CN110589644B - Intelligent robot system and method based on elevator communication - Google Patents
Intelligent robot system and method based on elevator communication Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses an intelligent robot system and method based on elevator communication, which comprises the following steps: the intelligent robot comprises a first control unit and a second control unit, wherein the first control unit is communicated with an elevator control system; the intelligent robot walks through all ID address codes of each floor in the building in advance, and simultaneously stores the distance information of each floor from the elevator hall door to each electronic tag of the floor, thereby realizing distance self-learning; the elevator control system sends an addressing task instruction to the first control unit, the first control unit analyzes the floor to which the intelligent robot arrives and the set position point in the floor, and the intelligent robot is controlled to arrive at the set position point according to the distance self-learning result. The invention can realize the floor level service after the elevator stops by controlling the robot by taking the elevator as a data center and an information node.
Description
Technical Field
The invention relates to the technical field of building intelligent robots, in particular to an intelligent robot system and method based on elevator communication.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Modern buildings are generally equipped with elevators as transportation facilities for people and goods to move up and down, and the people and goods are transported by the elevators. Under some conditions, the temporary accumulation of people brings flow pressure to elevator service, some unnecessary flows also cause energy consumption waste and service life reduction of the elevator, and meanwhile, potential safety hazards are brought to building management. Along with the rapid development of electronic communication technology and internet of things technology, intelligence plus becomes one of the product innovation directions in the technical field of elevators, and the intelligent building traffic plan of the elevator and the robot is realized by technical means, so that the building safety management is facilitated, the energy conservation and the service life of the elevator are facilitated, and the entry of control personnel and the safety guarantee of buildings are facilitated.
The elevator and the intelligent robot can replace part of simple manual work. Along with the reduction of population dividend, the cost of labor rises by a wide margin, and some simple works, such as carrying, delivering goods, getting better, reception and the like, can be completely replaced by adopting an elevator + intelligent robot scheme.
In the prior art, the intelligent robot realizes bidirectional control with the elevator through a technical means, can finish the automatic control of opening, closing and stopping of the elevator by the intelligent robot, and automatically goes in and out to replace a person to realize the predetermined function of vertical transportation. However, the control association between the elevator and the robot is a vertical association, and the elevator and the robot are not associated after completing the vertical service, so that an information island is formed. The elevator operation information and the robot operation information cannot be correlated, and the traceability of the information is poor; the elevator and the robot are respectively provided with an independent control and communication system, so that the workload and the cost in the aspects of intelligent centralized control, maintenance and management of the building are increased. In addition, the elevator and the robot are independently designed for control and communication, and unnecessary waste of software and hardware resources is generated in order to realize mutual compatibility of the elevator and the robot.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent robot system and method based on elevator communication, which can realize information association of an intelligent robot and an elevator system in the horizontal direction, and can realize addressing and positioning of the robot in a building floor by acquiring an ID address code through the intelligent robot.
In the implementation mode, the following technical scheme is adopted:
an intelligent robot system based on elevator communication, comprising:
the first control unit is communicated with the elevator control system and can acquire the running state of the elevator and send an operation command for controlling the running of the elevator to the elevator control system according to the received position information of the intelligent robot or the addressing task instruction;
a second control unit in wireless communication with the first communication unit, the second control unit being capable of sending the intelligent robot position information to the first control unit; receiving a control command of the first control unit, and controlling the intelligent robot to run to a control command position;
the intelligent robot is characterized in that a preset electronic tag (RFID) with a unique ID address code is distributed in a horizontal area of each floor where an elevator arrives, and the intelligent robot determines the addressing location of the intelligent robot in a flat floor by reading the information of the tag, so that the problem that information association cannot be realized between the intelligent robot and the elevator after the robot leaves the elevator in the prior art is solved.
The first control unit is arranged on the elevator, the second control unit is arranged on the intelligent robot, and communication signals of the elevator and the robot can be communicated; through the wireless communication between the first control unit and the second control unit, the robot is equivalent to a separation cabin of the elevator and keeps contact with the elevator at any time, and the problem that the robot forms an information isolated island with the elevator in a flat layer is avoided.
