Robot elevator call control device and system

Abstract

The present application relates to a robot elevator call control device and system, the device includes: an input module, a switch module, an elevator call command module, a door opening detection module and an output module, the input module is connected to the first end of the switch module, the second end of the switch module is connected to the elevator call command module, the elevator call command module is connected to the control system of the elevator, and the door opening detection module is connected to the output module; wherein the input module is used to receive a first signal sent by the robot; the switch module is used to connect or disconnect the circuit connection in the elevator call command module in response to the first signal; the elevator call command module is used to drive the control system of the elevator to operate according to the connected circuit; the door opening detection module is used to send a second signal in response to the opening and closing of the elevator hall door; the output module is used to send the second signal to the robot. The use of this method can solve the problem of difficulty and high cost in installing AGV robots in elevators.

Description

Technical Field

[0001] The present application relates to the field of elevators, and in particular to a robot elevator call control device and system. Background Art

[0002] In response to the growing market demand for automated vertical transportation of goods, there is an increasing demand to install AGV robots in elevators.

[0003] In the related art, the method of adding AGV on the basis of the original elevator includes a customized configuration using a protocol communication method, and the manufacturer who designs the elevator control system and the manufacturer who manufactures the AGV jointly customizes the communication protocol for docking configuration. However, such a solution involves different control systems between different manufacturers, and requires both manufacturers to dock the control system and the AGV robot communication protocol. The development cycle is very long, and the communication method is easily interfered or delayed. At the same time, the communication method requires multi-party cooperation and linkage debugging, which is expensive and has a long development cycle. It is not suitable for small and medium-sized customers and is not suitable for large-scale promotion, and there is a problem of difficulty in installation. In addition, the method of adding AGV on the basis of the original elevator also includes the solution of adding Bluetooth or WIFI elevator calling equipment. This type of solution still has the disadvantages of high installation cost and difficult installation: the installation and wiring process is complicated, and multiple matching tests are required; the signal is susceptible to signal interference and is prone to misoperation or failure; the external installation location of Bluetooth or WIFI devices is limited, which is not conducive to large-scale promotion.

[0004] With regard to the problem in related technologies that it is difficult and costly to install AGV robots in elevators, no effective solution has been proposed so far. Summary of the invention

[0005] Based on this, it is necessary to provide a robot elevator call control device and system that can solve the problem of difficulty and high cost of installing AGV robots in elevators in response to the above technical problems.

[0006] In the first aspect, a robot elevator call control device is provided in this embodiment, the device comprising: an input module, a switch module, an elevator call command module, a door opening detection module and an output module, the input module is connected to a first end of the switch module, the second end of the switch module is connected to the elevator call command module, the elevator call command module is connected to an elevator control system, and the door opening detection module is connected to the output module; wherein,

[0007] The input module is used to receive a first signal sent by the robot;

[0008] The switch module is used to connect or disconnect the circuit connection in the elevator call instruction module in response to the first signal;

[0009] The elevator call instruction module is used to drive the control system of the elevator to operate according to the turned-on circuit;

[0010] The door opening detection module is used to change its own closed state in response to the opening and closing of the elevator hall door body;

[0011] The output module is used to generate a second signal according to the closing state of the door opening detection module and send the second signal to the robot.

[0012] In some embodiments, the first signal includes multiple elevator call indication signals, the input module includes multiple input interfaces corresponding to the multiple elevator call indication signals, the elevator call instruction module includes multiple elevator call instruction circuits corresponding to the multiple elevator call indication signals, and the switch module includes multiple switch units, each of which is connected between each input interface and the corresponding elevator call instruction circuit; the input module is used to receive the first signal sent by the robot, and the switch module is used to connect or disconnect the circuit connection in the elevator call instruction module in response to the first signal, including:

[0013] The corresponding input interface receiving the elevator call indication signal output by the robot triggers the corresponding switch unit to turn on the corresponding elevator call instruction circuit.

[0014] In some embodiments, the output module includes a plurality of output interfaces, the door opening detection module includes a plurality of door opening detection units corresponding to different hall doors, the second signal includes a plurality of elevator riding indication signals corresponding to the plurality of door opening detection units, and the output module includes a plurality of output interfaces corresponding to the plurality of elevator riding indication signals; the door opening detection module is used to send a second signal in response to the opening and closing of the hall door of the elevator, and the output module is used to send the second signal to the robot, including:

[0015] The opening and closing of the hall door of the elevator triggers the corresponding door opening detection unit to send out the corresponding elevator riding instruction signal, which is output to the robot through the corresponding output interface.

[0016] In some embodiments, the elevator call instruction module includes: an elevator call instruction board in a car and an elevator call instruction board outside the hall, wherein the elevator call instruction board in a car is used to indicate the elevator call instruction in a car of the robot, and the elevator call instruction board outside the hall is used to indicate the elevator call instruction outside the hall of the robot;

[0017] The first signal includes an in-car elevator call signal and an out-hall elevator call signal;

[0018] The input module includes an in-car input module and an out-hall input module, the in-car input module is used to receive the in-car elevator call signal, and the out-hall input module is used to receive the out-hall elevator call signal;

[0019] The switch module includes an in-car switch module and an out-hall switch module, wherein a first end of the in-car switch module is connected to the in-car input module, and a second end of the in-car switch module is connected to the in-car elevator call command board; a first end of the out-hall switch module is connected to the out-hall input module, and a second end of the out-hall switch module is connected to the out-hall elevator call command board.

