Intelligent robot cross-floor distribution system and method based on dumb waiter

Abstract

The invention relates to the technical field of service lift intelligent distribution, in particular to an intelligent robot cross-floor distribution system and method based on a service lift. The system comprises an intelligent robot which is used for automatically transporting articles in floors; the dumb waiter control system is used for receiving the dispatching request of the intelligent robot and controlling an elevator; the central dispatching system is used for carrying out dispatching management on the multiple intelligent robots and the elevators; and the sensing positioning system is used for detecting the elevator state and the position of the intelligent robot. The intelligent robot and the dumb waiter control module are integrated, the robot can call the elevator autonomously, automatic distribution of articles from any floor to the target floor is achieved, manual participation is completely eliminated, and the distribution efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent delivery of goods elevators, and in particular to an intelligent robot cross-floor delivery system and method based on a goods elevator. Background Art

[0002] Service elevators (non-passenger or passenger-cargo elevators) are widely used in multi-story buildings such as restaurants, hospitals, hotels, and office buildings to transport goods across floors. This type of elevator has a simple structure and is usually designed to transport light goods or items. It is easy to operate and has low cost. However, traditional service elevators mainly rely on manual operation, requiring a dedicated person to put the items into the service elevator and receive the items at the target floor. This method has the following disadvantages: (1) High labor costs: Manual handling and operation of elevators increase labor costs, especially in situations where frequent cross-floor transportation is required.

[0003] (2) Inefficiency: Manual operations are less efficient in high-frequency, multi-batch transportation scenarios and are prone to delays.

[0004] (3) Human error: The sorting and delivery of items rely on manpower, which may lead to errors, especially when there are many floors and a large number of items.

[0005] The existing utility elevator system and intelligent robot delivery system operate independently in actual applications and cannot be effectively combined. In particular, the following key problems exist in the scenario of cross-floor delivery: (1) Automation issues of robot cross-floor delivery Traditional intelligent robots are mostly used for flat-floor delivery and cannot achieve autonomous delivery across floors. When it is necessary to transport items in a multi-story building, the robot cannot autonomously call the elevator for sundries and must rely on manual elevator operation to transport items across floors. The existing technology lacks a solution that can integrate elevators and intelligent robot systems to achieve automatic delivery across floors.

[0006] (2) Intelligent scheduling of elevator and robot systems Existing utility elevator systems usually operate independently and lack a linkage mechanism with the intelligent robot system, which makes it impossible for robots to use elevators autonomously for cross-floor delivery. At the same time, due to limited elevator resources, the lack of intelligent scheduling when multiple robots use elevators at the same time may lead to inefficient operation or congestion of the system. An intelligent scheduling system is needed that can coordinate the use of robots and elevators to ensure efficient and safe transportation of goods.

[0007] (3) Path planning and task execution issues in complex environments In multi-story buildings, robots not only need to transport items across floors, but also need to be able to accurately determine their current location, plan the best path from the current floor to the target floor, and seamlessly connect with elevator operations such as switching on and off and selecting floors. In the existing technology, the path planning and task execution processes of robots and elevators are not effectively integrated, which easily leads to transportation interruptions or failures.

[0008] (4) Collaboration issues in multi-task scenarios In many scenarios (such as restaurants, hotels, hospitals, etc.), multiple robots may need to use elevators for delivery at the same time. In this case, how the system ensures efficient coordination of multiple tasks is also an important challenge. The existing system lacks solutions that can coordinate multiple robots and elevators, resulting in low efficiency of the system in multi-task scenarios, and may even cause conflicts or resource competition. Summary of the invention

[0009] In order to solve the above-mentioned problems, the present invention provides a system and method for cross-floor distribution of intelligent robots based on a utility elevator. By combining the utility elevator with the intelligent robot technology, the automatic cross-floor distribution of items in a multi-story building is realized.

[0010] In the first aspect, the present invention provides an intelligent robot cross-floor delivery system based on a utility elevator, which adopts the following technical solution: An intelligent robot cross-floor delivery system based on a utility elevator, comprising: Intelligent robots for automatic transportation of items within the floor; A utility elevator control system, which receives dispatch requests from the intelligent robot and controls the elevator; Central dispatching system, used to dispatch and manage multiple intelligent robots and elevators; Sensor positioning system, used to detect elevator status and intelligent robot position.