The intelligent robot firstly traverses each ID address code preset in the building by reading label information, and simultaneously stores distance signals between the ID address codes and the elevator flat position, thereby realizing 'distance self-learning' of the intelligent robot; in the distance self-learning process, the second control unit receives all ID address codes collected by the intelligent robot, transmits the ID address codes to the first control unit and stores the ID address codes.
The position of the robot scheduled service is memorized by the first control unit, so that the robot can be accurately positioned after receiving an address instruction; through the first distance self-learning process, the system can know where the preset service position is, and once the corresponding service position is selected, the robot can automatically find the ID address of the corresponding service position according to the instruction.
The elevator control system sends an addressing task instruction to the first control unit, the first control unit analyzes a floor to which the intelligent robot arrives and a set position point in the floor according to the received addressing task instruction, and controls the intelligent robot to arrive at the set position point according to a distance self-learning result.
In other embodiments, the following technical solutions are adopted:
an intelligent robot system control method based on elevator communication comprises the following steps:
receiving an addressing task instruction, and analyzing a floor to which the intelligent robot arrives and a position point in the floor according to the addressing task instruction;
controlling the elevator to carry the intelligent robot to run to the floor according to the analyzed floor information;
controlling the intelligent robot to run to a set position point in the floor according to the self-learning of the distance information from the elevator hall door to each set position point in each flat floor by the intelligent robot in advance;
and the intelligent robot acquires the ID address code information of the position point to realize addressing and positioning.
Compared with the prior art, the invention has the beneficial effects that:
(1) the information correlation of the intelligent robot and the elevator system in the horizontal direction can be realized, the traceability of the information is increased, and meanwhile, the cost in the aspect of system maintenance is reduced.
(2) When the robot walks for the first time, a reading-writing device arranged on the robot and an RFID transmitting device arranged at an ID address realize data exchange, the obtained data is stored by a first control unit arranged on an elevator, the integration and consistency of the system are kept, and the automatic addressing and positioning of the robot on a horizontal flat layer can be realized without introducing other new systems; the system redundancy capacity and the expansion function of the elevator can be fully utilized, so that the hardware cost can be greatly simplified; in addition, relevant data related to the running time and frequency of the elevator are stored in a system related to the elevator, and large data statistics and analysis utilization related to the elevator are easy to realize.
(3) The intelligent robot collects the ID address code, can acquire the position information of the robot in the floor in real time, ensures that the intelligent robot can automatically recall the intelligent robot at any position in the floor of a building, avoids the trouble that the intelligent robot stops at an unknown position after the service is finished and needs to be found, is favorable for the management of the intelligent robot, and forms the closed-loop control of the intelligent service of the intelligent robot.
(4) The elevator is used as a data center and an information node, floor level service after the elevator stops on the floor can be achieved by controlling the robot, and the intelligent robot can achieve refined operation task management by using multifunctional applications such as intelligent guiding, express delivery, security guard patrol, image recognition, voice response, intelligent alarm and the like.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent robot system based on elevator communication according to a first embodiment;
FIG. 2 is a schematic diagram illustrating a self-learning process of the intelligent robot according to an embodiment;
fig. 3 is a flowchart illustrating a method for controlling an intelligent robot system based on elevator communication according to an embodiment.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
In one or more embodiments, disclosed is an intelligent robot system based on elevator communication, as shown in fig. 1, including: a first control unit MCU1 arranged on the elevator, an RFID (radio frequency electronic tag) transmitting device arranged on an intelligent robot (EIR for short) and a second control unit MCU2 for receiving and processing related data signals; the first control unit MCU1 is communicated with the control system of the elevator, and can be communicated in a wired mode or a wireless mode; in the embodiment, a master-slave distributed serial architecture is adopted, and an elevator control system is a master control unit and is in serial communication with a slave MCU1 and a slave MCU2 through an RS485 bus. Of course, those skilled in the art can select other communication modes according to actual needs.
The second control unit MCU2 and the first control unit MCU1 are in wireless communication, the wireless communication modes are various, such as Bluetooth, a WiFi network, infrared signals and the like, and a person skilled in the art can select a proper communication mode according to the specific working scene of the inspection robot; in this embodiment, the second control unit MCU2 and the first control unit MCU1 communicate with each other through a Wifi adaptor.
