Elevator control system and method

Abstract

The application provides an elevator control system and method. The elevator control system is suitable for a mobile robot, and the elevator control system comprises: a plurality of key execution mechanisms, which are respectively installed on an external key panel of an elevator on each floor, and each key execution mechanism comprises an automatic key assembly, the automatic key assembly comprises an electromagnetic valve and an automatic push rod, and the automatic push rod is arranged in alignment with an up key or a down key of the external key panel; and a scheduling control mechanism, which is in communication connection with the mobile robot and the electromagnetic valve, and is used for controlling the opening and closing of the electromagnetic valve, so that the electromagnetic valve drives the automatic push rod to press the up key or the down key of the external key panel. The application realizes the automatic opening and closing of the elevator door by means of the control program of the elevator, realizes the automatic entry and exit of the mobile robot into the elevator, improves the automation and intelligence of the robot cross-floor operation, and in addition, the safety of the elevator use is improved without modifying the control program of the elevator.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, specifically to an elevator control system and method suitable for mobile robots. Background Technology

[0002] Currently, various types of automated guided robots are widely used in industry and daily life, such as material handling robots and food delivery robots. These mobile robots may have the need to operate across floors. Since these mobile robots do not have robotic arms, they cannot directly use elevators autonomously. They require manual operation to open and close the elevator to assist them in entering and exiting the elevator and completing cross-floor operations.

[0003] In existing technologies, conventional automated elevator door opening and closing requires modifications to the elevator control program to allow mobile robots to automatically enter and exit the elevator. Since elevators are specialized equipment, program modifications pose certain safety hazards to elevator operation. Furthermore, elevator retrofitting is costly and time-consuming, and elevator management offices generally refuse to allow robots to integrate into the elevator system. Therefore, enabling mobile robots to enter and exit elevators for cross-floor operations has become an urgent problem to be solved. Summary of the Invention

[0004] In view of the above, it is necessary to provide an elevator control system and method to solve the problem that mobile robots cannot autonomously enter and exit elevators and perform cross-floor operations without modifying the elevator's built-in control program.

[0005] This application provides an elevator control system suitable for mobile robots. The elevator control system includes: multiple button actuators, each installed on the external button panel of the elevator on each floor; each button actuator includes an automatic button assembly, which includes a solenoid valve and an automatic push rod, the automatic push rod being aligned with the up or down button on the external button panel; and a scheduling control mechanism, communicatively connected to the mobile robot and the solenoid valves. The scheduling control mechanism controls the opening and closing of the solenoid valves, causing the solenoid valves to drive the automatic push rods to press the up or down button on the external button panel, or to stop the solenoid valves from driving the automatic push rods to press the up or down button on the external button panel. The mobile robot stops moving after reaching a preset waiting point on the departure floor and sends a command to the scheduling control mechanism to reach the departure floor waiting point. The scheduling control mechanism controls the electrical... The solenoid valve opens; the solenoid valve of the button actuator at the departure floor drives the automatic push rod to press the up or down button on the external button panel; after determining that the elevator door at the departure floor is open, the scheduling control mechanism sends an entry signal to the mobile robot; the mobile robot enters the elevator and sends a signal to the scheduling control mechanism that it has entered the elevator; the scheduling control mechanism controls the solenoid valve of the button actuator at the departure floor to close; after determining that the elevator door at the departure floor is closed, the scheduling control mechanism controls the solenoid valve of the button actuator at the target floor to open; the solenoid valve of the button actuator at the target floor drives the automatic push rod to press the up or down button on the external button panel; after determining that the elevator door at the target floor is open, the scheduling control mechanism sends an exit signal to the mobile robot; the mobile robot exits the elevator and sends a signal to the scheduling control mechanism that it has exited the elevator; the scheduling control mechanism controls the solenoid valve of the button actuator at the target floor to close.

