CN106044419A - System and method for entering and coming out of elevator automatically - Google Patents
System and method for entering and coming out of elevator automatically Download PDFInfo
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- CN106044419A CN106044419A CN201610377877.1A CN201610377877A CN106044419A CN 106044419 A CN106044419 A CN 106044419A CN 201610377877 A CN201610377877 A CN 201610377877A CN 106044419 A CN106044419 A CN 106044419A
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- elevator
- case
- lift car
- robot
- intelligent vehicle
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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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a system and method for entering and coming out of an elevator automatically. The system can comprise an internal calling unit, a distance measurement and communication unit, a first server and a main control unit, wherein the internal calling unit is located inside an elevator car and connected into a button circuit of the elevator car and can lighten buttons of the elevator car; the distance measurement and communication unit conducts communication with the internal calling unit wirelessly and conducts distance measurement to obtain the first distance value between the elevator car and the top end of an elevator shaft and receive and transmit a control signal of the main control unit; the first server is in wireless communication with the distance measurement and communication unit and receives and transmits the control signal of the main control unit; and the main control unit is installed in a robot and is in communication with the first server wirelessly, and the main control unit is configured to control the robot or an intelligent vehicle to enter and come out of the elevator.
Description
Technical field
The present invention relates to the system of a kind of automatic turnover elevator, more specifically, relate to a kind of robot or intelligent vehicle
Automatically the system and method for elevator is passed in and out.
Background technology
Along with the development of smart machine, many intelligent vehicles and robot have been obtained for extensively applying.Particularly
Recently the appearance of commercial service robot, frees hotel staff especially from loaded down with trivial details thing, by robot or
Intelligent vehicle completes to guide, send the things such as thing.So it is possible not only to make client realize high-tech enjoyment, more can reduce
The personnel cost in hotel, is a development trend of future technology.
Inventor finds, robot or intelligent vehicle, in the case of guiding, sending the tasks such as thing, need calling to go forward side by side
Go out elevator floor required for arriving, therefore, it is necessary to develop a kind of robot or intelligent vehicle passes in and out elevator automatically is
System and method.
The information being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solve, and be not construed as recognizing or imply in any form the most known to those skilled in the art existing of this information structure
Technology.
Summary of the invention
The present invention proposes the system and method for a kind of automatic turnover elevator, and it can be by making robot or intelligent vehicle
Automatically elevator is passed in and out, it is achieved the floor required for robot or intelligent vehicle arrival is complete by wireless lift car key of lighting
Become its task.
According to an aspect of the invention, it is proposed that the system of a kind of automatic turnover elevator, described system is exhaled in may include that
Unit, it is positioned at inside lift car, is connected in lift car key circuit, described in exhale unit can light lift car
Button；Range finding and communication unit, its by wireless and described in exhale unit to communicate and find range, acquisition lift car and elevator
The first distance value between stair shaft top, receives and forwards the control signal of main control unit；First server, it is cloud service
Device, it is possible to carry out radio communication with range finding and communication unit, receive and forward the control signal of described main control unit；And master control
Unit, it is arranged in robot or intelligent vehicle, and by wireless with described first server communication, described main control unit quilt
It is configured to control robot or intelligent vehicle turnover elevator.
According to another aspect of the invention, it is proposed that a kind of method of automatic turnover elevator, described method may include that
Robot or intelligent vehicle arrive specifies position, and different from lift car place floor in the case of, light robot or
The lift car button of intelligent vehicle place floor is to call elevator；Arrive in robot or intelligent vehicle and specify position, and
In the case of identical with lift car place floor, light lift car door opening key to call elevator；It is electricity at state of elevator
In the case of ladder arrives, enter elevator；In the case of robot or intelligent vehicle are in lift car, light designated floor
Lift car button；And in the case of state of elevator is elevator arrival designated floor, exit elevator.
It is attached from be incorporated herein that methods and apparatus of the present invention has other characteristic and advantage, these characteristics and advantage
Figure and specific embodiment subsequently will be apparent from, or by the accompanying drawing being incorporated herein and being embodied as subsequently
Stating in detail in example, these the drawings and specific embodiments are provided commonly for explaining the certain principles of the present invention.
