Intelligent robot elevator taking system and control method thereof

Abstract

The invention discloses an intelligent robot taking elevator system which comprises an elevator shaft and an elevator car, the elevator car is arranged in the elevator shaft, and the elevator car reciprocates in the elevator shaft; the distance measuring plate is arranged at the top of the elevator shaft and is used for measuring the distance between the elevator car and the top of the elevator shaft and monitoring the fact position of the elevator car; the elevator calling plate is arranged on the elevator car, and the distance measuring plate is in communication connection with the elevator calling plate; the signal plate is arranged on the robot, the signal plate is in communication connection with the landing calling plate, and the signal plate is used for sending an instruction to the landing calling plate. Different from the prior art, according to the technical scheme, through the arrangement of the distance measuring plate, the distance measuring plate can measure the distance between the elevator car and the top of the elevator shaft in real time so as to determine whether the elevator car is located on the floor where the robot is located or not, and then the elevator calling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot transportation, and in particular to an intelligent robot elevator riding system. Background Art

[0002] With the rapid development of intelligent technology, robots are increasingly used in various fields, especially in logistics, medical, service and other industries, where robots are taking on more and more tasks. In these applications, the robot's ability to move and perform tasks autonomously in complex environments is the key to its performance. However, in high-rise buildings, robots need to enter elevators to move between different floors.

[0003] At present, robots mostly detect the position of elevators through sensors on the elevators. Specifically, photoelectric sensors are installed on the elevator car, and sunshades are installed on each floor to cover the photoelectric sensors on the elevator car, thereby determining the position of the elevator car. At the same time, door opening sensors and door closing sensors are installed on the elevator car to realize the positioning of the elevator door.

[0004] However, in the existing system, the robot has to communicate with multiple sensors at the same time, which is complicated, inefficient and error-prone; and the robot cannot detect the real-time position of the elevator car. Summary of the invention

[0005] In view of the above problems, the present application provides an intelligent robot elevator riding system so that the robot can identify the status of the elevator car.

[0006] An intelligent robot elevator system comprises: an elevator shaft and an elevator car, wherein the elevator car is placed in the elevator shaft and reciprocates in the elevator shaft, and further comprises:

[0007] A distance measuring board, the distance measuring board is placed on the top of the elevator shaft, and the distance measuring board is used to measure the distance between the elevator car and the top of the elevator shaft, so as to monitor the actual position of the elevator car;

[0008] An elevator call plate, the elevator call plate being placed on the elevator car, the distance measuring plate being communicatively connected with the elevator call plate;

[0009] A signal board is placed on the robot, the signal board is communicatively connected with the elevator call board, and the signal board is used to send instructions to the elevator call board.

[0010] The technical solution of the embodiment of the present application also includes: a relay board;

[0011] The relay board is placed in the elevator shaft, and the relay board is electrically connected to the ranging board; when the distance between the elevator call board and the signal board is greater than a preset distance, the elevator call board and the signal board communicate through the relay board.

[0012] In the technical solution of the embodiment of the present application, the ranging board includes: a ranging antenna and a ranging unit, and the ranging antenna is electrically connected to the ranging unit;

[0013] The elevator call board includes: an elevator call antenna and an elevator call unit, wherein the elevator call antenna is electrically connected to the elevator call unit;

[0014] The ranging antenna and the elevator calling antenna are parallel to each other.

[0015] In the technical solution of the embodiment of the present application, the elevator calling plate is placed above the elevator car, and the elevator calling plate and the distance measuring plate are arranged opposite to each other.

[0016] In the technical solution of the embodiment of the present application, the ranging board is a UWB ranging beam module.

