CN116620972A - Control system and method for robot elevator taking - Google Patents

Control system and method for robot elevator taking Download PDF

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Publication number
CN116620972A
CN116620972A CN202310664367.2A CN202310664367A CN116620972A CN 116620972 A CN116620972 A CN 116620972A CN 202310664367 A CN202310664367 A CN 202310664367A CN 116620972 A CN116620972 A CN 116620972A
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CN
China
Prior art keywords
robot
car
elevator
order
actual
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CN202310664367.2A
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Chinese (zh)
Inventor
陈玉东
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Shanghai Mitsubishi Elevator Co Ltd
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Shanghai Mitsubishi Elevator Co Ltd
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Application filed by Shanghai Mitsubishi Elevator Co Ltd filed Critical Shanghai Mitsubishi Elevator Co Ltd
Priority to CN202310664367.2A priority Critical patent/CN116620972A/en
Publication of CN116620972A publication Critical patent/CN116620972A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The application discloses a control system for robot riding, comprising: a determining unit for determining the robot to get off or take up the ladder; a generation unit for generating a control command for controlling the getting-off robot to leave the car and the taking-on robot to enter the car; a first analysis unit that determines a predetermined order; the detection unit is used for detecting that the elevator-descending robot leaves the car and the elevator-taking robot enters the car; an analysis unit that determines an actual order; and a judging unit for judging whether the actual order is consistent with the preset order and identifying the abnormality of the robot riding ladder. The control system for robot elevator taking can early monitor that the robot elevator taking is abnormal at the first time when the robot is lost.

