CN111747250A - Control method and system for robot and person mixed elevator - Google Patents
Control method and system for robot and person mixed elevator Download PDFInfo
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- CN111747250A CN111747250A CN202010521414.4A CN202010521414A CN111747250A CN 111747250 A CN111747250 A CN 111747250A CN 202010521414 A CN202010521414 A CN 202010521414A CN 111747250 A CN111747250 A CN 111747250A
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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
- B66B1/3446—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
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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
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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
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3453—Procedure or protocol for the data transmission or communication
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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
- B66B1/3492—Position or motion detectors or driving means for the detector
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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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/468—Call registering systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4676—Call registering systems for checking authorization of the passengers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Elevator Control (AREA)
Abstract
A control method and a system for a robot and a human mixed elevator are an intelligent wireless control system based on a wireless communication technology, a network technology and a control technology. The method and the system are a deployment scheme for solving the problem of mixed riding of robots and people by elevators. The system comprises a cloud server, a communication module (Lora \ NB-IoT) and an elevator floor selection controller. The robot communication module uploads call instruction data to a cloud server, the cloud server approves user identity information according to registration information, if the user is a legal user, the cloud server sends an instruction to an elevator floor selection controller of a corresponding address, an optical coupling switch of a corresponding floor on the elevator floor selection controller acts, a called floor button is lightened, and meanwhile, the controller returns a message of successfully answering the data to the cloud server to indicate that the call is successful; the cloud server monitors the running direction and position of the elevator through the elevator layer selection controller and guides the robot to get on and off the elevator.
Description
Technical Field
The invention relates to an elevator for an intelligent robot, in particular to the technical field of elevators for intelligent robots and people in a mixed manner.
Background
Elevators are essential people-carrying transport vehicles in modern buildings, and the design and use of elevators follow the habits of human operation.
The progress of science and technology promotes the rapid development of artificial intelligence technology and intelligent robot technology, and robots gradually replace manpower in partial fields, and unmanned distribution is one of the scenes. However, at present, the level of artificial intelligence of the robot cannot be as free as a person to take an elevator, and therefore the artificial intelligence of the robot must be realized by means of auxiliary equipment.
The existing buildings cannot add elevators for unmanned distribution or transform the original elevators into special elevators for robots, and the scheme that the robots and people are mixed to take the elevators is the preferred scheme.
Some of the existing solutions are not designed with the elevator belonging to a special installation in mind. The safety law of special equipment of the people's republic of China, Elevator construction class division, stipulates that: the 'change of speed regulation mode or control mode' belongs to the modification category; the method adopts an identity authentication mode of additionally arranging an elevator IC card system and the like outside a peripheral wiring mode of an elevator car control box, a landing calling box or buttons thereof, and belongs to the major maintenance category; the general maintenance category is the identity authentication mode such as adding an elevator IC card system only in the peripheral wiring mode of an elevator car control box, a landing calling box or buttons thereof. The twenty-second provision of special equipment safety laws is that elevator manufacturing units are responsible for elevator safety performance. So that any party belonging to the field of modification or major maintenance who must be authorized by the elevator manufacturing unit can perform the operation, otherwise it is illegal.
For [0005] reasons, the safety of special equipment is of utmost importance, and peripheral equipment does not deeply intervene in the control mode of the elevator, usually on the peripheral wiring of the buttons as an entry point.
Some of the prior art solutions do not describe a method for the robot to determine the direction of travel of the elevator. Based on the design of improving the operation efficiency, the elevator only receives the calling instruction in the same direction as the operation of the elevator, and the calling instruction in the opposite direction is cancelled; or the elevator running in the reverse direction is just right when people go up and down the elevator on the floor where the robot is, and the robot can mistakenly enter the elevator when the door is opened.
In part of the existing schemes, the method for judging the arrival of the elevator at the target floor (obtained by calculating the height difference) by the robot through the air pressure height gauge is not strict. Because the elevator car belongs to the airtight cavity, the air pressure change of the elevator in the operation process of several seconds is small, so the air pressure height gauge can not accurately represent the height in the car.
The robot in some existing schemes judges the opening and closing of the elevator door through the scanning door area, and when the robot and people take the elevator together, the robot cannot scan the state of the elevator door with high probability due to the shielding of the human body.
