WO2020155858A1 - 一种机器人与电梯交互方法 - Google Patents

一种机器人与电梯交互方法 Download PDF

Info

Publication number
WO2020155858A1
WO2020155858A1 PCT/CN2019/124134 CN2019124134W WO2020155858A1 WO 2020155858 A1 WO2020155858 A1 WO 2020155858A1 CN 2019124134 W CN2019124134 W CN 2019124134W WO 2020155858 A1 WO2020155858 A1 WO 2020155858A1
Authority
WO
WIPO (PCT)
Prior art keywords
elevator
robot
floor
time
door
Prior art date
Application number
PCT/CN2019/124134
Other languages
English (en)
French (fr)
Inventor
周俊杰
Original Assignee
苏州优智达机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州优智达机器人有限公司 filed Critical 苏州优智达机器人有限公司
Publication of WO2020155858A1 publication Critical patent/WO2020155858A1/zh

Links

Images

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
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • 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
    • 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
    • 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
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • 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
    • 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
    • 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

Definitions

  • the invention belongs to the technical field of robot and elevator interaction, and particularly relates to a method for robot and elevator interaction.
  • a robot is a mechanical device that automatically performs work. It can accept human commands, run pre-arranged programs, or act according to principles and programs formulated with artificial intelligence technology. Its task is to assist or replace human jobs, such as production, construction, or dangerous jobs.
  • robots are developing rapidly and have been applied in many industries. For example, in service industries such as restaurants, hotels, and hotels, service robots can be used for operations such as delivery and ordering.
  • the robot cannot interact with the elevator, and the robot cannot go up and down the elevator to serve the users on the target floor.
  • each floor can only be equipped with one robot to serve the users on the floor, which is costly.
  • some people have also proposed some methods for robots to interact with elevators.
  • the robots wait for the elevators to arrive, resulting in low work efficiency of the robots.
  • the purpose of the present invention is to provide a robot-elevator interaction method, which prevents the robot from waiting for the elevator and greatly improves the working efficiency of the robot.
  • a method for interaction between a robot and an elevator includes the following steps:
  • the robot Before entering the elevator, the robot obtains the elevator position in advance, and calculates the time when the elevator is located on the floor where the robot is located. When the time when the robot arrives at the elevator is the same as the time when the elevator reaches the floor where the robot is located or within the set allowable time difference, the robot Call the elevator
  • the robot After the elevator arrives, the robot obtains the elevator door open status, and after obtaining the elevator door open, the robot enters the elevator;
  • the robot After the elevator reaches the floor designated by the robot, the robot obtains the open state of the elevator door. After the elevator door is opened, the robot drives out of the elevator.
  • the method for the robot to obtain the position of the elevator in advance includes installing sensor equipment on the elevator car and in the elevator shaft to obtain the floor position information of the elevator, and the sensor equipment is electrically connected to the elevator control unit and is connected to the elevator shaft.
  • the communication module electrically connected to the elevator control unit transmits the elevator floor position information obtained by the sensing device to the robot.
  • the sensing device includes a receiving unit and a floor mark
  • the receiving units and floor signs one is installed in the corresponding position of the elevator car, and the other is installed in the elevator hoistway;
  • the location where the floor marker is installed corresponds to the location of the receiving unit.
  • the receiving unit includes contact and non-contact receiving modes
  • the contact receiving unit includes but is not limited to a contact switch, a capacitive touch switch, and a force sensor;
  • the non-contact receiving unit includes, but is not limited to, a near-field induction receiver, an electromagnetic signal, a photoelectric signal receiver, a pattern recognition device, and an acoustic receiving device;
  • the floor signs correspond to the receiving units, including but not limited to electronic signs, IC cards, ID cards, magnetic strips, photoelectric signal transmitters, two-dimensional codes, barcodes, acoustic transmitters, and contacted units.
  • the receiving unit when the receiving unit is installed on the elevator car, the receiving unit obtains floor information through the floor identifier;
  • the code of each receiving unit corresponds to the floor number, and the floor of the elevator car can be known after obtaining the floor identifier on the elevator car.
  • an inertial speed measuring unit is installed on the elevator car, and the real-time operating position of the elevator is calculated by measuring the time, acceleration, and speed information of the elevator from starting acceleration to constant speed operation and decelerating operation when the elevator is about to reach the target position.
  • the estimating time for the floor position of the elevator to reach the floor of the robot includes:
  • the elevator running time includes the start acceleration time, the intermediate constant speed time, and the deceleration time upon arrival.
  • the time when the robot arrives at the elevator is calculated in real time.
  • the system is Call the elevator
  • the robot If the robot encounters obstacles on the way to the elevator and delays its arrival, before the robot enters the elevator, it will call the elevator once at a set time to ensure that the elevator will not leave early.
  • the robot obtains the instantaneous opening state of the elevator door, and when the elevator door is open enough for the robot to pass through, the robot enters or exits the elevator.