Description

Control system and method for robot elevator taking
Technical Field
The application relates to the field of elevators, in particular to a robot elevator taking control system and a robot elevator taking control method.
Background
With the technological progress and the continuous expansion of application scope of robots, robots are increasingly being used in various scenes. In these application scenarios, it is often necessary for the robot to move between different floors in order to achieve its intended function. At present, the robot elevator is becoming a research and application hotspot in the elevator field, but the focus is mainly focused on interactive communication between the robot and an elevator when the robot elevator is taken, and the research result of the problem of robot lost caused by communication delay and the like in the elevator taking process of the robot is relatively small. For this problem, several related achievements have emerged:
the method for preventing robot loss disclosed in document 1 (cn202110390407. X) includes: receiving the state information of the elevator sent by an elevator control system; if the robot does not reach the destination floor and the robot is located outside the elevator, a first floor where the robot is currently located is obtained according to the state information of the elevator, and an instruction to the destination floor is sent to an elevator control system to instruct the elevator control system to control the elevator to stop when the elevator reaches the first floor, so that the robot takes the elevator.
Document 2 (CN 202111640681.4) proposes: the elevator displacement is estimated by using an IMU sensor carried by the robot through an improved integral ranging model, meanwhile, the target floor is divided into a directly accessible floor and an indirectly accessible floor by taking the accuracy of the integral ranging model into consideration, when the target floor is positioned on the indirectly accessible floor, the target floor can be reliably reached through the strategy given by the floor allocation module, and when the floor position lost caused by the abnormal elevator taking occurs, the floor repositioning module gives a strategy to enable the robot to retrieve the correct floor position.
The elevator riding control method of the robot disclosed in document 3 (CN 202210765727.3) includes: responding to receiving elevator stop destination floor information carrying a time stamp, and comparing time information indicated by the time stamp with current real-time information to obtain a time difference; if the time difference is larger than a preset time threshold value, judging that the elevator is not stopped at the target floor currently; and sending a call instruction to enable the elevator to stop the target floor again based on the call instruction. The application can judge whether the elevator actually reaches the target floor, if not, the robot does not execute the elevator-out action temporarily, thereby avoiding the occurrence of the situation that the robot makes mistakes in the elevator.
The method for positioning a robot landing floor disclosed in document 4 (CN 202210785348.0) includes: acquiring the landing information of the robot, wherein the landing information carries a first timestamp, and the first timestamp is used for indicating landing time of the robot; acquiring floor information of the elevator stopping at different floors, wherein the floor information carries a second time stamp, and the second time stamp is used for indicating the time of the elevator sending the floor information to a robot; comparing the first time stamp with second time stamps carried by the floor information respectively to obtain a target second time stamp with the time difference with the first time stamp in a preset time range; and determining the floor information corresponding to the target second timestamp as the landing floor of the robot.
Although documents 1 to 3 can avoid the robot from getting lost or from being retrieved after the robot gets lost, it is not possible to detect that the robot is getting up to the elevator abnormally early at the first time when the robot gets lost.
Therefore, how to detect the abnormality of the robot riding on the ladder early at the first time of the robot getting lost becomes a technical problem to be solved.
Disclosure of Invention
The application aims to solve the technical problem of how to early monitor that the robot takes advantage of the ladder to be abnormal at the first time when the robot is lost.
In order to solve the technical problems, the application discloses a control system for robot riding, which comprises:
a determination unit: determining at least one elevator descending robot leaving the elevator car at a specified floor according to destination floor information of robots in the elevator car, and determining an elevator ascending robot entering the elevator car at the specified floor according to a call signal of the robot taking the specified floor as a departure floor;
a generation unit: the control command is used for generating a control command for controlling the getting-off robot to leave the car and the getting-on robot to enter the car;
a first analysis unit: determining a preset sequence of the getting-off robot leaving the car and the getting-on robot entering the car according to the control instruction;
and a detection unit: for detecting the robot leaving the car the elevator riding robot enters a car;
a second analysis unit: analyzing and determining the actual sequence when the elevator descending robot leaves the car and the elevator taking robot enters the car according to the detection result of the detection unit;
a judging unit: for determining whether the actual order is consistent with the predetermined order, and when the actual order is inconsistent with the predetermined order, identifying that the robot is abnormal when riding the elevator.
Preferably, the specified floor simultaneously exists a landing robot and a landing robot; the control instruction controls the lower ladder robot and the riding robot to be mutually spaced to form at least one lower ladder robot group and at least one riding robot group, wherein the lower ladder robot group at least comprises one lower ladder robot, and the riding robot group at least comprises one riding robot.
Preferably, when there are a plurality of the descending robot groups, the descending robots included in each descending robot group are substantially equal in number; when there are a plurality of boarding robot groups, the number of the boarding robots included in each of the boarding robot groups is substantially equal.
