Elevator calling control device and system

Abstract

The utility model relates to an elevator calling control device and system.The elevator calling control device comprises an input interface, a switch module, a door opening detection module and an output interface, the input interface is connected with the switch module, and the door opening detection module is connected with the output interface; wherein the input interface is used for receiving a first signal sent by a robot and transmitting the first signal to the switch module; the switch module is used for conducting a connecting line where an elevator button is located under the condition that the first signal is received; the door opening detection module is used for being triggered by an elevator door and outputting a trigger signal under the condition that the elevator door is opened; and the output interface is used for sending the trigger signal to the robot. By means of the method, the problems that the cost is high and the adding and butt joint period is long when the AGV robot is added to the elevator are solved.

Description

Technical Field

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

[0002] In response to the increasing demand for automated vertical transportation of goods in the market, there is a growing need to install AGV (Automated Guided Vehicle) robots on elevators.

[0003] In related technologies, the method of installing an AGV on the basis of an original elevator includes customizing the configuration by means of protocol communication, and a solution in which the manufacturer of the elevator control system and the manufacturer of the AGV jointly customize the communication protocol for docking and configuration. However, this solution involves different control systems between different manufacturers, and it is necessary for both manufacturers to dock the control system and the communication protocol of the AGV robot, resulting in a long development cycle, and the communication method is easily interfered with or delayed. At the same time, the communication method requires multi-party cooperation for joint debugging, is expensive, and has a long installation and development cycle, which is not suitable for small and medium-sized customers and not suitable for large-scale promotion. The method of installing an AGV on the basis of an original elevator also includes a solution of adding a Bluetooth or WIFI call device. This solution has a complex installation wiring process and requires multiple matching tests, and there is still a problem of high installation cost.

[0004] In view of the problems of high cost and long installation and docking cycle in installing an AGV robot on an elevator in related technologies, no effective solution has been proposed yet. Summary of the Utility Model

[0005] Embodiments of the present application provide a call control device and system to at least solve the problems of high cost and long installation and docking cycle in installing an AGV robot on an elevator in related technologies.

[0006] In a first aspect, embodiments of the present application provide a call control device, which includes: an input interface, a switch module, a door opening detection module, and an output interface. The input interface is connected to the switch module, and the door opening detection module is connected to the output interface; wherein,

[0007] The input interface is configured to receive a first signal sent by a robot and transmit the first signal to the switch module;

[0008] The switch module is configured to conduct the connection line where the elevator button is located when receiving the first signal;

[0009] The door opening detection module is configured to be triggered by the elevator door and output a trigger signal when the elevator door is opened;

[0010] The output interface is configured to send the trigger signal to the robot.

[0011] In some of the embodiments, the call control device further includes a connection module, one end of the connection module is connected to the switch module, and the other end of the connection module is connected to the elevator button.

[0012] In some of the embodiments, the first signal includes multiple call indication signals, the call control device includes multiple input interfaces corresponding to the multiple call indication signals, the switch module includes multiple first switch units, and the input interfaces are respectively connected to the first switch units correspondingly to conduct the connection line where the elevator button corresponding to the corresponding call indication signal is located.

[0013] In some of the embodiments, the door opening detection module includes multiple door opening detection units corresponding to different landing doors, the trigger signal includes multiple boarding indication signals corresponding to the multiple door opening detection units, the call control device includes multiple output interfaces corresponding to the multiple boarding indication signals, and the opening and closing of the landing door trigger the corresponding door opening detection unit to emit the corresponding boarding indication signal, which is output to the robot through the corresponding output interface.

[0014] In some of the embodiments, the door opening detection includes: a limit switch, and the limit switch is arranged at the sill of the elevator landing door; wherein,

[0015] When the elevator door is not fully opened, the limit switch remains in an untriggered state;

[0016] When the elevator door is fully opened, the limit switch is touched by the elevator door, so as to be triggered to output the trigger signal.

[0017] In some of the embodiments, the call control device further includes: a camera module, and the camera module includes a camera and an identifier connected to each other; wherein,

[0018] The camera is used for photographing the interior of the elevator car;

[0019] The identifier receives the video signal transmitted by the camera, and is used for identifying whether there is anyone in the interior of the elevator car, and outputs an identification signal when someone is identified.

[0020] In some of the embodiments, the camera module further includes a first switch, and the first switch is respectively connected to the identifier and the output interface; when the identifier outputs the identification signal, the first switch acts to output the identification signal to the output interface.

