CN105600632B - The system and method for automatic disengaging elevator - Google Patents
The system and method for automatic disengaging elevator Download PDFInfo
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- CN105600632B CN105600632B CN201610074134.7A CN201610074134A CN105600632B CN 105600632 B CN105600632 B CN 105600632B CN 201610074134 A CN201610074134 A CN 201610074134A CN 105600632 B CN105600632 B CN 105600632B
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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
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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
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
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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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
Disclose a kind of system and method for automatic disengaging elevator, the system may include: outgoing call control unit, be located inside elevator outer panels, and be connected in elevator external key circuit, the outgoing call control unit can obtain state of elevator, light elevator external key；Inside exhale control unit, be located inside lift car, and be connected in lift car key circuit, it is described in exhale control unit that can obtain state of elevator, light lift car key；And wireless energy control units, it is located on robot or intelligent vehicle, the wireless energy control units by wirelessly with the outgoing call control unit and described interior control unit is exhaled to communicate, the outgoing call control unit calling elevator is controlled, and controls the lift car key for exhaling control unit to light designated floor in described.
Description
Technical field
The present invention relates to a kind of automatic systems of disengaging elevator, more specifically, are related to a kind of robot or intelligent vehicle
The system and method for automatic disengaging elevator.
Background technique
With the continuous development of smart machine, extensive use is had been obtained in many intelligent vehicles and robot.Especially
The appearance of recent commercial service robot, even more frees hotel staff from cumbersome thing, by robot or
Intelligent vehicle is completed to guide, send the things such as object.Customer not only can be made to realize high-tech enjoyment, can more be reduced
The personnel cost in hotel is a development trend of future technology.
It goes forward side by side inventors have found that robot or intelligent vehicle in the case where guiding, sending the tasks such as object, need to call
Elevator to be out to reach required floor, therefore, it is necessary to develop a kind of robot or what intelligent vehicle passed in and out elevator automatically is
System and method.
The information for being disclosed in disclosure background technology part is merely intended to deepen the reason to the general background technique of the disclosure
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The present disclosure proposes a kind of system and methods of automatic disengaging elevator, can be by making robot or intelligent vehicle
It calls elevator automatically by wirelessly lighting elevator, and lights the lift car key of designated floor from dynamic after entering elevator
Elevator is exited, realizes that robot or intelligent vehicle pass in and out elevator automatically to reach required floor and complete its task.
According to the one side of the disclosure, a kind of system of automatic disengaging elevator is proposed, the system may include: outgoing call
Control unit is located inside elevator outer panels, and is connected in elevator external key circuit, and the outgoing call control unit can
State of elevator is obtained, elevator external key is lighted；Control unit is inside exhaled, is located inside lift car, and be connected to elevator car
In the key circuit of compartment, it is described in exhale control unit that can obtain state of elevator, light lift car key；And wireless control list
Member is located on robot or intelligent vehicle, the wireless energy control units by wirelessly with the outgoing call control unit and described
Inside control unit is exhaled to communicate, control outgoing call control unit calling elevator, and controls that exhale control unit to light in described specified
The lift car key of floor.
According to another aspect of the present disclosure, a kind of method of automatic disengaging elevator is proposed, the method may include:
In the case that robot or intelligent vehicle reach designated position, the wireless energy control units control the outgoing call control unit and obtain
State of elevator, and control the outgoing call control unit and light elevator external key to call elevator；It is arrived in state of elevator for elevator
In the case where reaching, waited for the first predetermined time and enter elevator；In the case where robot or intelligent vehicle enter elevator, light
Designated floor simultaneously obtains state of elevator；And in the case where state of elevator is that elevator reaches designated floor, wait third predetermined
Time simultaneously exits elevator.It wherein, may include: to judge whether front meets entry condition into elevator；Front be unsatisfactory for into
In the case where entering condition, waited for the second predetermined time and judge whether front meets entry condition again；It is discontented in front of judgement
In the case that sufficient entry condition reaches the first pre-determined number, it is determined as cannot be introduced into elevator, and call again after elevator leaves
Elevator；And in the case where front meets entry condition, into elevator.Wherein, exiting elevator may include: that judgement front is
It is no to meet exit criteria；In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and judgement front is again
It is no to meet exit criteria；In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as not moving back
Elevator out, and designated floor is lighted again after elevator leaves designated floor；And in the case where front meets exit criteria,
Exit elevator.