Preferably, the second analysis unit obtains the actual order by receiving each record from the detection unit that the robot enters or leaves the car and combining each record together in time sequence.
Preferably, the judging unit compares each record in the predetermined order and the actual order one by one, and judges that the actual order coincides with the predetermined order when all records are identical.
Preferably, when the number of the getting-off robots out of the car and the number of the getting-on robots into the car do not exceed a binary maximum value, the predetermined order and the actual order are defined as the accumulated number of robots that have completed getting-off or getting-into the car when the getting-off robots or the getting-into-the car have completed getting-off or getting-into-the car; the judging unit sets each accumulated number as an order value of the robots corresponding to the accumulated number, and then combines each order value together according to the order to obtain data quantity; when the amount of data corresponding to the actual order is equal to the amount of data corresponding to the predetermined order, it is determined that the actual order coincides with the predetermined order.
Preferably, the judging unit sets the first amplitude a for the entrance of the robot into the car and the second amplitude b for the exit of the robot from the car, the actual order and the predetermined order are defined as waveforms drawn at the first amplitude, the second amplitude and the time interval at which the entrance or the exit of the robot into the car is detected twice adjacently, and judges that the actual order coincides with the predetermined order when the waveform corresponding to the actual order is identical with the waveform corresponding to the predetermined order.
Preferably, the actual order and the predetermined order are defined to include a first result which is a sum of serial numbers of the respective robots entering the car and a second result which is a sum of serial numbers of the respective robots leaving the car, and the judging unit calculates and compares the first result corresponding to the actual order with the first result corresponding to the predetermined order and the second result corresponding to the actual order with the second result corresponding to the predetermined order, respectively, and judges that the actual order coincides with the predetermined order when both of the comparison results are equal.
Preferably, the control system further comprises: diagnosis unit: when the judging unit judges that the actual order is inconsistent with the preset order, the boarding robot group or the alighting robot group corresponding to the inconsistent waveform is determined through waveform comparison.
Preferably, the generating unit determines the moment when the elevator car stops at a floor and finishes opening the door, and determines the departure or entry moment of the elevator-descending robot and the elevator-taking robot according to a preset sequence and a specified time interval of the robots; the control instruction comprises a robot identifier and a corresponding departure or entry time; the elevator getting-off robot and the elevator taking-on robot judge whether the condition of getting off or getting on the elevator car is met or not in advance by a certain amount before the moment of getting off or getting on, and implement the action of getting off or getting on the elevator car when the condition is met; the diagnosis unit identifies the robot that is supposed to leave the car at the departure or entry time or the robot that is supposed to enter the car at the departure or entry time as a robot that is abnormal.
Preferably, the exit or entry car conditions include one or more of the following conditions:
condition 1, the movement path is blocked;
condition 2, whether the current moment has exceeded the departure or entry moment of the robot;
the car leveling error exceeds a threshold value;
and 4, the robot is in a correct state.
The application also provides a control method for the robot to take the elevator, which takes the sequence of the robot entering the elevator car or leaving the elevator car at least one appointed floor as coding information, and judges whether the robot is abnormal in the elevator taking process or not by comparing the consistency between the preset coding information corresponding to the control instruction and the actual coding information corresponding to the actual entering of the robot into the elevator car or leaving the elevator car.
Compared with the prior art, the application has the following beneficial technical effects:
1. the abnormal elevator taking of the robot can be monitored early at the first time when the robot is lost;
2. the robot can be determined to be abnormal after the robot is determined to take the ladder.
Drawings
Fig. 1 is a schematic configuration view of a control system for robot boarding of the present application.
Detailed Description
The application will be described in further detail with reference to the drawings and the detailed description.
Example 1
As shown in fig. 1, the control system for robot boarding of the present embodiment includes:
a determination unit: determining at least one elevator descending robot leaving the elevator car at a specified floor according to destination floor information of robots in the elevator car, and determining an elevator ascending robot entering the elevator car at the specified floor according to a call signal of the robot taking the specified floor as a departure floor;
a generation unit: the control command is used for generating a control command for controlling the getting-off robot to leave the car and the getting-on robot to enter the car;
a first analysis unit: determining a preset sequence of the getting-off robot leaving the car and the getting-on robot entering the car according to the control instruction;
and a detection unit: for detecting the robot leaving the car the elevator riding robot enters a car;
a second analysis unit: analyzing and determining the actual sequence when the elevator descending robot leaves the car and the elevator taking robot enters the car according to the detection result of the detection unit;
a judging unit: for determining whether the actual order is consistent with the predetermined order, and when the actual order is inconsistent with the predetermined order, identifying that the robot is abnormal when riding the elevator.