In this embodiment, the first control unit MCU1 includes a Si44XX rf chip + M051X serial communication interface chip + package function chip + storage unit.
The first control unit MCU1 can acquire the running state of the elevator, and sends an operation command for controlling the running of the elevator to the elevator control system according to the received position information of the intelligent robot or the addressing task command;
the second control unit MCU2 can send intelligent robot position information to the first control unit MCU 1; receiving a command of a first control unit MCU1, and controlling the intelligent robot to run to an addressing task instruction position;
in order to realize the horizontal addressing location of the EIR, an RFID receiving chip is arranged at a preset position point (hereinafter referred to as a room door area n) of a flat layer, when the EIR walks to the room door area n, the MCU2 receives a signal of the RFID, and if an instruction (such as a parking service instruction) is given in advance, the EIR can park to finish preset services (such as auditory signal and visual signal transmission, response, delivery, alarm and the like), so that the information linkage, data acquisition and storage of the vertical service of the elevator and the horizontal service of the intelligent robot are realized, and the information integration is realized.
It should be noted that the position points in the horizontal layer refer to position points in the horizontal space in each floor in the building; for example, room 1 and room 2 of the 2-storied building belong to different position points in a flat floor; room 1 and room 2 of floor 3 belong to different location points of another flat floor.
EIR addressing positioning is realized by distance self-learning and memorizing the ID address subcodes of the room door regions n through an elevator communication system:
as is known, the RFID has a unique ID code, and a RFID tag is provided at each corresponding n-position of the room door zone, and the tag is identified by a signal having a unique address code. When the EIR receives the instruction to walk through the signal identifications, the RFID reads and writes for response, the received signals can be recorded by the second control unit MCU2 one by one, the signals are sent through the wireless switching device and stored in the first control unit MCU1, and according to a specified coding rule, each ID address code is identified according to the floor and the room door area n where the ID address code is located and represents a unique address. E.g., ID/Fn-01, ID/Fn-02, ID/Fn-n. Since the distance between the room door zones n in the building is completely constant, the ID address code obtained by the EIR by first walking is the addressed parking position at which the EIR will perform the task in the future.
The system sets a process that EIR confirms the position of a room door zone n through an RFID response device for the first time and defines and stores an ID address code signal according to a preset rule, which is called as follows: distance self-learning.
Through distance self-learning, each ID code signal is stored in the MCU1 and is in contact with an elevator communication system, and when an elevator or other wireless modes send an addressing service instruction to the EIR, the EIR can automatically call the elevator to complete door opening, entering, up and down, door opening, exiting, addressing, parking and returning actions. For example, the EIR is given an ID/F10-02 command, the EIR can enter the elevator to 10F, the elevator opens the door, the EIR automatically leaves the elevator, addresses to the ID/F10-02 position, stops, and completes the predetermined action or service.
Referring to fig. 2, an RFID tag is provided in the room door zone n of each floor, and the EIR "self-learns" from the distance between the elevator and the room door zone n from a predetermined initial position: self-learning is performed according to a distance principle, such as: distance mm from F1-01 to F1-02, and so on. Responding and reading and writing the RFID electronic tags arranged in the room door zones n of all the preset service floors until the learning of the ID address codes of all the preset floors is completed; the running track of the intelligent robot reaching each set position point in the horizon can be obtained through distance self-learning.
It should be noted that the EIR addressing task instruction can be sent to the EIR through the elevator, and can also be sent to the elevator remotely through the building internet of things system.
When the elevator is used for sending, a calling device is arranged in the elevator, for example, an operation button can be arranged in the elevator, so that the operation is convenient, the calling device is in contact with an EIR through a communication system of the elevator, the calling device sends an addressing task instruction to a first control unit MCU1 through an elevator main controller, and a first control unit MCU1 sends an addressing task instruction to a second control unit MCU2 through a wireless switching device; the second control unit MCU2 receives the signal and controls the EIR to reach the appointed floor according to the instruction, then the EIR leaves the elevator to move horizontally according to the appointed route to the preset RFID answering position, the EIR addressing is completed, the elevator stops, the preset service is completed, the next preset service is continued to the end, and if no other instruction exists, the elevator automatically returns to the appointed position to stop for standby.
