CN114572783A - Control board card for signal interaction between robot and elevator and control method - Google Patents
Control board card for signal interaction between robot and elevator and control method Download PDFInfo
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- CN114572783A CN114572783A CN202210231699.7A CN202210231699A CN114572783A CN 114572783 A CN114572783 A CN 114572783A CN 202210231699 A CN202210231699 A CN 202210231699A CN 114572783 A CN114572783 A CN 114572783A
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- 238000004891 communication Methods 0.000 claims description 19
- 230000009191 jumping Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 9
- 238000004590 computer program Methods 0.000 description 13
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- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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Abstract
The disclosure relates to the technical field of robot control, and provides a control board card and a control method for signal interaction between a robot and an elevator. This control integrated circuit board includes: the signal transceiving module is wirelessly connected with the robot; a plurality of floor button switch control modules correspond with the floor button switch of elevator respectively, and floor button switch control module includes: a switch control circuit connected in parallel on the button instruction control circuit between the elevator main control board and the floor button switch, and a voltage detection circuit connected in parallel on the button instruction control circuit between the elevator main control board and the floor button switch; the controller can control the corresponding switch control circuit to be closed when the signal transceiver module receives a target floor instruction sent by the robot, and control the signal transceiver module to send a floor arrival instruction to the robot when the voltage detection circuit detects that the button indicates that the control circuit has voltage difference jump. The installation of the method is simpler, the difficulty is low, and the realization cost is more economic.
Description
Technical Field
The disclosure relates to the technical field of robot control, in particular to a control board card and a control method for signal interaction between a robot and an elevator.
Background
When a robot running in a hotel, a building, a community and other scenes enters or exits an elevator, the information of the floor where an elevator car is located needs to be acquired to control the robot to take the elevator. For example, the robot calls elevator number 1 in the elevator hall with 2 floors, and then the robot needs to control the 1 floor button on the call panel in the elevator number 1 to light up; when the elevator 1 reaches the floor 1, a signal that the cage is at the floor 2 needs to be sent to the robot, and the robot enters the elevator after receiving the signal; similarly, when the robot goes out of the elevator, the information of the floor where the car is located needs to be obtained similarly, and the robot goes out of the elevator at the corresponding target floor.
At present, there are two kinds of modes for the robot to acquire elevator car place floor: the first method is that the distance between two modules is measured by two sensors arranged on the top of a car and the top of a shaft to judge the floor where the elevator is located, and then the information data of the floor where the robot car is located is sent to the first method; the second type is that the original magnetic isolation plate (every layer of elevator all has corresponding magnetic isolation plate) of installing at the shaft of elevator is utilized, through the sensor calculation through electromagnetic plate quantity, obtain elevator car place floor information. The first scheme requires high requirements for installation positions, the two modules are vertically installed from top to bottom, signals cannot be received in the ultrahigh floors, hardware and installation cost are high, the second scheme has the requirement for a magnetic isolation plate on an installed elevator, and two sensors (a robot starting floor calibration sensor is required to be installed at the same time during installation, and a photoelectric sensor is high in installation requirement and has certain requirements on skills of installation personnel.
Therefore, in the prior art, the realization cost for acquiring the floor where the elevator car is located by the robot is high, and certain technical difficulty exists for realizing the installation of equipment. Therefore, how to acquire elevator car floor information by a robot at low cost and in a relatively easy-to-implement manner to assist the robot to take an elevator is a technical problem in current robot applications.
Disclosure of Invention
In view of this, the embodiment of the present disclosure provides a control board card and a control method for signal interaction between a robot and an elevator, so as to solve the problem in the prior art how to obtain elevator car floor information with a robot at low cost and relatively easy implementation.
