.1A CN202210481556A CN114988236A CN 114988236 A CN114988236 A CN 114988236A CN 202210481556 A CN202210481556 A CN 202210481556A CN 114988236 A CN114988236 A CN 114988236A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012790 confirmation Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
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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
- B66B1/3453—Procedure or protocol for the data transmission or communication
-
- 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
- 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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention provides a method and a system for dispatching multiple elevators by a robot, which comprises the following steps: an elevator controller is installed near the elevator and is communicated with elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels and sends operation instructions to the elevator controller, the elevator controller simultaneously sends instructions to the elevator control boxes and receives results through 433 wireless DTU different channels, and the results are gathered and fed back to the robot. The elevator controller is added to realize the calling communication between the robot and a plurality of elevators, and the robot can realize a good calling effect under the scenes of different elevator numbers.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for dispatching multiple elevators by a robot.
Background
When the robot needs to run across floors, the elevator needs to be taken, but the elevators in a plurality of hotels or office buildings are several at present, and if only one elevator is taken by a single fixed elevator, the calling efficiency of the robot becomes very low. At present, 433 wireless DTUs are used for communication between a robot and an elevator control box, the 433 wireless DTUs are in a simplex mode, data can only be sent or received at the same time under the same channel, if the robot sends requests to a plurality of elevator control boxes simultaneously when the robot uses an elevator, data loss can be caused, the times of retransmitting instructions by the robot can be increased, and the elevator calling efficiency of the robot is low.
At present, wireless DTUs on the market cannot coexist with multiple channels, generally, one hardware can only support one channel, although the channel set by a factory can be modified by using software, the modification process needs time, and the hardware needs to be restarted after the modification is completed, so that if the method is adopted for calling the elevator, the robot calling the elevator is very unsmooth, and the failure probability of calling the elevator is very high.
Because the number of elevators in each robot work place is different, wireless DTUs with a plurality of channels directly installed on the robot cannot meet the use requirements of all scenes, and after the robot opens a mold, the internal space is already set, and space limitation is received by additionally adding DTU modules. The provision of a plurality of DTU modules also increases the manufacturing cost of the robot, which is disadvantageous for mass production of the robot.
None of the above solutions can be well applied in different scenarios, so a new method for robot elevator dispatching is needed to solve the problems faced in the above scenarios.
Disclosure of Invention
In view of the drawbacks of the prior art, it is an object of the present invention to provide a method and a system for robot dispatching multiple elevators.
According to the invention, the method for dispatching the multiple elevators by the robot comprises the following steps: an elevator controller is installed near the elevator and is communicated with elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels and sends operation instructions to the elevator controller, the elevator controller simultaneously sends instructions to the elevator control boxes and receives results through 433 wireless DTU different channels, and the results are gathered and fed back to the robot.
Preferably, the scheduling method comprises the following substeps:
step S1: the robot and the elevator controller are communicated through a 433 wireless DTU channel with a channel set to be n, the 433 wireless DTU channel on the elevator control box of the elevator is set to be n +1, n +2 … n + m, and m represents the number of the elevator control boxes;
step S2: the method comprises the steps that an elevator controller monitors heartbeat data sent by a plurality of elevator control boxes periodically, wherein the heartbeat data comprise state information of an elevator, and the elevator controller stores the heartbeat data to the local and updates the heartbeat data in real time;
step S3: sending a calling instruction after the robot reaches the calling position, and then monitoring feedback data;
step S4: after receiving the calling instruction, the elevator controller judges according to locally stored heartbeat data and sends the calling instruction to the elevator suitable for calling; for the elevator which is not suitable for calling, acquiring next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; the elevator controller forwards the elevator information of successful call and the elevator arrival notification to the robot;
step S5: the robot receives the elevator information of successful call and the elevator arrival notification, sends a boarding confirmation instruction to the elevator controller, and simultaneously enables the elevator controller to release other elevators;
step S6: after entering the elevator, the robot informs an elevator controller to send a calling command to the elevator control box and then goes to a target floor.