[0017] To achieve the above purpose, the present application provides a method for controlling an intelligent robot to take an elevator, comprising the steps of:

[0018] The signal board sends a command to the elevator call board to move to the floor where the robot is located, and the elevator call board sends a response to the signal board;

[0019] The signal board sends a command to the elevator call board to query the floor where the elevator car is located, so as to query the floor where the elevator car is located;

[0020] When the elevator car reaches the floor where the robot is located, the signal board continues to send a door opening command to the elevator call board; and when the robot is placed in the elevator car, the signal board stops sending a door opening command;

[0021] The signal board sends a command to the elevator call board to move to other floors, and the signal board sends a query command to the elevator call board to query the floor where the elevator car is located;

[0022] When the elevator car reaches the floor where the robot is located, the signal board continues to send a door opening command to the elevator call board; and when the robot is placed outside the elevator car, the signal board stops sending a door opening command.

[0023] In the technical solution of the embodiment of the present application, when the elevator car moves to the target floor, the signal board sends the instruction of querying the floor where the elevator car is located to the elevator call board every first preset time.

[0024] In the technical solution of the embodiment of the present application, when the elevator car moves to the target floor, the signal board sends a door opening command to the called elevator board at a second preset time interval.

[0025] In the technical solution of the embodiment of the present application, before the signal board sends an instruction to the elevator call board to move to the floor where the elevator car is located, the signal board sends an instruction to the elevator call board to query the floor where the elevator car is located;

[0026] The elevator call plate sends a response to the signal plate regarding the location of the elevator car.

[0027] In the technical solution of the embodiment of the present application, when the elevator call plate receives an instruction to query the floor where the elevator car is located, the ranging plate measures the distance between the elevator car and the top of the elevator shaft, and corresponds the floor where the elevator car is located to the distance between the elevator car and the top of the elevator shaft.

[0028] Different from the prior art, in the above technical solution, the distance measuring board is set so that the distance measuring board can measure the distance between the elevator car and the top of the elevator shaft to determine whether the elevator car is at the floor where the robot is located, thereby improving the efficiency of elevator calling. At the same time, by implementing the distance measurement setting, the robot can judge the elevator calling time and improve the robot's elevator riding efficiency.

[0029] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0031] Figure 1 The structure diagram of the distance measuring board, elevator calling board and relay board described in the specific implementation method;

[0032] Figure 2 This is a structural diagram of the relative arrangement of the distance measuring plate and the elevator calling plate described in the specific implementation method;

[0033] Figure 3 It is a timing diagram of communication between the signal board and the elevator call board described in the specific implementation method;

[0034] Figure 4 One of the flowcharts of the robot calling the elevator car described in the specific implementation method;

[0035] Figure 5 This is the second flowchart of the robot calling the elevator car described in the specific implementation method.

[0036] Description of reference numerals:

[0037] 10. Elevator shaft; 20. Elevator car;

[0038] 30. Distance measuring board; 40. Elevator calling board; 50. Signal board; 60. Relay board;

[0039] 31. ranging antenna; 32. ranging unit;

[0040] 41. Elevator calling antenna; 42. Elevator calling unit. DETAILED DESCRIPTION

[0041] The following embodiments of the technical solution of the present application will be described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0043] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0044] Reference to "embodiments" herein 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 skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0047] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0048] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0049] See also Figures 1 to 5 The present embodiment provides an intelligent robot elevator riding system, comprising: an elevator shaft 10 and an elevator car 20, wherein the elevator car 20 is placed in the elevator shaft 10, and the elevator car 20 reciprocates in the elevator shaft 10, and further comprising:

[0050] A distance measuring board 30, the distance measuring board 30 is placed on the top of the elevator shaft 10, and the distance measuring board 30 is used to measure the distance between the elevator car 20 and the top of the elevator shaft 10, so as to monitor the actual position of the elevator car 20;

[0051] An elevator call plate 40, wherein the elevator call plate 40 is placed on the elevator car 20, and the distance measuring plate 30 is communicatively connected with the elevator call plate 40;

[0052] A signal board 50 is placed on the robot. The signal board 50 is communicatively connected with the elevator call board 40 . The signal board 50 is used to send instructions to the elevator call board 40 .

[0053] The elevator shaft 10 is a vertically arranged hollow passage, and the elevator shaft 10 serves as a basic structure of an elevator system to provide a space for the elevator car 20 to move up and down.

[0054] The elevator car 20 is a box for carrying passengers or goods, and the elevator car 20 and the elevator shaft 10 are moved up and down by the guide rails and the driving system in the elevator shaft 10 .