Accompanying drawing explanation
By combining accompanying drawing, exemplary embodiment of the present is described in more detail, the present invention above-mentioned and other
Purpose, feature and advantage will be apparent from, and wherein, in exemplary embodiments of the present invention, identical reference number is usual
Represent same parts.
Fig. 1 shows the schematic diagram of the system of the elevator of turnover automatically according to the present invention.
Fig. 2 exhales unit and lift car key circuit in showing the system of the elevator of turnover automatically according to the present invention
The schematic diagram connected.
Detailed description of the invention
It is more fully described the present invention below with reference to accompanying drawings.Although accompanying drawing shows the preferred embodiments of the present invention,
However, it is to be appreciated that may be realized in various forms the present invention and should not limited by embodiments set forth here.On the contrary, it is provided that
These embodiments are to make the present invention more thorough and complete, and can will fully convey the scope of the invention to ability
The technical staff in territory.
Embodiment 1
Fig. 1 shows the schematic diagram of the system of the elevator of turnover automatically according to the present invention.
In this embodiment, unit 101, range finding are exhaled in may include that according to the system of the elevator of turnover automatically of the present invention
And communication unit 102, first server 103 and main control unit 104.Inside exhale unit 101 to be positioned at inside lift car, be connected to
In lift car key circuit 105, described in exhale unit 101 can light lift car button；Range finding and communication unit 102 lead to
Cross wireless and described in exhale unit 101 communicate and find range, obtain between lift car and elevator stair shaft top first away from
Distance values, receives and forwards the control signal of main control unit 104；First server 103 is cloud server, it is possible to range finding and logical
Letter unit 102 carries out radio communication, receives and forward the control signal of described main control unit 104；Main control unit 104 is arranged on machine
In device people or intelligent vehicle, and being communicated by wireless and described first server 103, main control unit 104 is configured to control machine
Device people or intelligent vehicle turnover elevator.
This embodiment by making robot or intelligent vehicle automatically pass in and out elevator by wireless lift car key of lighting,
Floor required for realizing robot or intelligent vehicle arrival completes its task.
The following detailed description of the system automatically passing in and out elevator according to the present invention.
Calling elevator
In one example, inside exhale unit 101 to may be located at inside lift car, be connected to lift car key circuit
In 105, it is possible to light lift car button；Range finding and communication unit 102 can by wireless and described in exhale unit 101 to carry out
Communication and range finding, obtain the first distance value between lift car and elevator stair shaft top, receive and forward main control unit 104
Control signal；First server 103 can be cloud server, it is possible to carries out radio communication with range finding and communication unit 102, connects
Receive and forward the control signal of described main control unit 104；Main control unit 104 may be mounted in robot or intelligent vehicle, and
Being communicated by wireless and described first server 103, main control unit 104 is configured to control robot or intelligent vehicle turnover electricity
Ladder.
It practice, in the case of robot or intelligent vehicle arrive and specify position (elevator doorway), need to call elevator
So as entrance lift car.And signal isolation is there is when elevator cab door is closed, robot or the main control unit of intelligent vehicle
104 cannot exhale unit 101 directly to set up to be connected, accordingly, it would be desirable to connect by other means with being positioned within lift car
Inside exhale unit 101.
Preferably, first server 103 can be provided with.First server 103 can be cloud server, main control unit
104 can carry out radio communication with first server 103, and first server 103 can receive and forward described main control unit 104
Control signal.Radio communication between main control unit 104 with first server 103 can be that 3G or 4G communicates.But this area
It will be appreciated by the skilled person that the present invention is not restricted to this, between main control unit 104 and first server 103, can be used this
Various communications known to field.
