CN210710187U - Robot and elevator interaction system - Google Patents
Robot and elevator interaction system Download PDFInfo
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- CN210710187U CN210710187U CN201920453032.5U CN201920453032U CN210710187U CN 210710187 U CN210710187 U CN 210710187U CN 201920453032 U CN201920453032 U CN 201920453032U CN 210710187 U CN210710187 U CN 210710187U
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- 238000004891 communication Methods 0.000 claims abstract description 67
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- 238000004364 calculation method Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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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
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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
- B66B1/3423—Control system configuration, i.e. lay-out
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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
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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
- B66B1/3461—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
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/103—Destination call input before entering the elevator car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/212—Travel time
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- 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
Abstract
The utility model discloses a robot, including walking drive module, robot control unit and robot communication module, robot control unit is electric connection respectively walking drive module with robot communication module, communication module connects the radio frequency signal receiving unit of elevator and will take advantage of terraced information and pass through radio frequency signal receiving unit conveys to the inherent control system of elevator. The utility model discloses realize that the robot takes advantage of the ladder, practice thrift the cost simultaneously.
Description
Technical Field
The utility model belongs to the technical field of the robot is mutual with the elevator, especially, relate to a robot and elevator interaction system.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, and the robot is developed rapidly at present and is applied to various industries. For example, in service industries such as restaurants, hotels and the like, the service robot can be used for goods delivery, ordering and the like.
At present, the robot cannot interact with the elevator, the robot cannot take the elevator to go upstairs and downstairs to serve users of a target floor, each floor can only be provided with one robot to serve the users of the floor, and the cost is high. In the existing method for interaction between a robot and an elevator, the robot has complex line reconstruction and high cost for the elevator provided with a radio frequency signal receiving unit in the elevator in the process of interaction between the robot and the elevator; the floor position of elevator place is judged to the form of using the floor label among traditional floor information acquisition unit, including using wireless carrier communication transmitter, laser range finder or camera, causes the cost to be on the high side.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the technical problem and providing robot and elevator interactive system to realize that the robot is suitable for radio frequency signal receiving element and takes advantage of the ladder, practice thrift the cost simultaneously. In order to achieve the above purpose, the utility model discloses technical scheme as follows:
a robot comprises a walking driving module, a robot control unit and a robot communication module, wherein the robot control unit is electrically connected with the walking driving module and the robot communication module respectively, and the communication module is connected with a radio frequency signal receiving unit of an elevator and transmits elevator taking information to an inherent control system of the elevator through the radio frequency signal receiving unit.
Specifically, the robot includes but is not limited to: unmanned equipment, intelligent mobile equipment, remote sensing mobile equipment.
A robot and elevator interaction system is provided,
the elevator is provided with a radio frequency signal receiving unit, and an electronic signal circuit is connected between the elevator and an inherent control system of the elevator;
the radio frequency signal receiving unit is connected with the robot, receives the elevator taking information sent by the robot and sends the elevator taking information to an inherent elevator control system through the electronic signal circuit.
Specifically, the elevator control system also comprises a radio frequency signal transmitting unit which is electrically connected with an elevator external control unit;
the radio frequency signal transmitting unit transmits a signal to the radio frequency signal receiving unit, and the radio frequency signal receiving unit receives and responds the signal to call the elevator to be in place through the inherent elevator control system;
the elevator external control unit sends the floor information to the robot communication module through the elevator communication module, and the robot enters the elevator;
the elevator-resident control system triggers the buttons for the destination floor and controls the elevator to go to the destination floor.
The system comprises a radio frequency signal receiving unit, an elevator inherent control system and a simulation elevator radio frequency signal receiving unit, wherein the simulation elevator radio frequency signal receiving unit is connected with the elevator inherent control system in parallel, and the simulation elevator radio frequency signal receiving unit is connected with the simulation elevator radio frequency signal receiving unit in parallel.
The elevator control system comprises an elevator control unit, a floor information acquisition unit and a floor information acquisition unit, wherein the elevator control unit is connected with the elevator control unit;
the elevator external control unit is connected with the elevator communication module, the radio frequency signal receiving unit, the elevator inherent control system and the elevator door state acquisition device;
and the robot communication module is in communication connection with an elevator communication module in the elevator external control unit.
A robot and elevator interaction system is provided,
the elevator comprises a sensor arranged on an elevator car and a sensor interaction module which is arranged in a shaft and corresponds to each floor;
the installation position of the sensor interaction module corresponds to the position of a sensor on the car when the elevator passes through floors, and when the sensor moves upwards or downwards along with the passing of the car through the sensor interaction module, the floor information stored in the floor information acquisition unit is increased or decreased by one.