[0020] In some embodiments, the switch module includes: the switch unit includes a relay, an input end of the relay is connected to the input interface, and an output end of the relay is connected to the elevator call instruction circuit.

[0021] In some of the embodiments, including:

[0022] When the hall door body is not fully opened, the detection switch does not send the second signal;

[0023] When the hall door body is fully opened, the detection switch is triggered by the hall door and sends out the second signal.

[0024] In some embodiments, the robot elevator call control device further includes: a camera module, the camera module includes a camera and a first switch; wherein,

[0025] The camera is used to detect whether there is a human body in the elevator car;

[0026] The first switch is used to be triggered when the camera detects a human body, and send a trigger signal to the output module, and the output module sends the trigger signal to the robot.

[0027] In some of the embodiments, the camera module further includes a voice unit and a second switch, the voice unit is used to output a preset voice to the elevator car, the preset voice includes a first preset voice and a second preset voice;

[0028] In the first mode, when the camera detects a human body, the second switch is triggered to control the elevator to keep the door open and output the first preset voice;

[0029] In the second mode, when the camera detects a human body, the second switch is not triggered and the second preset voice is output.

[0030] In a second aspect, a robot elevator call control system is provided in this embodiment, wherein the robot elevator call control system comprises a robot and the robot elevator call control device according to the first aspect, wherein the robot is communicatively connected to the robot elevator call control device.

[0031] In some embodiments, the robot includes a signal transmitting module and a signal receiving module; wherein,

[0032] The signal transmitting module is connected to the input module and is used to output a first signal to the robot elevator call control device;

[0033] The signal receiving module is connected to the output module and is used to receive a second signal sent by the robot elevator call control device.

[0034] The above-mentioned robot elevator call control device and system, through the connection of the input module, the switch module and the elevator call command module, enables the elevator control system to operate in response to the first signal sent by the robot, and through the door opening detection module and the output module, enables the robot to receive the second signal related to the elevator operation status. The signal transmission between the robot and the elevator control system can be realized without the need for a communication protocol or a communication system. The solution is simple and reliable, and the installation is convenient and flexible, which solves the problem of difficulty and high cost in installing AGV robots in elevators. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of a robot elevator call control device in one embodiment;

[0036] Figure 2 The figure is a wiring diagram of an elevator call command board in a car according to an embodiment;

[0037] Figure 3 This is a wiring diagram of an elevator call command board outside the hall in one embodiment;

[0038] Figure 4 The figure is a schematic diagram of the installation of a limit switch in one embodiment;

[0039] Figure 5 is a schematic diagram of a camera module in one embodiment;

[0040] Figure 6 A schematic diagram of the layout of an AGV control box in one embodiment;

[0041] Figure 7 A schematic diagram of AGV control box signal transmission in one embodiment;

[0042] Figure 8 A schematic diagram of a robot elevator call control system in one embodiment;

[0043] Fig. 9FIG. 4 is a schematic diagram of the structure of a robot elevator call control system in another embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0045] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0046] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantity limitation, and may indicate the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0047] In one embodiment, Figure 1 As shown, a robot elevator call control device is provided, the device includes: an input module, a switch module, an elevator call command module, a door opening detection module and an output module, the input module is connected to the first end of the switch module, the second end of the switch module is connected to the elevator call command module, the elevator call command module is connected to the control system of the elevator, and the door opening detection module is connected to the output module. The installation position of the robot elevator call control device provided in the embodiment of the present application is not limited by the elevator, and can be placed in the elevator control cabinet, the machine room, or any other location such as outside the elevator hall and the car.

[0048] The input module is used to receive a first signal sent by the robot. The first signal is used to indicate the robot's elevator demand, including but not limited to door opening, door closing, floor calling, door opening and keeping, etc. The input module is connected to the output interface of the robot and determines the robot's elevator demand by receiving the first signal.

[0049] The switch module is used to connect or disconnect the circuit connection in the elevator call instruction module in response to the first signal.

[0050] Optionally, the switch module includes one or more relays. If the switch module includes multiple relays, each relay is connected to a different circuit on the elevator call command module. After the input module receives the first signal sent by the robot, the on-off state of the relay corresponding to the first signal in the switch module changes in response to the input of the first signal, so that the on-state of the circuit on the elevator call command module connected to the relay is changed. In other embodiments, the switch module includes a contactor, or other switching element that performs a switching action when receiving a signal.

[0051] The elevator call command module is used to drive the control system of the elevator to operate according to the conductive circuit. The elevator call command module can be connected to the control circuit corresponding to the external call buttons such as the up button and the down button in the control system of the elevator, and can also be connected to the control circuit corresponding to the car buttons such as the floor selection button, the door opening button, and the door closing button in the control system of the elevator. Optionally, different circuits of the elevator call command module are respectively connected to different control circuits in the elevator control system. In one embodiment, when the relay in the switch module is in a closed state, the relay is converted into a passive signal interface, and a passive signal is generated to make the circuit connected to the elevator call command module and the relay in a conductive state, and the corresponding control circuit in the elevator control system is conductive, and the elevator is driven to perform various functions.

