CN114988236B - Method and system for scheduling multiple elevators by robot - Google Patents
Method and system for scheduling multiple elevators by robot Download PDFInfo
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- CN114988236B CN114988236B CN202210481556.1A CN202210481556A CN114988236B CN 114988236 B CN114988236 B CN 114988236B CN 202210481556 A CN202210481556 A CN 202210481556A CN 114988236 B CN114988236 B CN 114988236B
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- elevator
- elevators
- robot
- controller
- calling
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 2
- 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
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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
-
- 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
-
- 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
Landscapes
- 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, wherein the method comprises the following steps: an elevator controller is installed nearby the elevators, the elevator controller is communicated with the elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels, an operation instruction is sent to the elevator controller, the elevator controller simultaneously sends the instruction to the plurality of elevator control boxes and receives the result through 433 wireless DTU different channels, and the result is summarized and fed back to the robot. According to the invention, the elevator controller is added to realize the call communication between the robot and a plurality of elevators, and the robot can realize good call 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 scheduling multiple elevators by using a robot.
Background
When a robot is to run across floors, it is usually necessary to take an elevator, but many elevators in hotels or office buildings are now many, and if a single fixture takes only one elevator, the call efficiency of the robot becomes very low. At present, a robot and a ladder control box are communicated with each other by 433 wireless DTU,433 wireless DTU is in a simplex mode, and under the same channel, data can only be sent or received at the same time, if the robot is using an elevator, requests are sent to a plurality of ladder control boxes at the same time, data loss can be caused, so that the number of times of instruction retransmission of the robot can be increased, and the call efficiency of the robot is also low.
At present, wireless DTUs on the market cannot coexist in multiple channels, usually only one channel can be supported by one hardware, although the channels set by the factory can be modified by using software, the modification process requires time, and the hardware needs to be restarted after the modification is completed, so that if the mode is adopted for calling, the robot is not smooth, and the probability of calling failure is very high.
Because the quantity of elevators at each robot workplace is different, the wireless DTU of installing a plurality of channels on the robot directly can not satisfy all scene use demands, and when the robot is after the mould is opened, the inner space has been finalized, will receive space restriction at extra increase DTU module. The provision of multiple DTU modules also increases the manufacturing cost of the robot, which is disadvantageous for mass production of the robot.
None of the above solutions is well applicable to different scenarios, so a new method for robotically dispatching elevators is needed to solve the problems faced in the above scenarios.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a method and system for robotically dispatching multiple elevators.
The invention provides a method for scheduling multiple elevators by a robot, which comprises the following steps: an elevator controller is installed nearby the elevators, the elevator controller is communicated with the elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels, an operation instruction is sent to the elevator controller, the elevator controller simultaneously sends the instruction to the plurality of elevator control boxes and receives the result through 433 wireless DTU different channels, and the result is summarized and fed back to the robot.
Preferably, the scheduling method comprises the sub-steps of:
Step S1: the 433 wireless DTU channels with the channels n are set for the robot and the elevator controller to be communicated, the 433 wireless DTU channels on the elevator control box are 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 periodically sent by a plurality of elevator control boxes, the heartbeat data comprise state information of an elevator, and the elevator controller stores the heartbeat data to a local place and updates the heartbeat data in real time;
step S3: after the robot reaches the calling position, sending a calling instruction, and then monitoring feedback data;
Step S4: after receiving the call instruction, the elevator controller firstly judges according to the locally stored heartbeat data and sends the call instruction to the elevator suitable for calling; for the elevator unsuitable for calling, acquiring the 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 and the elevator arrival notification that the call is successful, sends a command for confirming the taking to the elevator controller, and simultaneously enables the elevator controller to release other elevators;
Step S6: after the robot enters the elevator, the elevator controller is informed to send a call instruction to the elevator control box to go to the destination floor.
Preferably, the heartbeat data comprises the current floor of the elevator, the running direction and whether the elevator has floor information to go.
Preferably, the elevators suitable for calling in said step S4 include elevators at rest and elevators having a direction of travel consistent with the target direction of the robot.
Preferably, the elevators unsuitable for calling in the step S4 include an elevator in a busy state and an elevator having an inconsistent running direction.
Preferably, the busy state includes an elevator in use by a guest or other robot.
Preferably, it is determined whether a guest is using the elevator by the on/off of a button in the elevator.