[0055] The distance measuring board 30 is placed on the top of the elevator shaft 10. The distance measuring board 30 is used to detect the distance between the elevator car 20 and the top of the elevator shaft 10, and the distance measuring board 30 can also be used to detect the running speed of the elevator car 20 in real time; specifically, by transmitting a signal to the elevator car at intervals, the speed of the elevator car 20 is calculated using the distance and time data. Further, the distance measuring board 30 uses a high-precision sensor, such as a laser rangefinder, an ultrasonic rangefinder or an infrared rangefinder; preferably, the distance measuring board 30 is a UWB ranging and beaming module. The distance measuring board 30 is used to determine whether the elevator car 20 is at the floor where the robot is located.

[0056] There is a UWB ranging and shooting module between the ranging board 30 (the top of the shaft) and the elevator calling board 40 to complete the distance measurement between the two boards. A 12V voltage is required.

[0057] The elevator call plate 40 is placed on the elevator car 20. Preferably, the elevator call plate 40 is placed on the top of the elevator car 20, and the elevator call plate 40 is arranged opposite to the distance measuring plate 30 to improve the measurement accuracy of the distance measuring plate 30 and avoid the elevator call plate 40 being blocked during communication to affect the communication signal.

[0058] The elevator call board 40 has a built-in Lora wireless communication module and a relay control system. After receiving the location information sent by the distance measuring board 30, the elevator call board 40 can analyze the operating status of the elevator car 20 in real time. The relay control system is connected to the elevator panel and can simulate manual key operation to realize functions such as floor selection, door opening and door closing.

[0059] Specifically, the elevator call board 40 (car top): installed on the car top. Receive messages sent by the robot through the lora module and Ethernet. Call the elevator, open the door, etc. through the buttons on the relay operation panel. Requires a 12V voltage supply.

[0060] The signal board 50 is placed on the robot and establishes a communication connection with the elevator call board 40 via lora wireless. The signal board 50 is responsible for sending instructions to the elevator call board 40, including requesting elevator service, specifying the target floor, and querying instructions.

[0061] The signal board 50 is equipped with a variety of communication interfaces, including USB, serial port (CMOS / TTL level) and RS485 interface, to ensure compatibility with different types of robot control systems. The signal board 50 has a built-in communication protocol conversion module, which can convert the instructions sent by the robot into standard instructions recognizable by the elevator call board 40.

[0062] Specifically, the signal board 50 is connected to the robot industrial control board through the 485 communication interface and plugged into the robot industrial control board. A 5V voltage is required. (Supporting three interface modes: USB, serial port (CMOS / TTL level), and 485 interface).

[0063] In actual operation, the distance measuring board 30 continuously sends distance measurement data to the elevator call board 40, and the elevator call board 40 calculates the precise position and speed of the elevator car 20 according to the received distance information, and updates the vertical coordinates of the elevator car 20 in the shaft to the signal board 50 in real time. The robot also drives the elevator call board 40 in advance to simulate pressing the button of the robot's floor by judging the moving speed of the elevator car 20, thereby improving the robot's elevator riding efficiency.

[0064] The robot sends a floor call command through the signal board 50. After receiving the command, the elevator call board 40 simulates the key operation through the relay to select the target floor. The elevator call board 40 monitors the elevator operation status, including the current floor and door status; performs operations such as opening and closing doors according to the robot's command; and automatically cancels the current operation when no subsequent command is received for a certain period of time.

[0065] The elevator call board 40 feeds back the execution result to the signal board 50 in real time, forming a closed-loop control to ensure accurate execution of the instructions.

[0066] Different from the prior art, in the above technical solution, the distance measuring board 30 is set so that the distance measuring board 30 can measure the distance between the elevator car 20 and the top of the elevator shaft 10 to determine whether the elevator car 20 is at the floor where the robot is located, thereby improving the efficiency of calling the elevator. At the same time, by implementing the distance measurement setting, the robot can determine the time of calling the elevator, thereby improving the efficiency of the robot taking the elevator.