Disclosed method and device have other characteristics and advantages, these characteristics and advantages are attached from what is be incorporated herein
It will be apparent in figure and subsequent specific embodiment, or will be in the attached drawing and subsequent specific implementation being incorporated herein
It is stated in detail in example, these the drawings and specific embodiments are used together to explain the specific principle of the disclosure.
Detailed description of the invention
Disclosure exemplary embodiment is described in more detail in conjunction with the accompanying drawings, the disclosure it is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in disclosure exemplary embodiment, identical reference label is usual
Represent same parts.
Fig. 1 shows the schematic diagram of the system of the automatic disengaging elevator according to the disclosure.
Fig. 2 shows the outgoing call control units and elevator external key electricity according to the system of the automatic disengaging elevator of the disclosure
The schematic diagram of the connection on road.
Specific embodiment
Preferred embodiment of the present disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without that should be limited by embodiments set forth here
System.On the contrary, thesing embodiments are provided so that the disclosure is more thorough and complete, and can be complete by the scope of the present disclosure
Ground is communicated to those skilled in the art.
Embodiment 1
Fig. 1 shows the schematic diagram of the system of the automatic disengaging elevator according to the disclosure.
In this embodiment, according to the system of the automatic disengaging elevator of the disclosure may include: outgoing call control unit 101,
Inside exhale control unit 102 and wireless energy control units 103.Outgoing call control unit 101 can be located inside elevator outer panels, and connect
Into elevator external key circuit 104, outgoing call control unit 101 can obtain state of elevator, light elevator external key；Inside exhale
Control unit 102 can be located inside lift car, and be connected in lift car key circuit 105, inside exhale control unit 102
State of elevator can be obtained, lift car key is lighted；Wireless energy control units 103 can be located on robot or intelligent vehicle,
By wirelessly with outgoing call control unit 101 and it is interior exhale control unit 102 to communicate, control outgoing call control unit 101 call elevator, and
Control unit 102 is exhaled to light the lift car key of designated floor in control.
The embodiment calls elevator automatically by making robot or intelligent vehicle by wirelessly lighting elevator, and is entering
The lift car key that designated floor is lighted after elevator exits elevator from dynamic, realizes that robot or intelligent vehicle pass in and out electricity automatically
Ladder completes its task to reach required floor.
The following detailed description of the system according to the automatic disengaging elevator of the disclosure.
Acquisition state simultaneously lights key
In one example, outgoing call control unit 101 can be located inside elevator outer panels, be connected to elevator external key
In circuit, and state of elevator can be obtained.
In one example, outgoing call control unit 101 can be parallel to the elevator external key circuit, by reading institute
The level of elevator external key circuit is stated to obtain state of elevator.It specifically, can be using method in parallel, by photoelectrical coupler
Connect respectively with elevator button both ends, LED light both ends with relay, and then inquires the state and trigger button switch of LED light.
Inquire elevator external key circuit in LED light state when, can by the "+" end of photoelectrical coupler control terminal with
The anode of elevator button connects, and "-" end connects with the cathode of elevator button, after the LED light of such elevator button is lighted, just has
Electric current is flowed through from photoelectrical coupler control terminal, and then controlled terminal will show low level state, on the contrary, if elevator is pressed
LED light in button wiring diagram is not lighted, and controlled terminal will show the state of high level.In this way, by ceaselessly inquiring
It is known that in elevator button LED light state.
In one example, outgoing call control unit 101 can be by conducting elevator external key circuit 104 to light elevator
External key.Specifically, one end of relay control terminal can be connected with one end of elevator button, relay control terminal it is another
One end connects with the other end of elevator button, and elevator button both ends can be connected by the control terminal of control relay in this way,
And then control the key upward or downward for lighting elevator external key.
