CN114789441B - Solving method for error floor of robot - Google Patents
Solving method for error floor of robot Download PDFInfo
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- CN114789441B CN114789441B CN202210453833.8A CN202210453833A CN114789441B CN 114789441 B CN114789441 B CN 114789441B CN 202210453833 A CN202210453833 A CN 202210453833A CN 114789441 B CN114789441 B CN 114789441B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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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
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
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- 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
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a solving method of a robot error floor, which comprises the following steps: s1, pre-installing a positioner; s2, repositioning; s3, moving to an elevator hoistway; s4, calling an elevator; s5, lifting; s6, continuing to move; s7, homing. According to the method for solving the error floor of the robot, the positioning device is arranged, the robot body can recognize the position and finish positioning through the positioning identifier and perform signal recognition, the coordinate system is arranged by taking a single floor plane as a unit, the robot body can recognize the signal by using the positioning identifier and the elevator hoistway position positioning device after the error floor is made, the error is reacted quickly, the purpose of repairing the moving path can be achieved under the indication control of the control center, and the purpose of warning the implementation personnel can be achieved by using the warning lamp and the sounding alarm when the external personnel modify the moving path of the robot body.
Description
Technical Field
The invention relates to the technical field of customer service robots, in particular to a solving method of a robot error floor.
Background
With the rapid development of technology, robotics has made great progress. Currently, in the hotel room industry, robots have been able to perform meal taking and delivery operations, and have freed people from heavy physical labor and hazardous environments
When the hotel room robot takes food and delivers goods, the situation of the wrong floor of the robot can be caused due to human factors, the robot is difficult to identify the environment, and the robot cannot reasonably complete the goods delivery task.
Therefore, the invention provides a solving method of the error floor of the robot.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a solving method for the wrong floor of a robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method for solving a floor where a robot makes mistakes, comprising the steps of:
s1, pre-installing a positioner: the elevator car inside the building body and the elevator ports, the floor aisles and the room ports of all floors are provided with positioners, the inside of the robot body is provided with a dynamic video capturing camera, a positioning identifier, a signal transceiver and a running mechanism respectively, and the signal transceiver on the surface of the robot body is in signal communication with a control center through WIFI of the floors;
s2, repositioning: when the robot body is at the wrong floor position or is in a certain floor and needs to move to a designated floor, firstly, a positioning identifier in the robot body is used for identifying a positioner in the floor, a dynamic video capturing camera on the surface of the robot body is used for carrying out omnibearing scanning on the floor environment, then the floor environment is sent to a control center through WIFI (wireless fidelity) of the floor, the control center acquires an environment information image, a room position information image and an elevator hoistway position image in advance in each floor in an omnibearing manner, a coordinate system is established by taking a single floor as a unit, the positioner is in the interior of the coordinate system, and the control center automatically compares the video image acquired by the robot body by scanning with the received positioner information and the coordinate system to confirm the position of the robot body;
s3, moving to an elevator hoistway: the control center sends a signal to the robot body, the running mechanism of the robot body is started, the robot body moves under the indication, in the moving process, the robot body continuously feeds back the captured position information of the positioner to the control center until the robot body moves to the elevator opening, then the position information of the robot body is sent to the control center, and the robot body is in a waiting state at the elevator opening;
s4, calling an elevator: when the robot body waits at an elevator hoistway, the control center sends an instruction to a corresponding elevator, when the elevator car is in a using state, the control center receives state information of the elevator and then sends a continuous waiting command to the robot body, when the elevator is in an idle state, the control center receives the state information of the elevator and controls the corresponding elevator car to move to a corresponding floor, after an elevator door is opened, the robot body moves to the inside of the elevator car and recognizes with a positioner in the elevator car, after recognition, an identification signal is sent to the control center, the control center remotely controls to close the elevator door and sends a control command to the elevator, and then the elevator car moves up and down;
s5, lifting: when the robot body is positioned in the elevator car, the robot body sends coordinate system information of a floor to be reached to the control center, the control center remotely sends a lifting movement command to the elevator car, so that the elevator car is lifted and moved to the specified floor, after the elevator car is moved to the specified floor, an elevator door is opened, a positioning identifier in the robot body carries out signal identification on a positioner of an elevator opening, and after the signals are determined to be matched, the running mechanism drives the robot body to move to the floor, so that the floor switching action of the robot body is completed;
s6, continuing moving: after the robot body moves to a specified floor, the reference coordinate system of the floor is switched again, the robot body is driven to move continuously by virtue of a travelling mechanism, after the robot body moves to the specified room opening position of the floor, the robot body is connected with an interphone in a room by utilizing WIFI (wireless fidelity) to carry out signal connection, calling is carried out, finally, the moving operation of the robot body is finished, after customer information is identified, a storage cavity in the robot body is opened, a customer takes out articles from the interior of the robot body, and the article conveying operation is finished;
s7, homing: the robot body moves to a standby position appointed by the floor, standby charging operation is carried out, and the control center waits for sending an operation instruction.