[0006] The elevator control system provided in the above embodiments, by installing button actuators on the external button panel on each floor, allows the dispatch control mechanism to control the automatic push rod of the button actuator to press the up or down button on the external button panel via a solenoid valve. This, in turn, utilizes the elevator's built-in control program to automatically open and close the elevator doors. This enables mobile robots to automatically enter and exit the elevator, improving the automation and intelligence of robots operating across floors, expanding the applicability of mobile robots, and eliminating the need to modify the elevator's built-in control program. This reduces elevator retrofit costs, lowers elevator failure rates, and improves elevator safety.

[0007] In some embodiments, the button actuator further includes a manual button assembly, comprising a manual push rod, a connecting rod, and a manual contact head. The manual push rod is arranged parallel to the automatic push rod along the pressing direction of the automatic push rod. The manual contact head is disposed at the end of the connecting rod and aligned with the up or down button of the external button panel. Under the action of external force, the manual push rod drives the manual contact head to press or move away from the up or down button of the external button panel through the connecting rod.

[0008] In some embodiments, the manual button assembly further includes: a base located below the side of the linkage rod away from the manual touch head; an elastic element, the base and the linkage rod being connected via the elastic element; and a rotating shaft rotatably connected to the base, with the end of the linkage rod away from the manual touch head rotatably connected to the rotating shaft. Under external force, the manual push rod presses against the linkage rod, causing the linkage rod to drive the manual touch head to press the up or down button on the external button panel, and the elastic element is in a compressed state. After the external force disappears, under the reset action of the elastic element, the linkage rod drives the manual touch head away from the up or down button on the external button panel, simultaneously pushing the manual push rod upwards.

[0009] In some embodiments, the manual push rod includes: a supporting rod for pressing against the linkage rod, the supporting rod having a supporting portion; a pressing portion sleeved on the supporting rod and located above the supporting portion, the pressing portion and the supporting portion being movably in contact; and a pin for inserting between the pressing portion and the supporting portion when the automatic push rod presses the up or down button on the external button panel.

[0010] In some embodiments, the manual push rod further includes a sleeve fitted over the pressing portion and the abutting rod, wherein the pin movably extends laterally through the sleeve.

[0011] In some embodiments, the automatic button assembly further includes a detection sensor located above the automatic push rod, the detection sensor being communicatively connected to the scheduling control mechanism, the detection sensor being used to send a signal to the scheduling control mechanism that the automatic push rod has stopped pressing the up or down button of the external button panel when the automatic push rod is detected.

[0012] In some embodiments, the elevator control system further includes: a sensor disposed around the elevator door on each floor, the sensor being communicatively connected to the dispatch control mechanism, the sensor being used to send an elevator door opening signal to the dispatch control mechanism when it senses that the elevator door on its floor is open.

[0013] In some embodiments, the scheduling and control mechanism includes: a robot control module, which is wirelessly connected to the mobile robot and is used to control the robot; and an elevator call module, which is communicatively connected to the button actuators on each floor and is used to control the opening and closing of the solenoid valves. The elevator call module is communicatively connected to and interacts with the robot control module.

[0014] In some embodiments, the elevator control system further includes a human-machine interface mechanism, which is communicatively connected to the dispatch control mechanism. The human-machine interface mechanism is used to receive departure floor information and target floor information input by the user and send the departure floor information and target floor information to the dispatch control mechanism.

[0015] This application also provides an elevator control method, applied to the elevator control system described in the above embodiments, the elevator control method comprising:

[0016] After the mobile robot sends a signal to the standby point of the departure floor, the solenoid valve of the button actuator of the departure floor is opened, so that the solenoid valve drives the automatic push rod to press the up button or down button on the external button panel.

[0017] After determining that the elevator door of the departure floor is open, a signal to enter the elevator is sent to the mobile robot so that the mobile robot enters the elevator.

[0018] After the mobile robot sends a signal that it has entered the elevator, the solenoid valve of the button actuator controlling the departure floor closes, so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel.

[0019] After the elevator door at the departure floor is closed, the solenoid valve of the button actuator controlling the target floor is opened, so that the solenoid valve drives the automatic push rod to press the up or down button on the external button panel.

[0020] After determining that the elevator door on the target floor is open, a signal to move out of the elevator is sent to the mobile robot so that the mobile robot moves out of the elevator.