Example 2
The present embodiment is exemplarily limited to the following specific implementation scenario on the basis of embodiment 1. The designated floor simultaneously comprises a landing robot and a landing robot; the control instruction controls the lower ladder robot and the riding robot to be mutually spaced to form at least one lower ladder robot group and at least one riding robot group, wherein the lower ladder robot group at least comprises one lower ladder robot, and the riding robot group at least comprises one riding robot.
When a plurality of descending robot groups exist, the number of the descending robots contained in each descending robot group is approximately equal; when there are a plurality of boarding robot groups, the number of the boarding robots included in each of the boarding robot groups is substantially equal.
The second analysis unit obtains the actual sequence by receiving each record of the robot entering or leaving the car detected by the detection unit and combining the records together in time sequence. The judging unit compares each record in the predetermined order and the actual order one by one, and judges that the actual order is identical to the predetermined order when all records are identical. Each record takes the form of, for example, "sequence number-multiply-in" or "sequence number-leave".
The detection unit is a weighing device for detecting the load in the elevator car and outputs a weighing result.
The second analyzing unit receives and analyzes the detection result from the detecting unit, and recognizes that the robot enters the car when the detection result output by the weighing device increases, and recognizes that the robot exits the car when the detection result output by the weighing device decreases. It is noted that the increase or decrease here should lie between a threshold value 1 and a threshold value 2, the threshold value 1 should be large enough so that the function filters out small fluctuations in the detection result due to interference or the like, the threshold value 2 should be smaller than the minimum weight of the robot, and the threshold value 1 is smaller than the threshold value 2.
Such as: the current ascending elevator is stopped at the 5 th floor and the door opening is completed, at the moment, four robots A, B, C and D are arranged in the elevator car, the destination floors of B, C and D are the 5 th floor, namely, the elevator car is required to leave at the 5 th floor, and three robots E, F and G are arranged on the 5 th floor station and are required to enter the elevator car for ascending. The control instruction generated by the generation unit causes each robot to enter/leave the car in a predetermined order of: 1-B, 2-E, 3-C, 4-F, 5-D, 6-G. According to the detection result output by the weighing device, the analysis unit can identify through analysis: 1-entry, 2-exit, 3-entry, 4-exit, 5-entry, 6-exit, wherein the numbers preceding "-" are serial numbers and the letters following "-" refer to whether the robot of the serial number enters or exits the car. Each x-entry/exit is taken as a record, and all records (1-entry, 2-exit, 3-entry, 4-exit, 5-entry, 6-exit) corresponding to floor 5 are combined together by sequence numbers to obtain the actual order: entering, exiting, entering, exiting. The same can be done for a predetermined order. When the robots B, C and D and the robots E, F and G together are normal, after the robots have completed entering and exiting the car according to the respective instructions, the actual order obtained by the analysis unit should be entering, exiting, and since the predetermined order is also entering, exiting, and the judgment unit judges that both are identical.
Obviously, the control system in this embodiment is mainly aimed at using two different possible actions of each robot entering into or leaving from the car when a plurality of robots need to enter into or leave from the car at a certain floor, combining them to form a code, and then comparing whether the actual value of the code is consistent with a predetermined value to realize the monitoring of whether the robot takes a ladder abnormally or not.
Example 3
This embodiment is further described with reference to specific forms of the predetermined order and the actual order on the basis of embodiment 1.
Because of the expression for the order such as entering, leaving, entering, leaving in embodiment 2, it is not very convenient to compare whether the actual order coincides with the predetermined order. For this reason, the following alternative forms are proposed, and the following forms do not limit the simultaneous presence of the landing robot and the taking robot at a specified floor, and the specified floor may be the landing robot or the taking robot alone:
form 1, defining the predetermined order and the actual order as an accumulated number of robots that have completed getting off or into the car when the getting off robot or the getting into the car has completed getting off or into the car when the number of getting off robots leaving the car and the number of getting on robots entering the car do not exceed a binary maximum value;
the judging unit sets each accumulated number as an order value of the robots corresponding to the accumulated number, and then combines each order value together according to the order to obtain data quantity;
when the amount of data corresponding to the actual order is equal to the amount of data corresponding to the predetermined order, it is determined that the actual order coincides with the predetermined order.
For example, for the example in embodiment 1, when a 16-system is used, the maximum value of the single number is F, which obviously exceeds the number of robots that need to enter or leave the car, thus meeting the requirements. For example, the mapping relationship of the entering robot is: directly taking the serial number as an order value of entering the robot; the mapping relation of the leaving robot is as follows: the difference between F and the sequence number is taken as the sequence value of the leaving robot. This results in two sets of order values corresponding to the predetermined order and the actual order, the entirety of each set of order values can be regarded as one data amount, and whether the data amounts are equal or not is compared.