The invention provides a system for scheduling multiple elevators by a robot, which comprises the following modules:
module M1: different wireless DTU channels are respectively arranged for the robot and the elevator controller, and the elevator controller and a plurality of elevator control boxes;
module M2: the method comprises the steps of acquiring heartbeat data periodically sent by a plurality of elevator control boxes through an elevator controller, storing the heartbeat data to the elevator controller, and updating the heartbeat data in real time, wherein the heartbeat data comprises state information of an elevator;
Module M3: enabling the robot to send a call instruction to the elevator controller, and then enabling the robot to monitor feedback data;
Module M4: receiving a call instruction through an elevator controller, judging according to heartbeat data locally included, and sending the call instruction to an elevator suitable for calling; for the elevator unsuitable for calling, acquiring the next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; forwarding elevator information of successful calls and elevator arrival notifications to the robot through the elevator controller;
Module M5: receiving elevator information and elevator arrival notification of successful call through the robot, sending a command for confirming taking to an elevator controller, and simultaneously enabling the elevator controller to release other elevators;
Module M6: when the robot enters the elevator, the elevator controller is informed to send a call instruction to the elevator control box to go to the destination floor.
Preferably, the elevators in the module M4 suitable for calls include elevators at rest and elevators with a direction of travel consistent with the target direction of the robot.
Preferably, the elevators unsuitable for calls in the module M4 include elevators in busy state and elevators with inconsistent running directions.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the elevator controller is added to realize the call communication between the robot and a plurality of elevators, and the robot can realize good call effect under the scenes of different elevator numbers.
2. The invention does not adopt the 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. According to the elevator calling system, the calling is suspended when the robot or the guest uses the elevator, so that the calling efficiency is improved, and the influence on the elevator used by the person is reduced.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
Fig. 1 is a schematic diagram of a robot scheduling multiple elevators according to 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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Referring to fig. 1, the present invention provides a method for robotically dispatching multiple elevators, comprising: an elevator controller is installed nearby the elevators, the elevator controller is communicated with the elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels, an operation instruction is sent to the elevator controller, the elevator controller simultaneously sends the instruction to the plurality of elevator control boxes and receives the result through 433 wireless DTU different channels, and the result is summarized and fed back to the robot.
Specifically, the scheduling process includes the following sub-steps:
step S1: the 433 wireless DTU channels with the channels n are set to be communicated with the elevator controller, the 433 wireless DTU channels on the elevator control box are set to be n+1, n+2 … n+m, and m represents the number of the elevator control boxes.
The DTU with a plurality of channels is built in an elevator controller installed near the elevator, can communicate with a plurality of elevator control boxes at the same time, and can be increased or decreased according to the number of elevators.
Step S2: the elevator controller monitors heartbeat data periodically sent by a plurality of elevator control boxes, the period can be that the heartbeat data is sent once every 15 seconds, the heartbeat data comprises state information such as the current floor where the elevator is located, the running direction, whether floor information to be moved exists in the elevator or not, and the like, and the elevator controller stores the heartbeat data to the local and updates the heartbeat data in real time;
step S3: after the robot reaches the calling position, sending a calling instruction, and then monitoring feedback data;
Step S4: after receiving the call instruction, the elevator controller firstly judges according to the locally stored heartbeat data and sends the call instruction to the elevator suitable for calling; for the elevator unsuitable for calling, acquiring the 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 the call success and the elevator arrival notification to the robot.
Elevators suitable for calling include elevators in a stationary state and elevators having a traveling direction identical to the target direction of the robot, and elevators unsuitable for calling include elevators in a busy state and elevators having an inconsistent traveling direction. There are two types of elevators in busy state: the first is that the hotel has multiple robots, if the robot 1 has used the elevator 1, then the state of the elevator 1 is busy; the second is that the robot is in a state sent by the ladder control box, and the button in the elevator is found to be lighted, namely, the elevator is considered to be used by a guest at the moment, the elevator can be preferentially used by the guest at the moment, and the elevator is considered to be busy at the moment.
Step S5: the robot receives the elevator information and the elevator arrival notification that the call is successful, sends a command for confirming the taking to the elevator controller, and simultaneously enables the elevator controller to release other elevators;
Step S6: after the robot enters the elevator, the elevator controller is informed to send a call instruction to the elevator control box to go to the destination 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 a plurality of elevator control boxes;
module M2: the method comprises the steps of acquiring heartbeat data periodically sent by a plurality of elevator control boxes through an elevator controller, storing the heartbeat data to the elevator controller, and updating the heartbeat data in real time, wherein the heartbeat data comprises state information of an elevator;
Module M3: enabling the robot to send a call instruction to the elevator controller, and then enabling the robot to monitor feedback data;
Module M4: receiving a call instruction through an elevator controller, judging according to heartbeat data locally included, and sending the call instruction to an elevator suitable for calling; for the elevator unsuitable for calling, acquiring the next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; forwarding elevator information of successful calls and elevator arrival notifications to the robot through the elevator controller;
Elevators suitable for calling include elevators in a stationary state and elevators having a traveling direction identical to the target direction of the robot, and elevators unsuitable for calling include elevators in a busy state and elevators having an inconsistent traveling direction.