In a first aspect of the disclosed embodiments, a control board card for signal interaction between a robot and an elevator is provided, which includes: the signal transceiving module is wirelessly connected with the robot; a plurality of floor button switch control modules, every floor button switch control module corresponds with a floor button switch of elevator, and every floor button switch control module includes: the elevator control system comprises a switch control circuit and a voltage detection circuit, wherein the switch control circuit is connected in parallel with a button instruction control circuit between an elevator main control panel and a floor button switch, and the voltage detection circuit is connected in parallel with a button instruction control circuit between the elevator main control panel and the floor button switch; and the controller is respectively electrically connected with the signal transceiver module, the button instruction control circuit and the button instruction control circuit, can control the switch control circuit in the corresponding floor button switch control module to be closed when the signal transceiver module receives a target floor instruction sent by the robot, and can control the signal transceiver module to send a floor arrival instruction to the robot when the voltage detection circuit detects that the button instruction control circuit has voltage difference jump.
In a second aspect of the disclosed embodiment, a control method for signal interaction between a robot and an elevator is provided, and is applied to the control board card, and the control method includes: receiving a target floor instruction sent by a robot; controlling a switch control circuit where the corresponding floor button switch is located to be closed based on the target floor instruction; and under the condition that the voltage difference jumping of the button indication control line where the floor button switch is located is detected, a floor arrival instruction is sent to the robot, and the switch control line is controlled to be disconnected.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: the control board card is directly installed in the elevator car and is electrically connected with the circuit between the elevator main control board and the floor button switch, so that the stability and the accuracy of signal interaction are ensured, and errors are not easy to occur; simultaneously, the installation degree of difficulty of control panel card in elevator car is lower to compare in current implementation's cost lower.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a scenario diagram of an application scenario of an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a control board card for signal interaction between a robot and an elevator provided by the embodiment of the disclosure;
fig. 3 is a circuit diagram of a circuit and a control board card between an elevator main control board and a floor button switch provided in an embodiment of the present disclosure;
fig. 4 is a circuit diagram of a circuit and a control board card between an elevator main control board and a floor button switch provided in the embodiment of the present disclosure;
fig. 5 is a schematic flow chart of a control method for signal interaction between a robot and an elevator provided by the embodiment of the disclosure;
fig. 6 is a schematic structural diagram of the controller in fig. 3 according to an embodiment of the present disclosure.
Description of reference numerals:
1. a robot; 2. an elevator car; 21. an elevator main control board; 22. a floor command button panel; 221. a floor button switch; 23. a button command control circuit; 24. the button indicates a control line; 3. a server; 4. a network; 5. controlling a board card; 51. a signal transceiving module; 52. a floor button switch control module; 521. a switch control circuit; 5211. a circuit switch; 522. a voltage detection circuit; 53. a controller; 531. a processor; 532. a memory; 533. a computer program.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
Fig. 1 is a scene schematic diagram of an application scenario of an embodiment of the present disclosure. The application scenario may include a robot 1, an elevator car 2, a server 3 and a network 4. The scene shown in fig. 1 may include a hotel, a building, a community, and the like, wherein an elevator main control board 21 and a floor instruction button panel 22 are arranged on the elevator car 2, the elevator main control board 21 is used for controlling the elevator car 2 to ascend and descend and stop, the floor instruction button panel 22 is provided with a plurality of floor button switches 221 corresponding to floors, respectively, and a user presses the floor button switch 221 corresponding to a desired floor to send an instruction to the elevator main control board 21, so that the elevator main control board 21 controls the elevator to move to the corresponding floor and stop. In the application scenario of the present disclosure, a control board card 5 for signal interaction between the robot and the elevator is further disposed in the elevator car 2, and the control board card 5 is connected to a line between the elevator main control board 21 and the floor command button panel 22 for signal interaction between the robot and the elevator.
For example, when the robot 1 is outside the elevator car 2, the robot 1 may send a target floor command (the current floor number) to the control board 5 on the elevator car 2, and after receiving the target floor command, the control board 5 will automatically trigger the floor button switch 221 corresponding to the target floor command to send a command to the elevator main control board, so that the elevator main control board 21 controls the elevator car 2 to move to the floor corresponding to the target floor command and stop, and then, when the elevator car 2 reaches the target floor, the control board 5 will also send a command for the elevator to reach to the robot 1, so that the robot 2 automatically enters the elevator car 2. Similarly, when the robot 1 is in the elevator car, the signal interaction with the elevator is the same as when the robot 1 is outside the elevator, and therefore, the description is omitted here.
