CN109987463A - Robot and elevator interactive system and method - Google Patents
Robot and elevator interactive system and method Download PDFInfo
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- CN109987463A CN109987463A CN201910271019.2A CN201910271019A CN109987463A CN 109987463 A CN109987463 A CN 109987463A CN 201910271019 A CN201910271019 A CN 201910271019A CN 109987463 A CN109987463 A CN 109987463A
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- 230000002452 interceptive effect Effects 0.000 title claims description 41
- 238000000034 method Methods 0.000 title claims description 17
- 238000004891 communication Methods 0.000 claims abstract description 75
- 238000009434 installation Methods 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000004080 punching Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
-
- 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
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
Present invention discloses a kind of robots, including hoofing part module, robot control unit and robot communication module, the hoofing part module and the robot communication module is electrically connected in the robot control unit, and boarding information is simultaneously sent to the intrinsic control system of elevator by the rf signal reception unit by the rf signal reception unit of the communication module connection elevator.The present invention realizes robot boarding, while save the cost.
Description
Technical field
The invention belongs to robot and elevator interaction technique field more particularly to a kind of robot and elevator interactive system and
Method.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, machine man-based development is swift and violent at present, many industries all
It is applied.Such as in dining room, service trade, hotel, the operations such as service humanoid robot can be used for delivery, order.
And current robot cannot achieve and interact with elevator, robot, which can not take, downstairs removes service goal floor on elevator
User, cause each floor can only be equipped with a robot go service This floor user, higher cost.Existing robot with
The method of elevator interaction, robot with elevator during interacting, for rf signal reception unit in elevator has been arranged
Elevator, track remodelling is complicated, at high cost；Elevator institute is judged using the form of floor label in traditional floor information acquisition unit
In floor position, including wireless carrier communications transmitter, laser range finder or camera are used, causes high expensive.
Summary of the invention
The purpose of the present invention is to solve above-mentioned technical problems, and provide robot and elevator interactive system and method,
To realize that robot is applicable in the boarding of rf signal reception unit, while save the cost.In order to achieve the above object, skill of the present invention
Art scheme is as follows:
A kind of robot, including hoofing part module, robot control unit and robot communication module, the machine
The hoofing part module and the robot communication module, the communication module connection is electrically connected in device people's control unit
Boarding information is simultaneously sent to elevator by the rf signal reception unit and inherently controlled by the rf signal reception unit of elevator
System.
Specifically, the robot includes but is not limited to: unmanned equipment, Intelligent mobile equipment, remote sensing mobile device.
A kind of robot and elevator interactive system,
The elevator arrangement has rf signal reception unit, is connected with electronics signal wires between the intrinsic control system of elevator
Road；
The rf signal reception unit connects the robot, and the rf signal reception unit receives and by the machine
The boarding information that device human hair goes out is sent to the intrinsic control system of elevator by the electronic signal lines.
Specifically, further including emission of radio frequency signals unit, it is electrically connected the external control unit of elevator；
The emission of radio frequency signals unit sends signal to rf signal reception unit, and the rf signal reception unit is received
Elevator is called in place by the intrinsic control system of elevator to simultaneously response signal；
Floor information is sent to robot communication module, machine by elevator communication module by the external control unit of elevator
Device people enters elevator；
The intrinsic control system triggering of elevator, which goes to the button of destination and controls elevator, goes to destination.
Specifically, further including simulant elevator rf signal reception unit communication node unit, it is connected in parallel to the radio frequency letter
Number electronics signal wires connected between receiving unit and the intrinsic control system of elevator road, to simulate the rf signal reception
Unit is communicated with the intrinsic control system of elevator.
Specifically, further including the external control unit of elevator, floor information acquisition unit is connected；
The external control unit of elevator connects elevator communication module, rf signal reception unit, elevator and inherently controls and be
System and elevator door state acquisition device；
The robot communication module is connect with the elevator communication module communication in the external control unit of the elevator.