[0052] The door opening detection module is used to respond to the opening and closing of the hall door of the elevator and send out the second signal. That is, the door opening detection module is triggered by the opening or closing of the hall door and sends out the second signal.

[0053] The output module is used to send a second signal to the robot. According to the trigger state of the door opening detection module, the opening and closing state of the hall door of the current elevator can be determined, thereby determining the current operation state of the elevator, including: the elevator reaches the floor, the elevator door is opened, the elevator door is closed, etc.

[0054] In the above robot elevator call control device, the switch module is connected with the input module and the elevator call command module, so that the control system of the elevator operates according to the first signal received by the input module from the robot, and the second signal associated with the elevator operation status is transmitted to the robot through the door opening detection module and the output module, thereby realizing the signal transmission between the robot and the elevator control system. When the need to install a robot in an elevator is realized through the robot elevator call control device, there is no need to set up and match the communication protocol between the robot and the elevator or to set up a special communication system. The solution is simple and reliable, easy to install and low in cost, which solves the problem of difficulty and high cost in installing AGV robots in elevators.

[0055] In one embodiment, the input module includes multiple input interfaces, and the input module receives the first signal sent by the robot including: determining a target input interface among multiple input interfaces according to the first signal output by the robot; and receiving the first signal based on the target input interface. The first signals received by different input interfaces correspond to different elevator riding requirements. Optionally, the switch module includes multiple independent relays, and different input interfaces in the input module are connected to different relays. The target input interface is determined according to the elevator riding requirement indicated by the first signal, so that the robot elevator call control device can turn on the circuit corresponding to the elevator riding requirement in the elevator call instruction module according to the first signal without involving the communication protocol. In this embodiment, by setting multiple input interfaces, the effect of meeting various elevator riding requirements of the robot is achieved.

[0056] In one embodiment, the first signal includes multiple elevator call indication signals, the input module includes multiple input interfaces corresponding to the multiple elevator call indication signals, the elevator call instruction module includes multiple elevator call instruction circuits corresponding to the multiple elevator call indication signals, and the switch module includes multiple switch units, each switch unit is connected between each input interface and the corresponding elevator call instruction circuit. The input module is used to receive the first signal sent by the robot, and the switch module is used to connect or disconnect the circuit connection in the elevator call instruction module in response to the first signal, including: the corresponding input interface that receives the elevator call indication signal output by the robot triggers the corresponding switch unit to connect the corresponding elevator call instruction circuit.

[0057] Different elevator call indication signals of the robot correspond to different input interfaces, so the elevator call indication signal of the robot only needs to be sent in the form of a command to control the input interface, which is simple and efficient. The robot elevator call control device can transmit the robot's elevator call indication to the elevator and control the elevator operation based on the actions of each switch unit without involving a communication protocol.

[0058] Furthermore, the switch unit includes a relay, an input end of the relay is connected to the input interface, and an output end of the relay is connected to the elevator call instruction circuit. That is, the input end of each relay responds to the elevator call instruction signal received by the corresponding input interface, and when the elevator call instruction signal is received, the corresponding elevator call instruction circuit is controlled to be turned on, so as to control the operation of the elevator according to the requirements of the elevator call instruction.

[0059] When the elevator control system is driven by the elevator call command module, there are different elevator operation states. In order to enable the robot to distinguish the current elevator operation state, in one embodiment, the door opening detection module includes multiple door opening detection units corresponding to different hall doors, the second signal includes multiple elevator riding indication signals corresponding to the multiple door opening detection units, and the output module includes multiple output interfaces corresponding to the multiple elevator riding indication signals. The door opening detection module is used to send the second signal in response to the opening and closing of the elevator hall door, and the output module is used to send the second signal to the robot, including: the opening and closing of the elevator hall door triggers the corresponding door opening detection unit to send the corresponding elevator riding indication signal, which is output to the robot through the corresponding output interface.

[0060] Among them, different output interfaces correspond to different elevator indication signals. Optionally, the elevator indication signal includes: information such as elevator door opening, elevator door closing, etc. Furthermore, according to the hall door position corresponding to the door opening detection module, the elevator indication signal obtained also includes: information on the floor where the elevator is located. Optionally, according to the elevator hall door where the door opening and closing action occurs, the corresponding door opening detection unit is triggered to send a corresponding elevator indication signal, which is output to the robot through the corresponding output interface. The elevator indication signal only needs to be sent in the form of a state change of the corresponding output interface, which is simple and efficient. The robot elevator call control device can send the current operating status of the elevator to the robot based on a simple structure without involving a communication protocol.

[0061] Furthermore, the input module also includes a first communication unit, and the output module also includes a second communication unit. Both the first communication unit and the second communication unit can communicate with the robot based on any wired or wireless communication connection to achieve the reception of the first signal and the sending of the second signal. Preferably, the first communication unit and the second communication unit are transmission cables, which have strong reliability and avoid signal interference. Generally speaking, the robot includes a robot body and a robot control center, and the robot body communicates with the robot control center wirelessly. The robot control center includes a signal transmitting module connected to the input module and a signal receiving module connected to the output module. The present application connects the robot control center cable to the robot elevator call control device, so that the robot control center and the robot elevator call control device are not restricted by the placement position while achieving reliable signal transmission.

