CN110902515A - Elevator control equipment and method of intelligent mobile robot - Google Patents
Elevator control equipment and method of intelligent mobile robot Download PDFInfo
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- CN110902515A CN110902515A CN201911304385.XA CN201911304385A CN110902515A CN 110902515 A CN110902515 A CN 110902515A CN 201911304385 A CN201911304385 A CN 201911304385A CN 110902515 A CN110902515 A CN 110902515A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 238000013519 translation Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
-
- 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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/461—Adaptations of switches or switchgear characterised by their shape or profile
- B66B1/462—Mechanical or piezoelectric input devices
-
- 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
- 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
- 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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/50—Adaptations of switches or switchgear with operating or control mechanisms mounted in the car or cage or in the lift well or hoistway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an elevator control device and method of an intelligent mobile robot, wherein the elevator control device comprises an execution device, a code scanner and a controller, wherein the execution device comprises a contact and a multi-axis driving device; the multi-axis driving device is in driving connection with the contact, so that the contact can move to different elevator button positions and applies pressing force to the elevator buttons; the code scanner is used for scanning the two-dimensional code on the intelligent mobile robot; the controller is electrically connected with the multi-axis driving device and the code scanner. The elevator control equipment is arranged beside the elevator control panel, and the contact can be controlled to move and act on the target elevator button so as to realize the control of the elevator by the robot, the elevator does not need to be reformed, the negative and complex signal transmission does not exist, the elevator taking by the human control button is not influenced, and the use is convenient.
Description
Technical Field
The invention relates to the technical field of robots, in particular to elevator control equipment and method of an intelligent mobile robot.
Background
At present, various automatic navigation robots are widely used in industry and life, such as a carrying robot, a food delivery robot, a navigation robot and the like, the robots may have the problem of cross-floor operation, the robots cannot directly and autonomously use an elevator without mechanical arms, and the robots need the assistance of other equipment. Furthermore, the executing device in the prior patent is an electromagnetic device, which generates certain interference to signals in a local area and generates magnetic garbage. The installation form is to directly establish a new control panel on the control panel, and the transformation also increases the cost, reduces the reliability and is inconvenient for users to use the elevator.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the elevator control equipment and the elevator control method of the intelligent mobile robot, which have simple implementation mode and low cost.
The technical scheme is as follows: to achieve the above object, an elevator operating apparatus of an intelligent mobile robot of the present invention comprises:
the actuating device comprises a contact and a multi-axis driving device; the multi-axis driving device is in driving connection with the contact, so that the contact can move to different elevator button positions and applies pressing force to the elevator buttons;
the code scanner is used for scanning the two-dimensional code on the intelligent mobile robot; and
and the controller is electrically connected with the multi-axis driving device and the code scanner.
Further, the multi-axis driving apparatus includes:
a displacement assembly for displacing the contact; and
and the pressing execution assembly is used for driving the contact to vertically approach the elevator button and applying pressing force to the elevator button.
Further, the displacement assembly comprises:
the vertical translation assembly comprises a vertical motor, a synchronous belt assembly and a bearing frame; the vertical motor is in driving connection with the synchronous belt assembly; the rotary bearing frame is connected with a synchronous belt of the synchronous belt component and can be driven by the synchronous belt to vertically lift; and
a horizontal translation assembly mounted on the turret; it comprises a horizontal motor, a gear and a rack; the horizontal motor is arranged on the rotary support frame and is in driving connection with the gear; the rack can horizontally translate relative to the rotary support frame and is meshed with the gear; the pressing execution assembly is installed on the rack.
Further, the press performing assembly includes:
a component seat mounted on the rack;
the actuating motor is fixedly arranged on the component seat;
a slider slidably mounted with respect to the component holder, the contact being mounted at an end thereof; and
and the actuating motor is in driving connection with the screw rod, and is matched with the sliding block in a screw rod pair manner.
Further, the sliding block is cylindrical; the component seat is provided with a sliding hole matched with the sliding block, the hole wall of the sliding hole is provided with a slide way, and the sliding block is provided with a raised guide part matched with the slide way for use.
Further, the orientation angle of the scanner is adjustable.