Or appointed personnel can remotely send a task instruction to the elevator in the management control room through a building internet of things system, and the elevator control system controls the EIR according to the communication method after receiving the remote control instruction.
In other embodiments, an automatic recall unit is added on the basis of the disclosed intelligent robot system based on elevator communication, the automatic recall unit can send an automatic recall instruction, and after receiving the automatic recall instruction, the current position information of the intelligent robot is determined according to an ID address code acquired by the intelligent robot; controlling the elevator to reach the floor where the intelligent robot is located according to the position information; and simultaneously, controlling the intelligent robot to return to the elevator taking position and the elevator to return to the preset initial position.
The calling instruction can be sent out through a calling device arranged in the elevator, the calling instruction sent out by the calling device is sent to a first control unit through an elevator control system, the first control unit matches the floor where the robot is located according to the received current ID address code of the intelligent robot, an operation instruction for controlling the elevator to reach the floor where the intelligent robot is located is sent to an elevator controller, and meanwhile, an instruction for controlling the intelligent robot to return to a set elevator riding position and take the elevator to return to a preset position is sent to a second control unit.
In the set range, the EIR can be recalled through the calling device no matter where the EIR is on the building floor, the trouble that the EIR stays at an unknown position after the EIR is finished and needs to be found is overcome, the management of the EIR is facilitated, and the closed-loop control of the EIR intelligent service is formed.
Example two
In one or more embodiments, disclosed is an intelligent robot system control method based on elevator communication, as shown in fig. 3, including:
(1) initializing a system, judging whether the EIR is at an initial position, and if so, continuing the next step; otherwise, a recall instruction is sent to recall the EIR to the initial position.
(2) Receiving an addressing task instruction, wherein the addressing task instruction is ID address code position information which is obtained by EIR in advance through distance self-learning; analyzing a floor to which the intelligent robot arrives and a position point in the floor according to the addressing task instruction;
the intelligent robot traverses ID address codes of set position points in each flat layer in the building in advance, and simultaneously stores distance information from the elevator hall door to each set position point in the flat layer, so that self-learning of distances in the flat layer is realized, and track information of each set position point in the flat layer is obtained.
And matching corresponding ID address codes according to the received addressing task instruction, and further analyzing the floor to which the intelligent robot arrives and the set position point in the floor.
(3) Controlling the elevator to carry the intelligent robot to run to a corresponding floor according to the analyzed floor information; and controlling the intelligent robot to run to a set position point in the floor according to the running track obtained by self-learning of the distance.
(4) The intelligent robot responds to the RFID reader-writer response transmitting signal of the position point, EIR stops to execute the task, and addressing positioning is achieved.
In the step (1), after a robot recall command is received, determining the current position information of the intelligent robot according to the ID address code acquired by the intelligent robot; controlling the elevator to reach the floor where the intelligent robot is located currently according to the position information; meanwhile, the intelligent robot is controlled to return to the elevator taking position and the elevator taking position to the preset position.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. An intelligent robot system based on elevator communication, comprising: the intelligent robot comprises a first control unit and a second control unit, wherein the first control unit is communicated with an elevator control system; it is characterized by also comprising:
the intelligent robot walks through all ID address codes of each floor in the building in advance, and simultaneously stores the distance information of each floor from the elevator hall door to each electronic tag of the floor, thereby realizing distance self-learning;
the elevator control system sends an addressing task instruction to the first control unit, the first control unit analyzes a floor to which the intelligent robot arrives and a set position point in the floor according to the received addressing task instruction, and controls the intelligent robot to arrive at the set position point according to a distance self-learning result;
the first control unit is arranged on the elevator, and the second control unit is arranged on the intelligent robot.
2. The intelligent robot system based on elevator communication as claimed in claim 1, wherein in the distance self-learning process, the second control unit receives all the ID address codes collected by the intelligent robot, transmits them to the first control unit and stores them.
3. An intelligent robot system based on elevator communication according to claim 1, wherein said ID address code comprises at least: floor information and information of set position points in the floor.
4. The intelligent robot system based on elevator communication of claim 1, further comprising: an addressing task command transmitting unit in communication with the elevator control system; the addressing task instruction sending unit sends an addressing task instruction to the first control unit through the elevator control system, and the first control unit matches corresponding ID address codes according to the received addressing task instruction, so that the floor where the intelligent robot arrives and the set position point in the floor are analyzed.