  • the method for the robot to obtain the instantaneous opening state of the elevator door includes installing an opening and closing state obtaining device on the elevator car to obtain the opening and closing state of the door;
  • the opening and closing state acquisition device can also be installed on the access gate outside the elevator, or on the elevator door;
  • the opening and closing state acquisition device includes, but is not limited to, contact switches, electromagnetic induction switches, photoelectric induction switches, ultrasonic induction switches, or signals that invade the elevator itself to obtain elevator door opening and closing signals.
  • the beneficial effect of the robot-elevator interaction method of the present invention is that when the robot can take the elevator, the waiting time for the elevator is reduced, and the work efficiency is higher; The moment the door is opened, the movement of entering and exiting the elevator is started, and there is no need to wait for the elevator door to be fully opened before starting, which saves time and improves the working efficiency of the robot.
  • Figure 1 is a schematic diagram of a control flow of an embodiment of the present invention
  • Fig. 2 is a framework diagram of the control principle structure of an embodiment of the present invention.
  • This embodiment is a method for interaction between a robot and an elevator, which includes the following steps:
  • the robot Before the robot enters the elevator, it obtains the elevator position in advance, measures the time when the elevator is located on the floor where the robot is located, and judges whether the time when the robot arrives at the elevator is the same as the time when the elevator reaches the floor where the robot is located or within the set allowable time difference range If it is the same or within the allowable time range, the robot calls the elevator, otherwise the robot continues to move in the direction of the elevator;
  • the robot After the elevator arrives, the robot obtains the instantaneous opening status of the elevator door. Once the elevator door opening and closing status acquisition device detects that the elevator door is separated, it will send a signal to the robot. When the elevator door is open enough to allow the robot to pass, the robot enters Elevator, and send the target floor signal to the elevator, and control the elevator to the target floor through the elevator control unit;
  • the robot After the elevator reaches the designated floor of the robot, the robot obtains the instantaneous opening status of the elevator door. If the elevator door opening and closing status acquisition device detects that the elevator door is separated, it will send a signal to the robot. When the elevator door is open to the extent that the robot can pass, Then the robot drives out of the elevator.
  • the robot includes, but is not limited to, unmanned driving equipment, smart mobile equipment, and remote sensing mobile equipment.
  • the elevator position can be obtained in advance through the sensor equipment installed on the elevator car and in the elevator shaft to obtain the position information of any floor where the elevator is located; and the inertial speed measurement unit is installed on the elevator car, and the inertial speed measurement unit measures the elevator from
  • the real-time operating position of the elevator is calculated by the time, acceleration, and speed information of the acceleration to the constant speed operation and the deceleration operation when the target position is about to be reached.
  • the sensing device includes a receiving unit and a floor identifier; of the receiving unit and floor identifier, one is installed in the corresponding position of the elevator car, and the other is installed in the elevator hoistway; when the elevator passes by each floor, the The location where the floor sign is installed corresponds to the location of the receiving unit.
  • the receiving unit includes contact and non-contact receiving modes; the contact receiving unit includes, but is not limited to, contact switches, capacitive touch switches, and force sensors; the non-contact receiving unit includes, but not limited to, a near-field sensor receiver , Electromagnetic signal, photoelectric signal receiver, pattern recognition equipment, acoustic receiving equipment.
  • the floor signs correspond to the receiving units, including but not limited to conductive sheets, mechanical bumps, electronic signs, IC cards, ID cards, magnetic strips, photoelectric signal transmitters, two-dimensional codes, barcodes, acoustic transmitters, contacted unit
  • the receiving unit When the receiving unit is installed on the elevator car, the receiving unit obtains floor information through the floor identifier, and the floor identifier is equal to the number of floors; when the receiving unit is installed in the elevator hoistway, each The receiving unit code corresponds to the floor number. After obtaining the floor identifier on the elevator car, you can know the floor where the elevator car is located.
  • Obtaining the elevator position in advance can also obtain the elevator floor information by reading the elevator's own control system.
  • the calculation of the time for the elevator's floor position to reach the robot's floor includes: according to the obtained floor difference between the elevator's floor and the robot's floor, and the time required for the elevator to walk one floor, calculate the elevator's floor position to reach the robot The time of the floor; the elevator running time includes the start acceleration time, the intermediate constant speed time, and the deceleration time upon arrival.
  • the starting acceleration time the deceleration time at arrival and the acceleration of the elevator operation
  • the starting acceleration distance and the stopping deceleration distance are calculated, and then the total distance is calculated according to the floor difference and the height of each floor, and then the total distance is subtracted from the starting acceleration distance And the deceleration distance to stop to get the intermediate uniform speed distance.