Preferably, when the robot body is executing the lifting step and is manually moved by an external person to lower the elevator car to enable the elevator car to be at the wrong floor, an alarm mechanism on the surface of the robot body gives an alarm, the dynamic video capturing camera is used for shooting and recording external person information, the robot body and a positioner of the elevator opening of the wrong floor perform signal recognition, the robot body sends the information to a control center, and then repeated positioning, moving to the elevator opening, calling an elevator and lifting steps are performed again.
Preferably, the alarm mechanism comprises a warning lamp and an audible alarm which are arranged on the surface of the robot body.
Preferably, the travelling mechanism comprises four moving wheels rotatably connected to the bottom of the robot body, the four moving wheels are mutually independent, and the four moving wheels are arranged at the bottom of the robot body in a rectangular array.
Preferably, the surface of the robot body is also provided with two micro motors, and the two micro motors are respectively connected with two movable wheels on the right side of the robot body in a transmission way.
Preferably, a processor and a memory are respectively arranged in the robot body, and the memory is used for storing path movement commands after the robot body recognizes the floor position.
The invention has the following beneficial effects:
1. according to the method for solving the error floor of the robot, the positioners are arranged at the elevator car and the elevator opening, the floor passageway and the room opening of each floor, the robot body can recognize signals through the positioning identifiers, namely, the purpose of rapidly recognizing the position and completing positioning can be achieved, the coordinate system is set by taking a single floor plane as a unit, the robot body can conveniently recognize signals by utilizing the positioning identifiers and the positioners of the elevator opening position after the error floor, rapid response is carried out on errors, and the purpose of repairing a moving path can be achieved under the indication control of the control center.
2. According to the solving method of the error floor of the robot, when an external person modifies the moving path of the robot body, the purpose of warning the implementation person can be achieved by using the warning lamp and the sounding alarm, and the appearance of the implementation person can be photographed and recorded through the dynamic video capturing camera, and the purpose of steering in the moving process is achieved conveniently by arranging four independent moving wheels and two micro motors.
Drawings
Fig. 1 is a schematic diagram of a robot body structure of a solution for a robot error floor according to the present invention;
fig. 2 is a schematic diagram of a floor positioner placement position of a robot error floor solving method according to the present invention.
In the figure: 1 elevator car, 2 locators, 3 robot bodies, 4 dynamic video capturing cameras, 5 locating identifiers, 6 warning lamps, 7 sounding alarms, 8 moving wheels and 9 miniature motors.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-2, a solution for a robot to a wrong floor comprises the steps of:
s1, pre-installing a positioner: the elevator car 1 inside the building body, the elevator ports, the floor aisles and the room ports of all floors are provided with positioners 2, and the inside of the robot body 3 is provided with a dynamic video capturing camera 4, a positioning identifier 5, a signal transceiver and a travelling mechanism respectively.
The running gear is including rotating four removal wheels 8 of connecting in robot body 3 bottom, and four removal wheels 8 mutually independent, and four removal wheels 8 are rectangular array setting in the bottom of robot body 3, and the surface of robot body 3 still is provided with two micro motor 9, and two micro motor 9 are connected with two removal wheels 8 transmission on the robot body 3 right side respectively, through setting up four independent removal wheels 8 and two micro motor 9, make things convenient for the robot body 3 to realize the purpose that turns to at the removal in-process.