Preferably, the heartbeat data includes information about the floor where the elevator is currently located, the running direction and whether the elevator has a floor to go.
Preferably, the elevators eligible for call in said step S4 include elevators at rest and elevators whose traveling direction coincides with the robot target direction.
Preferably, the elevators unsuitable for calling in the step S4 include elevators in busy states and elevators with inconsistent travel directions.
Preferably, the busy state comprises an elevator being used by a guest or other robot.
Preferably, whether a guest uses the elevator is judged by turning on and off a button in the elevator.
According to the invention, the system for dispatching the multiple elevators by the robot comprises the following modules:
module M1: different wireless DTU channels are respectively arranged on the robot and the elevator controller, and the elevator controller and the plurality of elevator control boxes;
module M2: the method comprises the steps that heartbeat data sent by a plurality of elevator control boxes periodically are obtained through an elevator controller, the heartbeat data are stored locally in the elevator controller and are updated in real time, and the heartbeat data comprise state information of an elevator;
module M3: enabling the robot to send a call instruction to an elevator controller, and then enabling the robot to monitor feedback data;
module M4: receiving a calling instruction through an elevator controller, judging according to heartbeat data contained locally, and sending the calling instruction to an elevator suitable for calling; for the elevator which is not suitable for calling, acquiring next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; the elevator information of successful call and the elevator arrival notice are forwarded to the robot through the elevator controller;
module M5: receiving elevator information and elevator arrival notification of successful calling through the robot, sending a boarding confirmation instruction to the elevator controller, and releasing other elevators by the elevator controller;
module M6: and when the robot enters the elevator, the robot informs an elevator controller to send a call instruction to the elevator control box to go to a target floor.
Preferably, the elevators eligible for calling in the module M4 include elevators at rest and elevators whose direction of travel coincides with the target direction of the robot.
Preferably, the elevators unsuitable for calling in the module M4 include elevators in busy state and elevators with inconsistent travel direction.
Compared with the prior art, the invention has the following beneficial effects:
1. the elevator controller is added to realize the call communication between the robot and a plurality of elevators, and the robot can realize a good call effect under the scenes of different elevator numbers.
2. The invention does not adopt a scheme of installing a plurality of DTU channel devices on the robot, thereby reducing the design cost and the manufacturing cost of the robot.
3. The invention improves the calling efficiency and reduces the influence on the use of the elevator by stopping calling when a robot or a guest uses the elevator.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of the robot dispatching multiple elevators of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, the present invention provides a method of robot dispatching multiple elevators, comprising: an elevator controller is installed near an elevator, the elevator controller is communicated with elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels and sends operation instructions to the elevator controller, the elevator controller sends instructions to the elevator control boxes and receives results through 433 wireless DTU different channels, and the results are gathered and fed back to the robot.
Specifically, the scheduling process includes the following substeps:
step S1: the robot and the elevator controller are communicated through a 433 wireless DTU channel with a channel set to be n, the 433 wireless DTU channel on the elevator control box of the elevator is set to be n +1, n +2 … n + m, and m represents the number of the elevator control boxes.
The DTUs of a plurality of channels are built in an elevator controller installed near an elevator, can simultaneously communicate with a plurality of elevator control boxes, and can be increased or decreased according to the number of elevators.
Step S2: the method comprises the steps that an elevator controller monitors heartbeat data sent by a plurality of elevator control boxes periodically, the heartbeat data can be sent every 15 seconds, the heartbeat data comprise state information such as the current floor of the elevator, the running direction and whether the elevator has the floor information to be visited, and the heartbeat data are stored locally and are updated in real time by the elevator controller;
step S3: sending a calling command after the robot reaches the calling position, and then monitoring feedback data;
step S4: after receiving the calling instruction, the elevator controller judges according to locally stored heartbeat data and sends the calling instruction to the elevator suitable for calling; for the elevator which is not suitable for calling, acquiring next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; the elevator controller forwards elevator information of successful call and elevator arrival notification to the robot.