[0062] In one embodiment, the elevator call command module includes: an elevator call command board in the car and an elevator call command board outside the hall, wherein the elevator call command board in the car is used to indicate the elevator call command in the car including the floor to which the robot is heading, and the elevator call command board outside the hall is used to indicate the elevator call command outside the hall including the floor where the robot is currently located. The elevator call command board in the car is connected to the control circuit corresponding to the car buttons such as the floor selection button, the door opening button, and the door closing button in the control system of the elevator, and the elevator call command board outside the hall is connected to the control circuit corresponding to the external call buttons such as the up button and the down button in the control system of the elevator.

[0063] Further, the first signal includes an elevator call signal in the car and an elevator call signal outside the hall; the input module includes an input module in the car and an input module outside the hall, the input module in the car is used to receive the elevator call signal in the car, and the input module outside the hall is used to receive the elevator call signal outside the hall; the switch module includes an in-car switch module and an outside-hall switch module, the first end of the in-car switch module is connected to the in-car input module, and the second end of the in-car switch module is connected to the in-car elevator call command board; the first end of the outside-hall switch module is connected to the outside-hall input module, and the second end of the outside-hall switch module is connected to the outside-hall elevator call command board.

[0064] The car switch module may include a plurality of independent relays, and the second ends of the car switch module are respectively connected to different circuits in the car call command board. Figure 2 This is a wiring diagram of an in-car elevator call command board in this embodiment. Figure 2 (a) is a schematic diagram of the elevator call command board in the car. Figure 2(b) is a wiring diagram of the elevator call command board and the relay in the car. The elevator call command board in the car includes multiple floor buttons for the 1st floor, the 2nd floor, ..., the Nth floor, the circuits corresponding to the door opening button, the door closing button and the door opening holding button, and is connected to the DC24V relay in the switch module in the car, where N is a positive integer. In addition, the elevator call command board in the car also includes a circuit for communication in the car. An independent DC24V relay is connected to the corresponding button on the car command board. For example, when the relay corresponding to the CB1-1 interface and the CB1-0 interface is closed, the CB1-1 interface and the CB1-0 interface are short-circuited, and a floor command corresponding to CB1 to the 1st floor in the car is generated. The elevator control system is driven by the elevator call command board in the car to control the elevator to run to the 1st floor. The operating principle of the remaining relays is the same and will not be repeated. Optionally, the independent relay can also be connected to the car command board in the elevator car, and then converted into a passive signal interface through the relay.

[0065] The hall switch module includes a plurality of independent relays, and the second end of the hall switch module is respectively connected to different circuits in the hall call command board. Figure 3 This is a wiring diagram of an external hall call command board in this embodiment. Figure 3 (a) is a schematic diagram of the elevator call command board outside the hall. Figure 3 (b) is a wiring diagram of the hall call command board and the relay. The hall call command board includes the hall 1st floor button command board, the hall 2nd floor button command board, ..., the hall Nth floor button command board. Each button command board includes the circuit of the up button command and the down button command of the corresponding floor, and is connected to the DC24V relay in the hall switch module. In addition, each button command board also includes a circuit for hall communication. An independent DC24V relay is connected to the corresponding button on the command board in the car. For example, when the relay corresponding to the UHB1-1 interface and the UHB1-0 interface is closed, the UHB1-1 interface and the UHB1-0 interface are short-circuited, and the up button command corresponding to UHB1 is generated. The elevator control system is driven by the hall call command board to control the elevator to go up. Optionally, the independent relay can also be connected to the built-in hall command board in the elevator car, and then converted into a passive signal interface through the relay. It is understandable that the relay models and interface names in the car switch module and the hall switch module can be set according to requirements, and other switch elements controlled by input signals such as contactors can also be used, which is not limited here.

[0066] In this embodiment, by setting up two command boards and two correspondingly connected switch modules, it is possible to realize the elevator calling function outside the elevator car as well as the elevator calling function inside the elevator car, and the installation position of the robot elevator calling control device is not restricted by the location of the elevator car, thereby reducing the installation difficulty and cost.

[0067] In one embodiment, the door opening detection module includes a detection switch; the door opening detection module is used to respond to the opening and closing of the hall door of the elevator and send a second signal, including: when the hall door is not fully opened, the detection switch does not send the second signal; when the hall door body is fully opened, the detection switch is triggered by the hall door and sends the second signal. Optionally, the door opening detection module includes a plurality of detection switches, which are respectively connected to each hall door, and the trigger signal of the detection switch corresponds to the floor reached by the elevator car and the opening and closing state of the hall door. The detection switch can be a limit switch, a door magnetic switch or other devices.

[0068] Optionally, the door opening detection module includes: a limit switch, which is installed at the threshold of the hall door of the car. Figure 4 is a schematic diagram of a limit switch in this embodiment. Figure 4 (a) is the connection diagram of the limit switches on each floor. Figure 4 (b) is the installation diagram of the limit switch. Figure 4 As shown in (a), each floor that the elevator reaches is equipped with a limit switch, including: limit switch for the 1st floor, limit switch for the 2nd floor, ..., limit switch for the Nth floor. Figure 4 As shown in (b), a limit switch or a pair of limit switches is set at the threshold of the elevator hall door that the elevator car may reach, and each limit switch is connected to the output interface. In this embodiment, the elevator reaches the floor, the door opening and closing status, and other operating states are obtained through the door opening detection module, and the method is simple and the installation cost is low.