The robot body 3 is provided with a processor and a memory, respectively, and the memory is used for storing a path movement command after the robot body 3 recognizes the floor position.
The signal transceiver on the surface of the robot body 3 is in signal communication with the control center through the WIFI of the floor.
The robot body 3 actively transmits status information to the control center, wherein the status information comprises electric quantity, temperature and fault early warning information.
S2, repositioning: when the robot body 3 is at the wrong floor position or is in a certain floor and needs to move to the appointed floor, firstly, the positioning identifier 5 in the robot body 3 is utilized to identify the positioner 2 in the floor, the dynamic video capture camera 4 on the surface of the robot body 3 is utilized to carry out omnibearing scanning on the floor environment, then the images of environment information, room position information and elevator hoistway position are sent to the control center through WIFI of the floor, the control center collects the images of environment information, room position information and elevator hoistway position in advance in each floor in an omnibearing manner, a coordinate system is established by taking a single floor as a unit, the positioner 2 is positioned in the coordinate system, and the control center automatically compares the video images collected by the scanning of the robot body 3 with the received information of the positioner 2 and the coordinate system to confirm the position of the robot body 3.
S3, moving to an elevator hoistway: the control center sends a signal to the robot body 3, the running gear of the robot body 3 is started, the robot body 3 moves under the instruction, in the moving process, the robot body 3 continuously feeds back the captured position information of the positioner 2 to the control center until the robot body 3 moves to the elevator hoistway, then the position information of the robot body 3 is sent to the control center, and the robot body 3 is in a waiting state at the elevator hoistway.
S4, calling an elevator: when the robot body 3 waits at an elevator hoistway, the control center sends an instruction to a corresponding elevator, when the elevator car 1 is in a state of being used, the control center receives state information of the elevator and then sends a continuous waiting command to the robot body 3, when the elevator is in an idle state, the control center receives the state information of the elevator and controls the corresponding elevator car 1 to move to a corresponding floor, after an elevator door is opened, the robot body 3 moves to the inside of the elevator car 1 and identifies with a positioner 2 in the elevator car 1, after identification, an identification signal is sent to the control center, the control center remotely controls to close the elevator door and sends a control command to the elevator, and then the elevator car 1 moves up and down.
S5, lifting: when the robot body 3 is positioned in the elevator car 1, the robot body 3 sends the coordinate system information of the floor to be reached to the control center, the control center remotely sends a lifting movement command to the elevator car 1, so that the elevator car 1 is lifted and moved to the specified floor, after the elevator car 1 is moved to the specified floor, an elevator door is opened, a positioning identifier 5 in the robot body 3 carries out signal identification on a positioner 2 of an elevator door, after signal matching is determined, a running mechanism drives the robot body 3 to move to the floor, and floor switching action of the robot body 3 is completed.
When the robot body 3 is executing the lifting step and is manually moved by an external person to lower the elevator car 1 to enable the elevator car to be at the wrong floor, an alarm mechanism on the surface of the robot body 3 gives an alarm, the dynamic video capturing camera 4 is utilized to record external person information, the robot body 3 and the positioner 2 of the elevator opening of the wrong floor are used for signal recognition, the robot body 3 sends information to a control center, and then repeated positioning, moving to the elevator opening, calling an elevator and lifting steps are carried out again.
The alarm mechanism comprises a warning lamp 6 and an audible alarm 7 which are arranged on the surface of the robot body 3, the warning lamp 6 is lightened, the audible alarm 7 gives out alarm sounds, the alarm mechanism warns external personnel to prevent the damage of the external personnel, and the external appearance of the implementation personnel can be photographed through the dynamic video capturing camera 4.