An elevator control method of an intelligent mobile robot based on the elevator control device of the intelligent mobile robot is applied to a controller, and comprises the following steps:
scanning a two-dimensional code on the intelligent mobile robot through the code scanner;
analyzing the content of the two-dimensional code, and accordingly obtaining the destination information of the intelligent mobile robot;
obtaining elevator button information needing to be pressed according to the destination information;
and controlling the actuating device to operate, so that the multi-axis driving device drives the contact to move to the position of the elevator button needing to be pressed and applies pressing force to the elevator button.
Has the advantages that: the elevator control equipment is arranged beside the elevator control panel, and the contact can be controlled to move and act on the target elevator button so as to realize the control of the elevator by the robot, the elevator does not need to be reformed, the negative and complex signal transmission does not exist, the elevator taking by the human control button is not influenced, and the use is convenient.
Drawings
Fig. 1 is a structural view of an elevator operating device of an intelligent mobile robot;
fig. 2 is a top view structural view of an elevator operating device of the intelligent mobile robot;
FIG. 3 is a block diagram of a press actuator assembly;
FIG. 4 is a view of a guide structure of the slider and the assembly base;
fig. 5 is a flow chart illustrating an elevator operating method of the intelligent mobile robot.
In the figure: 1-an execution device; 11-a contact; 12-a displacement assembly; 121-vertical motor; 122-a timing belt assembly; 123-horizontal motor; 124-gear; 125-rack; 126-a turret; 13-a press actuator; 131-component seat; 131-1-sliding hole; 131-2-slide; 132-an actuator motor; 133-a slider; 133-1-raised guide; 134-lead screw; 2-a code scanner; 3-a controller; 4-a control panel; 41-elevator button.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the second feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
An elevator control device (hereinafter, referred to as an "elevator control device") of an intelligent mobile robot shown in fig. 1 and 2 is installed beside a control panel 4 of an elevator, can be installed beside an elevator call control panel 4 outside the elevator, and can also be installed beside a floor selection control panel 4 inside the elevator, and the elevator control device includes an execution device 1, a code scanner 2 and a controller 3. The controller 3 is electrically connected with the executing device 1 and the code scanner 2, the controller 3 can scan the two-dimensional code on the intelligent mobile robot through the code scanner 2 to acquire the destination information of the robot, and control the executing device 1 to operate, so that the executing device 1 presses the corresponding elevator button 41 to realize the operation of the elevator.
The actuator 1 comprises a contact 11 and a multi-axis driving device; the multi-axis driving device is in driving connection with the contact 11, so that the contact 11 can move to different elevator button 41 positions and apply pressing force to the elevator buttons 41; the multi-shaft driving device comprises a displacement component 12 and a pressing execution component 13, wherein the displacement component 12 is used for enabling the contact 11 to move in a plane at a certain distance from the elevator control panel 4, and the pressing execution component 13 is used for driving the contact 11 to vertically approach the elevator button 41 (i.e. to move in a direction vertical to the elevator control panel 4) and applying pressing force to the elevator button 41.
The displacement assembly 12 includes a vertical translation assembly and a horizontal translation assembly. The vertical translation assembly comprises a vertical motor 121, a synchronous belt assembly 122 and a bearing frame 126; the vertical motor 121 is in driving connection with the synchronous belt assembly 122, the rotating carrier 126 is connected with the synchronous belt of the synchronous belt assembly 122, the synchronous belt can drive the vertical lifting movement, and the rotation of the vertical motor 121 can drive the synchronous belt assembly 122 to rotate, so that the rotating carrier 126 can move up and down. A horizontal translation assembly is mounted on the turret 126; the horizontal translation assembly comprises a horizontal motor 123, a gear 124 and a rack 125; the horizontal motor 123 is mounted on the bearing frame 126, and the horizontal motor 123 is in driving connection with the gear 124; the rack 125 is horizontally translatable relative to the turret 126, and it meshes with the pinion 124; the pressing actuator 13 is mounted on the rack 125.