[0069] In one embodiment, the robot elevator call control device also includes: a camera module, the camera module includes a camera and a first switch; wherein the camera is used to detect whether there is a human body in the elevator car; the first switch is used to change the conduction state when the camera detects a human body, and send a trigger signal to the output module, and the output module sends the trigger signal to the robot.

[0070] If the first switch changes from an open state to a closed state when the camera detects a human body, the trigger signal is a closed signal. If the first switch changes from a closed state to an open state when the camera detects a human body, the trigger signal is an open signal. The trigger signal is used to indicate whether there is a person in the robot car.

[0071] Optionally, the camera module further includes a voice unit and a second switch. The voice unit is used to output a preset voice to the elevator car, and the preset voice includes a first preset voice and a second preset voice; in the first mode, when the camera detects a human body, the second switch is triggered to control the elevator to keep the door open and output the first preset voice; in the second mode, when the camera detects a human body, the second relay unit is not triggered and outputs the second preset voice.

[0072] Optionally, the second switch is used to be triggered when the camera detects a human body, and sends a trigger signal to the elevator door opening and holding component of the elevator, so that the elevator door is always open. The elevator door opening and holding component includes but is not limited to an elevator light curtain, a door opening button or a controller.

[0073] Specifically, the first switch and the second switch include relays.

[0074] In other embodiments, the first switch and the second switch include contactors, or other switching elements whose triggering states are controlled by input signals.

[0075] Among them, there are two modes in the camera module, and the first mode and the second mode are adapted to different scene requirements respectively. Exemplarily, the first mode of the camera module is the "AGV dedicated mode", which is suitable for the scene requirement that the elevator is limited to AGV robots; the second mode is the "AGV and human sharing mode", which is suitable for the scene requirement that the elevator accepts people and AGV robots to share. In the "AGV dedicated mode", when the camera recognizes that there is someone in the car, the voice unit outputs the first preset voice "This elevator is an AGV dedicated elevator, please exit" to prompt the passengers, and at the same time, the first relay outputs a closing signal to the AGV robot, thereby informing the AGV robot that there is someone in the car; the second relay outputs a disconnection signal to the light curtain, so that the elevator light curtain moves so that the hall door remains open and the elevator cannot close the door until the person exits the car. In the "AGV and human sharing mode", when the camera recognizes that there is someone in the car, the voice unit outputs the second preset voice "Note that this elevator is an AGV freight elevator, please stand aside and avoid the AGV robot" to remind the passengers, and at the same time the first relay outputs a closed signal to the AGV robot to inform the AGV robot that there is someone in the car, so that when the AGV robot enters the car, the robot can issue a reminder or slow down and avoid people in advance to ensure the safety of the people in the car. The voice content of the first preset voice and the second preset voice can be pre-set according to application requirements.

[0076] The switching between the first mode and the second mode can be realized in response to a user instruction or a preset program. Optionally, the switching between the first mode and the second mode is realized by adjusting a function dial switch in response to a user instruction. Figure 5 is a schematic diagram of a camera module in this embodiment. Figure 5 (a) is the wiring diagram of the camera module for AGV. Figure 5 (b) is the wiring diagram of the camera module when the AGV is used by people. Figure 5As shown, the camera module is an intelligent camera, including a voice unit and a function dial. Among them, YR-I and YR-O are two wiring ports of the output module. Relay 1 is the first switch, which is a normally open relay NO; relay 2 is the second switch, which is a normally closed relay NC. Dial 1 and dial 2 are the output dials of relay 1 and relay 2 respectively. When dial 1 is turned to the ON position, it means that relay 1 is allowed to output a closed signal, and when dial 2 is turned to the ON position, it means that relay 2 is allowed to output a disconnection signal. Dials 3, 4, 5, and 6 are used to limit the output of the preset voice in the voice unit. When any of dials 3, 4, 5, and 6 is turned to the ON position, the voice unit outputs a corresponding preset voice content.

[0077] In the "AGV dedicated mode", dial 1, dial 2, and dial 3 are turned to the ON position, and dial 4, dial 5, and dial 6 are turned to the OFF position: when the smart camera recognizes that there is someone in the car, the voice unit outputs the preset voice "This elevator is a dedicated elevator for AGV, please exit", and at the same time, relay 1 outputs the closing signal of the YR passive relay to the AGV robot, thereby informing the AGV robot that there is someone in the car; relay 2 outputs a disconnection signal to the light curtain, which activates the elevator light curtain so that the hall door remains open until the person exits the car.

[0078] In the "AGV and human sharing mode", dial 1 and dial 4 are turned to the ON position, and dial 2, dial 3, dial 5, and dial 6 are turned to the OFF position: when the smart camera recognizes that there is someone in the car, the voice unit outputs the preset voice "Note that this elevator is an AGV freight elevator, please stand aside and avoid the AGV robot", and at the same time, relay 1 outputs the YR passive relay closing signal to the AGV robot, informing the AGV robot that there is someone in the car, so that when the AGV robot enters the car, the robot can issue a reminder or slow down and avoid people in advance to ensure the safety of the car personnel. In this mode, because dial 2 is turned to the OFF position, relay 2 will not output. Optionally, the signal output point of relay 2 can also be selected without wiring.