Specifically, the floor information acquisition unit comprises a first sensor and a second sensor, the first sensor and the second sensor are simultaneously in butt joint with a sensor interaction module to be used as a reference floor for starting calculation, after the first sensor and the sensor interaction module are relatively displaced, one is added to each upper floor, and one is subtracted from each lower floor, so that the floor where the elevator is located is judged according to the algorithm, and when the elevator passes through the reference floor, the stored floor information is reset to be the reference floor;
the sensor interaction module positioned in a reference floor is in butt joint with the first sensor and the second sensor, and the sensor interaction module positioned in other floors is in butt joint with the first sensor;
the floor information acquisition unit acquires a floor signal of the elevator, and the floor signal is sent to the robot communication module through the elevator communication module of the elevator external control unit.
Compared with the prior art, the utility model discloses robot and elevator interactive system's beneficial effect mainly reflects:
when the robot takes the elevator, the time for waiting for the elevator is reduced, and the working efficiency of the robot is higher; the robot can acquire the opening and closing state information of the elevator door, starts the action of entering the elevator at the moment of opening the elevator door, and does not need to wait for the elevator door to be completely opened and then start, so that the time is saved; the elevator uses the radio frequency signal receiving unit to light the button going to the floor, is suitable for the double elevator operation of robot and user, change less to the inherent system of the elevator at the same time, avoid causing the elevator system because of the instability that the external device causes, even change the internal line, only need change the link between inherent control system of a radio frequency signal receiving unit and elevator of a place, it is simple to mount; the floor information acquisition unit adopts the cooperation of sensor and sensor interaction module, judges the information of floor place, avoids using traditional floor label mode, installs the sensor interaction module simple structure on the well, and simple to operate practices thrift the cost.
Drawings
Fig. 1 is one of the schematic diagrams of module connection according to an embodiment of the present invention;
fig. 2 is a second schematic diagram of module connection according to an embodiment of the present invention;
fig. 3 is a flowchart of the operation of the floor information collection unit according to the embodiment;
fig. 4 is a schematic view of the installation of the reference floor information collecting unit in the present embodiment;
fig. 5 is a schematic view of the installation of other floor information acquisition units in the present embodiment;
fig. 6 is a schematic view of another installation of the floor information collection unit in the present embodiment;
fig. 7 is a flowchart of a robot-elevator interaction method in the present embodiment;
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments, but not all embodiments of the present invention.
Example 1:
referring to fig. 1, the present embodiment is a robot and elevator interactive system, which includes a robot control unit installed on a robot, an elevator external control unit, and an elevator inherent control system; the robot control unit is respectively and electrically connected with the walking driving module and the robot communication module; the elevator external control unit is connected with the elevator communication module, the radio frequency signal transmitting unit, the floor information acquisition unit and the elevator door state acquisition device; the elevator is provided with a radio frequency signal receiving unit and is electrically connected with an inherent elevator control system so as to realize the functions of swiping cards and taking the elevator by users; the robot control unit is in communication connection with the elevator external communication module through the robot communication module, finally the communication connection with the elevator external control unit is achieved, and the elevator external control unit is in communication connection with the radio frequency signal receiving unit through the radio frequency signal transmitting unit, and finally the communication connection with the inherent elevator control system is achieved.
When the robot needs to take the elevator, the floor where the robot is located is sent to the elevator communication module through the communication module, after the elevator external control unit receives the floor information of the elevator communication module, the radio frequency signal transmitting unit is controlled to send the floor information where the robot is located to the radio frequency signal receiving unit, namely, the user card swiping operation is simulated, the floor where the robot is located is lightened by swiping the card, and the elevator is controlled by the elevator inherent control system to move to the floor where the robot is located. And in the running process of the elevator, the elevator communication module connected with the elevator external control unit sends the information of the floor where the elevator is located in real time and the opening and closing state of the elevator door to the robot communication module. After the elevator reaches the floor where the robot is located and before the robot does not enter the elevator, the floor where the robot is located is sent to the elevator radio frequency signal receiving unit through the communication connection within a certain time, the floor where the robot is located is continuously lightened, and the elevator inherent control system is enabled to keep the opening state of the elevator door so as to wait for the robot to finally enter the elevator. If the robot enters the elevator for a certain time due to faults or obstacles and the like, the sending is stopped, and the steps are repeated when the robot is ready to take the elevator again to call the elevator so as to avoid occupying the elevator for a long time.