In fact, research elevator push button control principle can see that people's upper and lower elevator outside elevator, calling electricity is first had to
Ladder triggers upper or lower key with hand, and elevator plate internal switch button both threads are connected because of short circuit at this time, at this time elevator controlling
System receives the signal of button short circuit, can trigger a high level and then light or the corresponding LED light of lower button, work as electricity
When terraced carriage arrives, corresponding LED light is extinguished, and high level becomes low level.The system of automatic disengaging elevator can be using same
Principle, 101 control button of outgoing call control unit has two conducting wires, and the state for detecting lamp has two conducting wires.For each elevator
Button, outgoing call control unit 101 can have 4 conducting wire connections, and two conductor in parallel are to elevator button both ends, using relay side
Case realizes electromagnetic isolation；Two conductor in parallel realize Phototube Coupling using voltage detection scheme to the both ends of LED light.
Fig. 2 shows press outside the outgoing call control unit 101 and elevator according to the system of the automatic disengaging elevator of the disclosure
A kind of schematic diagram of connection type of key circuit 104.As shown in Fig. 2, 201 ends of outgoing call control unit 101 may be coupled to LED
The anode of lamp, 202 ends may be coupled to the anode of elevator button, and 203 ends can be end altogether, can be connected to simultaneously LED light and
The cathode (or ground connection) of elevator button.However, it is understood by those of ordinary skill in the art that various companies known in the art can be used
It connects mode and outgoing call control unit 101 is connected to elevator external key circuit 104, to obtain the state and lightening LED lamp of elevator.
It calls and enters elevator
In one example, wireless energy control units 103 can be located on robot or intelligent vehicle, pass through wireless and outgoing call
Control unit 101 communicates, and control outgoing call control unit 101 calls elevator.
In one example, calling elevator may include: in the case where robot or intelligent vehicle reach designated position,
The wireless energy control units 103 control outgoing call control unit 101 and obtain state of elevator, and control outgoing call control unit 101 and light
Elevator external key is to call elevator；And in the case where state of elevator is that elevator reaches, waited for the first predetermined time went forward side by side
Enter elevator.
It in one example, may include: to judge whether front meets entry condition into elevator；Front be unsatisfactory for into
In the case where entering condition, waited for the second predetermined time and judge whether front meets entry condition again；It is discontented in front of judgement
In the case that sufficient entry condition reaches the first pre-determined number, it is determined as cannot be introduced into elevator, and call again after elevator leaves
Elevator；And in the case where front meets entry condition, into elevator.
In fact, meaning that elevator has arrived at institute, robot if the state for inquiring corresponding LED light is " going out "
In floor.At this point it is possible to wait the first predetermined time (purpose is that elevator cab door is waited to open), it may determine that front is later
It is no to meet entry condition.In the case where front is unsatisfactory for entry condition, (possible situation is that carriage people is more, or the connection used
Dynamic elevator is not certain elevator arrival etc.), it waited for the second predetermined time, rejudges whether front meets entry condition and taste
Try certain number (the first pre-determined number).In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, really
It is set to and cannot be introduced into elevator, and calls elevator again after elevator leaves.
In one example, the first predetermined time can be the time for waiting elevator door to open, and can be set to 1-5s, excellent
Selection of land, the first predetermined time can be set to 2s.
In one example, when the second predetermined time can be to judge whether front meets the waiting of entry condition again
Between, it can be set to 3-15s, it is preferable that the second predetermined time can be set to 5s.
In one example, the first pre-determined number can be unsatisfactory for the judgement number of entry condition for judgement front, can be with
It is set as 2-10 times, it is preferable that the first pre-determined number can be set to 3 times.
In one example, it can judge whether front meets entry condition by laser sensor or Xtion sensor.
However, those skilled in the art should understand that, can judge whether front is full using various sensings known in the art or view mode
Sufficient entry condition.
It lights key and obtains state
In one example, it inside exhales control unit 102 that can be located inside lift car, is connected to lift car key electricity
In road 105, and state of elevator can be obtained, light lift car key.
In one example, inside exhale control unit 102 that can be parallel to lift car key circuit 105, by reading electricity
The level of terraced carriage key circuit 105 is to obtain state of elevator, by conducting lift car key circuit 105 to light specified building
The lift car key of layer.
Specifically, the interior relay both ends for exhaling control unit 102 can be connected with the both ends of elevator button, it is logical in this way
Cross in control and exhale the control terminal of the relay of control unit 102 that can be connected elevator button both ends, so control light it is specified
The lift car key of floor.