[0021] In some of these embodiments, the camera module further includes a second switch unit, a voice unit, and a second switch. The second switch unit is connected to the voice unit and the second switch;

[0022] When the second switch unit is in the first state, the second switch is respectively connected to the recognizer and the door holding unit of the elevator. When the recognizer outputs the recognition signal, the second switch operates to output a door holding signal to the door holding unit, and the voice unit outputs a first preset voice to the car of the elevator;

[0023] When the second switch unit is in the second state, the second switch is not connected to the recognizer. When the recognizer outputs the recognition signal, the second switch does not operate, and the voice unit outputs a second preset voice to the car of the elevator.

[0024] In a second aspect, an embodiment of the present application provides a call elevator control system, including a robot and the call elevator control device described in the first aspect above. The robot is communicatively connected to the call elevator control device.

[0025] In some of these embodiments, the robot includes a signal transmitting module and a signal receiving module; wherein,

[0026] The signal transmitting module is connected to the input interface and is used to output a first signal to the call elevator control device;

[0027] The signal receiving module is connected to the output interface and is used to receive the trigger signal of the call elevator control device.

[0028] The call elevator control device and system provided by the embodiments of the present application transmit the signal sent by the robot to the elevator through the input interface and the switch module; and transmit the trigger signal to the robot through the door opening detection module and the output module, thereby realizing the signal transmission between the robot and the elevator. There is no need to match the communication between the robot and the elevator, the installation cost is low, and the docking time is short; at the same time, the call elevator control device is configured with simple and conventional materials, solving the problems of high cost and long installation period for installing an AGV robot on the elevator.

[0029] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0031] Figure 1 It is a structural block diagram of a call elevator control device in an embodiment;

[0032] Figure 2 It is an installation schematic diagram of a limit switch in an embodiment;

[0033] Figure 3 It is a layout schematic diagram of an AGV control box in an embodiment;

[0034] Figure 4 It is a signal transmission schematic diagram of an AGV control box in an embodiment;

[0035] Figure 5 It is a schematic diagram of an intelligent camera in an embodiment;

[0036] Figure 6 It is a structural block diagram of a call elevator control system in an embodiment;

[0037] Figure 7 It is a preferred structural block diagram of a call elevator control system in an embodiment.

[0038] Reference numerals: 1, call elevator control device; 10, input interface; 11, switch module; 111, car command to passive signal relay; 112, landing call to passive signal relay; 12, door opening detection module; 121, limit switch; 13, output interface; 14, camera module; 141, voice unit; 142, second switch unit; 143, first switch; 144, second switch; 15, power supply module; 2, robot; 3, elevator; 31, door opening holding unit. Detailed implementation manners

[0039] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be described and explained below with reference to 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 used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without making creative efforts belong to the scope of protection of the present application. In addition, it can also be understood that although the efforts made in such a development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some designs, manufacturing or production changes made on the basis of the technical content disclosed in the present application are only conventional technical means and should not be understood that the content disclosed in the present application is insufficient.

[0040] References to "embodiments" in this application mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment 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 can be combined with other embodiments without conflict.

[0041] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meaning understood by those with ordinary skills in the technical field to which this application pertains. The words such as "a", "an", "one", "the" and the like involved in this application do not indicate a limitation in quantity and can represent a singular or plural number. The terms "include", "comprise", "have" and any variations thereof involved in this application are intended to cover non-exclusive inclusion. 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 further include unlisted steps or units, or may further include other steps or units inherent to these processes, methods, products or devices. The terms "connect", "be connected", "couple" 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 "plurality" involved in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0042] In one embodiment, as Figure 1 shown, a structural block diagram of a call elevator control device 1 is provided. The device includes: an input interface 10, a switch module 11, a door opening detection module 12, and an output interface 13. The input interface 10 is connected to the switch module 11, and the door opening detection module 12 is connected to the output interface 13.

[0043] The input interface 10 is configured to receive a first signal sent by the robot 2 and transmit the first signal to the switch module 11. The first signal is used to indicate the elevator riding requirements of the robot 2, including but not limited to elevator riding requirements such as opening the door, closing the door, floor call, door opening hold, etc. Optionally, the robot 2 realizes signal communication with the robot 2 by inserting into the input interface 10.