Elevators suitable for calling include elevators at rest and elevators whose direction of travel coincides with the target direction of the robot, and elevators unsuitable for calling include elevators in a busy state and elevators whose direction of travel does not coincide. There are two types of elevators in a busy state: the first is that the hotel has a plurality of robots, if the robot 1 already uses the elevator 1, the state of the elevator 1 is busy; the second type is that the robot sends the state through the terraced box, finds that there is the button in the elevator to be lighted, thinks that there is the guest at this moment to use the elevator, can give the guest priority to use this moment, also thinks that the elevator is busy this time.
Step S5: the robot receives the elevator information of successful call and the elevator arrival notification, sends a boarding confirmation instruction to the elevator controller, and simultaneously enables the elevator controller to release other elevators;
step S6: and after the robot enters the elevator, the robot informs an elevator controller to send a call instruction to the elevator control box and goes to a target floor.
The invention also discloses a system for dispatching multiple elevators by the robot, which is characterized by comprising the following modules:
module M1: different wireless DTU channels are respectively arranged for the robot and the elevator controller, and the elevator controller and the elevator control boxes;
module M2: the method comprises the steps that heartbeat data sent by a plurality of elevator control boxes periodically are obtained through an elevator controller, the heartbeat data are stored locally in the elevator controller and are updated in real time, and the heartbeat data comprise state information of an elevator;
module M3: enabling the robot to send a call instruction to an elevator controller, and then enabling the robot to monitor feedback data;
module M4: receiving a calling instruction through an elevator controller, judging according to heartbeat data contained locally, and sending the calling instruction to an elevator suitable for calling; for the elevator which is not suitable for calling, acquiring next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; the elevator information of successful call and the elevator arrival notice are forwarded to the robot through the elevator controller;
elevators suitable for calling include elevators at rest and elevators whose direction of travel coincides with the target direction of the robot, and elevators unsuitable for calling include elevators in a busy state and elevators whose direction of travel does not coincide.
Module M5: receiving elevator information and elevator arrival notification of successful calling through the robot, sending a boarding confirmation instruction to the elevator controller, and releasing other elevators by the elevator controller;
module M6: and when the robot enters the elevator, the robot informs an elevator controller to send a call instruction to the elevator control box to go to a target floor.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method of robotically dispatching multiple elevators, comprising: an elevator controller is installed near the elevator and is communicated with elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels and sends operation instructions to the elevator controller, the elevator controller simultaneously sends instructions to the elevator control boxes and receives results through 433 wireless DTU different channels, and the results are gathered and fed back to the robot.
2. The method of robotic dispatching of multiple elevators of claim 1, wherein: the scheduling method comprises the following substeps:
step S1: communicating 433 wireless DTU channels with a channel set as n by the robot and the elevator controller, and respectively setting the 433 wireless DTU channels on the elevator control boxes of the elevator as n +1, n +2 … n + m, wherein m represents the number of the elevator control boxes;
step S2: the method comprises the steps that an elevator controller monitors heartbeat data sent by a plurality of elevator control boxes periodically, wherein the heartbeat data comprise state information of an elevator, and the elevator controller stores the heartbeat data to the local and updates the heartbeat data in real time;
step S3: sending a calling instruction after the robot reaches the calling position, and then monitoring feedback data;
step S4: after receiving the calling instruction, the elevator controller firstly judges according to heartbeat data stored locally and sends the calling instruction to an elevator suitable for calling; for the elevator which is not suitable for calling, acquiring next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; the elevator controller forwards the elevator information of successful call and the elevator arrival notification to the robot;
step S5: the robot receives the elevator information of successful call and the elevator arrival notification, sends a boarding confirmation instruction to the elevator controller, and simultaneously enables the elevator controller to release other elevators;
step S6: and after the robot enters the elevator, the robot informs an elevator controller to send a call instruction to the elevator control box and goes to a target floor.
