Method for determining parking position of robot in elevator car

Abstract

The invention discloses a method for determining the parking position of a robot in an elevator car, which comprises the following steps: step 1, detecting the load in the elevator car, and detecting the load weight and the load position; 2, unbalance loading caused by uneven distribution of the loads in the elevator car is determined according to the loads in the elevator car; and 3, the stopping position of the robot in the elevator car is determined according to the unbalance loading, and the unbalance loading of the robot after the robot stops at the stopping position is smaller than the unbalance loading of the robot before the robot stops at the stopping position through the stopping position. According to the method, the parking position of the robot in the elevator car is properly determined, so that the unbalance loading of the elevator car is inhibited by utilizing the gravity of the robot, and simple and convenient inhibition of the unbalance loading of the elevator is realized.

Description

Technical Field

[0001] The present invention relates to the fields of robots and elevators, and particularly relates to a method for determining the docking position of a robot in an elevator car. Background Art

[0002] Although various measures have been taken for existing elevators, for example: the car is designed symmetrically so that its center of gravity is located at its center position; the car guide rails are arranged at the middle positions on both sides of the elevator car so that the acting forces on the elevator car during the up and down operation are located at the middle position; the hoisting ropes pass through the top central axis or the bottom central axis of the car so that the traction force received by the elevator car also coincides with its central axis; making the stress on the car uniform, reducing its wear on the guide rails, and improving the riding experience of the elevator.

[0003] However, during the use of the elevator, the center of gravity of the elevator car often shifts due to uneven load distribution in the car, resulting in uneven load during operation. The uneven load of the elevator car will lead to a decrease in the performance and comfort of the elevator car (such as increased vibration and noise), increased mechanical wear, and increased energy consumption (increased friction), so the elevator uneven load should be reduced or even eliminated as much as possible. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to simply and conveniently suppress the uneven load of the elevator car.

[0005] To solve the above technical problem, the present invention discloses a method for determining the docking position of a robot in an elevator car, and the determination method includes:

[0006] Step 1, detecting the load in the elevator car, and the detection result includes the load weight and the load position;

[0007] Step 2, determining the uneven load caused by the uneven distribution of the load in the elevator car according to the load in the car;

[0008] Step 3, determining the docking position of the robot in the elevator car according to the uneven load, and the docking position makes the uneven load after the robot docks at the docking position less than the uneven load before the robot docks at the docking position.

[0009] Preferably, the step 2 further includes:

[0010] Step 21, establishing a two-dimensional rectangular coordinate system with the center point of the car bottom as the coordinate origin on the plane where the car bottom of the elevator car is located, and the first coordinate axis and the second coordinate axis of the coordinate system are respectively parallel to the first boundary line and the second boundary line of the bottom edge of the elevator car;

[0011] Step 22: For the first coordinate axis and the second coordinate axis respectively, determine the first distance between each load and the first coordinate axis and the second distance between each load and the second coordinate axis according to the load positions.

[0012] Step 23: Calculate the first product of the load weight of each load and the corresponding first distance corresponding to the load and the second product of the load weight of each load and the corresponding second distance corresponding to the load respectively. When the load position is on the first side of the coordinate axis, the product is positive; when the load position is on the second side of the coordinate axis, the product is negative.

[0013] Step 24: Calculate the absolute value of the first sum of all the first products corresponding to the first coordinate axis and the absolute value of the second sum of all the second products corresponding to the second coordinate axis respectively, and take the absolute value of the first sum as the first partial load corresponding to the first coordinate axis and the absolute value of the second sum as the second partial load corresponding to the second coordinate axis.

[0014] Preferably, step 3 further includes:

[0015] Step 31: Draw a first parallel line for the first coordinate axis and a second parallel line for the second coordinate axis.

[0016] Step 32: Enclose a first region by using the first parallel line, the second parallel line, the first coordinate axis and the second coordinate axis.

[0017] Step 33: Select a point from the first region as the docking position of the robot in the elevator car.