[0011] Furthermore, the intelligent robot includes an automatic navigation module, an obstacle avoidance module, a positioning module and a loading module.

[0012] Furthermore, the cargo elevator control system includes an elevator control module, which is wirelessly connected to the elevator and is used for floor selection, elevator up and down control, and elevator door opening and closing.

[0013] Furthermore, the central dispatching system includes a task allocation module and a path planning module, wherein the path planning module is used to plan the best path for each robot. When the robot enters the elevator, the path that the robot needs to travel is planned according to the elevator status and the target floor to ensure efficient completion of the delivery task.

[0014] Furthermore, the sensor positioning system includes sensors installed at the elevator door and floor entrances and exits, and positioning sensors installed on the intelligent robot.

[0015] In a second aspect, a method for cross-floor delivery by an intelligent robot based on a utility elevator comprises the following steps: Receive delivery tasks and assign them; Elevator dispatching based on task assignment; Control the dispatched elevator to select the target floor; Arrive at the target floor and deliver the task; Return home or execute the next mission according to the dispatch instructions.

[0016] Furthermore, the receiving of delivery tasks and task allocation includes, when the system receives a cross-floor delivery task, assigning an available robot to perform the task according to the task requirements through the central dispatching system, sending the target floor information and item information to the robot, and planning the delivery route.

[0017] Furthermore, the elevator scheduling according to the task allocation includes the intelligent robot navigating to the elevator entrance according to the delivery path, and issuing an elevator call request by communicating with the elevator control module. The elevator control module schedules the elevator to the robot's floor according to the request and automatically opens the door when the elevator arrives.

[0018] Furthermore, the control controls the dispatched elevator to select a target floor, including the intelligent robot entering the elevator and selecting a target floor through communication with the elevator control module, and the elevator starts and transports the robot to the target floor.

[0019] Furthermore, the reaching the target floor and performing the task delivery includes, when the elevator reaches the target floor, the elevator control module controls the elevator to automatically open the door, the robot leaves the elevator and navigates to the target location to deliver the item.

[0020] Furthermore, returning home or executing the next task according to the dispatching instructions includes, after the intelligent robot completes the delivery task, selecting a return path or executing the next task according to the instructions of the dispatching system; if there is no subsequent task, the robot returns to the initial position and waits.

[0021] In summary, the present invention has the following beneficial technical effects: 1. Realize fully automatic cross-floor delivery Traditional intelligent robots are mostly used to transport items on a single floor, and cross-floor delivery usually relies on manual elevator operation. However, by integrating the intelligent robot with the elevator control module, the robot can autonomously call the elevator to achieve automatic delivery of items from any floor to the target floor, completely eliminating manual participation and improving delivery efficiency.

[0022] 2. Improve system efficiency in multi-tasking scenarios The existing technology is prone to elevator scheduling conflicts and congestion when multiple robots call elevators at the same time. The present invention can effectively coordinate multiple tasks through the intelligent scheduling of robots and elevators by the central scheduling system, avoid competition for elevator resources, and ensure efficient and orderly completion of delivery tasks. It is particularly suitable for scenarios that require frequent cross-floor delivery.

[0023] 3. Reduce labor costs and improve work efficiency Traditional cross-floor delivery requires manual elevator operation, especially in hotels, hospitals and other places, which takes up a lot of manpower. The automated system of the present invention effectively reduces manual intervention, especially in busy multi-story buildings, and can significantly improve logistics transmission efficiency and reduce labor costs.

[0024] 4. Accurate route planning improves transportation reliability The present invention uses an intelligent robot navigation system and a sensor system to enable the robot to accurately identify the floor location and elevator status, and seamlessly connect with the elevator, ensuring accuracy and reliability in the delivery process. Compared with the problem of robots and elevators not being able to effectively cooperate in the prior art, the present invention can more efficiently and stably complete the cross-floor transportation of items.

[0025] 5. Support multiple scenarios and flexibly adapt to complex environments The present invention can be applied to a variety of scenarios such as hotels, hospitals, and office buildings. Especially in complex multi-story buildings, the robot can flexibly dispatch elevators according to task requirements to complete cross-floor item delivery. The system supports multi-robot and multi-task collaborative work to adapt to the needs of different scenarios and provide reliable cross-floor delivery services in complex environments.