  • Divide the intermediate uniform speed distance by the elevator's uniform running speed to get the intermediate uniform speed running time, so as to get the total time required for the elevator to reach the floor of the robot from the elevator floor.
  • the robot calls the elevator.
  • This step includes: according to the robot's travel speed, the distance from the robot to the elevator is calculated in real time.
  • the system calls the elevator; if the robot encounters obstacles on the way to the elevator, the robot will not arrive Before entering the elevator, the elevator will be called once at a set time, and the elevator will be called continuously to ensure that the elevator will not leave early.
  • the robot obtains the opening of the elevator door by installing an opening and closing state obtaining device on the elevator car to obtain the opening and closing state of the door.
  • the opening and closing state acquisition device is installed on an access gate outside the elevator, or installed on the elevator door.
  • the opening and closing state acquisition device includes, but is not limited to, contact switches, electromagnetic induction switches, photoelectric induction switches, ultrasonic induction switches, or signals that invade the elevator itself to obtain elevator door opening and closing signals.
  • An elevator control unit is provided in the elevator, and the robot sends a target floor request to the elevator, and the elevator control unit controls the elevator to go to the target floor.
  • the elevator control unit includes a card swiping device and a communication module, which can communicate with the robot. After the card swiping device obtains the floor information, it immediately lights the floor button to go to the target floor; the card swiping device can not only collect the traditional card swiping signal, but also obtain the information sent by the wireless communication module, which can realize man-machine dual use;
  • the card swiping device may be an integrated type or a combination of a card swiping unit and an analog signal emitting unit.
  • the analog signal emitting unit is installed at a corresponding position where the card swiping device can receive signals.
  • the card swiping device can collect traditional swiping cards. Signal and analog signal sent by the analog signal transmitter unit; if the card swiping unit is already installed in the elevator, you only need to install the analog signal transmitter unit at the corresponding position where the card swiping device can receive the signal, and the robot can control the elevator to the target floor.
  • this embodiment also provides a robot and elevator interaction system, which includes a robot control unit installed on the robot, a first communication module connected with the robot control unit; the opening and closing installed on the elevator car A state acquisition device, an elevator control unit that controls the operation and stop of the elevator and the opening of the elevator door, a floor information acquisition unit, and a second communication module connected to the elevator control unit; the elevator control unit is connected to the opening and closing state acquisition device Installed in the elevator hoistway and cooperated with the floor information collection unit to achieve elevator location information collection floor identification; the first communication module and the second communication module signal communication.
  • the opening and closing state acquisition device is connected to the elevator control unit, and the opening and closing state of the door is sent out through the second communication module, so that the robot can obtain the opening and closing state of the elevator door.
  • the floor signal of the car is collected by the floor information collection unit, and the signal of the floor of the car is sent out through the second communication module, and the robot obtains the information of the floor of the car through the first communication module.
  • the number of the floor signs is consistent with the number of floors, and each floor sign has an independent code corresponding to the floor.
  • the floor signs are graphic signs, which are read by a camera installed on the elevator car.
  • the number of the graphic signs is consistent with the number of floors.
  • Each graphic sign has an independent code corresponding to the floor.
  • the floor identification is a non-carrier communication transmitter installed at one end of the elevator hoistway and a non-carrier communication receiver installed on the elevator car, and the non-carrier communication receiver is communicatively connected with the floor signal acquisition unit.
  • the floor mark can be replaced with a laser distance meter installed on the elevator car.
  • the elevator height can be obtained by measuring the distance between the elevator car and the bottom or top fixed reference object of the elevator hoistway, and the floor position can be converted.
  • the distance meter communicates with the floor signal acquisition unit.
  • This embodiment is a robot-elevator interaction method and system.
  • the elevator position information is obtained in advance, and then the elevator is called in advance according to the time when the robot travels to the elevator position and the time when the elevator reaches the floor where the robot is located.
  • the robot calls the elevator after reaching the elevator position, which greatly saves the waiting time of the robot and improves the work efficiency; by obtaining the instantaneous opening and closing status of the elevator door, the moment the elevator door is opened, the movement of entering and exiting the elevator is started , There is no need to wait for the elevator door to be fully opened before starting, which saves time and further improves the working efficiency of the robot; when the elevator reaches the floor where the robot is located, if the robot encounters obstacles in the process of driving to the elevator position, the arrival is delayed, By calling the elevator at an interval set by the robot, the elevator is kept on the floor where the robot is located, effectively avoiding the phenomenon that the elevator will leave before the robot enters the elevator.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)