A kind of robot and elevator interactive system,
The elevator includes the sensor being installed on lift car and is installed in hoistway and opposite with each floor
The sensor interactive module answered；
The sensor interactive module installation site and elevator pass through when floor that sensor position is corresponding in the carriage,
When the sensor is moved up or moved down by the sensor interactive module with carriage, it is stored in floor information acquisition unit
Floor information adds one or subtracts one.
Specifically, the floor information acquisition unit includes first sensor and second sensor, the first sensor
It is docked simultaneously with sensor interactive module with second sensor and starts to calculate for benchmark floor, first sensor is interacted with sensor
After module relative displacement, often upper one layer plus one, subtract one per next layer, floor where judging elevator with this algorithm, when elevator passes through
When benchmark floor, the floor information stored is resetted for benchmark floor；
The first sensor and the second sensor are docked in sensor interactive module position in benchmark floor,
Dock the first sensor in sensor interactive module position in other floors；
The floor information acquisition unit obtains the floor signal where elevator, passes through the elevator of the external control unit of elevator
Floor signal is sent to robot communication module by communication module.
A kind of robot and elevator exchange method, the described method comprises the following steps:
S1, robot communication module connect elevator communication module, its location information are transferred to elevator communication module；
S2, the external control unit of elevator receive and respond the location information and by rf signal reception unit and elevator
Electronic circuit between intrinsic control system transmits it to the intrinsic control system of elevator, described in the intrinsic control system response of elevator
Location information control elevator is run to predetermined floor；
S3, robot enter elevator, its destination information is inherently controlled by rf signal reception unit with elevator
Electronic circuit between system is transmitted to the intrinsic control system of elevator, is driven out to elevator after reaching destination；
S4 completes boarding.
Specifically, the location information includes the floor information of floor where robot, and before robot enters elevator, machine
The floor information of floor where robot is transferred to elevator communication module every several seconds by people's communication module, prevents the floor lighted
Button is artificially cancelled；Elevator in place after, elevator door opening-closing state acquisition device by elevator door opening-closing information by elevator it is external
Control unit is transmitted to robot communication module, and when elevator door opens moment, robot has been prepared for entering or be driven out to.
Compared with prior art, robot of the present invention and the beneficial effect of elevator interactive system and method are mainly reflected in:
When elevator is taken by robot, the awaiting elevator time is reduced, robot working efficiency is higher；Robot can obtain elevator
The open and-shut mode information of door just launches into the movement of elevator, it is complete to without waiting for elevator door in the moment that elevator door is opened
Restart after opening, saves the time；Elevator is lighted using rf signal reception unit and goes to floor button, be suitable for robot and
The dual elevator operation of user, at the same it is less to the change of elevator intrinsic system, elevator device is avoided because plug-in device is made
At it is unstable, even change internal wiring, has and only needs to change rf signal reception unit at one and inherently control with elevator
Line between system, installation are simple；Floor information acquisition unit is cooperated using sensor and sensor interactive module, judges building
Information where layer, avoids the sensor interactive module structure being installed on hoistway using traditional floor tagged manner simple, pacifies
Dress is convenient, save the cost.
Detailed description of the invention
Fig. 1 is one of module connection diagram of the embodiment of the present invention；
Fig. 2 is the two of the module connection diagram of the embodiment of the present invention；
Fig. 3 is the present embodiment floor information acquisition unit operational flow diagram；
Fig. 4 is benchmark floor floor information acquisition unit scheme of installation in the present embodiment；
Fig. 5 is other floor information acquisition unit scheme of installation in the present embodiment；
Fig. 6 is another floor information acquisition unit scheme of installation in the present embodiment；
Fig. 7 is the flow chart of robot and elevator exchange method in the present embodiment；
Specific embodiment
With reference to the accompanying drawing by the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that retouched
The embodiment stated is only a part of the embodiment of the present invention, instead of all the embodiments.