[0079] In this embodiment, the presence status of people in the car is sent to the robot and the elevator light curtain through the camera module, which can achieve the effect of improving the safety of elevator operation after the robot is installed.

[0080] In one embodiment, in response to the growing market demand for automated vertical transportation of goods, an AGV control box is provided that is low-cost, easy to install, and not restricted by elevator manufacturers and control systems. Figure 6It is a schematic diagram of the layout of the AGV control box in this embodiment. The elevator call command module in the AGV control box includes an in-car command board and an out-hall command board. The switch module includes an in-car command to passive signal relay and an out-hall command to passive signal relay. The input module includes multiple in-hall car elevator call control signal input interfaces. The output module includes multiple elevator parking position information and door opening signal output interfaces. The AGV control box also includes sockets, grounding strips, in-car and out-hall communication command board plug-ins and other equipment.

[0081] Figure 7 : is a schematic diagram of the signal transmission of the AGV control box in this embodiment. Among them, the AGV end is the AGV robot; the AGV control box Output end is the output module in the above embodiment; and the AGV control box Input end is the input module in the above embodiment.

[0082] The signals output from the AGV control box output end to the AGV end include: the elevator is on the first floor and the door is fully opened, the elevator is on the second floor and the door is fully opened, ..., the elevator is on the Nth floor and the door is fully opened, etc., the signal of reaching the target floor, the signal of being in the fully opened state, and the signal of someone in the elevator car. Optionally, the AGV control box end also reserves a terminal for outputting the mains signal; correspondingly, the AGV input end receives the above signals.

[0083] The output end of the AGV outputs the following signals to the AGV control box: target floor call signals such as 1st floor call, 2nd floor call, ..., Nth floor call, as well as door opening signal, door closing signal, and door opening hold signal; correspondingly, the input end of the AGV control box receives the above signals. Specifically, the target floor call signals are divided into: elevator call signals in the car for the first floor, elevator call signals in the car for the second floor, ..., elevator call signals in the car for the Nth floor, and elevator call signals outside the hall for the first floor, elevator call signals outside the hall for the second floor, ..., elevator call signals outside the hall for the Nth floor.

[0084] The following is based on Figure 6 Table 1 is a functional description table of the AGV control box receiving and sending signals in this embodiment.

[0085] Table 1

[0086]

[0087] Table 2 is a table of signal interfaces for the AGV control box to receive and send signals in this embodiment:

[0088] Table 2

[0089]

[0090] When the AGV robot needs to take the elevator, it sends a target floor elevator call signal to the AGV control box, and the AGV control box calls the elevator to the target floor 1 based on the target floor elevator call signal. Taking the target floor 1 as the 1st floor as an example, the AGV robot needs to call the elevator to the 1st floor. If the target floor elevator call signal "outside the hall elevator call signal" is used to call the elevator to the 1st floor, the AGV control box outputs a signal command to short-circuit the UHB1-I interface and the UHB1-O interface; if the AGV robot needs to use the target floor elevator call signal "in-car elevator call signal" to call the elevator to the 1st floor, the AGV control box outputs a signal command to short-circuit the CB1-I interface and the CB1-O interface.

[0091] After the elevator reaches the target floor 1, the elevator door opens. After the elevator door opens, the limit switch installed at the sill position of the target floor 1 is triggered by the hall door. The AGV control box determines that the elevator has reached the target floor 1 and the elevator door has opened based on the triggered limit switch, and outputs the target floor arrival signal and the door opening status signal to the AGV robot. Optionally, after the elevator reaches the 1st floor and opens the door, the limit switch installed at the sill wall position of the 1st floor is actuated. Figure 4 Take the limit switch shown in the figure as an example for explanation. At this time, the DOL1-I interface and the DOL1-O interface corresponding to the limit switch change from the normally open state to the closed state. The AGV robot receives the DOL1-I closed signal and the DOL1-O closed signal, which means that the elevator has reached the first floor and the door has been opened.

[0092] After the AGV robot receives the signal of reaching the target floor and the signal of being in the door-opening state, it sends a door-opening hold signal to the AGV control box. The AGV control box generates a door-opening hold signal to control the elevator door to remain open for a long time, so that the AGV robot has enough time to enter the elevator, and prevents the elevator door from suddenly closing and colliding with the elevator door when the AGV robot enters due to insufficient elevator door opening time. Optionally, after the AGV robot receives the DOL1-I closing signal and the DOL1-O closing signal, it sends a door-opening hold signal, and the AGV control box outputs a signal instruction to short-circuit the DHB-I interface and the DHB-O interface.

[0093] The AGV robot enters the elevator car, and after entering the car, it sends a door closing signal and an N-floor call signal to close the elevator door and call the elevator to the target floor 2. Optionally, after the AGV robot enters the elevator car, it outputs a door closing signal, and the AGV control box outputs a signal instruction to short the DCB-I interface and the DCB-O interface to close the elevator door. If the AGV robot enters the car and wants to transport goods to the 2nd floor, the target floor 2 is the 2nd floor. The AGV robot outputs a 2nd floor call signal, and the AGV control box outputs a signal instruction to short the CB2-I interface and the CB2-O interface, and the elevator control system registers the command in the car on the 2nd floor.