S6, continuing moving: after the robot body 3 moves to the appointed floor, the reference coordinate system of the floor is switched again, the robot body 3 is driven to move continuously by virtue of the travelling mechanism, after the robot body 3 moves to the appointed room opening position of the floor, the robot body 3 is connected with an interphone in a room by utilizing WIFI (wireless fidelity) to carry out signal connection, calling is carried out, finally, the moving operation of the robot body 3 is completed, after the customer information is identified, a storage cavity in the robot body 3 is opened, the customer takes out articles from the interior of the robot body 3, and the article conveying operation is completed.
S7, homing: the robot body 3 moves to a standby position designated by a floor, performs a standby charging operation, and waits for the control center to send an operation instruction.
According to the method for solving the error floor of the robot, the positioning device 2 is arranged at the elevator car 1 and the elevator opening, the floor passageway and the room opening of each floor, the robot body 3 can realize the purposes of quickly identifying the position and completing positioning through the positioning device 5 and performing signal identification, a coordinate system is arranged by taking a single floor plane as a unit, the robot body 3 can conveniently perform signal identification by using the positioning device 5 and the positioning device 2 at the elevator opening position after the error floor, the error can be quickly responded, and the purpose of repairing the moving path can be completed under the indication control of the control center.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. A method for solving a floor where a robot makes mistakes, comprising the steps of:
s1, pre-installing a positioner: the elevator car (1) in the building body and the elevator ports, the floor aisles and the room ports of all floors are provided with locators (2), the inside of the robot body (3) is provided with a dynamic video capturing camera (4), a positioning identifier (5), a signal transceiver and a travelling mechanism respectively, and the signal transceiver on the surface of the robot body (3) is in signal communication with a control center through the WIFI of the floors;
s2, repositioning: when the robot body (3) is positioned at the wrong floor position or is positioned in a certain floor and needs to move to the appointed floor, firstly, a positioning identifier (5) in the robot body (3) is utilized to identify a positioner (2) in the floor, a dynamic video capturing camera (4) on the surface of the robot body (3) is utilized to carry out omnibearing scanning on the floor environment, then the floor environment is sent to a control center through WIFI (wireless fidelity) of the floor, the control center acquires an environment information image, a room position information image and an elevator hoistway position image in advance in each floor omnibearing, a coordinate system is established by taking a single floor as a unit, the positioner (2) is positioned in the coordinate system, and the control center automatically compares the video image acquired by scanning of the robot body (3) with the received positioner information and the coordinate system to confirm the position of the robot body (3);
s3, moving to an elevator hoistway: the control center sends a signal to the robot body (3), the running mechanism of the robot body (3) is started, the robot body (3) moves under the instruction, the robot body (3) continuously feeds back the captured position information of the positioner (2) to the control center in the moving process until the robot body (3) moves to the elevator hoistway, then the position information of the robot body (3) is sent to the control center, and the robot body (3) is in a waiting state at the elevator hoistway;
s4, calling an elevator: when the robot body (3) waits at an elevator hoistway, the control center sends an instruction to a corresponding elevator, when the elevator car (1) is in a using state, the control center receives state information of the elevator and then sends a continuous waiting command to the robot body (3), when the elevator is in an idle state, the control center receives the state information of the elevator and controls the corresponding elevator car (1) to move to a corresponding floor, after an elevator door is opened, the robot body (3) moves to the inside of the elevator car (1) and identifies with a positioner (2) in the elevator car (1), after identification, a identification signal is sent to the control center, the control center remotely controls to close the elevator door and sends a control command to the elevator, and then the elevator car (1) moves up and down;
s5, lifting: when the robot body (3) is positioned in the elevator car (1), the robot body (3) sends coordinate system information of a floor to be reached to a control center, the control center remotely sends a lifting movement command to the elevator car (1) to enable the elevator car (1) to lift and move to a specified floor, after the elevator car (1) moves to the specified floor, an elevator door is opened, a positioning identifier (5) in the robot body (3) carries out signal identification on a positioning identifier (2) of an elevator door, and after the signals are determined to be matched, a running mechanism drives the robot body (3) to move to the floor, so that floor switching action of the robot body (3) is completed;
s6, continuing moving: after the robot body (3) moves to a specified floor, the reference coordinate system of the floor is switched again, the robot body (3) is driven to move continuously by virtue of a travelling mechanism, after the robot body (3) moves to the specified room opening position of the floor, the robot body (3) is communicated with an interphone in a room by utilizing WIFI (wireless fidelity) to carry out a call, finally the moving operation of the robot body (3) is completed, after customer information is identified, a storage cavity in the robot body (3) is opened, a customer takes out articles from the interior of the robot body (3), and the article conveying operation is completed;
s7, homing: the robot body (3) moves to a standby position designated by a floor, performs standby charging operation, and waits for the control center to send an operation instruction.