Embodiment 1:
Shown in referring to Fig.1, the present embodiment is robot and elevator interactive system comprising the machine being installed in robot
The external control unit of people's control unit, elevator, the intrinsic control system of elevator；Wherein row is electrically connected in robot control unit
Walk drive module and robot communication module；Elevator external control unit connection elevator communication module, emission of radio frequency signals unit,
Floor information acquisition unit and elevator door state acquisition device；Elevator itself is equipped with rf signal reception unit, and with electricity
Terraced intrinsic control system is electrically connected, to realize user card punching boarding function；Robot control unit is communicated by robot
Module and the external communication module of elevator are established and are communicated to connect, the final communication connection realized with the external control unit of elevator, and electric
The external control unit of ladder connect final realization and elevator further through emission of radio frequency signals unit with rf signal reception unit communication
The communication connection of intrinsic control system.
Wherein, when robot needs boarding, floor where itself is sent to by elevator communication by itself communication module
Module after the external control unit of elevator receives the floor information of elevator communication module, controls emission of radio frequency signals unit to radio frequency
Floor information where signal receiving unit distribution of machine people, i.e. analog subscriber swiping card, floor where lighting robot of swiping the card,
The intrinsic control system control elevator of elevator goes to floor where robot.It is single by the external control of elevator in running process of elevator
By elevator, place floor information and elevator door opening-closing state are sent to robot communication to the elevator communication module of member connection in real time
Module.After floor where elevator reaches robot, robot is not entered into before elevator, in certain time, passes through above-mentioned communication
Floor information where sending to elevator rf signal reception unit is connected, floor where persistently lighting realizes that elevator inherently controls
System keeps the open state of elevator door, to wait robot to eventually enter into elevator.Such as machine mhuman failure or barrier original
It is more than certain time because entering elevator, then stops sending, and repeat the above steps when robot gets out boarding again, calls
Elevator occupies elevator to avoid crossing for a long time.
After robot enters elevator, the robot destination to be gone to equally is lighted through the above steps, and know electricity
Terraced floor position after robot obtains elevator door unlatching, is driven out to elevator, and remember when reaching the destination that robot is gone to
Floor where record at this time.
Wherein above-mentioned robot communication module can with but be not limited to be 433 radio communications, mobile 2G, 3G, 4G network
Communication, wifi communication mode, zigbee.And the method for obtaining elevator door open state can be corresponding by installing on elevator door
Sensor realization, such as Hall sensor, Photoelectric infrared switch etc..It is also possible to robot and detects terraced door using the sensor of itself
Whether open, or closes, such as laser radar, ultrasonic distance-measuring sensor etc..
Robot includes but is not limited to: unmanned equipment, Intelligent mobile equipment, remote sensing mobile device.
Embodiment 2:
Boarding information is sent to the another embodiment of the intrinsic control system of elevator by robot,
Referring to shown in Fig. 2, the difference compared with above-described embodiment 1 is that robot and elevator interactive system further include mould
Quasi- elevator rf signal reception unit communication node unit, is connected in parallel to rf signal reception unit and the intrinsic control system of elevator
Between connect electronics signal wires road, communicated to simulate the rf signal reception unit with the intrinsic control system of elevator.
Robot communication module connects simulant elevator rf signal reception unit communication node unit, simulant elevator rf signal reception list
First communication node unit receives and response signal passes through the intrinsic control system of elevator and calls elevator in place, the external control unit of elevator
Floor information is sent to robot communication module by elevator communication module, robot enters elevator, and elevator, which inherently controls, is
System triggering, which goes to the button of destination and controls elevator, goes to destination.
485, WG communication protocol are wherein used between rf signal reception unit and the intrinsic control system of elevator, it is only necessary to
Increase a communication node address in original communication protocol, analog radio frequency receiving unit communicates i.e. with the intrinsic control system of elevator
It can.