The robot 1 is applied to providing various services in a hotel, a building, and the like, for example, taking out for a user by the robot 1 in some buildings.
The server 3 may be a server providing various services, for example, a background server receiving requests sent by the robot and the control board card on the elevator car, which are in communication connection with the server, and the background server may receive and analyze the requests sent by the robot, and forward the generated processing results to the control board card. The server 3 may be one server, may also be a server cluster composed of a plurality of servers, or may also be a cloud computing service center, which is not limited in this disclosure.
The server 3 may be hardware or software. When the server 3 is hardware, it may be various electronic devices that provide various services to the robot 1. When the server 3 is software, it may be multiple software or software modules providing various services for the robot 1, or may be a single software or software module providing various services for the robot 1, which is not limited in the embodiment of the present disclosure.
The network 4 may be a wired network connected by a coaxial cable, a twisted pair and an optical fiber, or may be a wireless network that can interconnect various Communication devices without wiring, for example, Bluetooth (Bluetooth), Near Field Communication (NFC), Infrared (Infrared), and the like, which is not limited in the embodiment of the present disclosure.
It should be noted that the specific types, numbers and combinations of the robot 1, the elevator car 2, the server 3 and the network 4 may be adjusted according to the actual requirements of the application scenario, and the embodiment of the present disclosure does not limit this.
Fig. 2 is a schematic structural diagram of a control board card for signal interaction between a robot and an elevator, provided by the embodiment of the disclosure. As shown in fig. 1, the control board includes: a signal transceiver module 51, a plurality of floor button switch control modules 52 (only one is shown in fig. 2 for ease of understanding), and a controller 53, wherein the signal transceiver module 51 is wirelessly connected to the robot; each floor button switch control module 52 corresponds to one floor button switch 221 of the elevator, and each floor button switch control module 52 includes: a switch control circuit 521 and a voltage detection circuit 522, wherein the switch control circuit 521 is connected in parallel with the button command control circuit 23 between the elevator main control panel 21 and the floor button switch 221, and the voltage detection circuit 522 is connected in parallel with the button indication control circuit 24 between the elevator main control panel 21 and the floor button switch 221; the controller 53 is electrically connected to the signal transceiver module 51, the switch control line 521 and the voltage detection line 522, and is capable of controlling the switch control line 521 in the corresponding floor button switch control module 52 to close when the signal transceiver module 51 receives a destination floor command transmitted by the robot, and controlling the signal transceiver module 51 to transmit a floor arrival command to the robot when a button indication control line 24 has a voltage difference jump detected through the voltage detection line 522.
Specifically, only the lines between the elevator main control board 21 and one of the floor button switches 221 on the floor instruction button panel 22, i.e., the button instruction control line 23 and the button indication control line 24, are shown in fig. 2. In addition, the control board 5 in fig. 2 only shows the floor button switch control modules 52 corresponding to one floor button switch 221, in practice, the number of the floor button switch control modules 52 on the control board 5 is plural, generally the same as the number of the floor button switches 221, and the floor button switch control modules 52 correspond to the floor button switches 221 one by one.
Because of the many types of elevators, the number of lines between the elevator main control board 21 and each floor button switch 221 on the floor command button panel 22 in the elevator car is different depending on the type of elevator. Referring to fig. 2, there are generally 3 or 4 lines in the lines between the elevator main control panel 21 and each floor button switch 221.
In some embodiments, for the case of 4 lines between the elevator main control board 21 and the floor button switch 221, see fig. 3, it is a circuit diagram of the lines and the control board card between the elevator main control board and the floor button switch provided in the embodiments of the present disclosure. As shown in fig. 3, there are 4 lines, lines a1, a2, B1, and B2, between the elevator main control panel 21 and the floor pushbutton switch 221. Of these, lines A1 and A2 are pushbutton command control lines 23, while lines B1 and B2 are pushbutton command control lines 24.