[0021] After receiving a signal from the mobile robot that it has moved out of the elevator, the solenoid valve controlling the button actuator of the target floor closes, so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the framework of an elevator control system according to an embodiment of this application.

[0023] Figure 2 This is a schematic diagram of the structure of a button actuator according to an embodiment of this application.

[0024] Figure 3 for Figure 2 An exploded view of the button actuator.

[0025] Figure 4 This is a schematic diagram of the structure of a button actuator according to another embodiment of this application.

[0026] Figure 5 This is a schematic flowchart of an elevator control method according to an embodiment of this application.

[0027] Explanation of main component symbols

[0028] Elevator control system 100

[0029] Mobile Robot 10

[0030] Button actuator 20

[0031] Protective Case 21

[0032] Base 211

[0033] First support 212

[0034] Top plate 213

[0035] Active side panel 214

[0036] Locking component 2141

[0037] Second support 215

[0038] Automatic button component 22

[0039] Solenoid valve 221

[0040] Automatic push rod 222

[0041] Automatic contact head 2221

[0042] Detection sensor 223

[0043] Manual button component 23

[0044] Manual push rod 231

[0045] Support lever 2311

[0046] Resistance Department 2312

[0047] Pressing part 2313

[0048] Pin 2314

[0049] Sleeve 2315

[0050] Linkage 232

[0051] Manual touch head 233

[0052] Base 234

[0053] Elastic component 235

[0054] Rotary axis 236

[0055] Operation panel 24

[0056] Manual button 25

[0057] Dispatch and control mechanism 30

[0058] Robot control module 31

[0059] Elevator call module 32

[0060] Sensor 40

[0061] Human-computer interaction mechanism 50 Detailed Implementation

[0062] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0063] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0064] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0065] The embodiments of this case will be described in detail below with reference to the accompanying drawings.

[0066] Please see Figure 1 and Figure 2 This application provides an elevator control system 100, which is applicable to a mobile robot 10 and can control the mobile robot 10 to autonomously enter and exit the elevator and perform cross-floor operations without modifying the elevator control program.

[0067] like Figure 1 and Figure 2 As shown, the elevator control system 100 includes multiple button actuators 20 and a dispatch control mechanism 30. The multiple button actuators 20 are respectively installed on the external button panel of the elevator on each floor.

[0068] Furthermore, such as Figure 2 As shown, the button actuator 20 also includes a protective shell 21. The protective shell 21 has bases 211 on both sides of its bottom. The bases 211 are fixed to the external button panel of the elevator on each floor by screws. The button actuator 20 is installed on the external button panel of the elevator on each floor through the bases 211.

[0069] The button actuator 20 also includes an automatic button assembly 22. The automatic button assembly 22 includes a solenoid valve 221 and an automatic push rod 222. The automatic push rod 222 is aligned with the up or down button of the external button panel. The scheduling control mechanism 30 is communicatively connected to the mobile robot 10 and the solenoid valve 221. For example, the scheduling control mechanism 30 is wirelessly connected to the mobile robot 10. The scheduling control mechanism 30 controls the opening and closing of the solenoid valve 221, so that the solenoid valve 221 drives the automatic push rod 222 to press the up or down button of the external button panel, or solenoid valve 221 stops driving the automatic push rod 222 to press the up or down button of the external button panel.

[0070] Furthermore, the inner wall of the protective shell 21 is provided with a first bracket 212, and the automatic button assembly 22 is mounted on the first bracket 212. In addition, the side of the protective shell 21 with the base 211 is open to ensure that the automatic push rod 222 can extend out of the protective shell 21 and press the up or down button of the external button panel.

[0071] Furthermore, the pressing end of the automatic push rod 222 is fitted with an automatic contact head 2221, which can be made of rubber. When the automatic contact head 2221 presses the up or down button of the external button panel, it has a certain buffering effect to prevent damage to the up or down button of the external button panel when pressing it.