[0067] According to some embodiments of the present application, referring to Figure 1 and Figure 3 , further comprising: a relay board 60;

[0068] The relay board 60 is placed in the elevator shaft 10 and is electrically connected to the ranging board 30 ; when the distance between the elevator call board 40 and the signal board 50 is greater than a preset distance, the elevator call board 40 and the signal board 50 communicate through the relay board 60 .

[0069] The relay board 60 is placed in the middle of the shaft and is connected to the distance measuring board 30 via a 485 bus.

[0070] The robot communicates with the signal board 50 through the 485 communication interface, and the signal board 50 communicates with the elevator call board 40 through the lora module to achieve the purpose of intercommunication.

[0071] The serial port format between the robot and the signal board 50 is: baud rate 115200bps, 8 data bits, no parity, 1 stop bit. The signal board 50 is connected to the robot's industrial control board through the 485 communication interface, and the USB to COM driver needs to be installed on the industrial control board.

[0072] The relay board 60 is used to provide a signal relay function when the distance between the elevator call board 40 and the signal board 50 is too large, so as to ensure smooth communication between the two.

[0073] During specific implementation, the relay board 60 is placed in the elevator shaft 10. Preferably, the relay board 60 is installed in the middle of the elevator shaft 10 or near a floor where the elevator car 20 often stops, so as to better transmit signals.

[0074] The relay board 60 is electrically connected to the distance measuring board 30 by wire or wireless means; preferably, the relay board 60 is connected to the distance measuring board 30 by a 485 interface to ensure that the distance measuring board 30 can transmit the position information of the elevator car 20 to the relay board 60 in real time. The relay board 60 is wirelessly connected to the elevator call board 40 and the signal board 50 (such as wifi, Bluetooth, etc.). When the distance between the elevator call board 40 and the signal board 50 exceeds the preset communication distance, the elevator call board 40 no longer communicates directly with the signal board 50, but forwards the communication request to the relay board 60, and the relay board 60 amplifies and / or forwards the signal to the signal board 50. Similarly, the instructions sent by the signal board 50 to the elevator call board 40 will also be transferred through the relay board 60.

[0075] In actual operation, this can be achieved in two ways:

[0076] When the robot issues a command through the signal board 50, the signal board 50 first attempts to communicate directly with the elevator call board 40. If the distance between the signal board 50 and the elevator call board 40 is less than the preset distance, the data packet will be directly transmitted through the wireless channel. When it is detected that the distance between the elevator call board 40 and the signal board 50 exceeds the preset threshold (i.e., the preset distance, for example, more than 30 meters), the elevator call board 40 will forward the signal request to the relay board 60. After receiving the signal from the elevator call board 40, the relay board 60 amplifies and converts it and retransmits the signal to the signal board 50. At this time, the signal board 50 will also receive information from the relay board 60.

[0077] In other embodiments, the elevator location may be queried first and then a communication channel may be selected.

[0078] According to some embodiments of the present application, referring to Figure 2 The ranging board 30 includes: a ranging antenna 31 and a ranging unit 32, and the ranging antenna 31 is electrically connected to the ranging unit 32;

[0079] The elevator call board 40 includes an elevator call antenna 41 and an elevator call unit 42, wherein the elevator call antenna 41 is electrically connected to the elevator call unit 42;

[0080] The distance measuring antenna 31 and the elevator calling antenna 41 are parallel to each other.

[0081] The ranging antenna 31 is used to receive and transmit ranging signals. The ranging unit 32 is used to process the signals received by the ranging antenna 31 and calculate the distance between the elevator car 20 and the top of the elevator shaft 10. The ranging unit 32 may use a variety of ranging technologies, such as laser ranging, ultrasonic ranging or radar ranging, to provide real-time location information of the elevator car 20.

[0082] The elevator call antenna 41 is a device for receiving and transmitting elevator call signals. The elevator call antenna 41 and the distance measuring antenna 31 are parallel to each other to ensure that the communication between the two does not interfere with each other. The elevator call unit 42 is used to process the signal received by the elevator call antenna 41 and send the position signal to the robot.