In one example, inside exhale control unit 102 can be by reading the level of lift car key circuit 105 to obtain
Take state of elevator.It specifically, can be using method in parallel, by the interior photoelectrical coupler for exhaling control unit 102 and relay point
Do not connect with the both ends of lift car key, and then inquires the state of LED light to judge whether carriage reaches designated floor.
It, can be by the interior photoelectricity for exhaling control unit 102 in inquiring lift car key circuit 105 when the state of LED light
The "+" end of coupler control terminal connects with elevator button anode, and "-" end connects with elevator button cathode, such elevator button
After LED light is lighted, just has electric current and flowed through from photoelectrical coupler control terminal, and then controlled terminal will show low level shape
State, on the contrary, controlled terminal will show the state of high level if the LED light in elevator button is not lighted.In this way, logical
Cross ceaselessly inquiry it is known that in elevator button wiring diagram LED light state.
In fact, it is similar with the connection type of elevator external key circuit 104 with outgoing call control unit 101, for each
Elevator button inside exhales control unit 102 that can have 4 conducting wires external, two conductor in parallel to lift car button both ends, uses
Relay scheme realizes electromagnetic isolation；Two conductor in parallel are to the both ends of LED light, using voltage detection scheme, realize photoelectricity every
From.Specific connection type can refer to Fig. 2, however, it is understood by those of ordinary skill in the art that, it can be using known in the art each
Kind connection type exhales control unit 102 to be connected to lift car key circuit 105 for interior, to obtain the state of elevator and light
LED light.
Exit elevator
In one example, wireless energy control units 103 can exhale control unit 102 to communicate by wireless with interior, in control
Control unit 102 is exhaled to light the lift car key of designated floor.
In one example, exiting elevator may include: to light in the case where robot or intelligent vehicle enter elevator
Designated floor simultaneously obtains state of elevator；And in the case where state of elevator is that elevator reaches designated floor, wait third predetermined
Time simultaneously exits elevator.
In one example, exiting elevator may include: to judge whether front meets exit criteria；It is unsatisfactory for moving back in front
Out in the case where condition, waited for the 4th predetermined time and judge whether front meets exit criteria again；It is discontented in front of judgement
In the case that sufficient exit criteria reaches the second pre-determined number, it is determined as that elevator can not be exited, and after elevator leaves designated floor
Designated floor is lighted again；And in the case where front meets exit criteria, exit elevator.
Specifically, it in the case where robot or intelligent vehicle enter elevator, lights the key of designated floor and obtains electricity
Scalariform state, when inquiring the state of LED light of designated floor is " going out ", it is meant that elevator has arrived at and goes required for robot
Floor, wait third predetermined time (purpose be wait car door open)；Judge whether to meet exit criteria later, in front
In the case where being unsatisfactory for exit criteria (possible situation is that carriage people is more, has blocked the space in front), the 4th pre- timing is waited
Between and judge whether to meet exit criteria again；The case where exit criteria reaches the second pre-determined number is unsatisfactory in front of judgement
Under, it is determined as that elevator can not be exited, and light designated floor again after elevator leaves designated floor；And meets in front and move back
Out in the case where condition, elevator is exited.
In one example, the third predetermined time can be the time for waiting elevator door to open, and can be set to 1-5s, excellent
Selection of land, third predetermined time can be set to 2s.
In one example, when the 4th predetermined time can be to judge whether front meets the waiting of exit criteria again
Between, it can be set to 3-15s, it is preferable that the 4th predetermined time can be set to 5s.
In one example, the second pre-determined number can be unsatisfactory for the judgement number of exit criteria for judgement front, can be with
It is set as 2-10 times, it is preferable that the first pre-determined number can be set to 3 times.
In one example, it can judge whether front meets exit criteria by laser sensor or Xtion sensor.
However, those skilled in the art should understand that, can judge whether front is full using various sensings known in the art or view mode
Sufficient exit criteria.
In one example, the wireless energy control units 103 can be wirelessly communicated and outgoing call control unit 101 by 2.4G
Interior control unit 102 is exhaled to be communicated with described.It will be understood by those skilled in the art that the wireless communication of the disclosure is not limited to
This, wireless energy control units by various wireless communication techniques known in the art and outgoing call control unit 101 and interior can exhale control
Unit 102 processed is communicated, such as 433M, UWB etc..