Embodiment 3:
The present embodiment is the mode that elevator itself does not install rf signal reception unit, the external control unit connection peace of elevator
Loaded on the floor key in elevator, the intrinsic control system of elevator has multiple floor interfaces corresponding with floor quantity, multiple
Floor interface controls winding displacement multiple floor button connections corresponding on floor key respectively by floor.Robot by itself
Place floor information is sent to the external control unit of elevator, and the external control unit of elevator is manually pressed by control elevator push button simulation
Respective storey key is pressed, realizes that calling elevator goes to robot place floor, after robot enters elevator, passes through above-mentioned same sample prescription
Formula control elevator goes to destination to complete boarding movement.Further, the external control unit of the elevator can be directly connected to penetrate
Frequency signal receiving unit, to also install boarding function of swiping the card additional while realizing robot boarding function for elevator.
Embodiment 4:
Referring to shown in Fig. 3-Fig. 5, robot and elevator interactive system further include floor information acquisition unit, building floor information
Acquisition unit include the first sensor being installed in lift car, second sensor and be installed in hoistway and with it is each
The corresponding sensor interactive module of floor；
Sensor interaction mould in Fig. 3 and Fig. 4, when elevator passes through or rests in benchmark floor, in benchmark floor
First sensor and second sensor are blocked in block position, and floor information acquisition unit identification at this time is benchmark floor A, general benchmark
Storey setting is Stall；
Sensor interactive module position in Fig. 5, when elevator passes through or rests in non-referenced floor, in other floors
It sets and blocks first sensor, and second sensor is not blocked.The intrinsic control system of elevator can pass through the acquisition of sensor
The difference of signal is identified as other non-referenced floors.
Optionally, the sensor can be used range measurement principle such as infrared sensor, ultrasonic sensor etc.；When positioned at benchmark
When floor, first sensor and second sensor measure distance for L1, L2, in operational process, without sensor interaction mould
It when block, measures distance and is all larger than L1, L2, when sensor interactive module corresponding by other floors, first sensor is measured
For distance to be approximately equal to L1, second sensor is greater than L2, then is identified as other non-referenced floors, and elevator is propradation or decline
Then floor information adds one to state accordingly, or subtracts one.
Sensor interactive module in corresponding corridor is infrared emission sensor, is done by whether receiving infrared light into one
Step judgement.The sensor can also be Magnetic Sensor, by whether there is magnetic field to do further judgement.
First sensor and second sensor may be disposed in carriage or outside carriage.
First sensor or the second sensor include but is not limited to touch switch and non-contact switch.The present embodiment
Middle first sensor and second sensor are infrared distance sensor, and sensor interactive module is iron plate.
Embodiment 5:
Refering to what is shown in Fig. 6, being with the difference of embodiment 5, a first sensor, well are only installed at this time in carriage
Floor corresponding position is also equipped with sensor interactive module in road, when elevator pass through respective storey when, first sensor with it is corresponding
Sensor interactive module interaction, realize floor identification, elevator be propradation or decline state then floor information it is corresponding
Add one, or subtracts one.Due to not having the benchmark floor recognition capability of embodiment 5, when elevator is run for the first time, manually
One floor is set as benchmark floor, elevator relies on always this benchmark floor to do corresponding floor identification later.
Embodiment 6:
Referring to shown in Fig. 7, robot and elevator exchange method, comprising the following steps:
S1: robot communication module and the mutual communication connection of elevator communication module, robot communication module is by institute, robot
Elevator communication module is transferred in the floor information of floor；
S2: floor information where robot is transmitted to the external control unit of elevator by elevator communication module；The external control of elevator
Floor information where robot is passed through the electric wire between rf signal reception unit and the intrinsic control system of elevator by unit processed
Road is transmitted to the intrinsic control system of elevator；
The intrinsic control system of elevator lights robot place floor key and controls elevator and runs to the floor；
S3: robot, which enters elevator and repeats the above steps, passes through radio frequency for the destination information that robot will be gone to
Electronic circuit between signal receiving unit and the intrinsic control system of elevator is transmitted to the intrinsic control system of elevator, reaches target
Elevator is driven out to after floor；
S4: place floor, completion boarding act robot records at this time；
Wherein, the sensor in floor information acquisition unit in carriage passes through corresponding in hoistway in every floor
The docking of sensor interactive module, the signal of floor where obtaining；
Before robot enters elevator, robot communication module transmits the floor information of floor where robot every several seconds
Elevator communication module is given, prevents the floor button lighted from artificially being cancelled；
After reaching designated floor such as elevator, robot does not enter elevator within the set time, and robot also stops sending institute
In floor information, after waiting elevators to drive away, sent again after several seconds；
Elevator in place after, elevator door opening-closing state acquisition device by elevator door opening-closing information pass through the external control unit of elevator
It is transmitted to robot communication module, when elevator door opens moment, robot has been prepared for entering or be driven out to.