[0044] The switch module 11 is configured to turn on the connection line where the elevator button is located when receiving the first signal. The elevator buttons include the hall buttons outside the elevator 3 such as the up button and the down button, and may also include the in-car buttons of the elevator 3 such as the floor selection button, the door open button, and the door close button. The switch module 11 changes its closed state in response to the first signal and converts it into a passive signal interface, thereby generating a passive signal for changing the conduction state of the connection line where the elevator button is located, so as to achieve the effect of pressing the elevator button. Optionally, the switch module 11 is configured to keep the connection line where the elevator button is located disconnected when not receiving the first signal.

[0045] The door opening detection module 12 is configured to be triggered by the elevator door and output a trigger signal when the elevator door is opened. The door opening detection module 12 includes one or more switch devices, and the switch device may be an existing device such as a limit switch 121 or a door magnetic switch. Optionally, the door opening detection module 12 is installed at the elevator door. When the elevator door is opened, the door opening detection module 12 contacts the elevator door, thereby generating a trigger signal; when the elevator door is closed, the door opening detection module 12 does not contact the elevator door and no trigger signal is generated.

[0046] The output interface 13 is configured to send the trigger signal to the robot 2. Optionally, the robot 2 realizes signal communication by inserting into the output interface 13.

[0047] The communication between the input interface and the output interface of the robot and the call control device of the elevator is realized by means of cable connection, which has strong reliability and avoids 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 interface and a signal receiving module connected to the output interface. In this application, the robot control center is connected to the robot call control device of the elevator by cable. While realizing reliable signal transmission, the robot control center and the robot call control device are not restricted by the placement position.

[0048] In the above call control device 1, through the input interface 10 and the switch module 11, the signal sent by the robot 2 is transmitted to the elevator 3, and the elevator 3 is made to run; through the door opening detection module 12 and the output module, the trigger signal associated with the running state of the elevator 3 is transmitted to the robot 2. Without involving the communication protocol or a dedicated communication system between the robot 2 and the elevator 3, the signal transmission between the robot 2 and the elevator 3 is realized. The solution is simple and reliable, with low installation cost and short installation and docking cycle. Moreover, the installation position of the call control device 1 provided in this embodiment is not restricted by the elevator 3 and can be placed in the elevator control cabinet, the machine room, or other positions outside the elevator hall or in the car, further solving the problem of high cost of installing an AGV robot on the elevator 3.

[0049] In one embodiment, the call control device 1 further includes a connection module. One end of the connection module is connected to the switch module 11, and the other end of the connection module is connected to the elevator button. Among them, the switch module 11 is connected to the elevator button wires in the car operation panel of the elevator 3 and the external call box of the elevator 3 through the connection module, so as to realize the connection between the connection module and the elevator button. Optionally, the connection module is a device with signal transmission functions such as a cable or a wire. In this embodiment, the connection between the elevator button and the switch module 11 is realized through the connection module, which can enable the call control device 1 to be installed at a position far from the elevator button, avoiding the installation position of the elevator button restricting the installation position of the call control device 1.

[0050] In one embodiment, the first signal includes multiple call indication signals. The call control device 1 includes multiple input interfaces 10 corresponding to the multiple call indication signals. The switch module 11 includes multiple first switch units. The input interfaces are respectively connected to the first switch units correspondingly to conduct the connection line where the elevator button corresponding to the corresponding call indication signal is located. Among them, the first switch unit can be a relay or a contactor or other switches that can respond to an electrical signal at the input end and control the on / off of the output end. Optionally, the first switch unit is a relay, and the input interfaces 10 are respectively connected to the relays correspondingly. The relays are respectively connected to different elevator buttons. When different input interfaces 10 receive signals, different relays are in the closed state, so as to conduct the line where the elevator button connected to the closed relay is located, enabling the elevator 3 to perform different functions such as going up, going down, opening and closing the door.

[0051] In this embodiment, different call indication signals of the robot 2 are input to different input interfaces 10. The input interfaces 10 conduct the connection lines where different elevator buttons are located through different first switch units, so that the call indication signal of the robot 2 only needs to be sent in the form of an instruction for controlling the input interface 10, which is simple and efficient. Moreover, it enables the call control device 1 to transmit the call indication of the robot to the elevator and control the operation of the elevator only based on the actions of each first switch unit without involving communication protocols.