[0018] The distance between the first parallel line and the first coordinate axis is the smaller of a first value and a second value. The first value is the quotient of the first partial load and the weight of the robot, and the second value is the distance between the first coordinate axis and the bottom edge of the car parallel to it; the distance between the second parallel line and the second coordinate axis is the smaller of a third value and a fourth value. The third value is the quotient of the second partial load and the weight of the robot, and the fourth value is the distance between the second coordinate axis and the bottom edge of the car parallel to it.

[0019] Preferably, the rule for which side of the coordinate axis the parallel line is on is: when the partial load is positive, it is on the second side of the coordinate axis, and when the partial load is negative, it is on the first side of the coordinate axis.

[0020] Preferably, step 2 further includes:

[0021] Step 21: Select one of the loads as the selected load.

[0022] Step 22: Draw a straight line through the load position of the selected load and the center point of the car floor.

[0023] Step 23: Calculate the product of the weight of each load in the specific area and the distance between the load and the center point. When the load in the specific area and the selected load are on the same side of the center point, make the product positive; otherwise, make it negative. The specific area is the part of the straight line inside the elevator car, or the area formed by two straight lines parallel to the straight line at a distance of the threshold from the straight line and the bottom edge of the elevator car;

[0024] Step 24: Calculate the sum of the products corresponding to each load in the specific area;

[0025] Step 25: Take the sum as the off - load.

[0026] Preferably, step 3 further includes:

[0027] Step 31: When the off - load is positive, take the point on the straight line on the other side of the center point relative to the selected load and at a distance of the fifth value from the center point as the first point. When the off - load is negative, take the point on the straight line on the same side of the center point relative to the selected load and at a distance of the fifth value from the center point as the first point. The fifth value is the smaller of the quotient of the absolute value of the sum and the weight of the robot and the distance between the intersection point of the straight line and the bottom boundary of the car and the center point;

[0028] Step 32: Take the part of the straight line between the center point and the first point as the first area;

[0029] Step 33: Select a point from the first area as the docking position of the robot in the elevator car.

[0030] Preferably, in step 21, the defined load is selected from the loads that have not been included. The loads that have not been included refer to the loads that have not been included in the specific area; and, between step 24 and step 25, it further includes: Step A1: Judge whether there are still loads that have not been included. If so, return to step 21; otherwise, select the one with the largest absolute value from the obtained sums as the final sum and enter the next step.

[0031] Preferably, step 2 further includes:

[0032] Step 21: Make a load vector for each load. The starting point of the load vector is the center point of the car floor, the direction is pointing to the position of the load, and the length is the product of the load weight and the distance between the load and the center point;

[0033] Step 22: Use the parallelogram rule to combine each load vector to obtain a total load vector;

[0034] Step 23: Take the total load vector as the off - load.

[0035] Preferably, step 3 further includes:

[0036] Step 31: Determine a first point on the reverse extension line of the total load vector according to the quotient of the partial load and the weight of the robot;

[0037] Step 32: Take the part of the straight line between the center point and the first point as the first region;

[0038] Step 33: Select a point from the first region as the docking position of the robot in the elevator car.

[0039] Preferably, the first point is the point on the reverse extension line of the total load vector with a distance of the sixth value from the center point, and the sixth value is the smaller of the quotient of the partial load and the weight of the robot and the distance between the intersection point of the reverse extension line and the boundary of the car floor and the center point.

[0040] Preferably, in step 33, the point farthest from the origin of coordinates is selected from the first region as the docking position of the robot in the elevator car.

[0041] Preferably, in step 33, the unoccupied area in the first region is first determined, and then the point farthest from the origin of coordinates is selected from the unoccupied area as the docking position of the robot in the elevator car.

[0042] Preferably, in step 1, the indirect detection of the load in the elevator car is realized by detecting the force generated by the load in the elevator car on the car due to its weight, the load weight is the detected force, and the load position is the position of the detection point for detecting the force.

[0043] Preferably, in step 1, the direct detection of the load in the elevator car is implemented by directly detecting the load body in the car, the load weight is the estimated weight according to the detected load body, and the load position is the position where the detected load body is located.