[0072] The mobile robot 10 stops moving after reaching the preset waiting point on the departure floor and sends a command to the dispatch control mechanism 30 to reach the waiting point on the departure floor. The dispatch control mechanism 30 controls the solenoid valve 221 of the button actuator 20 on the departure floor to open. The solenoid valve 221 of the button actuator 20 on the departure floor drives the automatic push rod 222 to press the up or down button on the external button panel. After determining that the elevator door on the departure floor is open, the dispatch control mechanism 30 sends an entry signal to the mobile robot 10. The mobile robot 10 enters the elevator and sends a signal to the dispatch control mechanism 30 that it has entered the elevator. The dispatch control mechanism 30 controls the departure floor... The solenoid valve 221 of the button actuator 20 on the first floor is closed; after determining that the elevator door on the departure floor is closed, the scheduling control mechanism 30 controls the solenoid valve 221 of the button actuator 20 on the target floor to open; the solenoid valve 221 of the button actuator 20 on the target floor drives the automatic push rod 222 to press the up or down button on the external button panel; after determining that the elevator door on the target floor is open, the scheduling control mechanism 30 sends a signal to the mobile robot 10 to move out of the elevator; the mobile robot 10 moves out of the elevator and sends a signal to the scheduling control mechanism 30 that it has moved out of the elevator; the scheduling control mechanism 30 controls the solenoid valve 221 of the button actuator 20 on the target floor to close.

[0073] The elevator control system 100 provided in the above embodiment installs a button actuator 20 on the external button panel on each floor. The scheduling control mechanism 30 controls the automatic push rod 222 of the button actuator 20 to press the up or down button on the external button panel through the solenoid valve 221. In turn, the elevator door is automatically opened and closed by means of the elevator's built-in control program. This enables the mobile robot 10 to automatically enter and exit the elevator, improves the automation and intelligence of the robot's cross-floor operation, expands the applicability of the mobile robot 10, and eliminates the need to modify the elevator's built-in control program, thereby reducing the cost of elevator modification, reducing the elevator failure rate, and improving the safety of elevator use.

[0074] In some embodiments, the button actuator 20 further includes a manual button assembly 23. The manual button assembly 23 is partially housed within a protective housing 21. The manual button assembly 23 includes a manual push rod 231, a connecting rod 232, and a manual contact head 233. The protective housing 21 includes a top plate 213, through which the manual push rod 231 passes and is arranged parallel to the automatic push rod 222 along the pressing direction of the automatic push rod 222. The manual contact head 233 is disposed at the end of the connecting rod 232 and aligned with the up or down button of the external button panel. Under external force, the manual push rod 231, through the connecting rod 232, drives the manual contact head 233 to press or move away from the up or down button of the external button panel.

[0075] In some embodiments, the operator presses the manual push rod 231, which presses against the connecting rod 232. The connecting rod 232 then drives the manual contact head 233 to press the up or down button. The operator then pulls the manual push rod 231, which returns the connecting rod 232 to its initial position. The connecting rod 232 then moves the manual contact head 233 away from the up or down button.

[0076] Furthermore, the manual touch head 233 can be made of rubber, which has a certain buffering effect when the manual touch head 233 presses the up or down button of the external button panel, so as to avoid damage to the up or down button of the external button panel when pressing the up or down button.

[0077] In the above embodiments, by adding a manual button component 23 to the button actuator 20, the elevator control system 100 can freely switch between manual and automatic buttons, enabling flexible control and use of the elevator and improving the flexibility and practicality of the elevator control system 100.

[0078] In some embodiments, the manual button assembly 23 further includes a base 234, an elastic element 235, and a rotating shaft 236. The base 234 is mounted on a base 211 on one side of the protective housing 21 and is located below the side of the linkage 232 away from the manual touch head 233. The base 234 and the linkage 232 are connected via the elastic element 235. The rotating shaft 236 is rotatably connected to the base 234, and the end of the linkage 232 away from the manual touch head 233 is rotatably connected to the rotating shaft 236.