[0026] 6. Intelligent scheduling to maximize resource utilization The central dispatching system of the present invention has real-time task allocation and resource management capabilities. By reasonably dispatching the use of elevators, the system can maximize the use of elevator resources, avoid elevator idleness and resource waste during peak hours or multi-task scenarios, and thus improve the overall system efficiency.

[0027] 7. High system security, reducing misoperation The intelligent dispatching system and sensor positioning system of the present invention can ensure that the robot will not make misoperations when calling the elevator, entering and exiting the elevator, and performing delivery tasks, avoiding problems such as the elevator door opening by mistake, the robot entering and exiting by mistake, and ensuring the safety of the delivery process. Compared with traditional elevators and manually operated systems, the present invention can effectively reduce safety hazards caused by human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of a method for cross-floor delivery of goods by an intelligent robot based on a goods elevator according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0030] Example 1 Reference Figure 1 , an intelligent robot cross-floor delivery system based on a utility elevator of this embodiment includes: Intelligent robots for automatic transportation of items within the floor; A utility elevator control system, which receives dispatch requests from the intelligent robot and controls the elevator; Central dispatching system, used to dispatch and manage multiple intelligent robots and elevators; Sensor positioning system, used to detect elevator status and intelligent robot position.

[0031] Specifically, 1. Intelligent robot module Navigation and obstacle avoidance: The robot is equipped with sensors (such as laser radar, ultrasonic sensors, etc.) that can autonomously navigate and avoid obstacles. The robot can identify floor maps and automatically transport items within the target floor.

[0032] Elevator operation: The robot has the ability to communicate with the elevator control module. When the robot needs to make cross-floor deliveries, it sends a request to the elevator control module to control the elevator to go to the specified floor and open and close the door.

[0033] Item loading and transportation: The robot is equipped with an item loading platform. Items can be loaded onto the robot through automatic mechanical structure or manual assistance, and then the robot will complete the transportation of the items.

[0034] 2. Miscellaneous elevator control module Intelligent elevator dispatching: The elevator control module can operate autonomously according to the robot's request, including selecting the target floor, controlling the elevator's up and down movement, and opening and closing the door. The robot sends the elevator call command through the central dispatching system, and the elevator control module controls the elevator response according to the command.

[0035] Multi-robot scheduling: In multi-tasking scenarios, the elevator control module can coordinate the use of elevators by multiple robots to avoid conflicts. It can schedule elevators based on task priority or task time sequence.

[0036] 3. Central dispatch system Task allocation and scheduling: The central scheduling system can automatically allocate the use of robots and elevators based on the task requirements of each robot to ensure efficient delivery of items across floors. The scheduling system is also responsible for coordinating the order of use of each robot and elevator during multi-tasking to avoid resource competition.

[0037] Path planning and task monitoring: The central dispatch system can plan the best path for each robot and monitor the progress of the task in real time. When the robot enters the elevator, the system will plan the path the robot needs to travel based on the elevator status and the target floor to ensure that the delivery task is completed efficiently.

[0038] 4. Sensors and positioning systems Floor detection and elevator positioning: Sensors installed at the elevator door and floor entrances and exits are used to detect the real-time status of the elevator, such as whether it has reached the designated floor, whether the door is open, etc. At the same time, sensors are used to position the robot between floors to ensure that the robot switches smoothly inside and outside the elevator.

[0039] Interaction between the robot and the elevator: Sensors assist the robot in interacting smoothly with the elevator. After reaching the elevator, the robot will automatically wait for the elevator door to open and enter. When it reaches the target floor, it will automatically exit the elevator and continue to perform the delivery task.

[0040] As a further embodiment, This embodiment provides a specific example. In a large hotel with 10 floors, various items (such as guest room supplies, dining ingredients, cleaning tools, etc.) need to be frequently transported from the warehouse or the service desk on a certain floor to different target locations such as guest rooms, restaurant rooms, conference rooms, and cleaning work areas. The intelligent robot cross-floor delivery system based on a utility elevator of the present invention is now used to complete these delivery tasks.

[0041] Smart robots: The hotel is equipped with multiple smart robots, each of which has an automatic navigation module, obstacle avoidance module, positioning module and loading module. Among them, the automatic navigation module can plan and navigate the route according to the floor layout map of the hotel; the obstacle avoidance module can sense obstacles ahead through infrared or other sensors and avoid them in time; the positioning module uses indoor positioning technology (such as Wi-Fi positioning, Bluetooth positioning, etc.) to accurately determine its own position in the hotel; the loading module can reasonably adjust the loading space according to the size and shape of the items to accommodate different delivery items.