In one example, wireless energy control units 103 can also include height sensor, available current robot
Or height locating for intelligent vehicle.Wireless energy control units 103 can be sentenced based on height locating for current robot or intelligent vehicle
Whether disconnected state of elevator is that elevator reaches designated floor.Specifically, height model corresponding to the corresponding number of plies can be preset
It encloses, for example, the 3rd layer of corresponding elevator of height can be set as 9-12 meters, when the current robot or intelligence that height sensor obtains
When height locating for energy vehicle is between 9-12 meters, wireless energy control units 103 can determine whether that state of elevator is that elevator arrival is specified
Floor (3 layers), so as to further execute the operation for waiting the third predetermined time and exiting elevator.It is added in systems wireless
103 pairs of control unit height determines control unit 102 can be exhaled to obtain state of elevator combine with interior, so that it is guaranteed that robot or
Intelligent vehicle reaches correct floor, reduces the risk of error.
It will be understood by those skilled in the art that above to the purpose of the description of embodiment of the disclosure only for illustratively saying
The beneficial effect of bright embodiment of the disclosure is not intended to for embodiment of the disclosure to be limited to given any example.
Embodiment 2
In accordance with an embodiment of the present disclosure, a kind of method of automatic disengaging elevator is provided, the method may include: in machine
In the case that device people or intelligent vehicle reach designated position, the wireless energy control units control the outgoing call control unit and obtain electricity
Scalariform state, and control the outgoing call control unit and light elevator external key to call elevator；It is elevator arrival in state of elevator
In the case where, it waited for the first predetermined time and enters elevator；In the case where robot or intelligent vehicle enter elevator, finger is lighted
Determine floor and obtains state of elevator；And in the case where state of elevator is that elevator reaches designated floor, wait the pre- timing of third
Between and exit elevator.It wherein, may include: to judge whether front meets entry condition into elevator；It is unsatisfactory for entering in front
In the case where condition, waited for the second predetermined time and judge whether front meets entry condition again；It is unsatisfactory in front of judgement
In the case that entry condition reaches the first pre-determined number, it is determined as cannot be introduced into elevator, and the calling electricity again after elevator leaves
Ladder；And in the case where front meets entry condition, into elevator.Wherein, exit elevator may include: whether to judge front
Meet exit criteria；In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and whether judge front again
Meet exit criteria；In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as not exiting
Elevator, and designated floor is lighted again after elevator leaves designated floor；And it in the case where front meets exit criteria, moves back
Elevator out.
The embodiment calls elevator automatically by making robot or intelligent vehicle by wirelessly lighting elevator, and is entering
The lift car key that designated floor is lighted after elevator exits elevator from dynamic, realizes that robot or intelligent vehicle pass in and out electricity automatically
Ladder completes its task to reach required floor.
It will be understood by those skilled in the art that above to the purpose of the description of embodiment of the disclosure only for illustratively saying
The beneficial effect of bright embodiment of the disclosure is not intended to for embodiment of the disclosure to be limited to given any example.
The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Claims (8)
1. a kind of system of automatic disengaging elevator, the system comprises:
Outgoing call control unit is located inside elevator outer panels, and the outgoing call control unit is parallel to the elevator external key
Circuit, the level by reading the elevator external key circuit are pressed outside the elevator with obtaining state of elevator by being connected
Key circuit is to light elevator external key；
Inside exhale control unit, be located inside lift car, it is described in exhale control unit to be parallel to lift car key electricity
Road, the level by reading the lift car key circuit pass through the conducting lift car key to obtain state of elevator
Circuit is to light the lift car key of designated floor；And
Wireless energy control units are located on robot or intelligent vehicle, the wireless energy control units by wirelessly with the outgoing call
Control unit and it is described it is interior exhale control unit to communicate, control outgoing call control unit calling elevator, and control in described and exhale control
Unit processed lights the lift car key of designated floor；
Wherein, disengaging elevator includes:
In the case where robot or intelligent vehicle reach designated position, it is single that the wireless energy control units control the outgoing call control
Member obtains state of elevator, and controls the outgoing call control unit and light elevator external key to call elevator；
In the case where state of elevator is that elevator reaches, waited for the first predetermined time and enter elevator；
In the case where robot or intelligent vehicle enter elevator, lights designated floor and obtain state of elevator；And
In the case where state of elevator is that elevator reaches designated floor, waits the third predetermined time and exit elevator.