Specifically, two lines a1 and a2 in which the button command control line 23 is located and the floor button switch 221 are sequentially connected in series on the elevator main control board 21, which is equivalent to a switch loop, and when the floor button switch 221 is pressed, the lines a1 and a2 are equivalent to two button signal lines to send corresponding floor commands to the elevator main control board 21. Accordingly, as shown in fig. 3, in the disclosed embodiment, the switch control circuit 521 includes a circuit switch 5211, and the circuit switch 5211 at least includes two terminals and an enable terminal, the two terminals are connected in parallel with the circuits a1 and a2, which is equivalent to connecting an enable switch in parallel between the two button command control circuits 23 (i.e., the circuits a1 and a 2) between the elevator main control board 21 and the floor button switch 221, so that when the controller 53 controls the circuit switch 5211 to be closed, the floor button switch is equivalent to being triggered.
Specifically, referring to the application scenario of fig. 1, when the robot 1 sends a destination floor command to the control board 5, the control board 5 receives the destination floor command through the signal transceiver module 51, and the controller 53 controls the circuit switch 5211 of the switch control circuit 521 connected to the floor button switch corresponding to the destination floor command to be closed based on the destination floor command, which is equivalent to automatically pressing the floor button switch 221, so that the elevator main control board 21 controls the elevator car 2 to move to the floor corresponding to the destination floor command.
Further, the circuit switch 5211 of the switch control circuit 521 may be a relay switch, or a MOS transistor switch or a triode switch. If a relay switch is used, the cost is lower; if an MOS tube switch or a triode switch is used, the integration level of the control board card 5 can be higher, and less space can be occupied. Therefore, what type of circuit switch is used can be selected according to the actual situation, and the embodiment of the disclosure does not limit this.
In addition, the two lines B1 and B2 where the button indication control line 522 is located are light indication lines, and the two lines B1 and B2 are generally connected with the indication lamps of the floor button switches 221, and are used for lighting the corresponding floor button switches 221 after the floor button switches 221 are pressed down or the circuit switch 5211 is closed, so as to indicate that the signals that the floor button switches 221 are pressed down are successfully sent to the elevator main control panel; and after the elevator main control board 21 controls the elevator car to reach the floor corresponding to the floor button switch 221, the elevator main control board 21 controls to turn off the floor button switch 221.
Specifically, referring to fig. 3, the lines B1 and B2 correspond to two power lines of the indicator light of the floor button switch 221, and when the indicator light of the floor button switch 221 controlled by the elevator main control board 21 is turned off after the elevator car 2 reaches the floor corresponding to the floor button switch 221, the voltage difference between the lines B1 and B2 will be changed. Therefore, two detection lines are connected in parallel to the lines B1 and B2, and the voltage difference jump between the lines B1 and B2 is monitored by detecting the voltage between the two detection lines to determine whether the elevator car reaches the floor corresponding to the floor button switch 221. That is, the voltage detection line 522 includes two detection lines, one end of the two detection lines is connected in parallel to the lines B1 and B2, respectively, and the other end of the two detection lines is electrically connected to the controller, and when the controller detects a voltage difference jump between the other ends of the two detection lines, it determines that the elevator has reached the floor corresponding to the floor button switch, and sends a notification instruction to the robot via the signal transceiver module 51, so that the robot can correctly enter/exit the elevator car 2.
In some embodiments, for the case of 3 lines between the elevator main control board 21 and the floor button switch 221, see fig. 4, it is a circuit diagram of another line between the elevator main control board and the floor button switch and the control board card provided in the embodiments of the present disclosure. As shown in figure 4 of the drawings,
there are 3 lines between the elevator main control panel 21 and the floor button switch 221, which are lines C1, C2, and C2, respectively. Here, lines C1 and C2 are button command control lines 23, while lines C2 and C3 are button command control lines 24. The difference between the embodiment of the present disclosure and the 4 lines in fig. 3 is that: one of the light indicating lines of the button indication control line and one of the button signal lines of the button instruction control line 23 are a common line. The control principle between the control board 5 and the 3 lines, and the working principle of the button command control line 23 and the button indication control line 24 are the same, and therefore, the detailed description thereof is omitted.