[0044] Advantageous technical effects

[0045] In this application, by appropriately determining the docking position of the robot in the elevator car, the gravity of the robot is used to suppress the partial load of the elevator car, realizing a simple and convenient suppression of the elevator partial load. Specific embodiments

[0047] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention. It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence.

[0048] Embodiment 1

[0049] This embodiment provides a method for determining the docking position of a robot in an elevator car, which includes:

[0050] Step 1: Detect the load in the elevator car, and the detection result includes the load weight and the load position;

[0051] Step 2: Determine the partial load caused by the uneven distribution of the load in the elevator car according to the load in the car;

[0052] Step 3: Determine the docking position of the robot in the elevator car according to the partial load, and the docking position is such that the partial load after the robot docks at the docking position is less than the partial load before the robot docks at the docking position.

[0053] In fact, this embodiment simply and conveniently realizes the suppression of the elevator partial load by appropriately determining the docking position of the robot in the elevator car so that the self-weight of the robot can offset part or all of the elevator car partial load.

[0054] Embodiment 2

[0055] This embodiment further limits and explains Step 1 on the basis of Embodiment 1.

[0056] In this embodiment, the detection of the load in the elevator car in Step 1 includes the following two methods:

[0057] Method 1: Step 1 realizes the indirect detection of the load in the elevator car by detecting the force generated by the load in the elevator car on the car due to its weight. The load weight is the detected force, and the load position is the position of the detection point for detecting the force;

[0058] Method 2: Step 1 directly detects the load body in the car to implement the direct detection of the load in the car. The load weight is the estimated weight calculated according to the detected load body, and the load position is the position where the detected load body is located.

[0059] Example 3

[0060] On the basis of the foregoing Example 1 or 2, this example further defines and explains Steps 2 and 3.

[0061] In this example, Step 2 further includes:

[0062] Step 21: Establish a two-dimensional rectangular coordinate system with the center point of the car bottom as the coordinate origin on the plane where the car bottom of the elevator car is located. The first coordinate axis and the second coordinate axis of the coordinate system are respectively parallel to the first boundary line and the second boundary line of the bottom edge of the elevator car. Here, the first boundary line is the boundary in the depth direction of the elevator car (either of the left and right ones), and the second boundary line is the boundary perpendicular to the depth direction of the elevator car (i.e., the door opening and closing direction) (either of the front and back ones). Of course, the first boundary line can also be defined as the boundary perpendicular to the depth direction of the elevator car, and the second boundary line can be defined as the boundary in the depth direction of the elevator car.

[0063] Step 22: For the first coordinate axis and the second coordinate axis respectively, determine the first distance between each load and the first coordinate axis and the second distance between each load and the second coordinate axis according to the load positions.

[0064] Step 23: Calculate the first product of the load weight of each load and the corresponding first distance corresponding to the load and the second product of the load weight of each load and the corresponding second distance corresponding to the load respectively. And when the load position is on the first side of the coordinate axis, the product is positive; when the load position is on the second side of the coordinate axis, the product is negative. For example, for the coordinate axis parallel to the depth direction of the car, the left side of the coordinate axis can be defined as the second side, and the right side of the coordinate axis can be defined as the first side. Of course, the opposite definition is also possible. As long as it is on different sides of the coordinate axis, the products are one positive and one negative.

[0065] Step 24: Calculate the absolute value of the first sum of all the first products corresponding to the first coordinate axis and the absolute value of the second sum of all the second products corresponding to the second coordinate axis respectively, and take the absolute value of the first sum as the first partial load corresponding to the first coordinate axis, and take the absolute value of the second sum as the second partial load corresponding to the second coordinate axis.

[0066] Step 3 further includes:

[0067] Step 31: Draw a first parallel line for the first coordinate axis and a second parallel line for the second coordinate axis;

[0068] Step 32: Enclose a first region by using the first parallel line, the second parallel line, the first coordinate axis and the second coordinate axis;

[0069] Step 33: Select a point from the first region as the docking position of the robot inside the elevator car;

[0070] The distance between the first parallel line and the first coordinate axis is the smaller of the first value and the second value. The first value is the quotient of the first partial load and the weight of the robot, and the second value is the distance between the first coordinate axis and the bottom edge of the car parallel to it; the distance between the second parallel line and the second coordinate axis is the smaller of the third value and the fourth value. The third value is the quotient of the second partial load and the weight of the robot, and the fourth value is the distance between the second coordinate axis and the bottom edge of the car parallel to it.