After the robot enters the elevator, the target floor to which the robot needs to go is lightened through the steps, the position of the elevator floor is obtained, when the target floor to which the robot goes is reached, the robot obtains the elevator door to open, then the elevator is driven out, and the floor where the robot is located at the moment is recorded.
The robot communication module may be, but is not limited to, 433 radio communication, mobile 2G, 3G,4G network communication, wifi communication mode, zigbee. The method for acquiring the opening state of the elevator door can be realized by installing a corresponding sensor on the elevator door, such as a hall sensor, an infrared photoelectric switch and the like. The robot can also detect whether the ladder door is opened or closed by utilizing a sensor of the robot, such as a laser radar, an ultrasonic ranging sensor and the like.
Robots include, but are not limited to: unmanned equipment, intelligent mobile equipment, remote sensing mobile equipment.
Example 2:
another embodiment of the elevator control system where the robot sends the ride information to the elevator,
referring to fig. 2, the difference between the robot and elevator interaction system and the above embodiment 1 is that the robot and elevator interaction system further includes an analog elevator radio frequency signal receiving unit communication node unit connected in parallel to an electronic signal line connected between the radio frequency signal receiving unit and the elevator inherent control system for simulating the communication between the radio frequency signal receiving unit and the elevator inherent control system. The robot communication module is connected with the communication node unit of the elevator radio-frequency signal receiving unit, the communication node unit of the elevator radio-frequency signal receiving unit receives the simulation signal and calls the elevator to be in place through the inherent control system of the elevator, the external control unit of the elevator sends the floor information to the robot communication module through the elevator communication module, the robot enters the elevator, and the inherent control system of the elevator triggers the button going to the target floor and controls the elevator to go to the target floor.
The 485 and WG communication protocols are adopted between the radio frequency signal receiving unit and the inherent control system of the elevator, and only one communication node address needs to be added in the original communication protocol, so that the analog radio frequency receiving unit can be communicated with the inherent control system of the elevator.
Example 3:
this embodiment is the mode that radio frequency signal receiving element was not installed to elevator itself, and the external control unit connection of elevator is installed the floor button in the elevator, and the inherent control system of elevator has a plurality of floor interfaces corresponding with floor quantity, and a plurality of floor interfaces pass through floor control winding displacement respectively with floor button on a plurality of corresponding floor buttons be connected. The robot sends the floor information of the robot to an external elevator control unit, the external elevator control unit simulates manual pressing of corresponding floor keys through controlling elevator keys to call the elevator to the floor where the robot is located, and after entering the elevator, the robot controls the elevator to move to a target floor to finish elevator riding actions in the same mode. Furthermore, the elevator external control unit can be directly connected with the radio frequency signal receiving unit, so that the robot elevator taking function is realized, and meanwhile, the card swiping elevator taking function is additionally arranged for the elevator.
Example 4:
referring to fig. 3-5, the robot and elevator interaction system further includes a floor information collecting unit, where the floor information collecting unit includes a first sensor installed in the elevator car, a second sensor, and a sensor interaction module installed in the hoistway and corresponding to each floor;
in fig. 3 and 4, when the elevator passes through or stops at the reference floor, the sensor interaction module located in the reference floor shields the first sensor and the second sensor, at this time, the floor information acquisition unit is identified as a reference floor a, and the general reference floor is set as a first floor;
in fig. 5, when the elevator passes or stops at a non-reference floor, the sensor interaction module positions in the other floors occlude the first sensor, while the second sensor is not occluded. The elevator-specific control system can recognize the other non-reference floors by the difference of the collected signals of the sensors.
Optionally, the sensor may adopt a distance measurement principle such as an infrared sensor, an ultrasonic sensor, etc.; when the elevator is in an ascending state or a descending state, the floor information is correspondingly added or subtracted by one if the elevator is in the ascending state or the descending state.
The corresponding sensor interaction module in the corridor is an infrared emission sensor, and further judgment is carried out according to whether infrared light is received. The sensor may also be a magnetic sensor, which makes a further determination as to whether there is a magnetic field.
The first sensor and the second sensor may be disposed inside the car or outside the car.
The first sensor or the second sensor includes, but is not limited to, a contact switch and a non-contact switch. In this embodiment, the first sensor and the second sensor are both infrared distance measuring sensors, and the sensor interaction module is an iron sheet.