5. The intelligent robot system based on elevator communication of claim 1, further comprising: a recall command transmitting unit in communication with the elevator control system; the call-back instruction sending unit sends a call-back instruction to the first control unit through the elevator control system, the first control unit matches the floor where the robot is located according to the received current ID address code of the intelligent robot, sends an operation instruction for controlling the elevator to reach the floor where the intelligent robot is located to the elevator controller, and simultaneously sends an instruction for controlling the intelligent robot to return to a set elevator riding position and take the elevator to return to a preset position to the second control unit.
6. An intelligent robot system control method based on elevator communication, which is characterized by comprising the following steps:
(1) initializing the system, judging whether the intelligent robot is at an initial position, and if so, continuing the next step; otherwise, sending a recall instruction, and recalling the intelligent robot to the initial position;
(2) receiving an addressing task instruction, wherein the addressing task instruction is ID address code position information which is obtained by distance self-learning of the intelligent robot in advance; analyzing a floor to which the intelligent robot arrives and a position point in the floor according to the addressing task instruction;
(3) controlling the elevator to carry the intelligent robot to run to a corresponding floor according to the analyzed floor information; controlling the intelligent robot to run to a set position point in the floor according to the running track obtained by self-learning of the distance;
(4) the intelligent robot responds to the RFID reader-writer at the position point to respond to the transmitting signal, and the intelligent robot stops to execute a task to realize addressing and positioning.
7. The intelligent robot system control method based on elevator communication according to claim 6, characterized in that after receiving the intelligent robot recall command, determining the current position information of the intelligent robot according to the ID address code collected by the intelligent robot; controlling the elevator to reach the floor where the intelligent robot is located currently according to the position information; meanwhile, the intelligent robot is controlled to return to the elevator taking position and the elevator taking position to the preset position.
8. The intelligent robot system control method based on elevator communication as claimed in claim 6, wherein the intelligent robot pre-traverses all ID address codes of each floor in a building, and simultaneously stores distance information of each floor from a hoistway door to each electronic tag of the floor, thereby realizing distance self-learning;
and matching corresponding ID address codes according to the received addressing task instruction, and further analyzing the floor to which the intelligent robot arrives and the set position point in the floor.
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| CN111332891A (en) * | 2020-03-26 | 2020-06-26 | 上海有个机器人有限公司 | Elevator taking method and elevator taking device |
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| DE10221451A1 (en) * | 2002-05-15 | 2003-11-27 | Philips Intellectual Property | Non contact data communication between transponder built in form of integrated circuit chip cards and using an ac field effect fro field generator |
| JP2005332059A (en) * | 2004-05-18 | 2005-12-02 | Fuji Heavy Ind Ltd | Floor recognition system for autonomous traveling vehicle and floor recognition method therefor |
| CN101923669A (en) * | 2008-07-18 | 2010-12-22 | 史迪芬·凯斯 | Smart Adaptive Design |
| JP2011068453A (en) * | 2009-09-25 | 2011-04-07 | Fuji Heavy Ind Ltd | Autonomous travel robot and control system of autonomous travel robot |
| JP2013035652A (en) * | 2011-08-08 | 2013-02-21 | Toshiba Corp | Access control system |
| CN103064393B (en) * | 2012-12-31 | 2015-06-24 | 广州埃勃斯自动化控制科技有限公司 | Robot carrying control system based on wireless network |
| KR101543993B1 (en) * | 2013-11-28 | 2015-08-12 | (주)현성컨버전스 | A Elevator Management System Using A Mobile Device |
| WO2016131416A1 (en) * | 2015-02-16 | 2016-08-25 | Polaris Tech Global Limited | Cross-platform automated perimeter access control system and method adopting rfid-to-bluetooth selective adapter |
| CA3021390A1 (en) * | 2016-04-18 | 2017-10-26 | Bernt Erik BJONTEGARD | Multi-level control, variable access, multi-user contextual intelligent communication platform |
| CN109552953A (en) * | 2018-11-30 | 2019-04-02 | 深圳市普渡科技有限公司 | The system and method for robot autonomous disengaging elevator |
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