Abstract

一种机器人与电梯交互方法，其包括机器人提前获取电梯位置，测算电梯所在楼层位置到达机器人所在楼层的时间，当机器人到达电梯的时间与电梯到达目标楼层的时间相同或在设定的允许时间差范围内时，机器人呼叫电梯；电梯到达后，机器人获取电梯门开启状态，在电梯门打开后，机器人进入电梯；电梯到达机器人指定楼层后，机器人获取电梯门开启状态，在电梯门打开后，机器人驶出电梯；通过该方法，机器人乘电梯时，减少了等候电梯的时间，让工作效率更高；获取电梯门的开闭状态，在电梯门打开的瞬间，就启动进出电梯的动作，不需要等待电梯门完全打开后再启动，节省了时间，提高了机器人的工作效率。

Description

一种机器人与电梯交互方法 技术领域
本发明属于机器人与电梯交互技术领域，特别是涉及一种机器人与电梯交互方法。
背景技术
机器人是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作，目前机器人的发展迅猛，在很多行业都得到了应用。如在餐厅、宾馆、酒店等服务性行业，服务型机器人可用于送货、点餐等操作。
而目前机器人无法实现与电梯交互，机器人无法进行坐电梯上下楼去服务目标楼层的用户，导致每个楼层只能配备一个机器人去服务本楼层的用户，成本较高。现有技术中也有人提出了一些机器人与电梯交互的方法，但机器人在与电梯交互的过程中，会存在机器人等待电梯到达的过程，导致机器人的工作效率较低。
发明内容
本发明的目的在于提供一种机器人与电梯交互方法，避免了机器人等候电梯，大大提高了机器人的工作效率。
本发明通过如下技术方案实现上述目的：一种机器人与电梯交互方法，包括以下步骤：
包括以下步骤：
机器人在要进入电梯前，提前获取电梯位置，测算电梯所在楼层到达机器人所在楼层的时间，当机器人到达电梯的时间与电梯到达机器人所在楼层的时间相同或在设定的允许时间差范围内时，机器人呼叫电梯；
电梯到达后，机器人获取电梯门开启状态，获取电梯门开启后，机器人进 入电梯；
电梯到达机器人指定楼层后，机器人获取电梯门开启状态，在电梯门开启后，机器人驶出电梯。
进一步的，其中，机器人提前获取电梯位置的方法包括在电梯轿厢上和电梯井道里安装传感设备，获取电梯所在楼层位置信息，所述传感设备与电梯控制单元电气连接，且通过与所述电梯控制单元电气连接的通讯模块将所述传感设备获取的电梯楼层位置信息传送给机器人。
进一步的，所述传感设备包括接收单元和楼层标识；
接收单元和楼层标识中，其中一个安装在所述电梯轿厢的相应位置，另一个安装在电梯井道内；
所述楼层标识安装的位置与所述接收单元的位置相对应。
进一步的，所述接收单元包括接触式及非接触式接收方式；
所述接触式接收单元包括但不限于接触开关、电容触摸开关、力传感器；
所述非接触式接收单元包括但不限于近场感应接收器、电磁信号、光电信号接收器、图形识别设备、声学接收设备；
进一步的，所述楼层标识与接收单元对应，包括但不限于电子标识、IC卡、ID卡、磁条、光电信号发射器、二维码、条形码、声学发射器、被接触式单元。
进一步的，当所述接收单元安装在电梯轿厢上时，所述接收单元通过所述楼层标识获取楼层信息；
当所述接收单元安装在电梯井道内时，每个所述接收单元编码和楼层号码对应，获取电梯轿厢上的楼层标识后可以知道电梯轿厢所在的楼层。
进一步的，电梯轿厢上安装有惯性测速单元，通过测量电梯从启动加速到匀速运行以及即将到达目标位置时的减速运行的时间、加速度、速度信息计算出电梯实时运行位置。
进一步的，其中测算电梯所在楼层位置到达机器人所在楼层的时间包括：
根据获取的电梯所在楼层和机器人所在楼层的楼层差，以及电梯行走一层楼所需的时间，计算出电梯所在楼层位置到达机器人所在楼层的时间；
其中，电梯运行时间包括启动加速时间、中间匀速时间、到达时的减速时间。
进一步的，其中，当机器人到达电梯的时间与上述时间接近时，机器人呼叫电梯，该步骤包括：
根据机器人的行进速度，与机器人到达电梯的距离，实时计算出机器人到达电梯的时间，当机器人到达电梯的时间与电梯到达机器人所在楼层的时间相同或在设定的允许时间差范围内时，系统即呼叫电梯；
如果机器人在去往电梯的路上遇到障碍导致延时到达，机器人未进入电梯前，间隔设定时间呼叫一次电梯，保证电梯不会提前离开。
进一步的，电梯到达后，机器人获取的是电梯门瞬间开启状态，当电梯门打开程度可供机器人通过时机器人则进入或走出电梯。
进一步的，机器人获取电梯门瞬间开启状态的方法包括在电梯轿厢上安装开闭状态获取装置，获取门的开闭状态；
所述开闭状态获取装置也可以安装在电梯外的门禁闸机上，或安装在电梯门上；
所述开闭状态获取装置包括但不限于接触式开关、电磁感应开关、光电感应开关、超声波感应开关，或是入侵电梯本身的信号获取电梯门开闭信号。
现有技术相比，本发明一种机器人与电梯交互方法的有益效果在于：能使机器人乘电梯时，减少了等候电梯的时间，让工作效率更高；获取电梯门的开闭状态，在电梯门打开的瞬间，就启动进出电梯的动作，不需要等待电梯门完全打开后再启动，节省了时间，提高了机器人的工作效率。
附图说明
图1为本发明实施例的控制流程示意图；
图2为本发明实施例的控制原理结构框架图。
具体实施方式
实施例：
请参照图1，本实施例为一种机器人与电梯交互方法，其包括以下步骤：
1)机器人在要进入电梯前，提前获取电梯位置，测算电梯所在楼层到达机器人所在楼层的时间，并判断机器人到达电梯的时间与电梯到达机器人所在楼 层的时间是否相同或在设定的允许时间差范围内，若相同或在允许时间范围内，则机器人呼叫电梯，否则机器人继续朝乘坐电梯方向移动；
2)电梯到达后，机器人获取电梯门瞬间开启状态，若电梯门开闭状态获取装置一旦检测到电梯门分开，则将信号发送给机器人，当电梯门打开程度正好可以让机器人通过，则机器人进入电梯，并发送目标楼层信号给电梯，通过电梯控制单元控制电梯前往目标楼层；
3)电梯到达机器人指定楼层后，机器人获取电梯门瞬间开启状态，若电梯门开闭状态获取装置一旦检测到电梯门分开，则将信号发送给机器人，当电梯门打开程度正好可以让机器人通过，则机器人驶出电梯。