In some embodiments, the signal transceiver module 51 in the control board 5 is a wireless network communication module. Specifically, the signal transceiver module 51 may be a 4G communication module, a 5G communication module, a WIFI communication module, a ZigBee communication module, or a radio communication module, and the like, which is not limited in this disclosure.
The control board card for the signal interaction between the robot and the elevator is arranged in the elevator car and is electrically connected with a circuit between the elevator main control board and the floor button switch, so that the stability and the accuracy of the signal interaction are ensured, and errors are not easy to occur; simultaneously, the installation degree of difficulty of control panel card in elevator car is low to compare in current implementation cost lower.
Referring to fig. 5, fig. 5 is a flowchart of a control method for signal interaction between a robot and an elevator according to an embodiment of the present disclosure. The control method of fig. 5 for the robot to elevator signal interaction can be performed by the control board 5 in fig. 2. As shown in fig. 5, the control method for the robot to interact with the elevator signal includes:
s501, receiving a target floor instruction sent by a robot;
s502, controlling a switch control circuit where the corresponding floor button switch is located to be closed based on the target floor instruction;
and S503, sending a floor arrival instruction to the robot and controlling the switch control line to be disconnected under the condition that the button where the floor button switch is located is detected to indicate that the control line has voltage difference jumping.
In particular, in connection with the application scenario of fig. 1, the destination floor call sent by the robot may be the floor number of any floor to which the elevator car 2 can go. In practical applications, the robot 1 may directly send the target floor command to the control board 5 through the network 4, for example, the robot 1 directly sends the target floor command to the control board 5 through a 4G network. Alternatively, the robot 1 may send the target floor command to the server 3 via the network 4, and then the server 3 sends the target floor command to the control board 5 in the elevator car 2.
For example, in some embodiments, the target floor call sent by the receiver robot includes: and receiving a floor target instruction sent by the robot to the server, wherein the robot is connected with the server through a network.
Further, referring to fig. 3, the voltage difference jump detection of the button indication control line by the control board 5 is performed after the control line of the switch is controlled to be closed based on the destination floor instruction until the button indication control line has the voltage difference jump. In practical application, no matter the robot 1 is outside or inside the elevator car, after the robot 1 enters the elevator car, the board card can be controlled to switch the connection mode with the robot 1.
For example, after the robot enters the elevator car, the robot can be in short-distance wireless communication connection with the robot 1 through the signal transceiving module to ensure the communication quality between the robot 1 and the control board card 5, and the situation that the control board card informs the robot 1 that the floor arrival command is delayed due to the unstable conditions of an external network or a server and the like is avoided. Thus, in the case of this embodiment, the signal transceiver module on the control board 5 may include a plurality of different wireless network communication modules, and the wireless network communication modules include a bluetooth communication module, a near field communication module, an infrared communication module, and the like, which is not limited in this disclosure.
The control method for the signal interaction between the robot and the elevator receives a target floor command sent by the robot; controlling a switch control circuit where the corresponding floor button switch is located to be closed based on the target floor instruction; under the condition that the button indication control circuit at which the floor button switch is detected has voltage difference jumping, a floor arrival instruction is sent to the robot, and the control switch control circuit is disconnected, so that timely and efficient interaction of signals between the robot and the elevator is realized.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described in detail herein.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 6 is a schematic structural diagram of the controller in fig. 3 according to an embodiment of the present disclosure. As shown in fig. 6, the controller 53 of the embodiment of the present disclosure includes: a processor 531, a memory 532, and computer programs 533 stored in the memory 532 and operable on the processor 531. The steps in the control method embodiment of fig. 5 described above are implemented when the processor 531 executes the computer program 533.
Illustratively, the computer programs 533 may be divided into one or more modules/units, which are stored in the memory 532 and executed by the processor 531 to accomplish the present disclosure. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 533 in the controller 53.