[0052] In one embodiment, the door opening detection module includes a plurality of door opening detection units corresponding to different landing doors. The trigger signal includes a variety of elevator riding indication signals corresponding to the plurality of door opening detection units. The elevator call control device includes a plurality of output interfaces corresponding to the variety of elevator riding indication signals. The opening and closing of the landing door trigger the corresponding door opening detection unit to issue the corresponding elevator riding indication signal, which is output to the robot through the corresponding output interface. Optionally, the door opening detection units are respectively arranged at a plurality of elevator landing doors. After different door opening detection units are triggered, the output interfaces 13 that receive the trigger signal are different, so that the elevator riding indication signal only needs to be issued in the form of the state change of the corresponding output interface 13, which is simple and efficient; it also enables the elevator call control device 1 to send the current operating state of the elevator to the robot 2 based on a simple structure without involving communication protocols. The robot 2 can distinguish the corresponding elevator landing door according to the trigger signal.

[0053] Further, the door opening detection unit includes: a limit switch 121, and the limit switch 121 is arranged at the sill of the elevator landing door; wherein, when the elevator door is not fully opened, the limit switch 121 remains in an untriggered state. When the elevator door is fully opened, the limit switch 121 is touched by the elevator landing door, thereby remaining in a triggered state and outputting a trigger signal. Figure 2 It is a schematic diagram of a limit switch 121 in this embodiment. Among them, Figure 2 (a) is a connection schematic diagram of the limit switches 121 on each floor, Figure 2 (b) is an installation schematic diagram of the limit switch 121. As Figure 2 shown in (a), limit switches 121 are installed on each floor reached by the elevator 3, including: the 1st floor limit switch 121, the 2nd floor limit switch 121,..., the Nth floor limit switch 121. As Figure 2 shown in (b), a limit switch 121 or a pair of limit switches 121 are arranged at the sill of the elevator landing door that the elevator car may reach, and each limit switch 121 is connected to the output interface 13. In this embodiment, by setting a plurality of door opening detection units and a plurality of output interfaces 13, the trigger signals of different limit switches 121 are transmitted to the robot 2 through the output interfaces 13, so that the robot 2 can obtain the current operating state of the elevator 3 according to the trigger signal.

[0054] In one embodiment, the call control device 1 further includes: a camera module 14, which includes a camera and an identifier connected to each other; the camera is used to capture the interior of the elevator car; the identifier receives the video signal transmitted by the camera and is used to identify whether there is anyone inside the elevator car, and outputs an identification signal when someone is identified. Among them, the camera is installed inside the elevator car to monitor the elevator car, thereby achieving the effect of improving the running safety of the elevator 3. The identifier can be any chip, microprocessor or identification product with human body recognition function. Optionally, the camera module 14 can adopt an existing human body recognition camera.

[0055] Optionally, the camera module 14 further includes a first switch 143; the first switch 143 is respectively connected to the identifier and the output interface 13; when the identifier outputs an identification signal, the first switch 143 operates to output the identification signal to the output interface 13. Among them, the first switch 143 performs an open or closed operation when receiving the identification signal. Optionally, the first switch 143 is a normally open relay. The first switch 143 closes after receiving the identification signal of someone to output a closing signal to the output interface 13, and the output interface 13 outputs the closing signal to the robot 2, so that the robot 2 knows that there is someone in the car.

[0056] In this embodiment, by setting up the structure of the first switch 143, when the camera module detects that there is someone in the car, the first switch 143 is triggered by the identification signal, thereby generating a passive signal and transmitting it to the robot 2, so as to achieve the effect of notifying the robot 2 that there is someone in the car and improving the safety during the operation of the elevator.

[0057] Further, in one embodiment, the camera module 14 further includes a second switch unit 142, a voice unit 141 and a second switch 144. The second switch unit 142 is connected to the voice unit 141 and the second switch 144; when the second switch unit 142 is in the first state, the second switch 144 is respectively connected to the identifier and the door holding unit 31 of the elevator. When the identifier outputs an identification signal, the second switch 144 operates to output a door holding signal to the door holding unit 31, and the voice unit 141 outputs a first preset voice to the elevator car; when the second switch unit 142 is in the second state, the second switch 144 is not connected to the identifier. When the identifier outputs an identification signal, the second switch 144 does not operate, and the voice unit outputs a second preset voice to the elevator car.