[0042] Miscellaneous elevator control system: The hotel's miscellaneous elevator is equipped with a corresponding control system, in which the elevator control module is connected to the elevator wirelessly, and can realize floor selection, elevator up and down control, elevator door opening and closing, etc. When receiving a dispatch request from the intelligent robot, it can accurately dispatch the elevator to the specified floor and automatically open the elevator door.

[0043] Central dispatch system: It is set up in the hotel's backend management center, and its task allocation module and path planning module work together. The task allocation module will reasonably assign available intelligent robots to perform tasks based on the priority, target floor, item type and other information of the received delivery tasks, and accurately send the target floor information and item information to the robot; the path planning module will plan the optimal delivery path for the robot from the starting position to the elevator entrance, then to the target floor and the final destination according to the current traffic conditions of the hotel (such as whether the corridor is congested, etc.) and the use of the elevator.

[0044] Sensor positioning system: Sensors are installed at each elevator door and entrance and exit of each floor of the hotel to detect the status of the elevator (such as whether it has arrived, whether the elevator door is open, etc.) and the entry and exit of people or other objects. At the same time, positioning sensors are also installed on each intelligent robot to more accurately determine the real-time position of the robot on the floor and achieve seamless connection with elevators and other facilities.

[0045] Example 2 The difference between this embodiment and embodiment 1 is that this embodiment provides a method for cross-floor delivery of an intelligent robot based on a utility elevator, comprising the following steps: Receive delivery tasks and assign them; Elevator dispatching based on task assignment; Control the dispatched elevator to select the target floor; Arrive at the target floor and deliver the task; Return home or execute the next mission according to the dispatch instructions.

[0046] Specifically, 1. Task Receiving and Assigning When the system receives a cross-floor delivery task, the central dispatch system assigns an available robot to perform the task according to the task requirements. The dispatch system sends the target floor information and item information to the robot and plans the delivery route.

[0047] 2. Robot calls the elevator The robot autonomously navigates to the elevator entrance and sends an elevator call request by communicating with the elevator control module. The elevator control module dispatches the elevator to the robot's floor based on the request and automatically opens the door when the elevator arrives.

[0048] 3. The robot enters the elevator and selects the target floor When the elevator arrives and opens its door, the robot enters the elevator and selects the target floor by communicating with the elevator control module. The elevator starts and transports the robot to the target floor.

[0049] 4. Target floor delivery When the elevator reaches the target floor, the elevator control module automatically opens the door, the robot leaves the elevator and navigates to the target location to deliver the items.

[0050] 5. Return and task completion After the robot completes the delivery, it will choose the return path or perform the next task according to the instructions of the dispatch system. If there is no follow-up task, the robot will return to the initial position and wait.

[0051] As a further embodiment, This embodiment provides a specific example. Receive delivery tasks and assign them: One morning, the hotel front desk received a request from a guest to deliver an extra set of room supplies (including towels, toothbrushes, etc.) to a room on the 8th floor. The front desk staff entered the delivery task information into the central scheduling system.

[0052] The task allocation module of the central dispatch system assigns an idle intelligent robot near the service desk on the 2nd floor to perform the task based on the task requirements and comprehensive consideration of the current status of each intelligent robot (such as whether it is performing other tasks, its location, etc.). At the same time, the information of the target floor, the 8th floor, and the guest room supplies to be delivered are sent to the robot, and the path planning module plans a delivery path for it, starting from the service desk on the 2nd floor, passing through the corridor, reaching the nearby elevator entrance, then to the 8th floor, and finally to the target guest room.

[0053] Elevator dispatching based on task allocation: The intelligent robot that receives the task begins to navigate according to the planned delivery route, automatically driving along the corridor to the nearby elevator entrance.

[0054] When the robot reaches the elevator entrance, it communicates with the elevator control module in the cargo elevator control system and sends an elevator call request. After receiving the request, the elevator control module immediately dispatches the elevator from the current floor (assuming the elevator is currently on the 5th floor) to the 2nd floor, and automatically opens the elevator door when the elevator reaches the 2nd floor.