[0094] After the elevator reaches the target floor 2, the elevator door opens. After the elevator door opens, the limit switch installed at the sill position of the target floor 2 is triggered by the hall door. The AGV control box determines that the elevator has reached the target floor 2 and the elevator door has opened based on the triggered limit switch, and outputs the target floor arrival signal and the door opening status signal to the AGV robot. Optionally, after the elevator reaches the 2nd floor and opens the door, the limit switch installed at the sill wall position of the 2nd floor is actuated. Figure 4 Take the limit switch shown as an example for explanation: the DOL2-I interface and DOL2-O interface corresponding to the limit switch change from normally open state to closed state. The AGV robot receives the DOL2-I closed signal and the DL2-O closed signal, which means that the elevator has reached the second floor and the door has been opened.

[0095] After the AGV robot receives the signal of reaching the target floor and the signal of being in the door-opening state, it sends a door-opening hold signal to the AGV control box. The AGV control box controls the elevator door to be in the open state for a long time in response to the door-opening hold signal so that the AGV robot has enough time to enter the elevator. Optionally, after the AGV robot receives the DOL2-I closing signal and the DOL2-O closing signal, it sends a door-opening hold signal, and the AGV control box outputs a signal instruction to short-circuit the DHB-I interface and the DHB-O interface.

[0096] After the AGV robot leaves the car, it sends a door closing signal to the elevator, and the elevator closes the door and waits for the next instruction. So far, a complete control and transportation logic process of the AGV robot running from any target floor 1 to any target floor 2 is obtained.

[0097] Optionally, the AGV robot sends a door open hold signal when leaving the car. To avoid the elevator door being open for a long time and affecting the use of other floors, the AGV robot can also send a door closing signal to the elevator after completely leaving the car, so that the AGV control box outputs a signal instruction to short-circuit the DCB-I interface and the DCB-O interface so that the elevator can return to a normal waiting state and wait for the next instruction.

[0098] Optionally, in this embodiment, a smart camera is installed in the elevator car, which can adjust the elevator to enter the "AGV dedicated mode" or "AGV and human sharing mode" according to the user's own needs, so as to meet the different usage occasions and needs of customers. Figure 5Take the camera module shown as an example. If you need to enter the "AGV dedicated mode", turn the dial 1, dial 2, and dial 3 on the smart camera to the ON position. If you need to enter the "AGV and human sharing mode", turn the dial 4, dial 5, and dial 6 on the smart camera to the ON position. By switching between the "AGV dedicated mode" and the "AGV and human sharing mixed mode", users can switch at any time according to their needs without changing any wiring and material configuration, just by dialing the code, which is easy to operate.

[0099] In this embodiment, the AGV control box is designed to be integrated and easy to install and use. The signal transmission between the robot and the elevator is realized based on relays and limit switches, which does not involve the communication protocol between the elevator system and the AGV system, is not restricted by the elevator manufacturer and the control system, does not require protocol docking, and does not need to consider the long development and installation cycle, thereby reducing the installation cost of the elevator to install the AGV robot. In addition, the AGV control box in this embodiment only needs conventional relays, limit switches and other electrical switches to realize the low manufacturing cost, thereby further reducing the cost of installing the AGV robot in the elevator.

[0100] Each module in the above AGV control box can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0101] Based on the same inventive concept, the embodiment of the present application also provides a robot elevator call control system for implementing the robot elevator call control device involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more robot elevator call control system embodiments provided below can refer to the limitations of the robot elevator call control device above, and will not be repeated here.

[0102] In one embodiment, Figure 8 As shown, in this embodiment, a robot elevator call control system is provided. The robot elevator call control system includes a robot and the robot elevator call control device of the first aspect above, and the robot is communicatively connected with the robot elevator call control device.

[0103] Optionally, the robot includes a signal transmitting module and a signal receiving module; wherein the signal transmitting module is connected to the input module to output a first signal to the robot elevator call control device; the signal receiving module is connected to the output module to receive a second signal from the robot elevator call control device. Preferably, the signal transmitting module and the input module in the robot elevator call control device are connected by cables to achieve communication; the signal receiving module and the output module in the robot elevator call control device are connected by cables to achieve communication. Strong reliability, avoiding signal interference.

[0104] Generally speaking, a robot includes a robot body and a robot control center, and the robot body communicates with the robot control center wirelessly. The robot control center includes a signal transmitting module and a signal receiving module. In the present application, the robot control center cable is connected to the robot elevator call control device, so that the signal transmission is reliable, and the robot control center and the robot elevator call control device are not restricted by the placement position.

[0105] In one embodiment, Fig. 9 A schematic diagram of another robot elevator call control system is provided, such as Fig. 9 As shown, the robot control system includes an elevator, an AGV control box and an AGV robot, and the AGV control box includes a power supply module, an input module, an output module, an elevator call command board, a relay, a camera module and a limit switch. Among them, the AGV robot is connected to the input module and the output module, and the input module is connected to the elevator call command board and the relay. When the input module receives the signal sent by the AGV robot, the relay outputs a passive signal to the elevator call command board, and the elevator call command board drives the elevator to run. The camera module and the limit switch are connected to the output module, and the output module obtains the current elevator operation status according to the human body recognition detection result of the camera in the camera module and the closed state of the limit switch, and outputs the signal to the AGV robot. The power supply module is connected to the mains for outputting a power supply signal to the AGV robot.