[0071] The rule for which side of the coordinate axis the parallel line is on is: when the partial load is positive, it is on the second side of the coordinate axis; when the partial load is negative, it is on the first side of the coordinate axis.

[0072] Step 31 selects the selected load according to any of the following principles:

[0073] 1) The load has the largest weight;

[0074] 2) The distance between the load and the center point is the largest;

[0075] 3) The product of the load weight multiplied by the distance between the load and the center point is the largest.

[0076] Alternatively, in Step 33, directly select the point farthest from the origin of coordinates from the first region as the docking position of the robot inside the elevator car, that is, in Step 33, take the intersection point of the first parallel line and the second parallel line as the docking position of the robot inside the elevator car;

[0077] Alternatively, in Step 33, first determine the unoccupied area in the first region, and then select the point farthest from the origin of coordinates from the unoccupied area as the docking position of the robot inside the elevator car.

[0078] Embodiment 4

[0079] Based on the foregoing Embodiment 1 or 2, this embodiment further defines and explains Steps 2 and 3.

[0080] In this embodiment, Step 2 further includes:

[0081] Step 21: Select one of the loads as the selected load;

[0082] Step 22: Draw a straight line through the load position of the selected load and the center point of the car floor;

[0083] Step 23: Calculate the product of the weight of each load within the specific area and the distance between the load and the center point. When the load within the specific area and the selected load are on the same side of the center point, the product is positive; otherwise, it is negative. The specific area is the part of the straight line inside the elevator car, or the area formed by two straight lines parallel to the straight line at a distance of the threshold from the straight line and the bottom edge of the elevator car;

[0084] Step 24: Calculate the sum of the products corresponding to each load within the specific area;

[0085] Step 25: Take the sum as the off - load;

[0086] Step 3 further includes:

[0087] Step 31: When the off - load is positive, take the point on the straight line on the other side of the center point relative to the selected load and at a distance of the fifth value from the center point as the first point. When the off - load is negative, take the point on the straight line on the same side of the center point relative to the selected load and at a distance of the fifth value from the center point as the first point. The fifth value is the smaller of the quotient of the absolute value of the sum and the weight of the robot and the distance between the intersection point of the straight line and the bottom boundary of the car and the center point;

[0088] Step 32: Take the part of the straight line between the center point and the first point as the first area;

[0089] Step 33: Select a point from the first area as the docking position of the robot in the elevator car.

[0090] Step 31 selects the selected load according to any of the following principles:

[0091] 1) The load has the maximum weight;

[0092] 2) The distance between the load and the center point is the maximum;

[0093] 3) The product obtained by multiplying the load weight by the distance between the load and the center point is the maximum.

[0094] Alternatively, Step 33 directly selects the point farthest from the origin coordinate in the first area as the docking position of the robot in the elevator car;

[0095] Alternatively, Step 33 first determines the unoccupied area within the first area, and then selects the point farthest from the origin coordinate from the unoccupied area as the docking position of the robot in the elevator car.

[0096] Embodiment 5

[0097] Based on Embodiment 4, this embodiment further defines and explains Step 2.

[0098] In this embodiment, in step 21, the defined load is selected from the loads that have never been included, where the loads that have never been included refer to the loads that have never been included by the specific area; and, between step 24 and step 25, the following is further included:

[0099] Step A1: Determine whether there are still loads that have never been included. If so, return to step 21; otherwise, select the one with the largest absolute value from the obtained sums as the final sum and proceed to the next step.

[0100] Embodiment 6

[0101] Based on the foregoing Embodiment 1 or 2, this embodiment further defines and explains steps 2 and 3.

[0102] In this embodiment, step 2 further includes:

[0103] Step 21: Create a load vector for each load. The starting point of the load vector is the center point of the car floor, the direction is towards the position of the load, and the length is the product of the load weight and the distance between the load and the center point.