Robot includes but is not limited to: unmanned equipment, Intelligent mobile equipment, remote sensing mobile device.
Robot controls elevator by several wireless energy control units and reaches designated floor position；Several wireless control lists
Member includes the robot control unit being mounted in robot, the external control unit of elevator for being installed on elevator corresponding position, machine
Device people's control unit includes robot control module and robot communication module, and elevator is equipped with the external control unit of elevator, electricity
Terraced communication module, rf signal reception unit, floor key, the intrinsic control system of elevator and elevator door state acquisition device.
When using above-described embodiment, when elevator is taken by robot, the awaiting elevator time is reduced, robot working efficiency is more
It is high；Robot can obtain the open and-shut mode information of elevator door, in the moment that elevator door is opened, just launch into the movement of elevator,
It withouts waiting for restarting after elevator door fully opens, saves the time；Elevator is lighted using rf signal reception unit and goes to building
Layer button, suitable for the dual elevator operation of robot and user, and meanwhile it is less to the change of elevator intrinsic system, avoid electricity
Terraced system is because unstable caused by plug-in device, even change internal wiring, has and only need to change radiofrequency signal at one and connect
The line between unit and the intrinsic control system of elevator is received, installation is simple；Floor information acquisition unit is using sensor and sensing
The cooperation of device interactive module, information where judging floor are avoided using traditional floor tagged manner, the sensing being installed on hoistway
Device interactive module structure is simple, easy for installation, save the cost.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.
Claims (10)
1. a kind of robot, it is characterised in that: communicate mould including hoofing part module, robot control unit and robot
The hoofing part module and the robot communication module, the machine is electrically connected in block, the robot control unit
Device people's communication module connects the rf signal reception unit of elevator and passes boarding information by the rf signal reception unit
It send to the intrinsic control system of elevator.
2. a kind of robot according to claim 1, it is characterised in that: the robot includes but is not limited to: nobody drives
Sail equipment, Intelligent mobile equipment, remote sensing mobile device.
3. a kind of robot and elevator interactive system, it is characterised in that: including robot as claimed in claim 1 or 2；
The elevator arrangement has rf signal reception unit, is connected with electronic signal lines between the intrinsic control system of elevator；
The rf signal reception unit connects the robot, and the rf signal reception unit receives and by the robot
The boarding information of sending is sent to the intrinsic control system of elevator by the electronic signal lines.
4. a kind of robot according to claim 3 and elevator interactive system, it is characterised in that: further include radiofrequency signal hair
Unit is penetrated, the external control unit of elevator is electrically connected；
The emission of radio frequency signals unit sends signal to rf signal reception unit, and the rf signal reception unit receives simultaneously
Response signal calls elevator in place by the intrinsic control system of elevator；
Floor information is sent to robot communication module, robot by elevator communication module by the external control unit of elevator
Into elevator；
The intrinsic control system triggering of elevator, which goes to the button of destination and controls elevator, goes to destination.
5. a kind of robot according to claim 3 and elevator interactive system, it is characterised in that: further include that simulant elevator is penetrated
Frequency signal receiving unit communication node unit, is connected in parallel between the rf signal reception unit and the intrinsic control system of elevator
The electronics signal wires road of connection, communicates to simulate the rf signal reception unit with the intrinsic control system of elevator.
6. a kind of robot according to claim 3 and elevator interactive system, it is characterised in that: further include the external control of elevator
Unit processed connects floor information acquisition unit；
The external control unit connection elevator communication module of the elevator, rf signal reception unit, the intrinsic control system of elevator, with
And elevator door state acquisition device；
The robot communication module is connect with the elevator communication module communication in the external control unit of the elevator.