所述机器人包括但不限于无人驾驶设备、智能移动设备、遥感移动设备。
其中，提前获取电梯位置可通过安装在电梯轿厢上和电梯井道里的传感设备，获取电梯所在任意楼层的位置信息；且在电梯轿厢上安装惯性测速单元，通过惯性测速单元测量电梯从启动加速到匀速运行以及即将到达目标位置时的减速运行的时间、加速度、速度信息计算出电梯实时运行位置。
所述传感设备包括接收单元和楼层标识；接收单元和楼层标识中，其中一个安装在所述电梯轿厢的相应位置，另一个安装在电梯井道内；电梯在每个楼层经过时，所述楼层标识安装的位置与所述接收单元的位置相对应。所述接收单元包括接触式及非接触式接收方式；所述接触式接收单元包括但不限于接触开关、电容触摸开关、力传感器；所述非接触式接收单元包括但不限于近场感应接收器、电磁信号、光电信号接收器、图形识别设备、声学接收设备。
所述楼层标识与接收单元对应，包括但不限于导电片、机械凸起、电子标识、IC卡、ID卡、磁条、光电信号发射器、二维码、条形码、声学发射器、被接触式单元
当所述接收单元安装在电梯轿厢上时，所述接收单元通过所述楼层标识获取楼层信息，所述楼层标识与楼层数量相等；当所述接收单元安装在电梯井道内时，每个所述接收单元编码和楼层号码对应，获取电梯轿厢上的楼层标识后可以知道电梯轿厢所在的楼层。
提前获取电梯位置还可以通过读取电梯自身控制系统，获取电梯所在楼层信息。
其中，测算电梯所在楼层位置到达机器人所在楼层的时间具体的包括：根据获取的电梯所在楼层和机器人所在楼层的楼层差，以及电梯行走一层楼所需的时间，计算出电梯所在楼层位置到达机器人所在楼层的时间；其中，电梯运行时间包括启动加速时间、中间匀速时间、到达时的减速时间。根据启动加速时间以及到达时的减速时间以及电梯运行的加速度，计算得到启动加速路程和停靠减速路程，再根据楼层差与每层楼的高度计算得到总路程，再用总路程减去启动加速路程和停靠减速路程得到中间匀速路程，用中间匀速路程除以电梯匀速运行速度得到中间匀速运行时间，从而得到电梯从电梯所在楼层到达机器人所在楼层所需的总时间。
当机器人到达电梯的时间与上述时间相同或在设定的允许时间差范围内时，机器人呼叫电梯，该步骤包括：根据机器人的行进速度，与机器人到达电梯的距离，实时计算出机器人到达电梯的时间，当机器人到达电梯的时间与电梯到达机器人所在楼层的时间相同或在设定的允许时间差范围内时，系统即呼叫电梯；如果机器人在去往电梯的路上遇到障碍导致延时到达，机器人未进入电梯前，会隔设定时间呼叫一次电梯，持续性的呼叫电梯保证电梯不会提前离开。
当电梯到达后，机器人获取电梯门开启是通过在电梯轿厢上安装开闭状态获取装置，获取门的开闭状态。所述开闭状态获取装置安装在电梯外的门禁闸机上，或安装在电梯门上。所述开闭状态获取装置包括但不限于接触式开关、电磁感应开关、光电感应开关、超声波感应开关，或是入侵电梯本身的信号获取电梯门开闭信号。
电梯内设置有电梯控制单元，机器人发送目标楼层请求给电梯，通过所述电梯控制单元控制电梯前往目标楼层。所述电梯控制单元包含刷卡设备、通讯模块，通讯模块可与机器人通讯。所述刷卡设备获取到楼层信息后，随即点亮楼层按钮，前往目标楼层；所述刷卡设备不但可以采集传统的刷卡信号，也可以获取无线通讯模块发送的信息，可以实现人机两用；所述刷卡设备可以是一体式，也可以是刷卡单元和模拟信号发射单元的组合，所述模拟信号发射单元安装在所述刷卡设备能接收到信号的相应位置，所述刷卡设备可以采集传统的刷卡信号和模拟信号发射单元发送的模拟信号；如果电梯里已经安装有刷卡单元，就只需要在刷卡设备能接收到信号的相应位置安装模拟信号发射单元，机 器人即可控制电梯前往目标楼层。
请参照图2，本实施例还提供了一种机器人与电梯交互系统，其包括安装在机器人上的机器人控制单元、与机器人控制单元连通的第一通讯模块；安装在电梯轿厢上的开闭状态获取装置、控制电梯运行与停止以及电梯门开启的电梯控制单元、楼层信息采集单元、与所述电梯控制单元连通的第二通讯模块；所述电梯控制单元与所述开闭状态获取装置连通；安装在电梯井道内的且与楼层信息采集单元配合实现电梯位置信息采集的楼层标识；所述第一通讯模块与所述第二通讯模块信号连通。
所述开闭状态获取装置与所述电梯控制单元相连，再通过第二通讯模块把门的开闭状态发送出去，以便机器人获取电梯门的开闭状态。
所述楼层信息采集单元采集到的轿厢所在的楼层信号，再通过所述第二通讯模块把轿厢所在的楼层信号发送出去，机器人通过第一通讯模块获取轿厢所在的楼层信息。
所述楼层标识的数量与楼层数量一致，每个所述楼层标识具有与楼层对应的独立编码。
所述楼层标识为图形标识，让安装在电梯轿厢上的摄像头读取，所述图形标识的数量与楼层数量一致，每个所述图形标识具有与楼层对应的独立编码，所述摄像头与楼层信号采集单元通讯连接。
所述楼层标识为安装在电梯井道一端的无载波通信发射器、和安装在电梯轿厢上的无载波通信接收器，所述无载波通信接收器与楼层信号采集单元通讯连接。
所述楼层标识可以替换为在电梯轿厢上安装的激光测距仪，通过测量电梯轿厢和电梯井道底部或者顶部固定参照物的距离来获取电梯高度，换算出楼层位置，所述安装激光测距仪与楼层信号采集单元通讯连接。
本实施例一种机器人与电梯交互方法及其系统，在机器人要乘坐电梯前，提前获取电梯位置信息，再根据机器人行驶至电梯位置的时间与电梯到达机器人所在楼层的时间提前呼叫电梯，相比于现有技术中机器人到达电梯位置后才呼叫电梯，大大节省了机器人的等待时间，提高了工作效率；通过获取电梯门的瞬时开闭状态，在电梯门打开的瞬间，就启动进出电梯的动作，不需要等待 电梯门完全打开后再启动，节省了时间，进一步的提高了机器人的工作效率；当电梯到达机器人所在楼层后，若机器人在行驶至电梯位置的过程中遇到障碍而延迟到达，则通过机器人间隔设定时间呼叫电梯的方式让电梯保持在机器人所在楼层位置，有效的避免了机器人还未进入电梯，电梯就离开的现象。
以上所述的仅是本发明的一些实施方式。对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。