[0079] Under the action of external force, the manual push rod 231 presses against the connecting rod 232, causing the connecting rod 232 to drive the manual touch head 233 to press the up or down button on the external button panel, and the elastic element 235 is in a compressed state; after the external force disappears, under the reset action of the elastic element 235, the connecting rod 232 drives the manual touch head 233 away from the up or down button on the external button panel and simultaneously pushes the manual push rod 231 upward.

[0080] In the above embodiment, the linkage 232 is connected to the base 234 via the elastic element 235, and the linkage and the base 234 are rotatably connected via the rotating shaft 236. This enables the linkage 232 to automatically reset when the manual push rod 231 loses its pressure, eliminating the need for the operator to manually pull the manual push rod 231 and improving the convenience of manual button operation.

[0081] Further reading Figure 3 As shown, in some embodiments, the manual push rod 231 includes a supporting rod 2311, a pressing part 2313, and a pin 2314. The supporting rod 2311 is used to press against the linkage rod 232, and the supporting rod 2311 is provided with a supporting part 2312. The pressing part 2313 is sleeved on the supporting rod 2311 and located above the supporting part 2312, and the pressing part 2313 and the supporting part 2312 are movably in contact. The pin 2314 is used to be inserted between the pressing part 2313 and the supporting part 2312 when the automatic push rod 222 presses the up or down button of the external button panel.

[0082] In some embodiments, the manual push rod 231 further includes a sleeve 2315. The sleeve 2315 is fitted onto the pressing part 2313 and the abutment rod 2311, and the pin 2314 movably extends laterally through the sleeve 2315.

[0083] In the above embodiment, the pin 2314 is threadedly connected to the sleeve 2315. When the automatic push rod 222 presses the up or down button on the external button panel, the operator manually twists the pin 2314 so that the pin 2314 is inserted between the pressing part 2313 and the supporting part 2312, thereby preventing the pressing part 2313 from pressing against the supporting rod 2311, avoiding the manual touch head 233 from interfering with the pressing operation of the automatic push rod 222, and ensuring that the manual pressing and automatic pressing operations are independent of each other.

[0084] In some embodiments, when manual pressing is required, the operator can twist the pin 2314 in the opposite direction to disengage the pin 2314 from the pressing part 2313 and the supporting part 2312.

[0085] In some embodiments, the protective shell 21 includes a movable side plate 214, a pin 2314 near the movable side plate 214, and a locking member 2141 on the movable side plate 214. The locking member 2141 is used to lock the movable side plate 214 onto the protective shell 21. An operator can open the locking member 2141 with a suitable key, thereby opening the movable side plate 214 and reaching into the protective shell 21 to adjust the position of the pin 2314.

[0086] Further reading Figure 2 As shown, in some embodiments, the automatic button assembly 22 further includes a detection sensor 223. The detection sensor 223 is communicatively connected to the scheduling control mechanism 30. The detection sensor 223 is located above the automatic push rod 222. The detection sensor 223 is used to send a signal to the scheduling control mechanism 30 when the automatic push rod 222 is detected, indicating that the automatic push rod 222 has stopped pressing the up or down button of the external button panel.

[0087] Specifically, the inner wall of the protective shell 21 is provided with a second bracket 215, and the detection sensor 223 is installed on the second bracket 215.

[0088] In the above embodiment, when the detection sensor 223 detects the automatic push rod 222, it sends a signal to the scheduling control mechanism 30 that the automatic push rod 222 has stopped pressing the up or down button on the external button panel, so that the scheduling control mechanism 30 can accurately control the action state of the automatic push rod 222, further improving the automation and intelligence of the elevator control system 100.

[0089] In this embodiment, the automatic button assembly 22 includes two sets of detection sensors 223, which are located on both sides above the automatic push rod 222, enabling more accurate detection of the action state of the automatic push rod 222.

[0090] In some embodiments, the button actuator 20 further includes an operation panel 24 and a manual button 25. The operation panel 24 is mounted on the protective housing 21. The manual button 25 is disposed on the operation panel 24. The manual button 25 is connected to the manual push rod 231.

[0091] In the above embodiments, by setting a manual button 25 on the operation panel 24, the operation of the elevator control system 100 is made more convenient for the operator.