[0055] Control the dispatched elevator to select the target floor: After the intelligent robot sees the elevator door open, it enters the elevator. After entering the elevator, the robot selects the target floor, the 8th floor, through communication with the elevator control module.

[0056] After receiving the target floor information, the elevator control module starts the elevator and transports the robot to the 8th floor.

[0057] Arrive at the target floor and complete the mission: When the elevator reaches the 8th floor, the elevator control module controls the elevator to automatically open the elevator door.

[0058] The robot leaves the elevator and then uses its own automatic navigation module to navigate along the corridor to the door of the target guest room according to the previously planned path. Finally, the robot uses the loading module to accurately deliver the guest room supplies to the designated location in the guest room.

[0059] Return home or execute the next mission according to the dispatch instructions: After the intelligent robot completes the task of delivering guest room supplies, it sends feedback information on the completion of the task to the central dispatch system.

[0060] The task allocation module of the central dispatch system determines whether there are subsequent tasks that need to be performed by this robot based on the current status of other delivery tasks in the hotel. If there are no subsequent tasks, the robot will choose to return to its initial position (such as the charging and standby area near the service desk on the 2nd floor) according to the instructions of the dispatch system and wait for orders; if there are subsequent tasks, the robot will continue to perform the next delivery task according to the new task requirements and the planned path.

[0061] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent robot cross-floor delivery system based on a utility elevator, characterized in that: include: Intelligent robots for automatic transportation of items within the floor; A utility elevator control system, which receives dispatch requests from the intelligent robot and controls the elevator; Central dispatching system, used to dispatch and manage multiple intelligent robots and elevators; Sensor positioning system, used to detect elevator status and intelligent robot position.

2. According to claim 1, an intelligent robot cross-floor delivery system based on a utility elevator is characterized in that: The cargo elevator control system includes an elevator control module, which is wirelessly connected to the elevator and is used for floor selection, elevator up and down control, and elevator door opening and closing.

3. According to claim 2, an intelligent robot cross-floor delivery system based on a utility elevator is characterized in that: The central dispatching system includes a task allocation module and a path planning module, wherein the path planning module is used to plan the best path for each robot. When the robot enters the elevator, the path that the robot needs to travel is planned according to the elevator status and the target floor to ensure that the delivery task is completed efficiently.

4. According to claim 3, the intelligent robot cross-floor delivery system based on the goods elevator is characterized in that: The sensor positioning system includes sensors installed at the elevator door and floor entrances and exits, and positioning sensors installed on the intelligent robot.

5. A method for cross-floor delivery of goods by an intelligent robot based on a utility elevator, characterized in that: The following steps are involved: Receive delivery tasks and assign them; Elevator dispatching based on task assignment; Control the dispatched elevator to select the target floor; Arrive at the target floor and deliver the task; Return home or execute the next mission according to the dispatch instructions.

6. The intelligent robot cross-floor delivery method based on a utility elevator according to claim 5 is characterized in that: The receiving and assigning of delivery tasks includes, when the system receives a cross-floor delivery task, assigning an available robot to perform the task according to the task requirements through the central dispatching system, sending the target floor information and item information to the robot, and planning the delivery route.

7. The intelligent robot cross-floor delivery method based on a utility elevator according to claim 6 is characterized in that: The elevator dispatching according to the task allocation includes the intelligent robot navigating to the elevator entrance according to the delivery path, and issuing an elevator call request by communicating with the elevator control module. The elevator control module dispatches the elevator to the floor where the robot is located according to the request and automatically opens the door when the elevator arrives.

8. The intelligent robot cross-floor delivery method based on a utility elevator according to claim 7 is characterized in that: The control controls the scheduled elevator to select a target floor, including the intelligent robot entering the elevator and selecting a target floor through communication with the elevator control module, and the elevator starts and transports the robot to the target floor.

9. The intelligent robot cross-floor delivery method based on a utility elevator according to claim 8 is characterized in that: The reaching the target floor and performing the task delivery includes, when the elevator reaches the target floor, the elevator control module controls the elevator to automatically open the door, the robot leaves the elevator and navigates to the target location to deliver the item.

10. The intelligent robot cross-floor delivery method based on a utility elevator according to claim 9, characterized in that: The returning or executing the next task according to the dispatching instructions includes that after the intelligent robot completes the delivery task, it selects a return path or executes the next task according to the instructions of the dispatching system. If there is no subsequent task, the robot returns to the initial position and waits.

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