Example 5:
referring to fig. 6, the difference from embodiment 5 is that only one first sensor is installed on the car, a sensor interaction module is also installed at a corresponding position of a floor in the hoistway, when the elevator passes through the corresponding floor, the first sensor interacts with the corresponding sensor interaction module to realize floor identification, and when the elevator is in an ascending state or a descending state, the floor information is correspondingly increased by one or decreased by one. Because the reference floor recognition capability of the embodiment 5 is not provided, when the elevator operates for the first time, one floor is manually set as the reference floor, and then the elevator always depends on the reference floor to perform corresponding floor recognition.
Example 6:
referring to fig. 7, a robot and elevator interaction method includes the steps of:
s1, the robot communication module is in communication connection with the elevator communication module, and the robot communication module transmits the floor information of the floor where the robot is located to the elevator communication module;
s2, the elevator communication module transmits the information of the floor where the robot is to the elevator external control unit; the elevator external control unit transmits the information of the floor where the robot is located to the elevator inherent control system through an electronic circuit between the radio frequency signal receiving unit and the elevator inherent control system;
the inherent control system of the elevator lights the floor button where the robot is and controls the elevator to run to the floor;
s3, the robot enters the elevator and repeats the steps to transmit the information of the target floor to which the robot is going to the elevator inherent control system through the electronic circuit between the radio frequency signal receiving unit and the elevator inherent control system, and the robot exits the elevator after reaching the target floor;
s4, the robot records the floor where the robot is located at the moment and finishes the elevator taking action;
the sensors on the cars in the floor information acquisition units are in butt joint with corresponding sensor interaction modules in the shaft in each floor to acquire signals of the floors;
before the robot enters the elevator, the robot communication module transmits the floor information of the floor where the robot is located to the elevator communication module at intervals of a plurality of seconds, and the lightened floor button is prevented from being cancelled manually;
if the elevator arrives at the designated floor, the robot does not enter the elevator within the set time, the robot also stops sending the information of the floor where the robot is located, and after the elevator is started, the information is sent again after a plurality of seconds;
after the elevator is in place, the elevator door opening and closing state acquisition device transmits the opening and closing information of the elevator door to the robot communication module through the elevator external control unit, and when the elevator door is opened, the robot is ready to enter or exit.
Robots include, but are not limited to: unmanned equipment, intelligent mobile equipment, remote sensing mobile equipment.
The robot controls the elevator to reach the position of the appointed floor through a plurality of wireless control units; the wireless control units comprise a robot control unit arranged in the robot and an elevator external control unit arranged at the corresponding position of the elevator, the robot control unit comprises a robot control module and a robot communication module, and the elevator is provided with an elevator external control unit, an elevator communication module, a radio frequency signal receiving unit, a floor button, an elevator inherent control system and an elevator door state acquisition device.
When the embodiment is applied, the time for waiting for the elevator is reduced when the robot takes the elevator, and the working efficiency of the robot is higher; the robot can acquire the opening and closing state information of the elevator door, starts the action of entering the elevator at the moment of opening the elevator door, and does not need to wait for the elevator door to be completely opened and then start, so that the time is saved; the elevator uses the radio frequency signal receiving unit to light the button going to the floor, is suitable for the double elevator operation of robot and user, change less to the inherent system of the elevator at the same time, avoid causing the elevator system because of the instability that the external device causes, even change the internal line, only need change the link between inherent control system of a radio frequency signal receiving unit and elevator of a place, it is simple to mount; the floor information acquisition unit adopts the cooperation of sensor and sensor interaction module, judges the information of floor place, avoids using traditional floor label mode, installs the sensor interaction module simple structure on the well, and simple to operate practices thrift the cost.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
Claims (8)
1. A robot, characterized by: the elevator control system comprises a walking driving module, a robot control unit and a robot communication module, wherein the robot control unit is respectively and electrically connected with the walking driving module and the robot communication module, and the robot communication module is connected with a radio frequency signal receiving unit of an elevator and transmits elevator riding information to an inherent elevator control system through the radio frequency signal receiving unit.
2. A robot as claimed in claim 1, characterized in that: the robot comprises unmanned equipment, intelligent mobile equipment and remote sensing mobile equipment.
3. A robot and elevator interaction system is characterized in that: comprising a robot according to claim 1 or 2;
the elevator is provided with a radio frequency signal receiving unit, and an electronic signal circuit is connected between the elevator and an inherent control system of the elevator;
the radio frequency signal receiving unit is connected with the robot, receives the elevator taking information sent by the robot and sends the elevator taking information to an inherent elevator control system through the electronic signal circuit.