3. The method of robotic dispatching of multiple elevators of claim 2, wherein: the heartbeat data comprises the current floor of the elevator, the running direction and the information whether the elevator has the floor to go.
4. The method of robotic dispatching of multiple elevators of claim 2, wherein: the elevators eligible for call in said step S4 include elevators at rest and elevators whose direction of travel coincides with the target direction of the robot.
5. The method of robotic dispatching of multiple elevators of claim 2, wherein: the elevators unsuitable for call in the step S4 include elevators in a busy state and elevators whose traveling direction is not uniform.
6. Method for the robot dispatching of multiple elevators according to claim 5, characterized in that: the busy status includes an elevator being used by a guest or other robot.
7. The method of robotic dispatching of multiple elevators of claim 6, wherein: whether a guest uses the elevator is judged by the on-off of a button in the elevator.
8. A system for robotically dispatching multiple elevators, comprising the following modules:
module M1: different wireless DTU channels are respectively arranged for the robot and the elevator controller, and the elevator controller and the elevator control boxes;
module M2: the method comprises the steps that heartbeat data sent by a plurality of elevator control boxes periodically are obtained through an elevator controller, the heartbeat data are stored locally in the elevator controller and are updated in real time, and the heartbeat data comprise state information of an elevator;
module M3: enabling the robot to send a call instruction to an elevator controller, and then enabling the robot to monitor feedback data;
module M4: receiving a calling instruction through an elevator controller, judging according to heartbeat data contained locally, and sending the calling instruction to an elevator suitable for calling; for the elevator which is not suitable for calling, acquiring next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; the elevator information of successful call and the elevator arrival notice are forwarded to the robot through the elevator controller;
module M5: receiving elevator information and elevator arrival notification of successful calling through the robot, sending a boarding confirmation instruction to the elevator controller, and releasing other elevators by the elevator controller;
module M6: and when the robot enters the elevator, the robot informs an elevator controller to send a call instruction to the elevator control box to go to a target floor.
9. The system for robotic dispatching of multiple elevators of claim 8, wherein: the elevators in the module M4 suitable for calling include elevators at rest and elevators whose direction of travel coincides with the target direction of the robot.
10. The system for robotic dispatching of multiple elevators of claim 8, wherein: elevators unsuitable for calling in the module M4 include elevators in busy state and elevators with inconsistent direction of travel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210481556.1A CN114988236B (en) | 2022-05-05 | Method and system for scheduling multiple elevators by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210481556.1A CN114988236B (en) | 2022-05-05 | Method and system for scheduling multiple elevators by robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114988236A true CN114988236A (en) | 2022-09-02 |
| CN114988236B CN114988236B (en) | 2024-05-14 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106348110A (en) * | 2016-09-21 | 2017-01-25 | 上海三菱电梯有限公司 | Elevator control device for group controllers |
| CN108861905A (en) * | 2018-06-22 | 2018-11-23 | 广州思八客科技有限公司 | Control method, apparatus and computer equipment that elevator is taken by robot |
| CN109987463A (en) * | 2019-01-30 | 2019-07-09 | 苏州优智达机器人有限公司 | Robot and elevator interactive system and method |
| US20200024104A1 (en) * | 2019-08-16 | 2020-01-23 | Lg Electronics Inc. | Robot system and operation method thereof |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106348110A (en) * | 2016-09-21 | 2017-01-25 | 上海三菱电梯有限公司 | Elevator control device for group controllers |
| CN108861905A (en) * | 2018-06-22 | 2018-11-23 | 广州思八客科技有限公司 | Control method, apparatus and computer equipment that elevator is taken by robot |
| CN109987463A (en) * | 2019-01-30 | 2019-07-09 | 苏州优智达机器人有限公司 | Robot and elevator interactive system and method |
| US20200024104A1 (en) * | 2019-08-16 | 2020-01-23 | Lg Electronics Inc. | Robot system and operation method thereof |
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