Claims (10)

  1. 一种机器人与电梯交互方法，其特征在于：包括以下步骤：
    机器人在进入电梯前，提前获取电梯位置，测算电梯所在楼层到达机器人所在楼层的时间，当机器人到达电梯的时间与电梯到达机器人所在楼层的时间相同或在设定的允许时间差范围内时，机器人呼叫电梯；
    电梯到达后，机器人获取电梯门开启状态，获取电梯门开启后，机器人进入电梯；
    电梯到达机器人指定楼层后，机器人获取电梯门开启状态，在电梯门开启后，机器人驶出电梯。
  2. 根据权利要求1所述的机器人与电梯交互方法，其特征在于：其中，机器人提前获取电梯位置的方法包括在电梯轿厢上和电梯井道里安装传感设备，获取电梯所在楼层位置信息，所述传感设备与电梯控制单元电气连接，且通过与所述电梯控制单元电气连接的通讯模块将所述传感设备获取的电梯楼层位置信息传送给机器人。
  3. 根据权利要求2所述的机器人与电梯交互方法，其特征在于：所述传感设备包括接收单元和楼层标识；
    接收单元和楼层标识中，其中一个安装在所述电梯轿厢的相应位置，另一个安装在电梯井道内；
    所述楼层标识安装的位置与所述接收单元的位置相对应。
  4. 根据权利要求3所述的机器人与电梯交互方法，其特征在于：所述接收单元包括接触式及非接触式接收方式；
    所述接触式接收单元包括但不限于接触开关、电容触摸开关、力传感器；
    所述非接触式接收单元包括但不限于近场感应接收器、电磁信号、光电信号接收器、图形识别设备、声学接收设备；
  5. 根据权利要求3所述的机器人与电梯交互方法，其特征在于：所述楼层标识与接收单元对应，包括但不限于导电片、机械凸起、电子标识、IC卡、ID卡、磁条、光电信号发射器、二维码、条形码、声学发射器、被接触式单元。
  6. 根据权利要求3所述的机器人与电梯交互方法，其特征在于：当所述接 收单元安装在电梯轿厢上时，所述接收单元通过所述楼层标识获取楼层信息；
    当所述接收单元安装在电梯井道内时，每个所述接收单元编码和楼层号码对应，获取电梯轿厢上的楼层标识后可以知道电梯轿厢所在的楼层。
  7. 根据权利要求1所述的机器人与电梯交互方法，其特征在于：电梯轿厢上安装有惯性测速单元，通过测量电梯从启动加速到匀速运行以及即将到达目标位置时的减速运行的时间、加速度、速度信息计算出电梯实时运行位置。
  8. 根据权利要求7所述的机器人与电梯交互方法，其特征在于：其中测算电梯所在楼层位置到达机器人所在楼层的时间包括：
    根据获取的电梯所在楼层和机器人所在楼层的楼层差，以及电梯行走一层楼所需的时间，计算出电梯所在楼层位置到达机器人所在楼层的时间；
    其中，电梯运行时间包括启动加速时间、中间匀速时间、到达时的减速时间。
  9. 根据权利要求8所述的机器人与电梯交互方法，其特征在于：其中，当机器人到达电梯的时间与上述时间接近时，机器人呼叫电梯，该步骤包括：
    根据机器人的行进速度，与机器人到达电梯的距离，实时计算出机器人到达电梯的时间，当机器人到达电梯的时间与电梯到达机器人所在楼层的时间相同或在设定的允许时间差范围内时，系统即呼叫电梯；
    如果机器人在去往电梯的路上遇到障碍导致延时到达，机器人未进入电梯前，间隔设定时间呼叫一次电梯，保证电梯不会提前离开。
  10. 根据权利要求1所述的机器人与电梯交互方法，其特征在于：电梯到达后，机器人获取的是电梯门瞬间开启状态，当电梯门打开程度可供机器人通过时机器人则进入或走出电梯；具体的，
    在电梯轿厢上安装开闭状态获取装置，获取门的开闭状态；
    所述开闭状态获取装置也可以安装在电梯外的门禁闸机上，或安装在电梯门上；
    所述开闭状态获取装置包括但不限于接触式开关、电磁感应开关、光电感应开关、超声波感应开关，或是入侵电梯本身的信号获取电梯门开闭信号。
PCT/CN2019/124134 2019-01-30 2019-12-09 一种机器人与电梯交互方法 WO2020155858A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201920167609.6 2019-01-30
CN201920167609 2019-01-30
CN201910201660.9A CN109748165B (zh) 2019-01-30 2019-03-18 一种机器人与电梯交互方法
CN201910201660.9 2019-03-18

Publications (1)

Publication Number Publication Date
WO2020155858A1 true WO2020155858A1 (zh) 2020-08-06

Family

ID=66408883

Family Applications (3)

Application Number Title Priority Date Filing Date
PCT/CN2019/124134 WO2020155858A1 (zh) 2019-01-30 2019-12-09 一种机器人与电梯交互方法
PCT/CN2019/124136 WO2020155859A1 (zh) 2019-01-30 2019-12-09 机器人远程电梯交互系统及方法
PCT/CN2019/124137 WO2020155860A1 (zh) 2019-01-30 2019-12-09 机器人与电梯交互系统及方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
PCT/CN2019/124136 WO2020155859A1 (zh) 2019-01-30 2019-12-09 机器人远程电梯交互系统及方法
PCT/CN2019/124137 WO2020155860A1 (zh) 2019-01-30 2019-12-09 机器人与电梯交互系统及方法

Country Status (2)

Country Link
CN (6) CN210735884U (zh)
WO (3) WO2020155858A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210284492A1 (en) * 2020-03-16 2021-09-16 Otis Elevator Company Robot concierge
CN114355935A (zh) * 2021-12-30 2022-04-15 北京图菱视频科技有限公司 机器人招梯、乘梯超时执行方法、系统、设备及介质
CN114524336A (zh) * 2022-01-13 2022-05-24 北京三快在线科技有限公司 楼层识别方法和楼层识别电梯终端
CN115893138A (zh) * 2022-10-27 2023-04-04 合肥瓦力觉启机器人科技有限公司 一种agv小车电梯轿厢内无线交互系统