In part of the existing schemes, the robot obtains the running height and the height difference of the elevator through calculation and logical operation, the method is not reliable, and when the running state of the elevator is abnormal, the conditions of jitter, slide and the like occur, errors can be caused in the logical operation and the calculation.
The elevator car of a commercial building is usually deployed with multiple elevators and is usually provided with a parallel or group control function (pressing the outbound key, two elevator responses are parallel, more than two responses are group control). The existing solutions do not describe how the robot decides which elevator to stay in front of unless a robot-specific elevator is deployed.
In the existing scheme, a wireless communication mode is adopted between the robot and the elevator. The elevator shaft is made of reinforced concrete, the elevator car is made of steel frames and stainless steel plates, and the two structural materials have a shielding effect on signals, so that the 2G, 4G and 5G, WIFI (2.4G) used in the existing scheme is unreliable in establishing communication connection; although bluetooth has strong penetration capability, bluetooth has short connection distance and needs to be paired before connection, so the actual application effect is not ideal. Under the current technical conditions, the use of NB-IoT narrowband wide area internet of things and LoRa local area internet of things is the preferred networking scheme.
Disclosure of Invention
In order to solve the problems, the invention provides a control method and a control system for a robot and a human mixed elevator, and aims to provide a preferable solution for solving the problems that an intelligent robot gets on and off the elevator and can accurately reach a target floor, and also a preferable solution for realizing the robot and the human mixed elevator.
In order to achieve the purpose, the invention provides a control method and a control system for a robot and a human mixed elevator, and provides an intelligent wireless control system based on wireless communication technology, network technology and control technology, which is applied to the fields of intelligent robots taking elevators and the like without limitation. The system is a scheme for solving the problems that an intelligent robot gets on and off an elevator and can accurately reach a target floor, and is also a deployment scheme for realizing the mixed riding of the robot and the robot on the elevator. The system comprises a cloud server, a robot communication module (Lora \ NB-IoT), an elevator floor selection controller and an elevator floor selection controller communication module (Lora \ NB-IoT). The robot communication module uploads call instruction data (identity information, the floor where the robot communication module is located and target floor information) to a cloud server, the cloud server approves the user identity information according to registration information, if the user identity information is legal, the cloud server sends the instruction to an elevator floor selection controller of a corresponding address, the elevator floor selection controller receives a wireless signal instruction through a controller communication module (Lora \ NB-IoT), an optical coupling switch of the corresponding floor on the elevator floor selection controller acts, a called floor button is lightened, and meanwhile, the controller returns a message of successfully answering the data to the cloud server to indicate that the call is successful; the cloud server monitors the running direction and position of the elevator through the elevator layer selection controller and guides the robot to get on and off the elevator.
The working environment of the robot is the interior of a building, and the working task is logistics dispatching. The robot can freely walk and work in a building according to design requirements, is not individually completed, is a member of a network system, at least comprises a server and a network, and is also provided with auxiliary equipment necessary for the robot to successfully complete work tasks.
The wireless signals of the application environment are easily interfered and shielded, so that the narrowband wide area Internet of things NB-IoT or the self-built Lora local area Internet of things built by the preferable operator of the Internet of things in a building and an elevator have the characteristics of wide coverage, multiple connections, interference resistance, strong penetration and the like.
The method and the system of the invention are the optimal solution for solving the problems that the intelligent robot gets on and off the elevator and can accurately reach the target floor, and are also the optimal solution for realizing the mixed riding of people and the robot on the elevator.
The system comprises a cloud server, a robot communication module (Lora \ NB-IoT), an elevator floor selection controller and an elevator floor selection controller communication module (Lora \ NB-IoT).
The cloud server provides computing and application services for other equipment in a network, and is responsible for tasks such as data receiving and sending, data processing, data computing, data storage, encryption processing, identity recognition and the like.
The robot communication module (Lora \ NB-IoT) and the elevator floor selection controller communication module (Lora \ NB-IoT) are chipsets based on Lora or NB-IoT communication technology, and are access points of a wireless network in the invention and are responsible for receiving and sending data.