2. A solution to a robot false floor according to claim 1, characterized in that: when the robot body (3) executes the lifting step and is manually moved by an external person to lower the elevator car (1) to enable the elevator car to be positioned at the wrong floor, an alarm mechanism on the surface of the robot body (3) gives an alarm, the dynamic video capturing camera (4) is used for shooting and recording external personnel information, the robot body (3) and the positioner (2) of the elevator opening of the wrong floor perform signal recognition, the robot body (3) sends the information to a control center, and then repeated positioning, moving to the elevator opening, calling the elevator and lifting steps are performed again.
3. A solution to a robot false floor according to claim 2, characterized in that: the alarm mechanism comprises a warning lamp (6) and a sounding alarm (7) which are arranged on the surface of the robot body (3).
4. A solution to a robot false floor according to claim 1, characterized in that: the walking mechanism comprises four movable wheels (8) which are rotatably connected to the bottom of the robot body (3), the four movable wheels (8) are mutually independent, and the four movable wheels (8) are arranged at the bottom of the robot body (3) in a rectangular array.
5. A solution to a robot false floor according to claim 1 or 4, characterized in that: the surface of the robot body (3) is also provided with two micro motors (9), and the two micro motors (9) are respectively connected with two movable wheels (8) on the right side of the robot body (3) in a transmission way.
6. A solution to a robot false floor according to claim 1, characterized in that: the robot is characterized in that a processor and a memory are respectively arranged in the robot body (3), and the memory is used for storing path movement commands after the robot body (3) recognizes floor positions.
7. A solution to a robot false floor according to claim 1, characterized in that: the robot body (3) actively transmits state information to the control center, wherein the state information comprises electric quantity, temperature and fault early warning information.
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| JP2006085261A (en) * | 2004-09-14 | 2006-03-30 | Nec Fielding Ltd | Floor layout creation robot and floor layout creation system |
| CN111099461A (en) * | 2018-10-26 | 2020-05-05 | 深圳市旺龙智能科技有限公司 | Elevator control method and system for intelligently improving reliability of robot taking elevator |
| CN114084758A (en) * | 2021-11-23 | 2022-02-25 | 江苏有熊安全科技有限公司 | Robot and method for automatically getting on and off elevator and polling robot |
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| KR101776823B1 (en) * | 2016-03-02 | 2017-09-11 | 가천대학교 산학협력단 | A mobile robot localization method and system via indoor surveillance cameras |
| US11209832B2 (en) * | 2019-08-18 | 2021-12-28 | Cobalt Robotics Inc. | Elevator interactions by mobile robot |
| TW202119171A (en) * | 2019-11-13 | 2021-05-16 | 新世代機器人暨人工智慧股份有限公司 | Interactive control method of robot equipment and elevator equipment |
| CN113401738A (en) * | 2020-03-16 | 2021-09-17 | 奥的斯电梯公司 | Elevator operation management method and device, elevator system and readable storage medium |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006085261A (en) * | 2004-09-14 | 2006-03-30 | Nec Fielding Ltd | Floor layout creation robot and floor layout creation system |
| CN111099461A (en) * | 2018-10-26 | 2020-05-05 | 深圳市旺龙智能科技有限公司 | Elevator control method and system for intelligently improving reliability of robot taking elevator |
| CN114084758A (en) * | 2021-11-23 | 2022-02-25 | 江苏有熊安全科技有限公司 | Robot and method for automatically getting on and off elevator and polling robot |
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