CN115674229A - Service robot ladder control system based on telescopic mechanical arm and intelligent ladder control cleaning robot - Google Patents
Service robot ladder control system based on telescopic mechanical arm and intelligent ladder control cleaning robot Download PDFInfo
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- CN115674229A CN115674229A CN202211478717.8A CN202211478717A CN115674229A CN 115674229 A CN115674229 A CN 115674229A CN 202211478717 A CN202211478717 A CN 202211478717A CN 115674229 A CN115674229 A CN 115674229A
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- 238000004140 cleaning Methods 0.000 title claims description 14
- 230000006698 induction Effects 0.000 claims abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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 invention relates to the technical field of elevator control robots, in particular to a service robot elevator control system based on a telescopic mechanical arm, which comprises a mechanical arm (1), a main controller (2) and a robot body (3). The invention has the beneficial effects that: the intelligent robot can be installed on any existing intelligent robot to realize the function of cross-floor service; the elevator does not need to be modified, the adaptability is wide, and the operation safety of the elevator is ensured; the structure is simple, and the safety is high; the telescopic structure occupies small space when not used; the living body induction system is arranged, so that people can help to operate, and the machine operation is reduced.
Description
Technical Field
The invention relates to the technical field of elevator control robots, in particular to a service robot elevator control system based on a telescopic mechanical arm and an intelligent elevator control cleaning robot.
Background
With the progress of science and technology, automatic cleaning products including cleaning robots, floor sweepers and automatic cleaning machines are widely used in various household and commercial scenes.
In a cleaning scenario, some business or office scenarios involve the need for multiple layers of cleaning. In view of the above problems, the original solution is to arrange a cleaning robot in each floor, which obviously results in increased cost, reduced efficiency of robot usage, and other consequences.
In order to solve the above problems, some brands have developed a commercial robot capable of interconnecting (elevator control) with elevators, and have moved between a plurality of floors.
For example, an intelligent commercial robot developed by cloud science and technology is 'moist', the elevator control function of the intelligent commercial robot is realized by modifying an internal circuit of an elevator and installing a 'robot elevator internet of things module', and services such as article conveying, information broadcasting and the like are provided for workers; similarly, the general robot also adopts a similar scheme; the Segway distribution robot of the nine-size robot modifies the central control part by cooperating with an original elevator plant, and calls an elevator by using an elevator control system protocol (gives a command to the central control of the elevator in a wireless mode).
The elevator is required to be modified by the scheme, the cost is high, and the operation of the original elevator program can be influenced.
Furthermore, the digital elevator series DX elevator developed by cooperation of the high-speed robot and the full force elevator is internally provided with an intelligent linkage API, and elevator control operation can be realized without modifying the elevator. Although the method does not need to modify the elevator, the following problems can not be solved:
1. a usage scenario for an installed elevator;
2. the elevator cannot be matched with robots of other brands and models.
In summary, the conventional commercial robot is often used in hotels, office buildings, shopping malls and the like to achieve the purpose of elevator control by modifying an elevator control system. The specific operating logic is as follows: the robot arrives at an elevator room of a floor where the robot arrives → the robot sends an instruction to an elevator control system server, the elevator → the elevator control system server sends an instruction to an elevator controller, a floor button in the elevator is lightened, the robot runs to the floor where the robot arrives (inner call) → the elevator arrives at the floor where the robot arrives at, a floor monitoring sensor sends a signal to the elevator control system server, the elevator control system server informs the robot to enter the elevator → the robot enters the elevator completely and enters a designated position, a target floor is sent to the elevator control system server, the elevator control system server transmits the signal to the elevator controller, the target floor button (inner call) → the elevator arrives at the target floor is lightened, a floor monitoring sensor sends a signal to the elevator control system server, and the elevator control system server informs the robot to leave the elevator.
By using the set of operation logic, the client needs to add an elevator control system server on the basis of the original elevator controller, is used for receiving signals of calling an elevator and lightening floor keys of the robot and then transmits the signals to the elevator controller for execution.
Such ladder control scheme has the following defects:
1. the original control system of the elevator needs to be modified, a part of additional equipment is added, and at present, the modification has no corresponding national standard, so that potential safety hazards are easily caused, and the normal operation of the elevator is interfered.