[0092] Further reading Figure 1As shown, in some embodiments, the elevator control system 100 further includes a sensor 40. The sensor 40 is disposed around the elevator door on each floor, and the sensor 40 is communicatively connected to the dispatch control mechanism 30. The sensor 40 is used to send an elevator door opening signal to the dispatch control mechanism 30 when it senses that the elevator door on its floor is open.

[0093] In the above embodiment, by setting a sensor 40 to sense whether the elevator door is open, the scheduling and control mechanism 30 is prevented from sending an incorrect signal to the mobile robot 10 when the elevator door is not open due to elevator malfunction, which would otherwise damage the mobile robot 10, thus further improving the intelligence of the elevator control system 100.

[0094] In some embodiments, the scheduling and control mechanism 30 includes a robot control module 31 and an elevator call module 32. The robot control module 31 is wirelessly connected to the mobile robot 10 and is used to control the robot. The elevator call module 32 is communicatively connected to the button actuator 20 on each floor and is used to control the opening and closing of the solenoid valve 221. The elevator call module 32 is communicatively connected to and interacts with the robot control module 31.

[0095] In the above embodiments, the mobile robot 10 and the button actuator 20 are controlled by independent control modules, which do not require modification of the elevator's built-in control program. This allows for flexible control and use of the elevator, reducing the elevator failure rate and improving the safety of elevator use.

[0096] In some embodiments, the scheduling control mechanism 30 further includes a human-computer interaction mechanism 50. The human-computer interaction mechanism 50 is communicatively connected to the scheduling control mechanism 30, and is used to receive departure floor information and destination floor information input by the user and send the departure floor information and destination floor information to the scheduling control mechanism 30.

[0097] In the above embodiment, the operator inputs cross-floor transportation information, including departure floor information and target floor information, through the human-computer interaction mechanism 50, and further sends the departure floor information and the target floor information to the scheduling and control mechanism 30, thereby realizing the control mechanism 30 to operate the button execution mechanism 20 of the departure floor and the target floor.

[0098] The button actuator 20 in the above embodiment adopts a combination of a single automatic button component 22 and a single manual button component 23. It can only press one of the up or down buttons on the external button panel, which is suitable for unidirectional cross-layer operations in production line transportation, for example, only upward transportation or only downward transportation.

[0099] Please refer to further information. Figure 4 As shown, in some embodiments, each button actuator 20 includes two sets of automatic button components 22 and two sets of manual button components 23. One set of automatic button components 22 and manual button components 23 is used to press the up button on the external button panel, and the other set of automatic button components 22 and manual button components 23 is used to press the down button on the external button panel. It can be used for both unidirectional and bidirectional cross-floor operations, with a wide range of applications, further improving the intelligence and practicality of the elevator control system 100.

[0100] Further reading Figure 5 As shown in the figure, this application embodiment also provides an elevator control method, which is applied to the elevator control system 100 as described in the above embodiment.

[0101] Specifically, the elevator control method includes:

[0102] S100: After the mobile robot sends a signal indicating that it has arrived at the standby point of the departure floor, the solenoid valve of the button actuator of the departure floor is opened so that the solenoid valve drives the automatic push rod to press the up button or down button on the external button panel.

[0103] Specifically, before executing step S100, the operator inputs cross-floor transportation information, including departure floor information and target floor information, through the human-machine interface 50, and further sends the departure floor information and the target floor information to the scheduling and control mechanism 30. The mobile robot 10 moves to the waiting point on the departure floor according to the departure floor information.

[0104] S200: After determining that the elevator door of the departure floor is open, a signal to enter the elevator is sent to the mobile robot so that the mobile robot enters the elevator.

[0105] Specifically, after executing step S100, under the control program built into the elevator, the elevator door of the departure floor automatically opens. When the sensor 40 of the departure floor senses that the elevator door of the departure floor is open, it sends an elevator door opening signal to the dispatch control mechanism 30. At this time, the dispatch control mechanism 30 determines that the elevator door of the departure floor is open.