In the form 2, the judging unit sets the first amplitude a (e.g., 1) for the entrance of the robot into the car and the second amplitude b (0) for the exit of the robot from the car, the actual order and the predetermined order are defined as waveforms drawn at the first amplitude, the second amplitude and the time interval at which the entrance or the exit of the robot into the car is detected twice adjacently, and when the waveform corresponding to the actual order is identical to the waveform corresponding to the predetermined order, it is judged that the actual order is identical to the predetermined order. The time interval may be a specified fixed value, may be an average value, or may be the actual duration of the time interval in which the entrance or exit of the robot into the car is detected twice.
Form 3, the actual order, and the predetermined order are defined to include a first result that is a sum of serial numbers of the respective robots entering the car and a second result that is a sum of serial numbers of the respective robots leaving the car, and the judging unit calculates and compares the first result corresponding to the actual order with the first result corresponding to the predetermined order and the second result corresponding to the actual order with the second result corresponding to the predetermined order, respectively, and judges that the actual order coincides with the predetermined order when both of the comparison results are equal.
Example 4
The present embodiment further describes, on the basis of the foregoing embodiments, the subsequent processing when the judgment unit judges that the predetermined order is not identical to the actual order.
The control system further includes:
diagnosis unit: when the determination unit determines that the actual order does not coincide with the predetermined order, a robot in which an abnormality occurs is diagnosed.
When form 2 in embodiment 2 is adopted, if the determination unit determines that the actual order does not coincide with the predetermined order, the boarding robot group or the disembarking robot group to which the inconsistent waveform corresponds may be determined by waveform comparison.
It is to be noted here that, since there is no time information, the diagnosis result can only determine which robot in the robot group is abnormal. When there are a plurality of robots in the abnormal robot group, it is impossible to further diagnose which robot is abnormal in the process of taking a car (entering or leaving a car).
Example 5
The present embodiment further describes, on the basis of the foregoing embodiments, the subsequent processing when the judgment unit judges that the predetermined order is not identical to the actual order.
In this embodiment, the control system further includes:
diagnosis unit: when the determination unit determines that the actual order does not coincide with the predetermined order, a diagnosis is made of the robot in which the abnormality has occurred.
The generation unit determines the moment when the elevator car stops at a floor and finishes opening a door, and determines the departure or entry moment of the elevator-descending robot and the elevator-taking robot according to the preset sequence and the appointed time interval of the robot;
the control instruction comprises a robot identifier and a corresponding departure or entry time;
the elevator getting-off robot and the elevator taking-on robot judge whether the condition of getting off or getting on the elevator car is met or not in advance by a certain amount before the moment of getting off or getting on, and implement the action of getting off or getting on the elevator car when the condition is met;
the diagnosis unit identifies the robot that is supposed to leave the car at the departure or entry time or the robot that is supposed to enter the car at the departure or entry time as a robot that is abnormal.
The exit or entry conditions include one or more of the following conditions:
condition 1, the movement path is blocked;
condition 2, whether the current moment has exceeded the departure/entry moment of the robot;
the car leveling error exceeds a threshold value;
condition 4, the robot is in the correct state (e.g., the delivery robot should have carried the shipment already when it performs the shipment).
Example 6
The present embodiment provides a control method for robot boarding, which can be implemented by applying the control systems of the foregoing embodiments 1 to 5.
The control method specifically comprises the following steps:
when a plurality of robots enter the car or leave the car on a specified floor, the control system generally generates corresponding control instructions for the robots respectively, and controls the robots according to the control instructions, so that the robots in the car and the landing complete the actions of entering or leaving the car through movement, and all the actions of the robots are combined together to form a queue for the robots to enter and leave the car. Since the robot motion includes both entry and exit values, arranging the values in the order they were in the queue forms a particular queue of values, which in fact forms a coded message that corresponds to the robot in the car leaving the car at the specified floor or the landing robot entering the car.
When the robot fails to perform the response action due to the abnormality (such as failure to perform the movement action in time due to communication delay, failure to meet the movement condition, etc.) in the elevator taking process (including entering the elevator car and leaving the elevator car), the corresponding coded information is inevitably changed. Therefore, by comparing whether or not the encoded information (corresponding to the predetermined order in the foregoing embodiment) constituted by the control instruction matches the actual encoded information (corresponding to the actual order in the foregoing embodiment), it is possible to realize monitoring of whether or not an abnormality occurs in the robot riding. The control method of the embodiment is based on the principle, and whether the robot is abnormal in the elevator riding process is judged by analyzing the coding information corresponding to the control instruction and the coding information corresponding to the actual movement action of the robot and comparing whether the two are consistent.
The present application has been described in detail by way of specific embodiments and examples, but these should not be construed as limiting the application. Many variations and modifications may be made by one skilled in the art without departing from the principles of the application, which is also considered to be within the scope of the application.