Through the structure, the pressing execution component 13 and the contact 11 installed on the pressing execution component 13 can be driven by the displacement component 12 to do biaxial movement integrally, so that the contact 11 can move to the right front of any elevator button 41, in addition, the displacement component 12 can also enable the pressing execution component 13 and the contact 11 to be moved out of the right front area of the elevator control panel 4 integrally, when no robot uses the elevator, the pressing execution component 13 and the contact 11 can not shield the control panel 4, and the normal use of the elevator by people is not influenced.
As shown in fig. 3, the pressing actuator 13 includes a base 131, an actuator 132, a slider 133, and a lead screw 134. Wherein, the component seat 131 is installed on the rack 125, and the actuating motor 132 is fixedly installed on the component seat 131; the sliding block 133 is installed in a sliding way relative to the component seat 131, and the contact 11 is installed at the end part of the sliding block 133; the actuating motor 132 is in driving connection with the lead screw 134, and is in lead screw pair fit with the slide block 133.
With the above structure, when the actuator motor 132 is operated, the slider 133 can be moved in a translational manner by the lead screw 134, so that the contact 11 can be pressed.
Specifically, as shown in fig. 4, the slider 133 is cylindrical, a sliding hole 131-1 matched with the slider 133 is formed on the component seat 131, a sliding channel 131-2 is formed on a hole wall of the sliding hole, a protruding guide portion 133-1 matched with the sliding channel 131-2 for use is formed on the slider 133, and the slider 133 is guided by the matching between the sliding channel 131-2 and the protruding guide portion 133-1, so that the slider 133 can slide back and forth along the sliding channel 131-2, the guiding structure is simple, and the implementation cost is low.
In addition, for the debugging convenience, the orientation angle of the code scanner 2 can be adjusted, so that after the elevator control equipment is installed, the orientation of the code scanner 2 can be adjusted to a proper angle, the robot reaches a set position, and the code scanner 2 can scan the two-dimensional code on the robot.
The present invention also provides an elevator control method of an intelligent mobile robot, which is based on the above elevator control device of an intelligent mobile robot, and the method is applied to a controller 3, as shown in fig. 5, and the method comprises the following steps S401-S404:
step S401, scanning the two-dimensional code on the intelligent mobile robot through the code scanner 2;
in this step, the intelligent mobile robot needs to move to a set position, so that the two-dimensional code on the intelligent mobile robot can be scanned by the code scanner 2.
Step S402, analyzing the content of the two-dimensional code, and accordingly obtaining the destination information of the intelligent mobile robot;
in this step, the destination information includes information such as context information or destination floor information.
Step S403, obtaining information of the elevator button 41 required to be pressed according to the destination information;
in this step, if the destination information is context information, the controller 3 may determine, according to the context information, that the elevator button 41 to be pressed is an up button or a down button; if the destination information is destination floor information, the controller 3 may determine that the number of the elevator button 41 corresponding to the destination floor is the information of the elevator button 41 to be pressed.
And step S404, controlling the execution device 1 to operate, so that the multi-axis driving device drives the contact 11 to move to the position of the elevator button 41 required to be pressed and applies pressing force to the contact.
In this step, the control signal sent by the controller 3 to the actuator 1 includes driving signals for three motion axes, i.e., the vertical translation component, the horizontal translation component, and the pressing actuator 13, so that each axis moves in time sequence to press the target elevator button 41.
The step S402 has two implementation manners, which are as follows:
in the first embodiment, the two-dimensional code is a fixed two-dimensional code attached to a mobile robot, the content recorded in the two-dimensional code includes the number of the mobile robot, both the mobile robot and the elevator operating equipment are dispatched by a dispatching center, the elevator operating equipment further includes a communication unit, in the step S402, the controller 3 scans the two-dimensional code information to obtain the number information of the mobile robot, and the controller 3 requests data from the dispatching center through the communication unit according to the number information of the robot to obtain the destination information of the mobile robot.
In a second embodiment, the mobile robot is provided with display modules such as a display screen, the two-dimensional code is content displayed by the display module, the mobile robot displays the destination information of the mobile robot on the display module in a two-dimensional code form, after the mobile robot reaches a set position, the display module falls within a scanning range of the code scanner 2, and the code scanner 2 scans the two-dimensional code on the display screen to obtain the destination information.