[0106] S300, after the mobile robot sends a signal that it has entered the elevator, the solenoid valve of the button actuator of the departure floor is closed, so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel.

[0107] Specifically, after executing step S200, the mobile robot 10 enters the elevator and sends a signal to the scheduling and control mechanism 30 that it has entered the elevator.

[0108] S400, after determining that the elevator door of the departure floor is closed, the solenoid valve of the button actuator of the target floor is opened, so that the solenoid valve drives the automatic push rod to press the up button or down button on the external button panel.

[0109] Specifically, after executing step S300, under the control program built into the elevator, the elevator door of the departure floor automatically closes. When the sensor 40 of the departure floor senses that the elevator door of the departure floor is open, it sends an elevator door closing signal to the dispatch control mechanism 30. At this time, the dispatch control mechanism 30 determines that the elevator door of the departure floor is closed.

[0110] S500: After determining that the elevator door of the target floor is open, a signal to move out of the elevator is sent to the mobile robot so that the mobile robot moves out of the elevator.

[0111] Specifically, after executing step S400, under the control program built into the elevator, the elevator door of the target floor automatically opens. When the sensor 40 of the target floor senses that the elevator door of the target floor is open, it sends an elevator door opening signal to the dispatch control mechanism 30. At this time, the dispatch control mechanism 30 determines that the elevator door of the target floor is open.

[0112] S600, after receiving the signal from the mobile robot that it has moved out of the elevator, controls the solenoid valve of the button actuator of the target floor to close, so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel.

[0113] Specifically, after executing step S500, the mobile robot 10 moves out of the elevator and sends a signal to the scheduling and control mechanism 30 that it has moved out of the elevator.

[0114] Furthermore, after executing step S600, the elevator door on the target floor automatically closes under the elevator's built-in control program, and normal operation continues.

[0115] The elevator control method provided in the above embodiment allows the dispatch control mechanism 30 to control the automatic push rod 222 of the button actuator 20 to press the up or down button on the external button panel via the solenoid valve 221. This enables the elevator door to open and close automatically using the elevator's built-in control program, allowing the mobile robot 10 to automatically enter and exit the elevator. This improves the automation and intelligence of the robot's cross-floor operations, expands the applicability of the mobile robot 10, and eliminates the need to modify the elevator's built-in control program, reducing elevator retrofit costs, decreasing elevator failure rates, and improving elevator safety.

[0116] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. An elevator control system, characterized in that The elevator control system is suitable for mobile robots, and the elevator control system includes: Multiple button actuators are installed on the external button panel of the elevator on each floor. Each actuator includes an automatic button assembly and a manual button assembly. The automatic button assembly includes a detection sensor, a solenoid valve, and an automatic push rod. The automatic push rod is aligned with the up or down button on the external button panel, and the detection sensor is located above the automatic push rod. The manual button assembly includes a manual push rod, a connecting rod, and a manual contact head. The manual push rod is arranged parallel to the automatic push rod along the pressing direction, and the manual contact head is located at the end of the connecting rod and aligned with the button. The external button panel has an up or down button. Under external force, the manual push rod, via the linkage rod, drives the manual touch head to press or move away from the up or down button on the external button panel. The manual push rod includes: a support rod for pressing against the linkage rod, the support rod having a support portion; a pressing portion sleeved on the support rod and located above the support portion, the pressing portion and the support portion being movably in contact; and a pin for inserting between the pressing portion and the support portion when the automatic push rod presses the up or down button on the external button panel. A scheduling and control mechanism is communicatively connected to the mobile robot, the detection sensor, and the solenoid valve. The scheduling and control mechanism is used to control the opening and closing of the solenoid valve, so that the solenoid valve drives the automatic push rod to press the up or down button on the external button panel, or so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel. The detection sensor is used to send a signal to the scheduling and control mechanism that the automatic push rod has stopped pressing the up or down button on the external button panel when it detects the automatic push rod. The process involves the following steps: The mobile robot stops moving upon reaching a preset waiting point on the departure floor and sends a command to the dispatch control mechanism indicating it has reached the departure floor waiting point. The dispatch control mechanism then opens the solenoid valve of the button actuator on the departure floor. The solenoid valve drives an automatic push rod to press the up or down button on the external button panel. Once the elevator door on the departure floor is confirmed to be open, the dispatch control mechanism sends an entry signal to the mobile robot. The mobile robot enters the elevator and sends a signal indicating it has entered the elevator to the dispatch control mechanism. The dispatch control mechanism then closes the solenoid valve of the button actuator on the departure floor. After the elevator door on the departure floor is confirmed to be closed, the dispatch control mechanism opens the solenoid valve of the button actuator on the target floor. The solenoid valve of the button actuator on the target floor drives an automatic push rod to press the up or down button on the external button panel. Once the elevator door on the target floor is confirmed to be open, the dispatch control mechanism sends an exit signal to the mobile robot. The mobile robot exits the elevator and sends a signal indicating it has exited the elevator to the dispatch control mechanism. Finally, the dispatch control mechanism closes the solenoid valve of the button actuator on the target floor.