Preferably, can be provided with range finding and communication unit 102, range finding and communication unit 102 can include router and
Base station.Router can be placed in elevator stair shaft top or local machine room, it is possible to it is wireless that reception first server 103 sends
Signal；Base station can be in the UWB base station on elevator stair shaft top, is wiredly connected to router, and the wireless communication that will be received
Unit 101 is exhaled in number being sent to.Router can be 3G/4G router, for receiving the wireless communication that first server 103 sends
Number；Can be wired connection between router and base station, in being sent to by the wireless signal received by base station, exhale unit
101。
Preferably, unit 101 is inside exhaled can to include being positioned at the UWB label of elevator car roof, UWB label and range finding and lead to
Wireless connections are carried out by UWB communication so that inside exhale unit 101 can eventually receive master between the UWB base station of letter unit 102
The control signal of control unit 104, simultaneously, it is achieved the range finding between lift car and elevator stair shaft top.But people in the art
Member should be appreciated that the present invention is not restricted to this, can use various radio communication known in the art between label and base station
Mode communicates and/or finds range, and, UWB base station and UWB label can also lay respectively at elevator stair shaft bottom and elevator car
Bottom railway carriage or compartment, or it is placed on other positions being easy between UWB base station and UWB label range finding.
In one example, inside exhale unit 101 can be parallel to described lift car key circuit 105, by conducting institute
State lift car key circuit 105 to light lift car button.Research lift car key control principle can see that at electricity
Lighting the lift car button of designated floor in ladder car, lift car will go to designated floor, automatic according to the present invention
The system of turnover elevator can use same principle.Inside exhale unit 101 can by multiple relays respectively with multiple elevators
Car button is in parallel.One end of one end of Control end with lift car button can be connected, Control end
The other end connects with the other end of lift car button, so just can turn on elevator button by the control end of control relay
Two ends, and then light lift car button.
Fig. 2 exhales unit 101 and lift car button electricity in showing the system of the elevator of turnover automatically according to the present invention
A kind of schematic diagram of the connected mode on road 105.201 ends exhaling unit 101 in as in figure 2 it is shown, may be coupled to lift car
The positive pole of key, 202 ends may be coupled to the negative pole (or ground connection) of lift car button.It will be appreciated by those skilled in the art that can
To use various connected modes known in the art to exhale unit 101 to be connected to lift car key circuit 105, to light electricity by interior
The LED of ladder car button.
Preferably, multiple relays can only connect the elevator car of multiple floors that robot or intelligent vehicle needs arrive
Railway carriage or compartment button.Such as, if robot only needs 1,2,6,8 ... layer (possible situation is 3-5, and 7 layers is region, non-guest room,
Robot does not have 3-5, the task of 7 layers), then relay 1 can be made to connect 1 layer of button, relay 2 connects 2 layers of button, continues
Electrical equipment 3 connects 6 layers of button, and relay 4 connects 8 layers of button etc..As such, it is possible to be effectively improved the utilization ratio of hardware resource.
In one example, arrive in robot or intelligent vehicle and specify position, and with lift car place floor not
In the case of Tong, described main control unit can control described in exhale unit to light robot or the elevator of intelligent vehicle place floor
Car button is to call elevator；Arrive in robot or intelligent vehicle and specify position, and identical with lift car place floor
In the case of, described main control unit can control described in exhale unit to light lift car door opening key to call elevator.
Specifically, in the case of robot or intelligent vehicle arrive and specify position (that is, elevator doorway), can pass through
Main control unit 104 exhales unit 101 to call elevator in controlling.If the floor at robot or intelligent vehicle and lift car place
Difference, then can light robot or the lift car button at intelligent vehicle place floor (designated floor), and lift car will
Go to designated floor.If lift car has been positioned at robot or the floor at intelligent vehicle place, then according to elevator self
Setting, if now lighting the lift car button of this floor, this lift car button can extinguish again, and elevator cab door is the most not
Can open.Accordingly, it would be desirable to light lift car door opening key, so that elevator cab door is opened.
In one example, between robot or demarcation distance value and first distance value of intelligent vehicle place floor
In the case of difference is more than setting threshold value, determine that robot or intelligent vehicle are different from lift car place floor；And at machine
The difference demarcated between distance value and the first distance value of device people or intelligent vehicle place floor is less than or equal to the feelings setting threshold value
Under condition, determine that robot or intelligent vehicle are identical with lift car place floor.