The elevator floor selection controller is installed on the back of an operating panel of the elevator (the operating panel is a panel consisting of elevator keys and a floor display screen and can be detached). The elevator floor-selecting controller of the invention has an input voltage of 12-24v, and is a PCB circuit board (figure 1) which consists of a power supply conversion part (outputting 5v and 3.3 v), a microcontroller, a communication module (Lora \ NB-IoT), a gravity sensor, a binary dial switch and N groups of optical coupling switches.
The invention relates to a method for judging the arrival time of an elevator, which belongs to the general maintenance category and is characterized in that the floor selection is realized by controlling the peripheral wiring of an elevator button, the running direction of the elevator is judged by a gravity sensor, and the running principle of the elevator is utilized to judge when the elevator arrives at the station.
In the elevator key circuit diagram (fig. 2), marks s1 and s2 are the positive and negative poles of the key lamp, respectively, and marks s3 and s4 are the positive and negative poles of the key switch, respectively. When the key is pressed, the marks s3 and s4 are closed, the elevator operating panel communication board receives a high-level trigger signal returned by the mark s4, the communication board gives a high level to the mark s1, and the key is lighted. s1 is held high until the elevator reaches the destination floor and is changed to low, and the key lamp is turned off.
The elevator of the invention selects N groups of optical coupling switches of the controller, each group has two. Fig. 3 is a circuit schematic of a single key with opto-coupler connection.
The optical coupler II is connected with S4 and S3 of the key, the second pin of the optical coupler II is connected with S3, the second pin of the optical coupler II is connected with S4, the second pin of the optical coupler II is connected with the ground, and the second pin of the optical coupler II is used as an input end. The optocoupler (1) is in a low level initial state, and the optocoupler (4) and the optocoupler (3) are in an off state at the moment according to the characteristics of the optocoupler. When the elevator floor selection controller receives a calling instruction, the optocoupler (1) is given with high level, and according to the characteristics of the optocoupler, the optocoupler (4) is communicated with the inside of the pin (3), so that S4 and S3 of the key are communicated, and the effect is equal to that the key is pressed down.
The optical coupler is used for judging the state of the key lamp. The pin 4 of the optical coupler is connected with 3.3v, the pin 3 of the optical coupler is connected with an I/O interface of the microcontroller as an output end, the pin 2 of the optical coupler is grounded, and the pin 1 of the optical coupler is connected with the S2 of the key as an input end. When the initial state is not bright according to the key light promptly S2 is the low level promptly opto coupler 1 foot also is the low level, according to the characteristic of opto coupler, 4 feet and 3 feet inside nonconducting this moment opto coupler, 3 feet are the low level for the opto coupler, and microcontroller receives the low level. When the optocoupler operates to light a key lamp, keys S1 and S2 are switched on, and a key S2 becomes a high level, namely a pin 1 of the optocoupler becomes a high level, according to the characteristics of the optocoupler, a pin 4 of the optocoupler and a pin 3 of the optocoupler are internally switched on, the pin 3 of the optocoupler outputs a high level of 3.3v, and the microcontroller receives the high level of 3.3 v. When the elevator reaches the destination floor, the key lamp is turned off, and the microcontroller receives the low level.
The two steps are that the microcontroller, the optocoupler and the optocoupler finish the whole process of a command action. The microcontroller sends a layer selection instruction → the optocoupler is communicated with the output end → the key lamp is on → the optocoupler is connected with the output end firstly, continuous high level 3.3v is output → the microcontroller receives continuous high level 3.3v (so as to judge that the layer selection is successful) → key lamp is turned off (the elevator reaches the destination layer) → the optocoupler is connected with the output low level → the microcontroller receives low level (so as to judge that the elevator reaches).
The elevator floor selection controller provided by the invention is provided with N groups of optical coupling switches, and can control elevators within N floors. When the robot goes to a target layer, the robot communication module uploads instruction data (identity information, the floor where the robot is located and target floor information) to the cloud server, the cloud server approves the user identity information according to registration information, if the robot is a legal user, the cloud server sends a call instruction through a network when the elevator running direction returned by the gravity sensor is the same as the target direction of the robot, an elevator floor selection controller receives the call instruction through the controller communication module (Lora \ NB-IoT), an optical coupling switch corresponding to the elevator floor selection controller is conducted, two floor key lamps which are called are turned on, and the microcontroller receives two high levels. If the key lamp of the layer where the robot is located is on, the key lamp of the target layer is not on, namely, the microcontroller receives the low level of the layer where the robot is located and the high level of the target layer, the robot can prepare to enter the elevator; after the robot enters the elevator, the robot can be ready to leave the elevator after waiting for the microcontroller to receive the low level of the target floor. Other situations cannot enter the elevator, such as: the running direction of the elevator returned by the gravity sensor is opposite to the target direction of the robot; the target layer of the robot is turned off by pressing a key lamp; the key lamps on the layer where the robot is and the target layer are turned off at the same time.