[0058] Among them, the voice unit 141 can output a first preset voice and a second preset voice based on preset frequency and volume. The second switch unit 142 is used to control the connection between the second switch 144 and the recognizer. When the second switch 144 is respectively connected to the recognizer and the door holding unit 31 of the elevator, the second switch 144 can perform an open or close action when receiving an identification signal, so as to change its own closed state to output a passive signal to the door holding unit 31, and control the door holding unit 31 to perform a door holding action, so that the elevator door remains open when the camera module 14 recognizes that there is someone in the car. Among them, the door holding unit 31 can be components such as an elevator light curtain, a door open button, a controller, etc. Optionally, the second switch 144 is a normally closed relay, and the second switch 144 outputs a disconnection signal to the door holding unit 31 when it is disconnected, and this disconnection signal is the door holding signal. It can be understood that the first switch 143 and the second switch 144 can also be other existing relays, and the type of relay is not limited here. Further, the second switch unit 142 can also be connected to the first switch 143 to control the connection between the first switch 143 and the recognizer.

[0059] Optionally, the second switch unit 142 is a plurality of DIP switches, and each DIP switch is respectively connected to the first switch 143 and the second switch 144. By changing the state of the DIP switch, the output of the signals of the first switch 143 and the second switch 144 connected to the DIP switch is restricted. For example, when the DIP switch connected to the first switch 143 is switched to the ON position, the first switch 143 is allowed to output a closed signal, and when the DIP switch connected to the first switch 143 is switched to the OFF position, the first switch 143 is not allowed to output a closed signal. Based on the same principle, the second switch unit 142 can also be connected to the voice unit 141. For example, by setting the DIP switch connected to the voice unit 141 and changing the state of the DIP switch, the voice output of the voice unit is restricted. It can be understood that the second switch unit can also be other switch devices that can change the on-off state of the circuit.

[0060] In this embodiment, by setting the second switch 144, the signals in the camera module 14 can be transmitted to the elevator 3, and the structure is simple and reliable.

[0061] The embodiments of the present application will be described and illustrated below through preferred embodiments.

[0062] Based on the same concept, in one embodiment, the call control device 1 is an AGV control box. Figure 3 It is a layout schematic diagram of the AGV control box in this embodiment. The switch module 11 in the AGV control box includes a car command to passive signal relay 111 and a landing call to passive signal relay 112, a plurality of landing and car call control signal input interfaces 10, and a plurality of elevator 3 stop position information and door open in place signal output interfaces 13.

[0063] Figure 4 is a schematic diagram of signal transmission of the AGV control box in this embodiment. As Figure 4 shown, the AGV side is the AGV robot; the Output end of the AGV control box is the output module in the above embodiment; the Input end of the AGV control box is the input module in the above embodiment.

[0064] Among them, the signals output from the Output end of the AGV control box to the AGV side are: 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 and other signals of reaching the target floor, the signal in the state of the door being fully opened, and the signal that there is someone in the elevator car. Optionally, the AGV control box side also reserves a terminal for outputting the mains power signal; correspondingly, the Input end of the AGV side receives the above signals.

[0065] The signals output from the Output end of the AGV side to the AGV control box are: target floor call signals such as call for the 1st floor, call for the 2nd floor,..., call for the Nth floor, as well as door opening signal, door closing signal, and door opening hold signal; correspondingly, the Input end of the AGV control box side receives the above signals. Specifically, the target floor call signals are divided into: in-car call signals such as in-car call to the first floor, in-car call to the second floor,..., in-car call to the Nth floor, and out-of-car call signals such as out-of-car call on the first floor, out-of-car call on the second floor,..., out-of-car call on the Nth floor.

[0066] Table 1 is a function description table of the signals received and sent by the AGV control box in this embodiment.

[0067] Table 1

[0068]

[0069] In this embodiment, both the input interface 10 and the output interface 13 of the AGV control box include a plurality of wiring terminals. Table 2 is a description table of the wiring terminals for the signals received and sent by the AGV control box in this embodiment:

[0070] Table 2

[0071]

[0072] Optionally, in the case where the AGV robot has a demand for taking the elevator, the execution methods of the AGV robot, elevator 3, and the AGV control box are described:

[0073] If the AGV robot needs to take the elevator, the AGV robot sends a call signal for the target floor to the AGV control box. The AGV control box calls elevator 3 to the target floor 1 based on the call signal for the target floor. Taking the target floor 1 as the first floor as an example, the AGV robot needs to call elevator 3 to the first floor. If it is necessary to use the "hall call signal on the first floor" to call elevator 3 to the first floor, the AGV control box shorts the UHB1-I interface and the UHB1-O interface; if the AGV robot needs to use the "car call signal" to call elevator 3 to the first floor, the AGV control box shorts the CB1-I interface and the CB1-O interface.