In particular it is required that by range finding and communication unit 102 with interior exhale unit 101 to find range, to obtain lift car
And the first distance value between elevator stair shaft top.Inside exhaling unit 101 can send range finding to range finding and communication unit 102 please
Ask, then, repeatedly find range within the short time (such as, 100ms) between UWB label and UWB base station, obtain lift car with
Multiple distance values between elevator stair shaft top.Then, remove the minima in multiple distance value and maximum, ask for remaining
The average departure distance values of multiple distance values, using this average departure distance values as the first distance between lift car and elevator stair shaft top
Value.Wherein, range finding number of times can be 3-20 time, it is preferable that range finding number of times can be 5 times.
Preferably, UWB label can be mutually aligned with in the vertical direction with UWB base station, so that range measurement is more accurate.
Preferably, when elevator is installed the system automatically passing in and out elevator according to the present invention, can be to each floor
Distance value carries out initial alignment, to obtain the demarcation distance value of each floor.Such as, when lift car is positioned at 1 layer, Ke Yitong
Exhale unit 101 and range finding and communication unit 102 repeatedly to demarcate range finding in crossing, obtain lift car and elevator stair shaft top it
Between multiple distance values.Then, remove the minima in multiple distance value and maximum, ask for the flat of remaining multiple distance value
All distance values, using this average departure distance values as the demarcation distance value of 1 layer.By that analogy, it is possible to obtain obtain the mark of each floor
Spacing distance values.The demarcation distance value of each floor can be exhaled in unit 101 or range finding and communication unit 102 in being stored in, such as,
Can exhale in being stored in the flash memory of unit 101 or range finding and communication unit 102.Wherein, the demarcation of every layer is found range
Number of times can be 50-200 time, it is preferable that demarcating range finding number of times can be 100 times.
When robot or intelligent vehicle call elevator, inside exhale unit 101 can send distance measurement request, thus obtain now
The first distance value.The difference demarcated between distance value and the first distance value at robot or intelligent vehicle place floor is more than
In the case of certain range of error (more than setting threshold value), it may be determined that robot or intelligent vehicle and building, lift car place
Layer is different；And the difference between robot or demarcation distance value and first distance value of intelligent vehicle place floor is certain
In the case of (being less than or equal to set threshold value) in range of error, it may be determined that robot or intelligent vehicle and building, lift car place
Layer is identical.This setting threshold value can be 0.2m-1.5m, it is preferable that this setting threshold value can be 1m.In general, between floor
Be spaced apart about 3m, use this setting threshold value can be prevented effectively from the state of false judgment elevator.
Then, in the case of state of elevator is elevator arrival, robot or intelligent vehicle can enter elevator.
In one example, unit 101 is exhaled directly to be built by 2.4G radio communication at described main control unit 104 in described
In the case of vertical connection, it may be determined that state of elevator is that elevator arrives.When elevator arrives, elevator cab door is opened, main control unit
104 and interior exhaling can isolate with ring off signal between unit 101, directly set up connection, now, main control unit 104 may determine that electricity
Scalariform state is that elevator arrives.It is to be understood by those skilled in the art that various side wireless communication known in the art can be used
Formula, such as 433M, UWB etc., with realize main control unit 104 and interior exhale between unit 101 be directly connected to.
Enter elevator
In one example, enter elevator may include that first scheduled time of wait and judge whether front meets entrance
Condition；In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again judge whether front meets entrance
Condition；Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number, be defined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And in the case of front meets entry condition, enter elevator.
It practice, determine that lift car has arrived at robot place floor.At this point it is possible to waited for first scheduled time
(purpose is to wait for elevator cab door and fully opens), may determine that whether front meets entry condition afterwards.It is unsatisfactory in front
In the case of entry condition (possible situation is that car people is more, and front has people entering elevator etc.), waited for second scheduled time,
Rejudge whether front meets entry condition and attempt certain number of times (the first pre-determined number).Judging that front is unsatisfactory for entering
In the case of condition reaches the first pre-determined number, it is defined as cannot be introduced into elevator, and after elevator leaves, again calls elevator.