7. a kind of robot and elevator interactive system, it is characterised in that: including robot as claimed in claim 1 or 2,
The elevator includes the sensor being installed on lift car and is installed in hoistway and corresponding with each floor
Sensor interactive module；
The sensor interactive module installation site and elevator pass through when floor that sensor position is corresponding in the carriage, described
When sensor is moved up or moved down by the sensor interactive module with carriage, it is stored in the floor of floor information acquisition unit
Information adds one or subtracts one.
8. a kind of robot according to claim 7 and elevator interactive system, it is characterised in that: the floor information acquisition
Unit includes first sensor and second sensor, the first sensor and second sensor simultaneously with sensor interactive module
Docking is that benchmark floor starts to calculate, after first sensor and the relative displacement of sensor interactive module, often upper one layer plus one, and under every
One layer subtracts one, floor where judging elevator with this algorithm, and when elevator passes through benchmark floor, the floor information stored is resetted
For benchmark floor；
The first sensor and the second sensor are docked in sensor interactive module position in benchmark floor, are located at
Dock the first sensor in sensor interactive module position in other floors；
The floor information acquisition unit obtains the floor signal where elevator, passes through the elevator communication of the external control unit of elevator
Floor signal is sent to robot communication module by module.
9. a kind of robot and elevator exchange method, which comprises the following steps:
S1, robot communication module connect elevator communication module, its location information are transferred to elevator communication module；
S2, the external control unit of elevator receive and respond the location information and by rf signal reception unit and elevator it is intrinsic
Electronic circuit between control system transmits it to the intrinsic control system of elevator, and the intrinsic control system of elevator responds the position
Information control elevator is run to predetermined floor；
S3, robot enter elevator, its destination information is passed through rf signal reception unit and the intrinsic control system of elevator
Between electronic circuit be transmitted to the intrinsic control system of elevator, be driven out to elevator after reaching destination；
S4 completes boarding.
10. a kind of robot as claimed in claim 9 and elevator exchange method, it is characterised in that: the location information includes
The floor information of floor where robot, before robot enters elevator, robot communication module will be where robot every several seconds
The floor information of floor is transferred to elevator communication module, prevents the floor button lighted from artificially being cancelled；Elevator in place after, elevator
Elevator door opening-closing information is transmitted to robot communication module by the external control unit of elevator by door open and-shut mode acquisition device, when
Elevator door opens moment, and robot has been prepared for entering or be driven out to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/124137 WO2020155860A1 (en) | 2019-01-30 | 2019-12-09 | Robot and elevator interaction system and method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019201676096 | 2019-01-30 | ||
| CN201920167609 | 2019-01-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109987463A true CN109987463A (en) | 2019-07-09 |
| CN109987463B CN109987463B (en) | 2024-03-19 |
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ID=66408883
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920338132.3U Active CN210735884U (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction system |
| CN201910201660.9A Active CN109748165B (en) | 2019-01-30 | 2019-03-18 | Robot and elevator interaction method |
| CN201920450473.XU Active CN210824958U (en) | 2019-01-30 | 2019-04-04 | Robot remote elevator interaction system |
| CN201910271019.2A Active CN109987463B (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system and method |
| CN201920453032.5U Active CN210710187U (en) | 2019-01-30 | 2019-04-04 | Robot and elevator interaction system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109748165B (en) | 2024-05-14 |
| CN210735884U (en) | 2020-06-12 |
| CN210710187U (en) | 2020-06-09 |
| CN109748165A (en) | 2019-05-14 |
| CN110116947A (en) | 2019-08-13 |
| CN210824958U (en) | 2020-06-23 |
| WO2020155858A1 (en) | 2020-08-06 |
| WO2020155860A1 (en) | 2020-08-06 |
| WO2020155859A1 (en) | 2020-08-06 |
| CN109987463B (en) | 2024-03-19 |
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