4. A robot and elevator interaction system according to claim 3, wherein: the system also comprises a radio frequency signal transmitting unit which is electrically connected with the elevator external control unit;
the radio frequency signal transmitting unit transmits a signal to the radio frequency signal receiving unit, and the radio frequency signal receiving unit receives and responds the signal to call the elevator to be in place through the inherent elevator control system;
the elevator external control unit sends the floor information to the robot communication module through the elevator communication module, and the robot enters the elevator;
the elevator-resident control system triggers the buttons for the destination floor and controls the elevator to go to the destination floor.
5. A robot and elevator interaction system according to claim 3, wherein: the system also comprises a communication node unit of a simulation elevator radio frequency signal receiving unit, which is connected in parallel to an electronic signal circuit connected between the radio frequency signal receiving unit and the inherent elevator control system and is used for simulating the communication between the radio frequency signal receiving unit and the inherent elevator control system.
6. A robot and elevator interaction system according to claim 3, wherein: the elevator control system also comprises an elevator external control unit which is connected with the floor information acquisition unit;
the elevator external control unit is connected with the elevator communication module, the radio frequency signal receiving unit, the elevator inherent control system and the elevator door state acquisition device;
and the robot communication module is in communication connection with an elevator communication module in the elevator external control unit.
7. A robot and elevator interaction system is characterized in that: comprising a robot according to claim 1 or 2,
the elevator comprises a sensor arranged on an elevator car and a sensor interaction module which is arranged in a shaft and corresponds to each floor;
the installation position of the sensor interaction module corresponds to the position of a sensor on the car when the elevator passes through floors, and when the sensor moves upwards or downwards along with the passing of the car through the sensor interaction module, the floor information stored in the floor information acquisition unit is increased or decreased by one.
8. A robot and elevator interaction system according to claim 7, wherein: the floor information acquisition unit comprises a first sensor and a second sensor, the first sensor and the second sensor are simultaneously butted with a sensor interaction module to be used as a reference floor to start calculation, after the first sensor and the sensor interaction module are relatively shifted, one is added to each upper floor, and one is subtracted from each lower floor, so that the floor where the elevator is located is judged according to the algorithm, and when the elevator passes through the reference floor, the stored floor information is reset to be the reference floor;
the sensor interaction module positioned in a reference floor is in butt joint with the first sensor and the second sensor, and the sensor interaction module positioned in other floors is in butt joint with the first sensor;
the floor information acquisition unit acquires a floor signal of the elevator, and the floor signal is sent to the robot communication module through the elevator communication module of the elevator external control unit.
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| CN2019201676096 | 2019-01-30 | ||
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| CN210710187U true CN210710187U (en) | 2020-06-09 |
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| CN201920338132.3U Active CN210735884U (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction system |
| CN201910271021.XA Pending CN110116947A (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interactive system and method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
| CN201920453032.5U Active CN210710187U (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system |
| CN201910271019.2A Active CN109987463B (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system and method |
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| CN201920338132.3U Active CN210735884U (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction system |
| CN201910271021.XA Pending CN110116947A (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interactive system and method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210284492A1 (en) * | 2020-03-16 | 2021-09-16 | Otis Elevator Company | Robot concierge |
| CN111591841B (en) * | 2020-05-14 | 2021-04-13 | 拉扎斯网络科技（上海）有限公司 | Ladder taking method of unmanned equipment, unmanned equipment and system |
| CN111532910B (en) * | 2020-05-14 | 2021-04-13 | 拉扎斯网络科技（上海）有限公司 | Ladder taking method for unmanned equipment, unmanned equipment and system |
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- 2019-12-09 WO PCT/CN2019/124137 patent/WO2020155860A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109987463B (en) * | 2019-01-30 | 2024-03-19 | 苏州优智达机器人有限公司 | Robot and elevator interaction system and method |
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| WO2020155858A1 (en) | 2020-08-06 |
| CN109987463B (en) | 2024-03-19 |
| CN110116947A (en) | 2019-08-13 |
| CN109748165A (en) | 2019-05-14 |
| WO2020155859A1 (en) | 2020-08-06 |
| CN109987463A (en) | 2019-07-09 |
| WO2020155860A1 (en) | 2020-08-06 |
| CN210824958U (en) | 2020-06-23 |
| CN210735884U (en) | 2020-06-12 |
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