In one example, first scheduled time can be to wait the time that elevator cab door fully opens, and can arrange
For 1-5s, it is preferable that first scheduled time could be arranged to 2s.
In one example, when second scheduled time can be again to judge wait that whether front meets entry condition
Between, could be arranged to 3-15s, it is preferable that second scheduled time could be arranged to 5s.
In one example, the first pre-determined number can be to judge the judgement number of times that front is unsatisfactory for entry condition, permissible
It is set to 2-10 time, it is preferable that the first pre-determined number could be arranged to 3 times.
In one example, whether described main control unit can judge front by laser sensor or Xtion sensor
Meet entry condition.It is to be understood by those skilled in the art that various sensing known in the art or view mode can be used
Judge whether front meets entry condition.
Exit elevator
In one example, in the case of robot or intelligent vehicle are in lift car, appointment building can be lighted
The lift car button of layer；It is that in the case of elevator arrives designated floor, robot or intelligent vehicle can move back at state of elevator
Go out elevator.
In one example, the difference demarcated between distance value and the first distance value in designated floor is less than or equal to set
In the case of threshold value, determine that state of elevator is that elevator arrives designated floor.
Specifically, when robot or intelligent vehicle are in lift car, main control unit 104 can exhale unit in controlling
The 101 lift car buttons lighting designated floor, so that lift car goes to designated floor.In the process that lift car moves
In, inside exhale unit 101 (such as, 100ms) distance measurement request can be sent at certain intervals, thus obtain the first distance in real time
Value.Difference between demarcation distance value and first distance value of designated floor is in certain range of error (setting threshold value)
Time, it is possible to think that state of elevator is that elevator has arrived at designated floor, elevator can be exited.This setting threshold value can be
0.2m-1.5m, it is preferable that this setting threshold value can be 1m.
Owing to the time interval of distance measurement request is shorter, and can communicate simultaneously and find range by UWB communication, therefore
The response speed of robot or intelligent vehicle is very fast, when lift car arrives designated floor, can perform at once to exit elevator
Logic, will not delay other staff and pass in and out elevator.
In one example, exit elevator may include that the 3rd scheduled time of wait and judge that whether front meets and exit
Condition；In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again judge that front is whether the most satisfied and exit
Condition；Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, be defined as exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And in the case of front meets exit criteria, exit elevator.Its
In, described 3rd scheduled time is to wait the time that elevator door is opened；Described 4th scheduled time is again whether to judge front
Meet the waiting time of exit criteria；And described second pre-determined number is to judge the judgement time that front is unsatisfactory for exit criteria
Number.
Specifically, if elevator has arrived at the floor gone required for robot, then wait that the 3rd scheduled time, (purpose was
Wait that elevator cab door fully opens)；Judge whether afterwards to meet exit criteria, in the case of front is unsatisfactory for exit criteria
(possible situation is that car people is more, has blocked the space in front), waited for the 4th scheduled time and again judges whether to meet to move back
Go out condition；Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, being defined as exiting elevator, and
Designated floor is again lighted after elevator leaves designated floor；And in the case of front meets exit criteria, exit elevator.
In one example, the 3rd scheduled time can be to wait the time that elevator door is opened, and could be arranged to 1-5s, excellent
Selection of land, the 3rd scheduled time could be arranged to 2s.
In one example, when the 4th scheduled time can be again to judge wait that whether front meets exit criteria
Between, could be arranged to 3-15s, it is preferable that the 4th scheduled time could be arranged to 5s.
In one example, the second pre-determined number can be to judge the judgement number of times that front is unsatisfactory for exit criteria, permissible
It is set to 2-10 time, it is preferable that the second pre-determined number could be arranged to 3 times.
In one example, can judge whether front meets exit criteria by laser sensor or Xtion sensor.
It is to be understood by those skilled in the art that various sensing known in the art or view mode can be used to judge, front is the fullest
Foot exit criteria.