[0083] In actual operation, when the distance measuring unit 32 needs to measure the distance between the elevator car 20 and the top of the elevator shaft 10, the distance measuring antenna 31 transmits a signal of a specific frequency, which is received by the elevator call antenna 41 on the elevator car 20. At the same time, the elevator call unit 42 transmits the received signal to the distance measuring unit 32 for processing.

[0084] After receiving the signal from the elevator call antenna 41, the distance measuring unit 32 calculates the time required for the signal to go back and forth through the time difference measurement principle, thereby accurately obtaining the distance between the elevator car 20 and the top of the elevator shaft 10. The distance information is updated in real time to facilitate subsequent command execution and status monitoring.

[0085] When the robot sends a command to the signal board 50, the signal board 50 sends the command to the elevator calling unit 42 via the elevator calling antenna 41. Since the ranging antenna 31 is parallel to the elevator calling antenna 41, such a layout is conducive to clear transmission of commands and reduces command loss or delay caused by signal interference.

[0086] After the elevator call unit 42 completes the execution, it sends the execution result (such as whether the elevator has arrived, whether the door is open, etc.) to the distance measuring board 30 again through the elevator call antenna 41. After receiving the feedback information, the distance measuring unit 32 can update the system status in time and pass it to the signal board 50 to form a closed-loop control.

[0087] See also Figures 1 to 5 This embodiment provides a control method for an intelligent robot taking an elevator, which is applied to an intelligent robot taking an elevator system described in any one of the above embodiments, and includes the following steps:

[0088] The signal board 50 sends a command to the elevator call board 40 to move to the floor where the robot is located, and the elevator call board 40 sends a response to the signal board 50;

[0089] The signal board 50 sends a command to the elevator call board 40 to query the floor where the elevator car 20 is located, so as to query the floor where the elevator car 20 is located;

[0090] When the elevator car 20 reaches the floor where the robot is located, the signal board 50 continues to send a door opening command to the elevator call board 40; and when the robot is placed in the elevator car 20, the signal board 50 stops sending a door opening command;

[0091] The signal board 50 sends a command to the elevator call board 40 to move to other floors, and the signal board 50 sends a query command to the elevator call board 40 to query the floor where the elevator car 20 is located;

[0092] When the elevator car 20 reaches the floor where the robot is located, the signal board 50 continues to send a door opening command to the elevator call board 40; and when the robot is placed outside the elevator car 20, the signal board 50 stops sending a door opening command.

[0093] When the robot needs to take the elevator, the signal board 50 first sends a command to the elevator call board 40, requiring the elevator car 20 to move to the floor where the robot is located. At this time, after receiving the command, the elevator call board 40 converts the command into an elevator control signal to control the movement of the elevator car 20.

[0094] After receiving the movement command, the elevator call board 40 sends a response to the signal board 50 to confirm that the command has been received. Subsequently, the signal board 50 sends a command to query the current floor of the elevator car 20, and the elevator call board 40 obtains the real-time position of the elevator car 20 through the distance measuring board 30 and feeds the information back to the signal board 50.

[0095] When the elevator car 20 reaches the target floor, the signal board 50 will continue to send door opening commands to the elevator call board 40 to ensure that the elevator door can be opened in time to facilitate the robot to enter the elevator car 20. When the robot successfully enters the elevator car 20, the signal board 50 will stop sending door opening commands to prevent the elevator door from remaining open, thereby ensuring the safety of the robot.

[0096] After the robot completes the moving operation, the signal board 50 again issues a command to the elevator call board 40, requiring the elevator car 20 to move to other floors. At this time, it is also necessary to issue a query command to obtain the current floor information of the elevator car 20.

[0097] When the elevator car 20 arrives at the new target floor, the signal board 50 will continue to send the door opening command to the elevator call board 40 again to ensure that the elevator door can be opened in time. After the robot is outside the elevator car 20, the signal board 50 will stop sending the door opening command to ensure the normal operation of the elevator.