The robot prepares into the elevator when going out through judging the layer at place according to the key lamp, prepares out the elevator when going out through judging the purpose layer according to the key lamp. This solution is feasible, typically 3-5s from key-off to elevator door-to-door stable, which reserves the time for the robot to prepare.
The binary dial switch of the elevator floor-selecting controller in the invention is used for setting address codes, for example, a 4-bit binary dial switch can set 16 binary addresses. Generally, a plurality of elevators are deployed in a commercial building, and an elevator floor selection controller is installed on each elevator and sets different address codes. And the cloud server informs the robot of the fact that the robot reaches the elevator with the corresponding address in advance before the corresponding robot command is given priority in the plurality of elevators.
The technical scheme provided by the invention can have the following beneficial effects: a special elevator is not required to be configured for the robot; the invention utilizes the control principle and the operation principle of the elevator, is scientific and simple in deployment, does not change the control mode of the elevator and does not influence the operation safety of the elevator; the invention can realize the mixed riding of people and robots, so the scheme has the advantages of cost saving and quick deployment; the invention is not only suitable for the robot, but also can call the elevator through the mobile phone for the building needing to control the personnel; the invention can also realize networking and docking with the entrance guard, so that authorized people or robots are smooth and unimpeded; the management background of the invention can check the record of each time that a person or a robot calls an elevator, can remotely update, remotely authorize, remotely forbid and remotely start, and is convenient for management and use.
Drawings
Fig. 1 is a schematic diagram of the structure of an elevator floor-selecting controller.
Fig. 2 is a schematic diagram of an elevator key circuit.
Fig. 3 is a wiring schematic diagram of an elevator key, an optical coupler and an optical coupler.
Fig. 4 is a schematic diagram of the structure of the elevator floor-selecting controller and a wiring diagram with peripheral equipment.
FIG. 5 is a flow chart of the robot getting on and off the elevator;
fig. 6 is a schematic diagram of a hybrid robot and person elevator.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The object of the present invention is to provide a control method and system for a robot and a people-ride elevator, so that the working environment of the robot can be complicated. There may be several elevators in a working environment, and there may be several robots in the same environment busy, and in the case of no special elevator, the robots take the elevator with the person, and how the robots find the elevator that responds first and how to avoid command confusion between the robots, which will be explained in the following examples. Of course, the positioning accuracy and obstacle avoidance capability of the robot are not issues to be addressed by the present invention.
The elevator floor-selecting controller provided by the embodiment is set to be 12-24v of input voltage, and is a PCB circuit board (figure 4) which consists of a power supply conversion part (5 v and 3.3 v), an STM32F105RBT6 microcontroller, a communication module (Lora \ NB-IoT), a gravity sensor, a 4-bit dial switch and 64 groups of optical coupling switches.
The embodiment provides a working scene, namely, four elevators, 32 floors, two robots and a coverage Lora internet of things are arranged in a building. Four elevators are respectively provided with 1 elevator floor selection controller (32 groups of optical coupling switches) and 1 photoelectric switch (for detecting the opening and closing of the elevator door). Setting different address codes, 0001, 0010, 0011 and 0100, by dial switches of the four elevator floor selection controllers; the two robots are provided with different identity information numbers NO1 and NO 2. Optionally, as an auxiliary verification measure, an electronic tag may be attached to a position on one floor of the building where the elevator hall robot can pass through, so as to calibrate the base station floor of the robot.
The robot sends a call instruction to the cloud server through the robot communication module, and the instruction comprises current identity information, a floor where the robot is located and target floor information. For example, the robot NO1 (identity) goes to 16 floors (destination floors) at 8 floors (floors), the cloud server sends a call instruction to the elevator floor selection controller running in the same direction in four elevators after verifying that the identity is legal, and the elevator floor selection controller lights the 8-floor key and the 16-floor key of the control panel. The process is shown in FIG. 5. After the robot issues a call command, several situations occur.