2. the system of automatic disengaging elevator according to claim 1, wherein include: into elevator
Judge whether front meets entry condition；
In the case where front is unsatisfactory for entry condition, waited for the second predetermined time and judge whether front meets into item again
Part；
In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, it is determined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And
In the case where front meets entry condition, into elevator,
Wherein, first predetermined time is the time for waiting elevator door to open；
Second predetermined time is to judge whether front meets the waiting time of entry condition again；And
First pre-determined number is the judgement number that judgement front is unsatisfactory for entry condition.
3. the system of automatic disengaging elevator according to claim 1, wherein exiting elevator includes:
Judge whether front meets exit criteria；
In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and whether meet in front of judging again and exit article
Part；
In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as can not exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And
In the case where front meets exit criteria, elevator is exited,
Wherein, the third predetermined time is the time for waiting elevator door to open；
4th predetermined time is to judge whether front meets the waiting time of exit criteria again；And
Second pre-determined number is the judgement number that judgement front is unsatisfactory for exit criteria.
4. the system of automatic disengaging elevator according to claim 1, wherein the wireless energy control units are based on current machine
Height locating for people or intelligent vehicle judges whether state of elevator is that elevator reaches designated floor.
5. the system of automatic disengaging elevator according to claim 2, wherein the wireless energy control units pass through laser sensing
Device or Xtion sensor judge whether front meets entry condition.
6. the system of automatic disengaging elevator according to claim 3, wherein the wireless energy control units pass through laser sensing
Device or Xtion sensor judge whether front meets exit criteria.
7. the system of automatic disengaging elevator according to claim 1, wherein the wireless energy control units are wireless by 2.4G
Communication and the outgoing call control unit and described interior control unit is exhaled to be communicated.
8. a kind of method of automatic disengaging elevator, comprising:
In the case where robot or intelligent vehicle reach designated position, wireless energy control units control outgoing call control unit and obtain electricity
Scalariform state, and control outgoing call control unit and light elevator external key to call elevator；
In the case where state of elevator is that elevator reaches, waited for the first predetermined time and enter elevator；
In the case where robot or intelligent vehicle enter elevator, lights designated floor and obtain state of elevator；And
In the case where state of elevator is that elevator reaches designated floor, waits the third predetermined time and exits elevator,
Wherein, include: into elevator
Judge whether front meets entry condition；
In the case where front is unsatisfactory for entry condition, waited for the second predetermined time and judge whether front meets into item again
Part；
In the case where being unsatisfactory for entry condition in front of judgement and reach the first pre-determined number, it is determined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And
In the case where front meets entry condition, into elevator,
Wherein, exiting elevator includes:
Judge whether front meets exit criteria；
In the case where front is unsatisfactory for exit criteria, waited for the 4th predetermined time and whether meet in front of judging again and exit article
Part；
In the case where being unsatisfactory for exit criteria in front of judgement and reach the second pre-determined number, it is determined as can not exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And
In the case where front meets exit criteria, elevator is exited.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610074134.7A CN105600632B (en) | 2016-02-02 | 2016-02-02 | The system and method for automatic disengaging elevator |
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| CN201610074134.7A CN105600632B (en) | 2016-02-02 | 2016-02-02 | The system and method for automatic disengaging elevator |
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| CN105600632B true CN105600632B (en) | 2019-09-24 |
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| CN107123145B (en) * | 2017-05-04 | 2020-01-07 | 济南大学 | Elevator button positioning and identifying method based on artificial mark and geometric transformation |
| CN107169706A (en) * | 2017-05-16 | 2017-09-15 | 莆田市烛火信息技术有限公司 | A kind of logistics at-home service method, apparatus and system |
| CN107673145A (en) * | 2017-09-29 | 2018-02-09 | 北京三快在线科技有限公司 | Elevator communication method, apparatus and system |
| CN108163653B (en) * | 2017-12-11 | 2020-08-18 | 日立楼宇技术（广州）有限公司 | Elevator and method and device for robot to take elevator |
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