[0104] Step 22: Combine the load vectors of each load using the parallelogram rule to obtain a total load vector.

[0105] Step 23: Use the total load vector as the partial load.

[0106] Step 3 further includes:

[0107] Step 31: Determine a first point on the reverse extension line of the total load vector according to the quotient of the partial load and the weight of the robot.

[0108] Step 32: Take the part of the line between the center point and the first point as the first area.

[0109] Step 33: Select a point from the first area as the docking position of the robot in the elevator car.

[0110] Among them, the first point is the point on the reverse extension line of the total load vector with the distance from the center point being the sixth value, and the sixth value is the smaller of the quotient of the partial load and the weight of the robot and the distance between the intersection point of the reverse extension line and the car floor boundary and the center point.

[0111] Step 31 selects the selected load according to any of the following principles:

[0112] 1) The load has the largest weight;

[0113] 2) The distance between the load and the center point is the largest;

[0114] 3) The product of the load weight and the distance between the load and the center point is the largest.

[0115] Alternatively, in step 33, the point farthest from the coordinate origin is directly selected from the first region as the docking position of the robot in the elevator car;

[0116] Alternatively, in step 33, the unoccupied area in the first region is first determined, and then the point farthest from the coordinate origin is selected from the unoccupied area as the docking position of the robot in the elevator car.

Claims

1. A method for determining a parking position of a robot in an elevator car, characterized in that: The determination method comprises: Step 1: Detect the load in the elevator car, and the detection results include the load weight and load position; Step 2: Determine the eccentric load caused by the uneven distribution of the load in the elevator car according to the load in the car; Step 3: Determine the parking position of the robot in the elevator car according to the eccentric load, wherein the parking position makes the eccentric load of the robot after the robot stops at the parking position smaller than the eccentric load of the robot before the robot stops at the parking position.

2. The method for determining the parking position of a robot in an elevator car according to claim 1, characterized in that: The step 2 further comprises: Step 21: establish a two-dimensional rectangular coordinate system on the plane where the elevator car's car bottom is located, with the center point of the car bottom as the coordinate origin, wherein the first coordinate axis and the second coordinate axis of the coordinate system are parallel to the first boundary line and the second boundary line of the elevator car bottom, respectively; Step 22: for the first coordinate axis and the second coordinate axis, determine a first distance between each load and the first coordinate axis and a second distance between each load and the second coordinate axis according to the load position; Step 23, respectively calculating a first product of the load weight of each load and the first distance corresponding to the corresponding load and a second product of the load weight of each load and the second distance corresponding to the corresponding load, and when the load position is on the first side of the coordinate axis, the product is positive; when the load position is on the second side of the coordinate axis, the product is negative; Step 24, calculate the absolute value of the first sum of all first products corresponding to the first coordinate axis and the absolute value of the second sum of all second products corresponding to the second coordinate axis, and use the absolute value of the first sum as the first eccentric load corresponding to the first coordinate axis, and use the absolute value of the second sum as the second eccentric load corresponding to the second coordinate axis.

3. The method for determining the parking position of a robot in an elevator car according to claim 2, characterized in that: The step 3 further comprises: Step 31, draw a first parallel line with respect to the first coordinate axis, and draw a second parallel line with respect to the second coordinate axis; Step 32: enclose a first area using the first parallel line, the second parallel line, the first coordinate axis, and the second coordinate axis; Step 33: Select a point in the first area as the parking position of the robot in the elevator car; The distance between the first parallel line and the first coordinate axis is the smaller of a first value and a second value, the first value being the quotient of the first off-load and the weight of the robot, and the second value being the distance between the first coordinate axis and the bottom edge of the car parallel thereto; the distance between the second parallel line and the second coordinate axis is the smaller of a third value and a fourth value, the third value being the quotient of the second off-load and the weight of the robot, and the fourth value being the distance between the second coordinate axis and the bottom edge of the car parallel thereto.

4. The method for determining the parking position of a robot in an elevator car according to claim 3, characterized in that: The rule for which side of the coordinate axis the parallel lines are located on is: when the eccentric load is positive, they are located on the second side of the coordinate axis, and when the eccentric load is negative, they are located on the first side of the coordinate axis.