In one example, described main control unit 104 can exhale unit 101 to carry out by 2.4G radio communication in described
Communication.It will be understood by those skilled in the art that the radio communication of the present invention is not limited to this, main control unit 104 can be by this
Various wireless communication technologys known to field exhale unit 101 to communicate in described, such as 433M, UWB etc..
In sum, robot or intelligent vehicle can be made by wireless according to the system of the elevator of turnover automatically of the present invention
Light lift car button from dynamic turnover elevator, it is achieved the floor required for robot or intelligent vehicle arrival completes it
Business.Additionally, this system is less to the transformation of elevator itself, it is possible to effective cost reducing construction reformation and complexity, meanwhile,
Relatively low to the signal degree of dependence of elevator itself, it is possible to reduce the probability made mistakes due to the signal fault of elevator own.
It will be understood by those skilled in the art that the purpose of description to embodiments of the invention above is only for exemplarily saying
The beneficial effect of bright embodiments of the invention, is not intended to limit embodiments of the invention to given any example.
Embodiment 2
According to embodiments of the invention, it is provided that a kind of method of automatic turnover elevator, described method may include that at machine
Device people or intelligent vehicle arrive specifies position, and he different from lift car place floor in the case of, light robot or intelligence
The lift car button of energy vehicle place floor is to call elevator；Arrive in robot or intelligent vehicle and specify position, and with
In the case of lift car place floor is identical, light lift car door opening key to call elevator；It is elevator at state of elevator
In the case of arrival, enter elevator；In the case of robot or intelligent vehicle are in lift car, light designated floor
Lift car button；And in the case of state of elevator is elevator arrival designated floor, exit elevator.
This embodiment passes in and out elevator by making robot or intelligent vehicle automatically by wireless elevator of lighting, it is achieved machine
Floor required for people or intelligent vehicle arrival completes its task.
In one example, enter elevator may include that first scheduled time of wait and judge whether front meets entrance
Condition；In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again judge whether front meets entrance
Condition；Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number, be defined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And in the case of front meets entry condition, enter elevator.
In one example, first scheduled time can be to wait the time that elevator door is opened；Second scheduled time is permissible
For again judging whether front meets the waiting time of entry condition；And, the first pre-determined number can be to judge that front is discontented with
The judgement number of times of foot entry condition.
In one example, exit elevator may include that the 3rd scheduled time of wait and judge that whether front meets and exit
Condition；In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again judge that front is whether the most satisfied and exit
Condition；Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, be defined as exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And in the case of front meets exit criteria, exit elevator.
In one example, described 3rd scheduled time can be to wait the time that elevator door is opened；Described 4th makes a reservation for
Time can be again to judge the waiting time whether front meets exit criteria；And described second pre-determined number can be to sentence
Disconnected front is unsatisfactory for the judgement number of times of exit criteria.
It will be understood by those skilled in the art that the purpose of description to embodiments of the invention above is only for exemplarily saying
The beneficial effect of bright embodiments of the invention, is not intended to limit embodiments of the invention to given any example.
Being described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and also
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Explaining the principle of each embodiment, actual application or the improvement to the technology in market best, or making the art
Other those of ordinary skill is understood that each embodiment disclosed herein.
Claims (10)
1. a system for automatic turnover elevator, described system includes:
Inside exhaling unit, it is positioned at inside lift car, is connected in lift car key circuit, described in exhale unit to light
Lift car button；
Range finding and communication unit, its by wireless and described in exhale unit to communicate and find range, acquisition lift car and elevator
The first distance value between stair shaft top, receives and forwards the control signal of main control unit；
First server, it is cloud server, it is possible to carry out radio communication with range finding and communication unit, receives and forwards described
The control signal of main control unit；And
Main control unit, it is arranged in robot or intelligent vehicle, and by wireless with described first server communication, described master
Control unit is configured to control robot or intelligent vehicle turnover elevator.
The system of automatic turnover elevator the most according to claim 1, wherein, described in exhale unit to be parallel to described elevator car
Railway carriage or compartment key circuit, by turning on described lift car key circuit to light lift car button.