[0074] After elevator 3 runs to the target floor 1, elevator 3 opens its door. After the door of elevator 3 is fully opened, under the action of the landing door, the limit switch 121 installed at the sill position of the target floor 1 is triggered. The AGV control box determines that elevator 3 has reached the target floor 1 and the elevator door is fully opened based on the triggered limit switch 121, and outputs a signal indicating reaching the target floor and a signal indicating the door opened state to the AGV robot. Optionally, after elevator 3 reaches the first floor and the door is fully opened, the limit switch 121 installed at the sill wall position on the first floor operates. Figure 2 Taking the limit switch 121 shown as an example, at this time, the DOL1-I interface and the DOL1-O interface corresponding to the limit switch 121 change from the normally open state to the closed state. The AGV robot receiving the DOL1-I closed signal and the DOL1-O closed signal represents that elevator 3 has reached the first floor and the door has been fully opened.

[0075] After the AGV robot receives the signal indicating reaching the target floor and the signal indicating the door is in the fully opened state, it sends a door hold signal to the AGV control box. After receiving the door hold signal, the AGV control box keeps the elevator door open for a long time, so that the AGV robot has enough time to enter elevator 3, preventing the problem that the elevator door suddenly closes and collides with the elevator door when the AGV robot enters due to insufficient door opening time of elevator 3. Optionally, after the AGV robot receives the DOL1-I closed signal and the DOL1-O closed signal, it sends a door hold signal, and the AGV control box shorts the DHB-I interface and the DHB-O interface.

[0076] The AGV robot enters the elevator car. After entering the car, it sends a door close signal and a call signal for the Nth floor, causing elevator 3 to close the door and call elevator 3 to the target floor 2. Optionally, after the AGV robot enters the elevator car, it outputs a door close signal, and the AGV control box shorts the DCB-I interface and the DCB-O interface, causing elevator 3 to close the door. If the AGV robot enters the car and wants to transport goods to the second floor, then the target floor 2 is the second floor. The AGV robot outputs a call signal for the second floor, and the AGV control box shorts the CB2-I interface and the CB2-O interface, and the control system of elevator 3 registers the car command for the second floor.

[0077] After the elevator 3 reaches the target floor 1, the elevator 3 doors open. After the elevator 3 doors are fully opened, under the action of the landing door, the limit switch 121 installed at the sill position of the target floor 2 is triggered. The AGV control box determines that the elevator 3 has reached the target floor 2 and the elevator doors are fully opened based on the triggered limit switch 121, and outputs a signal indicating reaching the target floor and a door open status signal to the AGV robot. Optionally, after the elevator 3 reaches the 2nd floor and the doors are fully opened, the limit switch 121 installed at the sill wall position on the 2nd floor actuates. For Figure 2 Taking the limit switch 121 shown as an example, at this time, the DOL2-I interface and the DOL2-O interface corresponding to the limit switch 121 change from the normally open state to the closed state. The AGV robot receiving the DOL2-I closed signal and the DOL2-O closed signal means that the elevator 3 has reached the 2nd floor and the doors are fully opened.

[0078] After the AGV robot receives the signal indicating reaching the target floor and the signal indicating the door is in the fully opened state, it sends a door hold signal to the AGV control box. After receiving the door hold signal, the elevator doors remain open for a long time so that the AGV robot has enough time to enter the elevator 3. Optionally, after the AGV robot receives the DOL2-I closed signal and the DOL2-O closed signal, it issues a door hold signal, and the AGV control box shorts the DHB-I interface and the DHB-O interface.

[0079] After the AGV robot leaves the car, it sends a door closing signal to the elevator 3, and the elevator 3 closes the doors and waits for the next instruction. Thus, a complete control and transportation logic process for the AGV robot to run from any target floor 1 to any target floor 2 is obtained.

[0080] Optionally, if the AGV robot sends a door hold signal when leaving the car, to prevent the elevator doors from remaining 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 3 after completely exiting the car, causing the AGV control box to short the DCB-I interface and the DCB-O interface, and the elevator 3 resumes the normal waiting state of the AGV control box. Waiting for the next instruction.