[0106] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot elevator call control device, characterized in that: The device comprises: an input module, a switch module, an elevator call instruction module, a door opening detection module and an output module, wherein the input module is connected to a first end of the switch module, a second end of the switch module is connected to the elevator call instruction module, the elevator call instruction module is connected to an elevator control system, and the door opening detection module is connected to the output module; wherein, The input module is used to receive a first signal sent by the robot; The switch module is used to connect or disconnect the circuit connection in the elevator call instruction module in response to the first signal; The elevator call instruction module is used to drive the control system of the elevator to operate according to the turned-on circuit; The door opening detection module is used to send a second signal in response to the opening and closing of the hall door of the elevator; The output module is used to send the second signal to the robot; Wherein, the first signal includes multiple elevator call indication signals, the input module includes multiple input interfaces corresponding to the multiple elevator call indication signals, the elevator call instruction module includes multiple elevator call instruction circuits corresponding to the multiple elevator call indication signals, and the switch module includes multiple switch units, each of which is connected between each of the input interfaces and the corresponding elevator call instruction circuit; the input module is used to receive the first signal sent by the robot, and the switch module is used to turn on or off the circuit connection in the elevator call instruction module in response to the first signal, including: the corresponding input interface that receives the elevator call indication signal output by the robot triggers the corresponding switch unit to turn on the corresponding elevator call instruction circuit; The door opening detection module includes multiple door opening detection units corresponding to different hall doors, the second signal includes multiple elevator taking indication signals corresponding to the multiple door opening detection units, and the output module includes multiple output interfaces corresponding to the multiple elevator taking indication signals; the door opening detection module is used to send a second signal in response to the opening and closing of the hall door of the elevator, and the output module is used to send the second signal to the robot, including: the opening and closing of the hall door of the elevator triggers the corresponding door opening detection unit to send the corresponding elevator taking indication signal, which is output to the robot through the corresponding output interface.

2. The robot elevator call control device according to claim 1, characterized in that: The elevator call instruction module includes: an elevator call instruction board in the car and an elevator call instruction board outside the hall, wherein the elevator call instruction board in the car is used to indicate the elevator call instruction in the car of the robot, and the elevator call instruction board outside the hall is used to indicate the elevator call instruction outside the hall of the robot; The first signal includes an in-car elevator call signal and an out-hall elevator call signal; The input module includes an in-car input module and an out-hall input module, the in-car input module is used to receive the in-car elevator call signal, and the out-hall input module is used to receive the out-hall elevator call signal; The switch module includes an in-car switch module and an out-hall switch module, wherein a first end of the in-car switch module is connected to the in-car input module, and a second end of the in-car switch module is connected to the in-car elevator call command board; a first end of the out-hall switch module is connected to the out-hall input module, and a second end of the out-hall switch module is connected to the out-hall elevator call command board.

3. The robot elevator call control device according to claim 1, characterized in that: The switch unit includes a relay, an input end of the relay is connected to the input interface, and an output end of the relay is connected to the elevator call instruction circuit.

4. The robot elevator call control device according to claim 1, characterized in that: The door opening detection module includes a detection switch; the door opening detection module is used to respond to the opening and closing of the hall door of the elevator and send a second signal, including: When the hall door is not fully opened, the detection switch does not send the second signal; When the hall door is fully opened, the detection switch is triggered by the hall door and sends out the second signal.

5. The robot elevator call control device according to claim 1, characterized in that: The robot elevator call control device further includes: a camera module, the camera module includes a camera and a first switch; wherein, The camera is used to detect whether there is a human body in the elevator car; The first switch is used to be triggered when the camera detects a human body, and send a trigger signal to the output module, and the output module sends the trigger signal to the robot.

6. The elevator call control device according to claim 5, characterized in that: The camera module further includes a voice unit and a second switch, the voice unit is used to output a preset voice to the elevator car, the preset voice includes a first preset voice and a second preset voice; In the first mode, when the camera detects a human body, the second switch is triggered to control the elevator to keep the door open and output the first preset voice; In the second mode, when the camera detects a human body, the second switch is not triggered and the second preset voice is output.

7. The robot elevator call control device according to claim 6, characterized in that: The camera module also includes a dial switch; wherein, The dip switch is used to implement the switching between the first mode and the second mode in the camera module in response to a user instruction.

8. The robot elevator call control device according to claim 7, characterized in that: The dip switch comprises: A first dial code, wherein the first dial code is an output dial code of the first switch; A second dial code, wherein the second dial code is an output dial code of the second switch; The third dial code, the fourth dial code, the fifth dial code and the sixth dial code are used to limit the output of the preset voice in the voice unit.

9. A robot elevator call control system, characterized in that: The robot elevator call control system comprises a robot and a robot elevator call control device according to any one of claims 1 to 8, and the robot is communicatively connected to the robot elevator call control device.

10. The robot elevator call control system according to claim 9, characterized in that: The robot comprises a signal transmitting module and a signal receiving module; wherein, The signal transmitting module is connected to the input module and is used to output a first signal to the robot elevator call control device; The signal receiving module is connected to the output module and is used to receive a second signal sent by the robot elevator call control device.

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