Claims (12)

1. A control system for a robot to ride on a ladder, the control system comprising:
a determination unit: determining at least one elevator descending robot leaving the elevator car at a specified floor according to destination floor information of robots in the elevator car, and determining an elevator ascending robot entering the elevator car at the specified floor according to a call signal of the robot taking the specified floor as a departure floor;
a generation unit: the control command is used for generating a control command for controlling the getting-off robot to leave the car and the getting-on robot to enter the car;
a first analysis unit: determining a preset sequence of the getting-off robot leaving the car and the getting-on robot entering the car according to the control instruction;
and a detection unit: for detecting the robot leaving the car the elevator riding robot enters a car;
a second analysis unit: analyzing and determining the actual sequence when the elevator descending robot leaves the car and the elevator taking robot enters the car according to the detection result of the detection unit;
a judging unit: for determining whether the actual order is consistent with the predetermined order, and when the actual order is inconsistent with the predetermined order, identifying that the robot is abnormal when riding the elevator.
2. The control system of claim 1, wherein the control system is configured to control the control system,
the designated floor simultaneously comprises a landing robot and a landing robot;
the control instruction controls the lower ladder robot and the riding robot to be mutually spaced to form at least one lower ladder robot group and at least one riding robot group, wherein the lower ladder robot group at least comprises one lower ladder robot, and the riding robot group at least comprises one riding robot.
3. The control system of claim 2, wherein when there are a plurality of groups of alighting robots, each group of alighting robots comprises a substantially equal number of alighting robots; when there are a plurality of boarding robot groups, the number of the boarding robots included in each of the boarding robot groups is substantially equal.
4. The control system according to claim 1 or 2, characterized in that the second analysis unit obtains the actual order by receiving the records from the detection unit that the robot has entered or exited the car and combining the records together in time sequence.
5. The control system according to claim 1 or 2, wherein the judging unit compares each record in the predetermined order and the actual order one by one, and judges that the actual order coincides with the predetermined order when all records are identical.
6. The control system according to claim 1 or 2, characterized in that,
when the number of the landing robots leaving the car and the number of the boarding robots entering the car do not exceed a maximum value, defining the predetermined order and the actual order as the accumulated number of robots which have completed landing or entering the car when the landing robots or the entering the car have completed landing or the entering of the car;
the judging unit sets each accumulated number as an order value of the robots corresponding to the accumulated number, and then combines each order value together according to the order to obtain data quantity;
when the amount of data corresponding to the actual order is equal to the amount of data corresponding to the predetermined order, it is determined that the actual order coincides with the predetermined order.
7. The control system according to claim 1 or 2, wherein the judging unit sets the entry of the robot into the car to a first amplitude a and the exit of the robot from the car to a second amplitude b, the actual order and the predetermined order are defined as waveforms drawn at the first amplitude, the second amplitude, and a time interval at which the entry or the exit of the robot from the car is detected twice adjacently, and judges that the actual order coincides with the predetermined order when the waveform corresponding to the actual order is identical to the waveform corresponding to the predetermined order.
8. The control system according to claim 1 or 2, wherein the actual order and the predetermined order are defined to include a first result which is a sum of serial numbers of the respective robots entering the car and a second result which is a sum of serial numbers of the respective robots leaving the car, and the judging unit calculates and compares the first result corresponding to the actual order and the first result corresponding to the predetermined order and the second result corresponding to the actual order and the second result corresponding to the predetermined order, respectively, and judges that the actual order coincides with the predetermined order when both the comparison results are equal.
9. The control system of claim 7, wherein the control system further comprises:
diagnosis unit: when the judging unit judges that the actual order is inconsistent with the preset order, the boarding robot group or the alighting robot group corresponding to the inconsistent waveform is determined through waveform comparison.
10. The control system according to claim 1 or 2, characterized in that,
the generation unit determines the moment when the elevator car stops at a floor and finishes opening a door, and determines the departure or entry moment of the elevator-descending robot and the elevator-taking robot according to the preset sequence and the appointed time interval of the robot;
the control instruction comprises a robot identifier and a corresponding departure or entry time;
the elevator getting-off robot and the elevator taking-on robot judge whether the condition of getting off or getting on the elevator car is met or not in advance by a certain amount before the moment of getting off or getting on, and implement the action of getting off or getting on the elevator car when the condition is met;
the diagnosis unit identifies the robot that is supposed to leave the car at the departure or entry time or the robot that is supposed to enter the car at the departure or entry time as a robot that is abnormal.
11. The control system of claim 10, wherein the exit or entry car conditions include one or more of the following conditions:
condition 1, the movement path is blocked;
condition 2, whether the current moment has exceeded the departure or entry moment of the robot;
the car leveling error exceeds a threshold value;
and 4, the robot is in a correct state.
12. A control method for taking a robot into a car, characterized in that the control method takes the order in which the robot enters the car or leaves the car at least one designated floor as a kind of code information, and judges whether the robot is abnormal during taking the car by comparing the consistency between predetermined code information corresponding to a control instruction and actual code information corresponding to the actual entering of the robot into the car or the actual leaving of the car.
CN202310664367.2A 2023-06-07 2023-06-07 Control system and method for robot elevator taking Pending CN116620972A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310664367.2A CN116620972A (en) 2023-06-07 2023-06-07 Control system and method for robot elevator taking

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310664367.2A CN116620972A (en) 2023-06-07 2023-06-07 Control system and method for robot elevator taking

Publications (1)

Publication Number Publication Date
CN116620972A true CN116620972A (en) 2023-08-22

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Application Number Title Priority Date Filing Date
CN202310664367.2A Pending CN116620972A (en) 2023-06-07 2023-06-07 Control system and method for robot elevator taking

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Country Link
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