[0098] In actual operation, in this method, the signal board 50 and the elevator call board 40 realize two-way data exchange through wireless communication. The command issued by the signal board 50 is received and fed back by the elevator call board 40 in time.

[0099] The real-time data monitoring function of the distance measuring board 30 enables the elevator call board 40 to accurately determine the position of the elevator car 20, thereby ensuring that the signal board 50 can accurately issue floor query and door opening instructions.

[0100] By setting the control logic when the robot enters the elevator car 20 and the elevator door should be closed, the safety of the robot taking the elevator is ensured. At the same time, the automated operation of the entire control process reduces human intervention and improves the intelligent level of operation.

[0101] The control method can be flexibly adjusted. No matter which floor the robot needs to take to, or whether it needs to be operated inside or outside the elevator, it can be achieved through the cooperation of the signal board 50 and the elevator call board 40, thereby enhancing the adaptability and practicality of the system.

[0102] Different from the prior art, in the above technical solution, the distance measuring board 30 is set so that the distance measuring board 30 can measure the distance between the elevator car 20 and the top of the elevator shaft 10 to determine whether the elevator car 20 is at the floor where the robot is located, thereby improving the efficiency of calling the elevator. At the same time, by implementing the distance measurement setting, the robot can determine the time of calling the elevator, thereby improving the efficiency of the robot taking the elevator.

[0103] According to some embodiments of the present application, referring to Figures 4 to 5 When the elevator car 20 moves to the target floor, the signal board 50 sends the command of querying the floor where the elevator car 20 is located to the elevator call board 40 every first preset time.

[0104] The first preset time is a configurable parameter, which is set according to the speed of the elevator, the floor height and the response time required by the robot. The time can be from a few seconds to more than ten seconds, ensuring that the state of the elevator car 20 can be obtained in time during its movement.

[0105] When the elevator car 20 starts to move toward the target floor, the signal board 50 will periodically send a command of "querying the floor where the elevator car 20 is located" to the elevator call board 40 according to the set first preset time.

[0106] This query command is sent to the elevator call board 40 via a wireless communication protocol (such as Lora or other suitable wireless protocols). After receiving the query command, the elevator call board 40 immediately obtains the current position of the elevator car 20 through the distance measuring board 30 and returns the information to the signal board 50.

[0107] The signal board 50 updates the status of the elevator car 20 in real time according to the received position information, ensuring that the signal board 50 always has the latest position information of the elevator car 20 during the entire control process.

[0108] To avoid unnecessary communication burden, the system has a maximum number of inquiries or a time limit to ensure that the inquiry command is not sent indefinitely before the elevator car 20 reaches the target floor or receives clear status feedback.

[0109] If the elevator car 20 has reached the target floor, the signal board 50 will stop sending the query command and instead send a continuous door opening command.

[0110] During each query, the signal board 50 analyzes the received elevator car 20 position data to determine whether the elevator is moving as expected.

[0111] In actual operation, the signal board 50 can monitor the operation status of the elevator in real time by regularly querying the position of the elevator car 20. This monitoring mechanism ensures that any delay or failure can be discovered and handled in time during the operation of the elevator.

[0112] The periodic query mechanism improves the response speed of the system, ensuring that after the elevator reaches the target floor, the signal board 50 can quickly issue a door opening command, thereby reducing waiting time and improving user experience.

[0113] According to some embodiments of the present application, referring to Figures 4 to 5 When the elevator car 20 moves to the target floor, the signal board 50 sends a door opening command to the called elevator board 40 at a second preset time interval.

[0114] The target floor is the floor where the robot is located or the floor the robot wants to reach.

[0115] The second preset time is a configurable parameter in the system, which is usually set according to the running speed of the elevator, the need for the robot to enter the elevator, and safety considerations. This time can be set between 3 and 10 seconds and adjusted according to actual usage.

[0116] When the elevator car 20 starts to move to the target floor, the signal board 50 will send a door opening command to the elevator call board 40 according to the set second preset time when the elevator car 20 approaches the target floor.

[0117] The door opening command is sent only when the elevator car 20 is at the target floor and in a safe state.