5. The method for determining the parking position of a robot in an elevator car according to claim 1, characterized in that: The step 2 further comprises: Step 21, selecting one of the loads as a selected load; Step 22, draw a straight line through the load position of the selected load and the center point of the car floor; Step 23, calculating the product of the weight of each load in the specific area and the distance between the load and the center point, and when the load in the specific area and the selected load are located on the same side of the center point, the product is set to be positive, otherwise it is negative, and the specific area is the part of the straight line located inside the elevator car, or the area formed by two lines parallel to the straight line and the bottom edge of the elevator car, which are at a threshold distance from the straight line; Step 24, calculating the sum of the products corresponding to each load in the specific area; Step 25: Use the sum as the eccentric load.

6. The method for determining the parking position of a robot in an elevator car according to claim 5, characterized in that: The step 3 further comprises: Step 31, when the offset load is positive, a point on the straight line located on the other side of the center point relative to the selected load and having a fifth value of distance from the center point is taken as the first point; when the offset load is negative, a point on the straight line located on the same side of the center point relative to the selected load and having a fifth value of distance from the center point is taken as the first point, wherein the fifth value is the smaller of the quotient of the absolute value of the sum and the weight of the robot and the distance between the intersection of the straight line and the boundary of the car bottom and the center point; Step 32, taking the portion of the straight line between the center point and the first point as the first area; Step 33: Select a point in the first area as the parking position of the robot in the elevator car.

7. The method for determining the parking position of a robot in an elevator car according to claim 5, characterized in that: Step 21 is to select the limited load from the loads that have never been included, and the load that has never been included refers to the load that has never been included in the specific area; and between step 24 and step 25, it also includes: Step A1, determine whether there are still loads that have not been included. If so, return to step 21, otherwise select the one with the largest absolute value among the sums obtained as the final sum, and go to the next step.

8. The method for determining the parking position of a robot in an elevator car according to claim 1, characterized in that: The step 2 further comprises: Step 21, for each load, a load vector is made, wherein the starting point of the load vector is the center point of the car floor, the direction is the position where the load is located, and the length is the weight of the load and the distance between the load and the center point; Step 22, using the parallelogram rule to combine the load vectors to obtain a total load vector; Step 23: Use the total load vector as the eccentric load.

9. The method for determining the parking position of a robot in an elevator car according to claim 8, characterized in that: The step 3 further comprises: Step 31, determining a first point located on the reverse extension line of the total load vector according to the quotient of the eccentric load and the weight of the robot; Step 32, taking the portion of the straight line between the center point and the first point as the first area; Step 33: Select a point in the first area as the parking position of the robot in the elevator car.

10. The method for determining the parking position of a robot in an elevator car according to claim 9, characterized in that: The first point is a point on the reverse extension line of the total load vector whose distance from the center point is the sixth value, and the sixth value is the smaller of the quotient of the eccentric load and the weight of the robot and the distance between the intersection of the reverse extension line and the boundary of the car floor and the center point.

11. The method for determining the parking position of a robot in an elevator car according to any one of claims 3, 6 or 9, characterized in that: The step 33 selects the point farthest from the coordinate origin in the first area as the parking position of the robot in the elevator car.

12. The method for determining the parking position of a robot in an elevator car according to any one of claims 3, 6 or 9, characterized in that: The step 33 first determines an unoccupied area in the first area, and then selects a point farthest from the coordinate origin from the unoccupied area as the parking position of the robot in the elevator car.

13. The method for determining the parking position of a robot in an elevator car according to claim 1, characterized in that: The step 1 indirectly detects the load in the elevator car by detecting the force exerted on the car by the load in the elevator car due to its weight, wherein the load weight is the detected force and the load position is the position of the detection point for detecting the force.

14. The method for determining the parking position of a robot in an elevator car according to claim 1, characterized in that: The step 1 implements direct detection of the load in the car by directly detecting the load body in the car, the load weight is the estimated weight based on the detected load body, and the load position is the position of the detected load body.