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN210735884U (zh) * 2019-01-30 2020-06-12 苏州优智达机器人有限公司 一种机器人与电梯交互系统
CN110482348B (zh) * 2019-08-15 2021-11-26 广东嘉腾机器人自动化有限公司 一种电梯自动控制agv物流系统及方法
CN112390099B (zh) * 2019-08-15 2023-03-17 纳恩博（北京）科技有限公司 运输设备的调度方法及装置、存储介质、电子装置
CN110606414B (zh) * 2019-08-27 2022-04-29 日立楼宇技术（广州）有限公司 机器人乘梯方法、装置、计算机设备和存储介质
CN110861095B (zh) * 2019-12-09 2021-03-19 上海高仙自动化科技发展有限公司 机器人控制方法、机器人和可读存储介质
CN111186731A (zh) * 2020-01-15 2020-05-22 北京云迹科技有限公司 电梯调度的方法、装置、电子设备和存储介质
CN111591841B (zh) * 2020-05-14 2021-04-13 拉扎斯网络科技（上海）有限公司 无人驾驶设备的乘梯方法、无人驾驶设备及系统
CN111532910B (zh) * 2020-05-14 2021-04-13 拉扎斯网络科技（上海）有限公司 无人驾驶设备乘梯方法、无人驾驶设备及系统
CN111994746B (zh) * 2020-08-21 2022-05-10 深圳优地科技有限公司 一种电梯的控制方法、装置、系统及存储介质
CN112374310A (zh) * 2020-09-29 2021-02-19 深圳优地科技有限公司 电梯控制方法、装置及设备
CN112207832B (zh) * 2020-10-16 2021-10-08 拉扎斯网络科技（上海）有限公司 进入承载设备的方法、移动设备、电子设备及存储介质
CN112497212A (zh) * 2020-11-23 2021-03-16 深圳优地科技有限公司 机器人乘梯方法、装置、电子设备及存储介质
CN112357701B (zh) * 2020-12-03 2022-09-13 长城汽车股份有限公司 一种机器人呼梯方法与装置
CN112744651A (zh) * 2020-12-29 2021-05-04 北京云迹科技有限公司 用于机器人乘梯刷卡的刷卡电路、ic卡和智能电梯
CN113173467A (zh) * 2021-03-24 2021-07-27 上海智蕙林医疗科技有限公司 一种电梯调度方法、服务器及系统
CN113104684A (zh) * 2021-04-14 2021-07-13 北京云迹科技有限公司 一种机器人行进方法及相关设备
CN214959616U (zh) * 2021-05-17 2021-11-30 博歌科技有限公司 一种电梯连接系统
CN113844964B (zh) * 2021-10-11 2023-08-22 上海擎朗智能科技有限公司 机器人乘梯的控制方法、装置、电子设备和存储介质
CN114104881A (zh) * 2021-11-15 2022-03-01 北京云迹科技有限公司 机器人控制的方法、装置、电子设备及可读存储介质
CN114572783B (zh) * 2022-03-10 2024-02-20 北京云迹科技股份有限公司 一种用于机器人与电梯信号交互的控制板卡及控制方法
CN114852806B (zh) * 2022-04-25 2024-03-26 北京云迹科技股份有限公司 机器人叫梯方法及相关设备
CN114988236B (zh) * 2022-05-05 2024-05-14 上海景吾酷租科技发展有限公司 机器人调度多电梯的方法和系统
CN115246606B (zh) * 2022-08-23 2024-01-26 菱王电梯有限公司 电梯控制方法、装置及电梯
CN115625703A (zh) * 2022-09-22 2023-01-20 深圳优地科技有限公司 机器人的控制方法、设备及计算机可读存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005053670A (ja) * 2003-08-06 2005-03-03 Matsushita Electric Works Ltd 自律移動ロボット及び自律移動ロボット用のエレベータ乗降システム
JP2006089262A (ja) * 2004-09-27 2006-04-06 Matsushita Electric Works Ltd 自律移動ロボット用のエレベータ乗降システム
CN105867390A (zh) * 2016-06-16 2016-08-17 中南大学 运输机器人自主式进入电梯的控制方法
CN105905712A (zh) * 2016-05-31 2016-08-31 北京云迹科技有限公司 自动进出电梯的系统及方法
CN106167205A (zh) * 2016-04-05 2016-11-30 北京小米移动软件有限公司 智能电梯的控制方法、控制装置、运行方法及智能电梯
CN109748165A (zh) * 2019-01-30 2019-05-14 苏州优智达机器人有限公司 一种机器人与电梯交互方法
CN109748164A (zh) * 2019-01-30 2019-05-14 苏州优智达机器人有限公司 一种机器人与电梯交互方法及系统