[0118] After receiving the door opening command, the elevator call board 40 will immediately control the opening of the elevator door and feedback the state of the elevator door (such as "door opened", "door opening failed", etc.) to the signal board 50.

[0119] If the elevator door fails to open within a predetermined time, the elevator call board 40 will send an alarm to the signal board 50 so that further measures can be taken.

[0120] When the robot successfully enters the elevator car 20, the signal board 50 will stop sending the door opening command to prevent the door from closing when the robot has not completely entered.

[0121] In addition, if the robot fails to enter the elevator car 20, the signal board 50 can continue to send door opening commands until the robot enters safely or reaches a preset number of retries.

[0122] By sending door opening commands at regular intervals, the signal board 50 can ensure that the elevator door opens in time for the robot to enter and leave the elevator.

[0123] When the elevator car 20 approaches the target floor, the timing mechanism of the signal board 50 enables the system to proactively respond to the robot's needs and reduce waiting time.

[0124] The method ensures that the door opening command can be executed in time by monitoring the state of the elevator door in real time, and promptly feeds back to the signal board 50 when a problem occurs, thereby ensuring the reliability of the system.

[0125] The door opening command is sent based on the premise that the elevator car 20 reaches the target floor, and is combined with the robot's status detection to ensure that the elevator door is opened only when it is safe.

[0126] According to some embodiments of the present application, referring to Figures 4 to 5 , before the signal board 50 issues an instruction to the elevator call board 40 to move to the floor where the elevator car 20 is located, the signal board 50 issues an instruction to the elevator call board 40 to query the floor where the elevator car 20 is located;

[0127] The elevator call board 40 sends a response to the signal board 50 regarding the location of the elevator car 20 .

[0128] When the elevator car 20 is placed on the floor where the robot is located, the robot can control the elevator door to open at any time.

[0129] According to some embodiments of the present application, referring to Figures 4 to 5 When the elevator call board 40 receives an instruction to query the floor where the elevator car 20 is located, the distance measuring board 30 measures the distance between the elevator car 20 and the top of the elevator shaft 10, and corresponds the floor where the elevator car 20 is located through the distance between the elevator car 20 and the top of the elevator shaft 10.

[0130] It should be noted that the communication protocol provided by the robot includes three functions:

[0131] 1. Call the elevator for floor n. When the robot issues a command to call the elevator, the elevator call board 40 presses the button for the nth floor.

[0132] 2. Get the elevator status, that is, the floor the elevator is on, whether door 1 is open, and whether door 2 is open.

[0133] 3. Control the door opening button. After the robot issues a door opening command, the elevator call board 40 will press the door opening button. After the door is opened, if the door opening command is not received for more than 8-10 seconds (the time is configurable), the door opening button will be automatically canceled. The door opening command includes the cancellation of the door opening command.

[0134] These three functions are simultaneously completed through near-end communication (lora: 433Mhz RF module).

[0135] Finally, it should be noted that the robot and the elevator call board 40 use a question-and-answer communication method: the robot issues a command, and the elevator call board 40 executes and responds to the message.

[0136] Each time the signal board 50 receives data from the robot, it sends data out as a response. The robot then instructs the next action based on the response from the signal board 50. For example, the robot is on the 1st floor and the elevator car 20 is on the 7th floor:

[0137] The robot is on the 1st floor and wants to go to the 5th floor, but the elevator is now on the 7th floor.

[0138] The robot sent a query to the elevator. The elevator replied: "I'm on the seventh floor."

[0139] The robot sends a call to the elevator for floor 1. The elevator responds that the floor 1 button has been pressed for 1 second.

[0140] The elevator goes down to the first floor. The robot queries the elevator status, and the elevator responds with the status.

[0141] The elevator reaches the 1st floor. The robot inquires about the elevator status, and the elevator responds: "I am on the 1st floor."

[0142] The robot sends a command to open the door. The elevator responds that the door open button has been pressed, and the robot's sensors confirm that the elevator door is open.

[0143] Before the robot enters the elevator, it continuously sends door opening commands. After the robot sensor confirms that the elevator door is open, the robot enters the elevator and stops sending door opening commands after entering the elevator.