The system of automatic turnover elevator the most according to claim 1, wherein, turnover elevator includes:
Arrive at robot or intelligent vehicle and specify position, and different from lift car place floor in the case of, described master
The lift car button exhaling unit to light robot or intelligent vehicle place floor in control unit control is described is to call elevator；
Arrive at robot or intelligent vehicle and specify position, and identical with lift car place floor in the case of, described master
Unit is exhaled to light lift car door opening key to call elevator in control unit control is described；
It is, in the case of elevator arrives, to enter elevator at state of elevator；
In the case of robot or intelligent vehicle are in lift car, light the lift car button of designated floor；And
It is, in the case of elevator arrives designated floor, to exit elevator at state of elevator.
The system of automatic turnover elevator the most according to claim 3, wherein, at robot or intelligent vehicle place floor
In the case of difference between demarcation distance value and the first distance value is more than setting threshold value, determine robot or intelligent vehicle and electricity
Ladder car place floor is different；And
The difference demarcated between distance value and the first distance value in robot or intelligent vehicle place floor is less than or equal to set
In the case of threshold value, determine that robot or intelligent vehicle are identical with lift car place floor.
The system of automatic turnover elevator the most according to claim 3, wherein, exhales unit at described main control unit in described
In the case of directly setting up connection by 2.4G radio communication, determine that state of elevator is that elevator arrives.
The system of automatic turnover elevator the most according to claim 3, wherein, enters elevator and includes:
Waited for first scheduled time and judge whether front meets entry condition；
In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again judge whether front meets entrance bar
Part；
Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number, be defined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And
In the case of front meets entry condition, enter elevator,
Wherein, described first scheduled time is to wait the time that elevator door is opened；
Described second scheduled time is again to judge the waiting time whether front meets entry condition；And
Described first pre-determined number is to judge the judgement number of times that front is unsatisfactory for entry condition.
The system of automatic turnover elevator the most according to claim 3, wherein, at the demarcation distance value and first of designated floor
In the case of difference between distance value is less than or equal to setting threshold value, determine that state of elevator is that elevator arrives designated floor.
The system of automatic turnover elevator the most according to claim 3, wherein, exits elevator and includes:
Waited for the 3rd scheduled time and judge whether front meets exit criteria；
In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again judge that front is whether the most satisfied and exit article
Part；
Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, be defined as exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And
In the case of front meets exit criteria, exit elevator,
Wherein, described 3rd scheduled time is to wait the time that elevator door is opened；
Described 4th scheduled time is again to judge the waiting time whether front meets exit criteria；And
Described second pre-determined number is to judge the judgement number of times that front is unsatisfactory for exit criteria.
9. a method for automatic turnover elevator, including:
Arrive at robot or intelligent vehicle and specify position, and different from lift car place floor in the case of, light machine
The lift car button of device people or intelligent vehicle place floor is to call elevator；
Arrive at robot or intelligent vehicle and specify position, and identical with lift car place floor in the case of, light electricity
Ladder car door opening key is to call elevator；
It is, in the case of elevator arrives, to enter elevator at state of elevator；
In the case of robot or intelligent vehicle are in lift car, light the lift car button of designated floor；And
It is, in the case of elevator arrives designated floor, to exit elevator at state of elevator.
The method of automatic turnover elevator the most according to claim 9,
Wherein, enter elevator to include:
Waited for first scheduled time and judge whether front meets entry condition；
In the case of front is unsatisfactory for entry condition, waited for second scheduled time and again judge whether front meets entrance bar
Part；
Judging that front is unsatisfactory in the case of entry condition reaches the first pre-determined number, be defined as cannot be introduced into elevator, and
Elevator calls elevator after leaving again；And
In the case of front meets entry condition, enter elevator,
Wherein, exit elevator to include:
Waited for the 3rd scheduled time and judge whether front meets exit criteria；
In the case of front is unsatisfactory for exit criteria, waited for the 4th scheduled time and again judge that front is whether the most satisfied and exit article
Part；
Judging that front is unsatisfactory in the case of exit criteria reaches the second pre-determined number, be defined as exiting elevator, and
Elevator lights designated floor after leaving designated floor again；And
In the case of front meets exit criteria, exit elevator.
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