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007210801A (ja) * 2007-03-14 2007-08-23 Matsushita Electric Works Ltd 自律移動ロボット及び自律移動ロボット用のエレベータ乗降システム
KR20100080278A (ko) * 2009-03-04 2010-07-08 한국생산기술연구원 로봇, 로봇 제어 방법, 로봇 연동형 엘리베이터 시스템 및 그 제어 방법
CN102279939B (zh) * 2011-06-07 2013-10-16 上海集成电路技术与产业促进中心 射频识别标签模拟器
CN104192658A (zh) * 2014-08-25 2014-12-10 湖北勇博科技有限公司 一种楼层自动检测的电梯使用控制系统及控制方法
US9701012B1 (en) * 2014-10-30 2017-07-11 Daniel Theobald Controlled interaction between a mobile robot and another entity
CN105540356B (zh) * 2016-02-02 2019-07-16 北京云迹科技有限公司 自动呼叫电梯的系统及方法
CN105892320B (zh) * 2016-04-26 2018-06-26 京东方科技集团股份有限公司 自助服务机器人、服务方法、控制装置和服务系统
CN105858368A (zh) * 2016-05-31 2016-08-17 北京云迹科技有限公司 自动呼叫电梯的系统及方法
JP2017220121A (ja) * 2016-06-09 2017-12-14 パナソニックＩｐマネジメント株式会社 移動ロボット
CN105911993A (zh) * 2016-06-16 2016-08-31 中南大学 运输机器人自主式进入电梯的控制系统
JP6619760B2 (ja) * 2017-03-06 2019-12-11 株式会社日立ビルシステム エレベーター装置、エレベーターシステム、および、自律ロボットの制御方法
WO2018189767A1 (ja) * 2017-04-10 2018-10-18 三菱電機株式会社 エレベーターシステム
CN107021390A (zh) * 2017-04-18 2017-08-08 上海木爷机器人技术有限公司 机器人乘坐电梯的控制方法和系统
CN106952059A (zh) * 2017-05-16 2017-07-14 莆田市烛火信息技术有限公司 一种物流运输装置的控制方法及物流运输装置
CN107777492B (zh) * 2017-10-25 2020-04-28 上海木木聚枞机器人科技有限公司 机器人乘坐电梯的控制系统及方法
CN108163653B (zh) * 2017-12-11 2020-08-18 日立楼宇技术（广州）有限公司 电梯及机器人乘梯的方法和装置
CN108163655A (zh) * 2018-02-07 2018-06-15 上海有个机器人有限公司 智能移动设备乘梯方法及系统、外呼装置及内呼装置
CN108861905A (zh) * 2018-06-22 2018-11-23 广州思八客科技有限公司 控制机器人乘坐电梯的方法、装置和计算机设备
CN108975101B (zh) * 2018-07-18 2020-11-06 日立楼宇技术（广州）有限公司 电梯控制方法、装置、系统、设备和存储介质
CN109279462A (zh) * 2018-11-21 2019-01-29 苏州优智达机器人有限公司 机器人与电梯交互的自动控制系统及方法
CN109508005A (zh) * 2018-12-10 2019-03-22 无锡职业技术学院 一种自主电梯通行的agv小车控制系统和控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005053670A (ja) * 2003-08-06 2005-03-03 Matsushita Electric Works Ltd 自律移動ロボット及び自律移動ロボット用のエレベータ乗降システム
JP2006089262A (ja) * 2004-09-27 2006-04-06 Matsushita Electric Works Ltd 自律移動ロボット用のエレベータ乗降システム
CN106167205A (zh) * 2016-04-05 2016-11-30 北京小米移动软件有限公司 智能电梯的控制方法、控制装置、运行方法及智能电梯
CN105905712A (zh) * 2016-05-31 2016-08-31 北京云迹科技有限公司 自动进出电梯的系统及方法
CN105867390A (zh) * 2016-06-16 2016-08-17 中南大学 运输机器人自主式进入电梯的控制方法
CN109748165A (zh) * 2019-01-30 2019-05-14 苏州优智达机器人有限公司 一种机器人与电梯交互方法
CN109748164A (zh) * 2019-01-30 2019-05-14 苏州优智达机器人有限公司 一种机器人与电梯交互方法及系统

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210284492A1 (en) * 2020-03-16 2021-09-16 Otis Elevator Company Robot concierge
CN114355935A (zh) * 2021-12-30 2022-04-15 北京图菱视频科技有限公司 机器人招梯、乘梯超时执行方法、系统、设备及介质
CN114524336A (zh) * 2022-01-13 2022-05-24 北京三快在线科技有限公司 楼层识别方法和楼层识别电梯终端
CN115893138A (zh) * 2022-10-27 2023-04-04 合肥瓦力觉启机器人科技有限公司 一种agv小车电梯轿厢内无线交互系统

Also Published As

Publication number Publication date
CN110116947A (zh) 2019-08-13
CN210735884U (zh) 2020-06-12
CN109987463B (zh) 2024-03-19
CN109987463A (zh) 2019-07-09
WO2020155860A1 (zh) 2020-08-06
CN109748165B (zh) 2024-05-14
WO2020155859A1 (zh) 2020-08-06
CN109748165A (zh) 2019-05-14
CN210824958U (zh) 2020-06-23
CN210710187U (zh) 2020-06-09

Similar Documents

Publication Publication Date Title
WO2020155858A1 (zh) 一种机器人与电梯交互方法
CN109748164A (zh) 一种机器人与电梯交互方法及系统
CN109292579B (zh) 电梯系统、图像识别方法和运行控制方法
US7712586B2 (en) Passenger guiding system for a passenger transportation system
US20190346588A1 (en) Building occupant sensing using floor contact sensors
EP2027053B1 (en) Elevator system
CN110775752B (zh) 检测视力受损、怀孕或残疾电梯乘客的自动方法
EP3581533A1 (en) Elevator scheduling systems and methods of operation
WO2012089920A1 (en) Conveying system
CN104379480A (zh) 用于电梯的位置和负载测量系统
KR20100077920A (ko) 로봇, 로봇 제어 방법, 로봇 연동형 엘리베이터 시스템 및 그 제어 방법
KR20100080278A (ko) 로봇, 로봇 제어 방법, 로봇 연동형 엘리베이터 시스템 및 그 제어 방법
CN102491132A (zh) 电梯轿厢位置控制系统及其控制方法
CN111902357B (zh) 电梯与自主行驶车的协同运行系统
JP2013144592A (ja) エレベータ群管理制御システム
CN104495537A (zh) 一种基于二维码的电梯的控制系统及方法
CN104192658A (zh) 一种楼层自动检测的电梯使用控制系统及控制方法
JP2012035966A (ja) エレベータ運転制御方法及びエレベータ運転制御システム
CN108792854B (zh) 电梯控制系统及方法
US20200354196A1 (en) Self-tuning door timing parameters
CN103171964A (zh) 一种自动扶梯的智能控制装置
CN104271482A (zh) 电梯装置
CN203159022U (zh) 一种自动扶梯的智能控制装置
EP3617113A1 (en) Last-minute hall call request to a departing cab using gesture
CN204022176U (zh) 一种楼层自动检测的电梯使用控制系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19912373

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19912373

Country of ref document: EP

Kind code of ref document: A1