[0144] The robot sent a command to call the 5th floor, and the elevator responded that the 5th floor button had been pressed.

[0145] The robot continuously queries the elevator status, and the elevator continuously responds to its own status.

[0146] When the elevator reaches the 5th floor, the robot sends a door-opening command, the elevator responds that the door-opening button has been pressed, and the robot's sensor confirms that the elevator door has been opened.

[0147] The robot exits the elevator and stops sending door opening commands after exiting the elevator.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. An intelligent robot elevator system, comprising: An elevator shaft and an elevator car, wherein the elevator car is placed in the elevator shaft and reciprocates in the elevator shaft, characterized in that it also includes: A distance measuring board is placed on the top of the elevator shaft, and is used to measure the distance between the elevator car and the top of the elevator shaft, so as to monitor the actual position of the elevator car; An elevator call plate, the elevator call plate being placed on the elevator car, the distance measuring plate being communicatively connected with the elevator call plate; A signal board is placed on the robot, the signal board is communicatively connected with the elevator call board, and the signal board is used to send instructions to the elevator call board.

2. According to claim 1, the intelligent robot elevator system is characterized in that: Also includes: Relay board; The relay board is placed in the elevator shaft, and the relay board is electrically connected to the ranging board; When the distance between the elevator call plate and the signal plate is greater than a preset distance, the elevator call plate communicates with the signal plate through the relay plate.

3. According to claim 1, the intelligent robot elevator system is characterized in that: The ranging board comprises: a ranging antenna and a ranging unit, wherein the ranging antenna is electrically connected to the ranging unit; The elevator call board includes: an elevator call antenna and an elevator call unit, wherein the elevator call antenna is electrically connected to the elevator call unit; The ranging antenna and the elevator calling antenna are parallel to each other.

4. According to claim 1, the intelligent robot elevator system is characterized in that: The elevator calling plate is placed above the elevator car, and the elevator calling plate is arranged opposite to the distance measuring plate.

5. The intelligent robot elevator system according to claim 1, characterized in that: The ranging board is a UWB ranging and beaming module.

6. A method for controlling an intelligent robot to take an elevator, characterized in that: An intelligent robot elevator riding system as described in any one of claims 1 to 5, comprising the steps of: The signal board sends a command to the elevator call board to move to the floor where the robot is located, and the elevator call board sends a response to the signal board; The signal board sends a command to the elevator call board to query the floor where the elevator car is located, so as to query the floor where the elevator car is located; When the elevator car reaches the floor where the robot is located, the signal board continues to send a door opening command to the elevator call board; and when the robot is placed in the elevator car, the signal board stops sending a door opening command; The signal board sends a command to the elevator call board to move to other floors, and the signal board sends a query command to the elevator call board to query the floor where the elevator car is located; When the elevator car reaches the floor where the robot is located, the signal board continues to send a door opening command to the elevator call board; and when the robot is placed outside the elevator car, the signal board stops sending a door opening command.

7. The method for controlling an intelligent robot to take an elevator according to claim 6, characterized in that: When the elevator car moves to the target floor, the signal board sends the instruction of querying the floor where the elevator car is located to the elevator call board every first preset time.

8. The method for controlling an intelligent robot to take an elevator according to claim 6, characterized in that: When the elevator car moves to the target floor, the signal board sends a door opening command to the called elevator board at a second preset time interval.

9. The method for controlling an intelligent robot to take an elevator according to claim 6, characterized in that: Before the signal board issues an instruction to the elevator call board to move to the floor where the elevator car is located, the signal board issues an instruction to the elevator call board to inquire about the floor where the elevator car is located; The elevator call plate sends a response to the signal plate regarding the location of the elevator car.

10. A method for controlling an intelligent robot to take an elevator according to any one of claims 6 to 9, characterized in that: When the elevator call board receives an instruction to query the floor where the elevator car is located, the distance measuring board measures the distance between the elevator car and the top of the elevator shaft, and corresponds the floor where the elevator car is located to the distance between the elevator car and the top of the elevator shaft.

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