The elevator control equipment is arranged beside the elevator control panel, and the contact can be controlled to move and act on the target elevator button so as to realize the control of the elevator by the robot, the elevator does not need to be reformed, the negative and complex signal transmission does not exist, the elevator taking by the human control button is not influenced, and the use is convenient.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. An elevator operating apparatus of an intelligent mobile robot, comprising:
the actuating device comprises a contact and a multi-axis driving device; the multi-axis driving device is in driving connection with the contact, so that the contact can move to different elevator button positions and applies pressing force to the elevator buttons;
the code scanner is used for scanning the two-dimensional code on the intelligent mobile robot; and
and the controller is electrically connected with the multi-axis driving device and the code scanner.
2. The elevator manipulation apparatus of the intelligent mobile robot according to claim 1, wherein the multi-axis driving means comprises:
a displacement assembly for displacing the contact; and
and the pressing execution assembly is used for driving the contact to vertically approach the elevator button and applying pressing force to the elevator button.
3. The intelligent mobile robot elevator handling apparatus of claim 2, wherein the displacement assembly comprises:
the vertical translation assembly comprises a vertical motor, a synchronous belt assembly and a bearing frame; the vertical motor is in driving connection with the synchronous belt assembly; the rotary bearing frame is connected with a synchronous belt of the synchronous belt component and can be driven by the synchronous belt to vertically lift; and
a horizontal translation assembly mounted on the turret; it comprises a horizontal motor, a gear and a rack; the horizontal motor is arranged on the rotary support frame and is in driving connection with the gear; the rack can horizontally translate relative to the rotary support frame and is meshed with the gear; the pressing execution assembly is installed on the rack.
4. The elevator operating device of intelligent mobile robot of claim 3, wherein said press performing component comprises:
a component seat mounted on the rack;
the actuating motor is fixedly arranged on the component seat;
a slider slidably mounted with respect to the component holder, the contact being mounted at an end thereof; and
and the actuating motor is in driving connection with the screw rod, and is matched with the sliding block in a screw rod pair manner.
5. The elevator operating apparatus of an intelligent mobile robot according to claim 4, wherein the slider is cylindrical; the component seat is provided with a sliding hole matched with the sliding block, the hole wall of the sliding hole is provided with a slide way, and the sliding block is provided with a raised guide part matched with the slide way for use.
6. The elevator operating apparatus of an intelligent mobile robot of claim 1, wherein the orientation angle of the scanner is adjustable.
7. An elevator manipulation method of an intelligent mobile robot based on the elevator manipulation apparatus of the intelligent mobile robot of any one of claims 1 to 6, wherein the method is applied to a controller, the method comprising:
scanning a two-dimensional code on the intelligent mobile robot through the code scanner;
analyzing the content of the two-dimensional code, and accordingly obtaining the destination information of the intelligent mobile robot;
obtaining elevator button information needing to be pressed according to the destination information;
and controlling the actuating device to operate, so that the multi-axis driving device drives the contact to move to the position of the elevator button needing to be pressed and applies pressing force to the elevator button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911304385.XA CN110902515A (en) | 2019-12-17 | 2019-12-17 | Elevator control equipment and method of intelligent mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911304385.XA CN110902515A (en) | 2019-12-17 | 2019-12-17 | Elevator control equipment and method of intelligent mobile robot |
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| CN110902515A true CN110902515A (en) | 2020-03-24 |
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| CN201911304385.XA Pending CN110902515A (en) | 2019-12-17 | 2019-12-17 | Elevator control equipment and method of intelligent mobile robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021240042A1 (en) * | 2020-05-25 | 2021-12-02 | Kone Corporation | Elevator call activator |
| CN113752269A (en) * | 2020-06-01 | 2021-12-07 | 泰科电子(上海)有限公司 | Mobile robot autonomous elevator taking device and method |
| CN114148836A (en) * | 2021-11-08 | 2022-03-08 | 中国科学院自动化研究所 | Robot autonomous ladder taking method and device |
| CN114988237A (en) * | 2022-06-16 | 2022-09-02 | 深圳优地科技有限公司 | Robot interactive ladder taking method and device, electronic equipment and readable storage medium |
| JP7242762B2 (en) | 2021-06-18 | 2023-03-20 | 東芝エレベータ株式会社 | elevator equipment |
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