Robot elevator taking intelligent control system

Abstract

A robot elevator taking intelligent control system comprises a robot cloud platform, an elevator control cloud platform and an elevator control unit. The robot body is in communication connection with the robot cloud platform; the elevator control platform is in communication connection with the elevator control unit; the elevator control unit is in near-field communication with the robot body through the near-field communication module; the elevator control unit is in remote communication with the elevator control cloud platform through the remote communication module, and the elevator control cloud platform is in communication connection with the robot cloud platform. On one hand, reliability and stability of the system are improved, it is ensured that operation of the robot cannot be interrupted due to network problems, and normal operation of the robot under the condition that no network exists is ensured; and on the other hand, the operation efficiency of the elevator is improved, and time waste caused by frequent stopping is avoided.

Description

Technical Field

[0001] This utility model relates to the field of robot automatic elevator technology, and in particular to an intelligent control system for robot elevator use. Background Technology

[0002] With the continuous development of robotics technology, the application of intelligent robots in daily life is gradually increasing. Robotic elevator operation is a common application scenario, especially in high-rise buildings, where it has become a key element in realizing the artificial intelligence operation of machines. Traditional robotic elevator operation technology mainly relies on wireless communication technologies (such as Wi-Fi and Bluetooth) for remote control and interaction with the elevator. However, these technologies face several shortcomings in practical applications, mainly including: First, wireless communication between the robot and the elevator system is greatly affected by environmental factors, and control failure may occur due to network instability or signal interference; Second, over-reliance on network connections may affect the normal operation of the robot in the absence of internet or wireless LAN.

[0003] Furthermore, on high-traffic floors, especially those with frequent stops, elevators often require a considerable amount of time to reposition or return to their initial state after each stop. Because elevators need to repeatedly stop and reposition, the elevator system often experiences long waiting times and frequent stops. This not only leads to longer waiting times for the elevator robot but also wastes valuable operating time, severely impacting the elevator's efficiency. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings of the prior art and provide a robot elevator intelligent control system that does not rely on a network, responds in real time, and has high work efficiency.

[0005] The technical solution of this utility model is: a robot elevator intelligent control system, including a robot cloud platform, an elevator control cloud platform, and an elevator control unit; the robot body is communicatively connected to the robot cloud platform; the elevator control platform is communicatively connected to the elevator control unit; the elevator control unit communicates with the robot body through a near-field communication module; the elevator control unit communicates remotely with the elevator control cloud platform through a remote communication module, and the elevator control cloud platform is communicatively connected to the robot cloud platform.

[0006] Furthermore, the elevator control unit includes a control board and the near-field communication module, the remote communication module, and the keypad connected to the control board.

[0007] Furthermore, the near-field communication module is a LoRa communication module, and the control board establishes a wireless point-to-point communication connection with the robot body through the LoRa communication module.

[0008] Furthermore, the remote communication module includes a wireless router that is wirelessly connected to the control board, and the elevator control cloud platform is connected to the wireless router via a local area network or a 4G / 5G communication module.

[0009] Furthermore, the control board is electrically connected to the keypad via an RS485 communication interface; the keypad is connected in parallel with the elevator's original keypad, and each key on the keypad forms a parallel circuit with the corresponding key on the elevator's original keypad, and the backlight power line of the keypad is connected in parallel to the backlight power line of the elevator's original keypad.

[0010] Furthermore, the control board and near-field communication module are installed on the top of the elevator car.

[0011] Furthermore, the elevator control unit also includes a leveling sensor, a floor position calibration sensor, and a door opening / closing detection sensor connected to the control board.

[0012] Furthermore, the leveling sensor is used to detect the floor position of the elevator; it includes at least one photoelectric sensor installed on the top of the car; magnetic baffles are installed on the inner wall of the elevator shaft, the number of magnetic baffles being determined based on the number of floors in the building, the probe of the photoelectric sensor extends toward the magnetic baffle, and when the magnetic baffle enters the sensing area of ​​the photoelectric sensor, the photoelectric sensor detects a signal change.

[0013] Furthermore, the floor position calibration sensor is used for floor reset calibration and includes at least one first magnetic induction proximity switch. The first magnetic induction proximity switch is installed on the top of the elevator car, and a first ferromagnetic metal object for detection by the first magnetic induction proximity switch is fixed on the inner wall of the elevator shaft. The first ferromagnetic metal object is located on a floor with a high frequency of stops.

[0014] Furthermore, the elevator door switch detection sensor is used to detect the opening and closing of the elevator door, and includes a second magnetic induction proximity switch and a second ferromagnetic metal object corresponding to the second magnetic induction proximity switch.

[0015] The beneficial effects of this utility model are:

[0016] (1) By setting up a near-field communication module to communicate directly with the robot body, without relying on the Internet or wireless LAN, the robot can still ride the elevator normally even in environments without the Internet or wireless LAN. This design improves the reliability and stability of the system, ensures that the operation of the robot will not be interrupted due to network problems, and guarantees the normal operation of the robot in the absence of a network;

[0017] (2) By separating the near-field communication and remote communication modules, the system does not need to rely on network connection when it needs to control the elevator. The near-field communication module is only activated when the robot approaches the elevator, which effectively avoids the interference of network problems on elevator control and robot riding behavior. The system has the ability to remotely monitor and manage by communicating with the elevator control unit through the elevator control cloud platform.

[0018] (3) By setting up floor position calibration sensors, the elevator can be quickly restored to the default position or empty state when the elevator stops at floors that are frequently stopped, thereby reducing waiting time, improving the operating efficiency of the elevator, and avoiding time waste caused by frequent stops.