The controller 53 may include, but is not limited to, a processor 531 and a memory 532. Those skilled in the art will appreciate that fig. 6 is merely an example of the controller 53, and does not constitute a limitation on the controller 53, and may include more or fewer components than shown, or combine certain components, or different components, e.g., the controller may also include input-output interfaces, network access devices, buses, etc. In some embodiments, the controller 3 may be a single chip microcomputer.
The Processor 531 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 532 may be an internal storage unit of the controller 53, for example, a hard disk or a memory of the controller 53. The memory 532 may also be an external storage device of the controller 53, such as a plug-in hard disk provided on the controller 53, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 532 may also include both an internal storage unit of the controller 53 and an external storage device. The memory 532 is used to store computer programs and other programs and data required by the controller. The memory 532 may also be used to temporarily store data that has been output or is to be output.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed control board card and control method may be implemented in other ways. For example, the above-described control board embodiment is merely illustrative, and for example, the division of a module or a unit is only one logical function division, and there may be other divisions when the actual implementation is performed, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow in the above-mentioned embodiment method, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned control method embodiment may be implemented. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. A control integrated circuit board that is used for robot and elevator signal to interact, its characterized in that includes:
the signal transceiving module is wirelessly connected with the robot;
a plurality of floor button switch control modules, every floor button switch control module corresponds with a floor button switch of elevator, every floor button switch control module includes: the elevator control system comprises a switch control circuit and a voltage detection circuit, wherein the switch control circuit is connected in parallel with a button instruction control circuit between an elevator main control board and a floor button switch, and the voltage detection circuit is connected in parallel with a button instruction control circuit between the elevator main control board and the floor button switch;
and the controller is respectively electrically connected with the signal transceiver module, the button instruction control circuit and the button indication control circuit, can control the switch control circuit in the corresponding floor button switch control module to be closed when the signal transceiver module receives a target floor instruction sent by the robot, and can control the control signal transceiver module to send a floor arrival instruction to the robot when the voltage detection circuit detects that the button indication control circuit has voltage difference jump.
2. The control board card for robot and elevator signal interaction of claim 1, wherein the button command control circuit between the elevator main control board and the floor button switch comprises two button signal lines;
the switch control circuit comprises a circuit switch, the circuit switch comprises two wiring terminals and an enabling end, the two wiring terminals are connected with the two button signal lines of the button instruction control circuit in parallel, and the enabling end is electrically connected with the controller.
3. The control board card for robot and elevator signal interaction of claim 2, characterized in that the circuit switch is a relay switch.
4. The control board card for robot and elevator signal interaction of claim 2, characterized in that the circuit switch is a MOS transistor switch.
5. The control board card for robot and elevator signal interaction of claim 2, wherein the circuit switch is a triode switch.
6. The control board card for robot and elevator signal interaction of claim 2, wherein the button indication control circuit between the elevator main control board and the floor button switch comprises two light indication lines;
the voltage detection circuit comprises two detection lines, one end of each detection line is connected with the two light indication lines of the button indication control circuit in parallel, and the other end of each detection line is electrically connected with the controller.
7. The control panel card for signal interaction of a robot and an elevator according to any one of claims 2-6, wherein one of the light indication lines of the button indication control line and one of the button signal lines of the button command control line are a common line.
8. The control board card for signal interaction of a robot and an elevator according to claim 7, wherein the signal transceiver module is a wireless network communication module.
9. A control method for signal interaction between a robot and an elevator is applied to the control board card of any one of claims 1-8, and is characterized by comprising the following steps:
receiving a target floor instruction sent by a robot;
controlling a switch control circuit where the corresponding floor button switch is located to be closed based on the target floor instruction;
and under the condition that the voltage difference jumping of a button indication control line where the floor button switch is located is detected, a floor arrival instruction is sent to the robot, and the switch control line is controlled to be disconnected.
10. The control method according to claim 9, wherein the receiving of the target floor command transmitted by the robot includes: and receiving a floor target instruction sent by a robot to the server, wherein the robot is connected with the server through a network.
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