2. The robot elevator control system of different brands is all the same, if use the robot of a plurality of brands in the same building, then need install the several server additional, can cause the volume to pile up, further influences the operation safety of elevator, easily takes place the accident, and inconvenient maintenance, the cost that the customer bore rises.
Furthermore, since the mechanical arm is mounted on the cleaning robot, the compactness, safety and beauty are also urgent pursued by those skilled in the art.
In view of the above, the problems in the prior art, the present invention provides a service robot ladder control system based on a telescopic robot arm.
Disclosure of Invention
The invention aims to provide a service robot ladder control system based on a telescopic mechanical arm, which solves the problems in the prior art.
The invention discloses a service robot ladder control system based on a telescopic mechanical arm, which comprises a mechanical arm, a main controller and a robot body, wherein the mechanical arm is connected with the main controller;
the mechanical arm comprises a telescopic push rod device, a telescopic control arm and a pitching joint; the telescopic push rod device is arranged on the robot body, and the telescopic control arm is connected with the telescopic push rod device through the pitching joint;
the main controller is arranged on the robot body and comprises a positioning system and a control system; the positioning system is used for positioning the horizontal and height positions of the robot; the control system prestores the positions of all buttons in the elevator, and controls the pitching joint to adjust the position of the end part of the telescopic control arm according to requirements.
Preferably, the telescopic push rod device adopts a sleeve structure and comprises a fixed part and a movable part; the movable part is provided with a motor for controlling the movable part to rotate horizontally.
Further, the telescopic push rod device comprises a guide rail for retracting the telescopic push rod device.
Furthermore, the service robot ladder control system based on the telescopic mechanical arm further comprises a living body induction system, wherein the living body induction system comprises a human body sensor and a voice broadcasting device; the human body sensor is used for sensing a living body, and when a person is sensed in the elevator, the voice broadcasting device is controlled to make a sound to convey a demand; when no person is sensed in the elevator, a signal is fed back to the control system, and the control system starts a control program.
Preferably, the human body sensor is selected from any one of infrared ray, ultrasonic wave and pyroelectric.
An intelligent ladder control cleaning robot comprises a service robot ladder control system.
The invention has the beneficial effects that:
1. the intelligent robot can be installed on any existing intelligent robot to realize the function of cross-floor service;
2. the elevator does not need to be modified, the adaptability is wide, and the running safety of the elevator is ensured;
3. the structure is simple, and the safety is high;
4. the telescopic structure occupies small space when not used;
5. the living body induction system is arranged, so that people can help to operate, and the machine operation is reduced.
Drawings
FIG. 1 is a schematic view of the structure of the robot arm;
fig. 2 is a schematic structural view of the telescopic push rod device;
FIG. 3 is a schematic structural view of the intelligent ladder control cleaning robot;
FIG. 4 is a logic control diagram.
Detailed Description
The following embodiments of the present invention will be further described with reference to the drawings and examples, which are only used to more clearly illustrate the technical solutions of the present invention, and should not be taken as limiting the scope of the present invention.
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
As shown in fig. 1-4:
a service robot ladder control system based on a telescopic mechanical arm comprises a mechanical arm 1, a main controller 2 and a robot body 3;
the mechanical arm 1 comprises a telescopic push rod device 11, a telescopic control arm 12 and a pitching joint 13; the telescopic push rod device 11 is installed on the robot body 3, and the telescopic control arm 12 is connected with the telescopic push rod device 11 through the pitching joint 13;
the telescopic push rod device 11 adopts a sleeve structure and comprises a fixed part 111 and a movable part 112; the movable part 112 is provided with a motor 113 for controlling the horizontal rotation of the movable part 112; the telescopic pusher 11 comprises a guide 114 for retracting the telescopic pusher 11
The main controller 2 is arranged on the robot body 3 and comprises a positioning system and a control system; the positioning system is used for positioning the horizontal and height positions of the robot; the control system prestores the positions of all the buttons in the elevator and controls the pitch joint 13 to adjust the position of the end of the telescopic control arm 12 according to the requirements.