In case 1, at least one of the four elevators is in a standby state, i.e., an out-of-service state in which the elevator enters after no person calls. In the state, the cloud server monitors that the key lamps are all in low level, the cloud server sends the calling instruction to any elevator in a standby state, the called elevator can immediately respond, and the elevator layer selection controller triggers the next action after detecting the low level of the key lamps in 8 layers. The cloud server sends the arrival information and the address code information to the robot NO1, and the robot NO1 waits before arriving at the elevator corresponding to the address. When the elevator stops and opens the door, the photoelectric switch detects that the door is opened, the elevator floor selection controller sends door opening information to the cloud server, and the cloud server informs the robot of NO1 to enter the elevator. When the elevator runs to 16 floors, the 16 floors of key lamps are turned off, and the elevator floor selection controller detects that the low level of the 16 floors of key lamps triggers the next action. The cloud server sends the arrival information to the robot NO1, robot NO1 is ready to leave the elevator. When the elevator stops and opens the door, the photoelectric switch detects that the door is opened, the elevator floor selection controller sends the door opening information to the cloud server, and the cloud server informs the robot NO1 to leave the elevator.
In case 2, at least one of the four elevators goes upwards and is just below 8 floors, the 8-floor and 16-floor key lamps are lightened after the elevator is called, the elevator which firstly runs to the 8 floors is the first choice, and the elevator floor selection controller detects the low level of the key lamps to trigger the next action. The elevator floor-selecting controller sends the arrival information and the address code to the cloud server, the cloud server sends the first group of received information to the robot NO1, and the robot NO1 reaches the elevator. When the elevator stops and opens the door, the photoelectric switch detects that the door is opened, the elevator floor selection controller sends door opening information to the cloud server, and the cloud server informs the robot of NO1 to enter the elevator. When the elevator runs to 16 floors, the 16 floors of key lamps are turned off, and the elevator floor selection controller detects that the low level of the 16 floors of key lamps triggers the next action. The elevator floor selection controller sends the arrival information to the cloud server, which sends the information to the robot NO1, which robot NO1 is ready to leave the elevator. When the elevator stops and opens the door, the photoelectric switch detects that the door is opened, the elevator floor selection controller sends the door opening information to the cloud server, and the cloud server informs the robot NO1 to leave the elevator.
In case 3, at least one of the four elevators is in the up going zone and is in the zone between 8 th and 16 th floors, the 8 th and 16 th floor key lamps are lighted after the elevator is called. The elevator continues to go upwards to reach 16 floors, the 16 floors of key lamps are turned off, the elevator floor selection controller detects that the 16 floors of key lamps are in low level, the elevator floor selection controller detects that the 8 floors of key lamps are still in high level at the moment, the cloud server judges that the call is invalid, the robot NO1 is informed to call again, and the robot NO1 repeats the step [0041 ].
In case 4, at least one of the four elevators is in the up run and above 16 floors, the 8-floor and 16-floor key lamps are lighted after the elevator is called. The elevator continues to go upwards until going downwards, the 8-floor key lamps and the 16-floor key lamps of the elevator are simultaneously turned off due to the reverse cancellation function of the elevator, the elevator floor selection controller detects that the 8-floor key lamps and the 16-floor key lamps simultaneously become low level, the cloud server judges that the call is invalid, informs the robot NO1 of calling again, and the robot NO1 repeats the step [0041 ].
The situation that the robot ascends the elevator and also ascends is explained in the previous embodiment, and similarly, the situation that the robot descends the elevator and also descends is judged according to the logic of the previous embodiment; in the other two situations, namely the robot goes up the elevator and goes down the elevator, the cloud server directly judges that the call instruction is invalid and informs the robot to call again.
The explanation of the embodiment clearly describes the process of taking the elevator by the robot, and the process and judgment of taking the elevator by the person are the same. The elevator is called and then the elevator is waited before the elevator which arrives preferentially, the target floor is selected after the elevator enters the elevator, but no person can select the reverse floor, the elevator is judged to arrive by observing the target floor and pressing a key lamp or a floor display screen, and the elevator is moved to the front of an elevator door to wait for opening the door to get off. The same judgment method and thinking mode make it possible for the robot and the people to take the elevator together, and further, the invention has novelty, creativity, implementability, easy expandability and easy compatibility.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A control method and a system for a robot and a human mixed elevator are an intelligent wireless control system based on a wireless communication technology, a network technology and a control technology, and are applied to the fields of intelligent robots taking elevators and the like without limitation.