2. The elevator control system of claim 1, wherein, The manual button component also includes: The base is located below the side of the linkage rod away from the manual contact head; An elastic element is provided, and the base and the linkage are connected through the elastic element. A rotating shaft is rotatably connected to the base, and the end of the linkage rod away from the manual touch head is rotatably connected to the rotating shaft; Under the action of external force, the manual push rod presses against the linkage rod, causing the linkage rod to drive the manual touch head to press the up or down button on the external button panel, and the elastic element is in a compressed state; after the external force disappears, under the reset action of the elastic element, the linkage rod drives the manual touch head away from the up or down button on the external button panel and simultaneously pushes the manual push rod upward.

3. The elevator control system of claim 1, wherein, The manual push rod also includes: A sleeve is fitted onto the pressing part and the supporting rod, and the pin can be movably inserted laterally through the sleeve.

4. The elevator control system of claim 1, wherein, The elevator control system also includes: Sensors are installed around the elevator doors on each floor. The sensors are communicatively connected to the dispatch control mechanism. The sensors are used to send an elevator door opening signal to the dispatch control mechanism when they sense that the elevator door on their floor is open.

5. The elevator control system as described in claim 1, characterized in that, The scheduling and control mechanism includes: A robot control module is wirelessly connected to the mobile robot and is used to control the robot. The elevator call module is communicatively connected to the button actuator on each floor. The elevator call module is used to control the opening and closing of the solenoid valve. The elevator call module is also communicatively connected to and interacts with the robot control module.

6. The elevator control system as described in claim 5, characterized in that, The elevator control system also includes: A human-computer interaction mechanism is provided, which is communicatively connected to the scheduling and control mechanism. The human-computer interaction mechanism is used to receive the departure floor information and the target floor information input by the user and send the departure floor information and the target floor information to the scheduling and control mechanism.

7. An elevator control method, applied to an elevator control system as described in any one of claims 1-6, characterized in that, The elevator control method includes: After the mobile robot sends a signal to the standby point of the departure floor, the solenoid valve of the button actuator of the departure floor is opened, so that the solenoid valve drives the automatic push rod to press the up button or down button on the external button panel. After determining that the elevator door of the departure floor is open, a signal to enter the elevator is sent to the mobile robot so that the mobile robot enters the elevator. After the mobile robot sends a signal that it has entered the elevator, the solenoid valve of the button actuator controlling the departure floor closes, so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel. After the elevator door at the departure floor is closed, the solenoid valve of the button actuator controlling the target floor is opened, so that the solenoid valve drives the automatic push rod to press the up or down button on the external button panel. After determining that the elevator door on the target floor is open, a signal to move out of the elevator is sent to the mobile robot so that the mobile robot moves out of the elevator. After receiving the signal from the mobile robot that it has moved out of the elevator, the solenoid valve of the button actuator of the target floor is closed, so that the solenoid valve stops driving the automatic push rod to press the up or down button on the external button panel. The elevator control method further includes: when the detection sensor detects the automatic push rod, issuing a signal that the automatic push rod has stopped pressing the up or down button on the external button panel.

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