Module M5: receiving elevator information and elevator arrival notification of successful call through the robot, sending a command for confirming taking to an elevator controller, and simultaneously enabling the elevator controller to release other elevators;
Module M6: when the robot enters the elevator, the elevator controller is informed to send a call instruction to the elevator control box to go to the destination floor.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. A method of robotically dispatching multiple elevators, comprising: an elevator controller is arranged nearby the elevators, the elevator controller is communicated with the elevator control boxes of a plurality of elevators, the robot is communicated with the elevator controller through 433 wireless DTU channels, an operation instruction is sent to the elevator controller, the elevator controller simultaneously sends the instruction to the plurality of elevator control boxes and receives the result through 433 wireless DTU different channels, and the result is summarized and fed back to the robot;
The scheduling method comprises the following substeps:
Step S1: the 433 wireless DTU channels with the channels n are set for the robot and the elevator controller to be communicated, the 433 wireless DTU channels on the elevator control box are 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 periodically sent by a plurality of elevator control boxes, the heartbeat data comprise state information of an elevator, and the elevator controller stores the heartbeat data to a local place and updates the heartbeat data in real time;
step S3: after the robot reaches the calling position, sending a calling instruction, and then monitoring feedback data;
Step S4: after receiving the call instruction, the elevator controller firstly judges according to the locally stored heartbeat data and sends the call instruction to the elevator suitable for calling; for the elevator unsuitable for calling, acquiring the 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 and the elevator arrival notification that the call is successful, sends a command for confirming the taking to the elevator controller, and simultaneously enables the elevator controller to release other elevators;
Step S6: after the robot enters the elevator, the elevator controller is informed to send a call instruction to the elevator control box to go to the destination floor.
2. The method of robotically dispatching multiple elevators according to claim 1, wherein: the heartbeat data comprises the floor where the elevator is currently located, the running direction and whether the elevator has floor information to go or not.
3. The method of robotically dispatching multiple elevators according to claim 1, wherein: the elevators suited for the call in said step S4 include elevators at rest and elevators having a direction of travel consistent with the target direction of the robot.
4. The method of robotically dispatching multiple elevators according to claim 1, wherein: the elevators unsuitable for calling in the step S4 include elevators in busy state and elevators having inconsistent traveling directions.
5. The method of robotically dispatching multiple elevators according to claim 4, wherein: the busy state includes an elevator being used by a guest or other robot.
6. The method of robotically dispatching multiple elevators according to claim 5, wherein: whether a guest is using the elevator is judged by the on-off of a button in the elevator.
7. 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 a plurality of elevator control boxes;
module M2: the method comprises the steps of acquiring heartbeat data periodically sent by a plurality of elevator control boxes through an elevator controller, storing the heartbeat data to the elevator controller, and updating the heartbeat data in real time, wherein the heartbeat data comprises state information of an elevator;
Module M3: enabling the robot to send a call instruction to the elevator controller, and then enabling the robot to monitor feedback data;
Module M4: receiving a call instruction through an elevator controller, judging according to heartbeat data locally included, and sending the call instruction to an elevator suitable for calling; for the elevator unsuitable for calling, acquiring the next heartbeat data and judging whether the elevator is suitable for calling, if so, continuing to send a calling instruction; forwarding elevator information of successful calls and elevator arrival notifications to the robot through the elevator controller;
Module M5: receiving elevator information and elevator arrival notification of successful call through the robot, sending a command for confirming taking to an elevator controller, and simultaneously enabling the elevator controller to release other elevators;
Module M6: when the robot enters the elevator, the elevator controller is informed to send a call instruction to the elevator control box to go to the destination floor.
8. The system for robotically dispatching multiple elevators according to claim 7, wherein: the elevators in the module M4 suitable for calls include elevators at rest and elevators whose direction of travel corresponds to the target direction of the robot.
9. The system for robotically dispatching multiple elevators according to claim 7, wherein: the elevators unsuitable for calling in the module M4 include elevators in busy state and elevators having inconsistent traveling directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210481556.1A CN114988236B (en) | 2022-05-05 | 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 | 2022-05-05 | Method and system for scheduling multiple elevators by robot |
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| Publication Number | Publication Date |
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| CN114988236A CN114988236A (en) | 2022-09-02 |
| CN114988236B true CN114988236B (en) | 2024-05-14 |
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| CN202210481556.1A Active CN114988236B (en) | 2022-05-05 | 2022-05-05 | Method and system for scheduling multiple elevators by robot |
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Citations (3)
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190103101A (en) * | 2019-08-16 | 2019-09-04 | 엘지전자 주식회사 | Robot system and operation method thereof |
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- 2022-05-05 CN CN202210481556.1A patent/CN114988236B/en active Active
Patent Citations (3)
| 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 |
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| CN114988236A (en) | 2022-09-02 |
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