In this embodiment, the service robot ladder control system based on the telescopic mechanical arm further includes a living body induction system, and the living body induction system includes a human body sensor and a voice broadcasting device; the human body sensor is used for sensing a living body, and when a person is sensed in the elevator, the voice broadcasting device is controlled to make a sound to convey a demand; when no person is sensed in the elevator, a signal is fed back to the control system, and the control system starts a control program.
An intelligent ladder control cleaning robot comprises a service robot ladder control system.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A service robot ladder control system based on a telescopic mechanical arm is characterized by comprising a mechanical arm (1), a main controller (2) and a robot body (3);
the mechanical arm (1) comprises a telescopic push rod device (11), a telescopic control arm (12) and a pitching joint (13); the telescopic push rod device (11) is installed on the robot body (3), and the telescopic control arm (12) is connected with the telescopic push rod device (11) through the pitching joint (13);
the main controller (2) is arranged on the robot body (3) and comprises a positioning system and a control system; the positioning system is used for positioning the horizontal and height positions of the robot; the control system stores the positions of all buttons in the elevator in advance, and controls the pitching joint (13) to adjust the position of the end part of the telescopic control arm (12) according to requirements.
2. The telescopic robot arm-based service robot ladder control system according to claim 1, wherein the telescopic pusher device (12) is of a sleeve structure comprising a fixed part (111), a movable part (112); the movable part (112) is provided with a motor (113) for controlling the movable part (112) to horizontally rotate.
3. The telescopic robotic arm based service robot ladder system according to claim 1, wherein the telescopic pusher device (11) comprises a guide rail (114) for retracting the telescopic pusher device (11).
4. The telescopic mechanical arm based service robot ladder control system according to claim 1, further comprising a living body induction system, wherein the living body induction system comprises a living body sensor and a voice broadcasting device; the living body sensor is used for sensing a living body, and when a person is sensed in the elevator, the voice broadcasting device is controlled to make a sound to convey a demand; when no person is sensed in the elevator, a signal is fed back to the control system, and the control system starts a control program.
5. An intelligent ladder control cleaning robot, characterized by comprising the service robot ladder control system of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211478717.8A CN115674229A (en) | 2022-11-23 | 2022-11-23 | Service robot ladder control system based on telescopic mechanical arm and intelligent ladder control cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211478717.8A CN115674229A (en) | 2022-11-23 | 2022-11-23 | Service robot ladder control system based on telescopic mechanical arm and intelligent ladder control cleaning robot |
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| CN115674229A true CN115674229A (en) | 2023-02-03 |
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| CN202211478717.8A Pending CN115674229A (en) | 2022-11-23 | 2022-11-23 | Service robot ladder control system based on telescopic mechanical arm and intelligent ladder control cleaning robot |
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| CN111730575A (en) * | 2020-06-30 | 2020-10-02 | 杨鸿城 | Automatic elevator-taking robot for article distribution and working method thereof |
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| KR102428256B1 (en) * | 2021-11-26 | 2022-08-02 | 주식회사 제우스로보틱스 | Ai robot that can move between floors in building and method controlling the same |
| CN114873394A (en) * | 2022-05-20 | 2022-08-09 | 秦为路 | Non-contact intelligent elevator control system and control method |
| CN115026833A (en) * | 2022-07-01 | 2022-09-09 | 北京盈迪曼德科技有限公司 | Multilayer map creation method and device and robot |
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2022
- 2022-11-23 CN CN202211478717.8A patent/CN115674229A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
| CN107538463A (en) * | 2017-10-11 | 2018-01-05 | 深圳市普渡科技有限公司 | A kind of robot that can independently pass in and out elevator |
| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | Intelligent device |
| CN110142780A (en) * | 2019-06-05 | 2019-08-20 | 合肥禾成信息科技有限公司 | Robot for hotel service |
| CN111367288A (en) * | 2020-03-19 | 2020-07-03 | 上海陆根智能传感技术有限公司 | Floor navigation intelligent robot |
| CN111730575A (en) * | 2020-06-30 | 2020-10-02 | 杨鸿城 | Automatic elevator-taking robot for article distribution and working method thereof |
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