2. The method is a scheme for solving the problems that an intelligent robot can get on and off the elevator and accurately reach a target floor, and is also a deployment scheme for realizing the mixed riding of the robot and the robot on the elevator.
3. The system comprises a cloud server, a robot communication module (Lora \ NB-IoT), an elevator floor selection controller and an elevator floor selection controller communication module (Lora \ NB-IoT).
4. The robot communication module uploads call instruction data (identity information, the floor where the robot communication module is located and target floor information) to a cloud server, the cloud server approves the identity of a user according to registration information, if the cloud server of a legal user sends the instruction through a network, an elevator floor selection controller receives a wireless signal instruction through a controller communication module (Lora \ NB-IoT), a corresponding optical coupling switch on the elevator floor selection controller acts, a called floor button is lightened, and meanwhile, the controller returns a message of successfully answering the data to the cloud server to indicate that the call is successful; the cloud server monitors the running direction and position of the elevator through the elevator layer selection controller and guides the robot to get on and off the elevator.
5. The system according to claim 1, characterized in that in the application environment of the invention, the wireless signals are easily interfered and shielded, so in the buildings and elevators, the narrowband wide area internet of things NB-IoT or the self-built Lora local area internet of things built by the preferred operator of the internet of things have the characteristics of wide coverage, multiple connections, interference resistance, strong penetration and the like.
6. The system according to claim 3, wherein the cloud server provides computing and application services for other devices in the network, and in the invention, the cloud server is responsible for tasks of data receiving and sending, data processing, data computing, data storage, encryption processing, identity recognition and the like.
7. The system of claim 3, wherein the robot communication module (Lora \ NB-IoT) and the elevator floor selection controller communication module (Lora \ NB-IoT) are chipsets based on Lora or NB-IoT communication technology, and in the present invention, are access points of a wireless network, and are responsible for receiving and transmitting data.
8. The system of claim 3, wherein the elevator layer selection controller inputs 12-24v, and the PCB is composed of a power conversion part (outputs 5v and 3.3 v), a microcontroller, a communication module (Lora \ NB-IoT), a gravity sensor, a binary dial switch, and N groups of optical coupling switches.
9. The method according to claim 4, characterized in that the call instruction data (identity information, floor where the robot is located, destination floor information) contain data in a fixed order, if the data contains only three pieces of information, the first location is the identity information, i.e. the internal code number of the robot itself, the second location is the floor where the robot is currently located, the third location is the destination floor of the robot, and the cloud server judges whether the robot intends to go up or down by the numerical size of the second location and the third location.
10. The method as claimed in claim 4, wherein the step of the cloud server approving the user identity information according to the registration information is to determine whether an internal code number of the robot is put on record, and the step of the server sending the command to the elevator floor selection controller corresponding to the address is to be performed by the cloud server to determine the elevator floor selection controller installed in the elevator running in the same direction as the robot goes to the destination floor.
11. The method as claimed in claim 4, wherein the action of the optocoupler switches on the elevator floor selection controller corresponding to the floors is that each floor button corresponds to two optocoupler switches, the optocoupler (i) is connected in parallel with the button switches, the optocoupler (ii) is connected in series with the negative electrode of the button lamp, the microcontroller controls the optocoupler (i) to be closed, the optocoupler (ii) returns to a high level, and the microcontroller receives the high level and returns a successful response message to the cloud server.
12. The method according to claim 4, wherein the cloud server monitors the running direction and position of the elevator through the elevator floor selection controller, and the monitoring of the running direction of the elevator means that the cloud server judges the running direction of the elevator through a gravity sensor return value on the elevator floor selection controller.
13. The method according to claim 4, wherein the cloud server monitors the running direction and position of the elevator through the elevator floor selection controller, the monitoring of the running position of the elevator is judged by changing a high level into a low level through a negative pole of a floor button lamp, the robot is guided to get on the elevator when the elevator reaches the floor where the robot is located, and the robot is guided to get off the elevator when the elevator reaches the target floor of the robot.
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