[0081] Optionally, the AGV control box in this embodiment further includes: a camera module. Among them, the camera module can select an existing intelligent camera with recognition function. Optionally, the camera module includes two detection modes: "AGV dedicated mode" and "AGV and human shared mode". In the "AGV dedicated mode", the intelligent camera recognizes whether there is anyone in the car. When it recognizes that there is someone in the car, the voice unit 141 outputs a preset voice "This elevator is for AGV only, please exit" to prompt the passengers in the elevator. At the same time, the first switch 143 closes and outputs a closing signal to the AGV robot, thereby informing the AGV robot that there is someone in the car; at the same time, the second switch 144 disconnects and outputs a disconnection signal to the door holding unit 31, so that the door holding unit 31 responds to the disconnection signal and makes the landing door remain open and the elevator unable to close until the person exits the car. In the "AGV and human shared mode", after the camera module recognizes that there is someone in the car, the voice unit 141 outputs a preset voice "Note that this elevator is an AGV freight elevator, please stand by the side and pay attention to avoiding the AGV robot" to prompt the passengers in the elevator. At the same time, the first switch 143 outputs a signal that there is someone in the car 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 give a reminder or make a deceleration and avoidance operation in advance to ensure the safety of the passengers in the car.

[0082] Figure 5 is a schematic diagram of an intelligent camera in this embodiment. Among them, Figure 5 (a) of is the wiring schematic diagram of the intelligent camera in the "AGV dedicated mode", Figure 5 (b) of is the wiring schematic diagram of the intelligent camera in the "AGV and human shared mode". As Figure 5 shown, the intelligent camera includes a voice unit 141 and a second switch unit 142. Among them, the second switch unit 142 uses a function DIP switch. YR-I and YR-O are the output interfaces of the first relay. The first relay is connected to the output interface 13 through the YR-I and YR-O interfaces.

[0083] The second relay is connected to the door holding unit 31.

[0084] The DIP switches 1 and 2 in the second switch unit 142 are the output DIP switches of the first switch 143 and the second switch 144. When the DIP switches 1 and 2 are turned to the ON position, it represents allowing the first switch 143 and the second switch 144 to output signals. The DIP switches 3, 4, 5, and 6 respectively correspond to different preset voices of the voice unit. When any one of the DIP switches 3, 4, 5, and 6 is turned to the ON position, the voice unit outputs a corresponding preset voice content.

[0085] In the "AGV Special Mode", switch 1, 2, and 3 are turned to the ON position, and switch 4, 5, and 6 are turned to the OFF position: When the intelligent camera detects someone in the car, the voice unit 141 outputs a preset voice "This elevator 3 is a special elevator 3 for AGV. Please exit, personnel", and at the same time, the first switch 143 outputs a YR passive relay closing signal to the AGV robot to inform the AGV robot that there is someone in the car. The second switch 144 outputs a disconnection signal to the door holding unit 31, causing the door holding unit 31 to act so that the landing door remains open until the personnel exit the car.

[0086] In the "AGV and Human Shared Mode", switch 1 and switch 4 are turned to the ON position, and switch 2, switch 3, switch 5, and switch 6 are turned to the OFF position: When the intelligent camera detects someone in the car, the voice unit 141 outputs a preset voice "Note that this elevator 3 is an AGV freight elevator. Please stand by the side and pay attention to avoiding the AGV robot", and at the same time, the first switch 143 outputs a YR passive relay closing 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 2 can issue a reminder or make a deceleration and avoidance operation in advance to ensure the safety of the personnel in the car. In this mode, since switch 2 is turned to the OFF position, the relay 2 will not output. Optionally, the signal output point of the second switch 144 can also be not wired.

[0087] In this embodiment, through conventional relays, limit switches 121 and other conventional configuration materials, an integrated AGV control box is designed, making the manufacturing cost of the AGV control box low and the installation and use simple. The AGV control box realizes signal transmission between the robot 2 and the elevator 3 based on the relay, limit switch 121, input interface 10, and output interface 13, so that when the elevator 3 is equipped with an AGV robot, there is no need to dock the communication protocols of the robot 2 and the elevator 3, achieving the effect of reducing the installation cost of installing the AGV robot on the elevator 3 and the time cost of protocol communication and docking.

[0088] In one embodiment, a call elevator control system is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, terms such as "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0089] Figure 6 is a structural block diagram of the call elevator control system according to an embodiment of the present application, as Figure 6 shown, the system includes a robot 2 and the call elevator control device 1 in any of the above device embodiments. The robot 2 is communicatively connected to the call elevator control device 1.

[0090] Optionally, the robot 2 includes a signal transmitting module and a signal receiving module; wherein the signal transmitting module is wiredly connected to the input interface for outputting a first signal to the elevator call control device 1; and the signal receiving module is wiredly connected to the output interface for receiving a trigger signal sent by the elevator call control device 1. The signal transmitting module and the signal transmitting module and the robot 2 can achieve communication connection in any wireless communication mode based on the inherent functions of the robot 2.

[0091] Figure 7 is a preferred structural block diagram of an elevator call control system according to an embodiment of the present application, such as Figure 7 As shown, the device comprises Figure 6 In addition to the robot 2 and the elevator call control device 1 shown, it also includes: an elevator 3. Among them, the AGV control box includes a power supply module 15, an input interface 10, an output interface 13, a switch module 11, a camera module 14 and a door opening detection module 12. The robot 2 outputs a signal to the input interface, and the input interface is connected to the switch module 11: when the input interface receives a signal sent by the robot 2, the switch module 11 outputs a passive signal to the elevator 3 and drives the elevator 3 to run. The camera module 14 and the door opening detection module 12 are connected to the output interface, and the output interface outputs an identification signal and a trigger signal to the robot 2 according to the human body recognition signal of the camera module 14 and the trigger signal of the door opening detection module 12, so as to inform the robot 2 of the human status and the door opening status in the car. The power supply module 15 is connected to the mains power for outputting a power supply signal to the AGC robot 2.

[0092] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0093] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0094] The above-mentioned 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. An elevator call control device, characterized in that: The device comprises: an input interface, a switch module, a door opening detection module and an output interface, wherein the input interface is connected to the switch module, and the door opening detection module is connected to the output interface; wherein The input interface is used to receive a first signal sent by the robot and transmit the first signal to the switch module; The switch module is used to conduct the connection line where the elevator button is located when receiving the first signal; The door opening detection module is used to be triggered by the elevator door and output a trigger signal when the elevator door is opened; The output interface is used to send the trigger signal to the robot.

2. The elevator call control device according to claim 1, characterized in that: The elevator call control device further comprises a connection module, one end of which is connected to the switch module, and the other end of which is connected to the elevator button.

3. The elevator call control device according to claim 1, characterized in that: The first signal includes multiple elevator call indication signals, the elevator call control device includes multiple input interfaces corresponding to the multiple elevator call indication signals, the switch module includes multiple first switch units, the input interfaces are respectively connected to the first switch units, and the connection lines where the elevator buttons corresponding to the corresponding elevator call indication signals are located are turned on.

4. The elevator call control device according to claim 1, characterized in that: The door opening detection module includes multiple door opening detection units corresponding to different hall doors, the trigger signal includes multiple elevator taking indication signals corresponding to the multiple door opening detection units, the elevator call control device includes multiple output interfaces corresponding to the multiple elevator taking indication signals, the opening and closing of the hall door 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.

5. The elevator call control device according to claim 4, characterized in that: The door opening detection unit includes: a limit switch, which is arranged at the threshold of the elevator hall door; wherein, When the elevator door is not fully opened, the limit switch remains in a non-triggered state; When the elevator door is fully opened, the limit switch is touched by the elevator door, thereby being triggered to output the trigger signal.

6. The elevator call control device according to claim 1, characterized in that: The elevator call control device further includes: a camera module, the camera module includes a camera and a recognizer connected to each other; wherein, The camera is used to photograph the interior of the elevator car; The identifier receives the video signal transmitted by the camera, is used to identify whether there is someone inside the elevator car, and outputs an identification signal when a person is identified.

7. The elevator call control device according to claim 6, characterized in that: The camera module further includes a first switch, which is connected to the identifier and the output interface respectively; when the identifier outputs the identification signal, the first switch is actuated to output the identification signal to the output interface.

8. The elevator call control device according to claim 7, characterized in that: The camera module further includes a second switch unit, a voice unit and a second switch, wherein the second switch unit is connected to the voice unit and the second switch; When the second switch unit is in the first state, the second switch is connected to the identifier and the door opening holding unit of the elevator respectively, and when the identifier outputs the identification signal, the second switch is actuated to output the door opening holding signal to the door opening holding unit, and the voice unit outputs the first preset voice to the elevator car; When the second switch unit is in the second state, the second switch is not connected to the identifier, and when the identifier outputs the identification signal, the second switch does not operate, and the voice unit outputs a second preset voice to the elevator car.

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

10. The 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 interface and is used to output a first signal to the elevator call control device; The signal receiving module is connected to the output interface and is used to receive a trigger signal from the elevator call control device.

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