[0019] (4) By setting up a new button panel, it can be distinguished from the original manual operation button panel of the elevator, so as not to affect the normal use of the elevator or cause system misjudgment, and ensure that the elevator can simultaneously support the automatic control of the robot and normal human use. Attached Figure Description

[0020] Figure 1 This is a schematic block diagram illustrating the system principle of an embodiment of this utility model. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figure 1 As shown: A robot elevator intelligent control system includes a robot cloud platform, an elevator control cloud platform, and an elevator control unit; the robot body is communicatively connected to the robot cloud platform; the elevator control platform is communicatively connected to the elevator control unit; the elevator control unit communicates with the robot body via a near-field communication module; the elevator control unit communicates remotely with the elevator control cloud platform via a remote communication module, and the elevator control cloud platform is communicatively connected to the robot cloud platform.

[0023] Specifically, the robot body connects to the robot cloud platform via wired or wireless means, including but not limited to infrared, Bluetooth, Ethernet, serial port, etc. The robot cloud platform communicates with the elevator control cloud platform via wired or wireless means, the elevator control cloud platform communicates remotely with the elevator control unit, and the robot body's own control system communicates with the elevator control unit.

[0024] More specifically, the elevator control unit includes a control board, a wireless router, a LoRa communication module, a button panel, a magnetic proximity switch, and photoelectric sensors. The control board communicates remotely with the elevator control cloud platform via the wireless router, and communicates with the robot's own control system via the LoRa communication module.

[0025] The specific connection structure is as follows: the control board establishes a wireless point-to-point communication connection with the robot body via a LoRa communication module, with both the control board and the LoRa communication module installed on the top of the elevator car. Alternatively, the elevator control cloud platform connects to a wireless router via a local area network or a 4G / 5G communication module, and the wireless router communicates with the elevator control cloud platform via a 4G IoT card or a wireless bridge. The control board can then connect to the wireless router via a wireless communication module interface, Ethernet interface, or serial port. Ultimately, the elevator control cloud platform communicates with the control board of the elevator control unit through the wireless router. The control board is electrically connected to the button panel via an RS485 communication interface. Multiple magnetic proximity switches and photoelectric sensors can be used, all connected to the input terminals of the control board.

[0026] Preferably, the control board is a development board based on the ESP32-S3 module, featuring a dual-core 32-bit MCU, a 2.4GHz dual-mode WiFi and Bluetooth chip, a main frequency of up to 230MHz, and built-in antenna switch, RF module, power amplifier, low-noise receiver amplifier, filter, and power management module. Since the control board is existing technology, it will not be described in detail here.

[0027] In this embodiment, there are at least two magnetic proximity switches, which are used for floor reset calibration and detecting the open / closed status of the elevator doors, respectively.

[0028] When a magnetic proximity switch is used for floor reset calibration, it is installed on the top of the elevator car. A ferromagnetic metal object is fixed to the inner wall of the elevator shaft for the magnetic proximity switch to detect, and this object is installed on floors with high stopping frequency, such as the first floor. Once the magnetic proximity switch detects the ferromagnetic metal object, it sends a signal to the control board, notifying it that the elevator car has reached the first floor, thus achieving floor reset calibration.

[0029] When a magnetic proximity switch is used to detect the open / closed state of an elevator door, it can be installed in a fixed location such as the elevator door beam or the elevator car wall. A ferromagnetic metal object, such as a flat iron sheet or an L-shaped bracket, can be placed on the car door. For example, if the magnetic proximity switch is installed on the car ceiling and the L-shaped bracket is installed on the car door, when the car door is open, the magnetic proximity switch moves away from the L-shaped bracket, and the control board recognizes the door as open. When the car door is closed, the magnetic proximity switch moves closer to the L-shaped bracket, allowing it to sense the bracket, and the control board recognizes the door as closed.

[0030] Understandably, in practical applications, due to the different installation positions of the magnetic proximity switch and the ferromagnetic metal object, the relationship between magnetic field strength and the elevator door opening distance may be monotonically increasing. That is, the greater the elevator door opening distance, the greater the magnetic field strength detected by the magnetic proximity switch, and vice versa. Alternatively, the relationship may be monotonically decreasing, meaning that the greater the elevator door opening distance, the smaller the magnetic field strength detected by the magnetic sensor, and vice versa.

[0031] In this embodiment, the photoelectric sensor is used to detect the elevator's floor position and the elevator's direction of travel.

[0032] When photoelectric sensors are used to detect the floor position of an elevator, magnetic baffles are installed on the inner wall of the elevator shaft. The number of magnetic baffles is based on the number of floors in the building. The photoelectric sensor is installed on the top of the car, with its probe extending towards the magnetic baffles. The photoelectric sensor is preferably a slot-type sensor. When the car is running, once a magnetic baffle is inserted into the slot-shaped sensing area of ​​the photoelectric sensor, the sensor detects its presence by emitting and receiving light, thus sending a signal to the control board indicating that the car has reached the corresponding floor. Since magnetic baffles are installed in the elevator shaft corresponding to each floor, the control board can indirectly determine the floor the car is on by counting. For example, if the car has passed five magnetic baffles after resetting and calibrating from the first floor, it means the car is on the sixth floor.

[0033] When the photoelectric sensor is also used to detect the direction of elevator travel, an additional photoelectric sensor can be added on top of the aforementioned photoelectric sensor, that is, a total of two photoelectric sensors are set. One photoelectric sensor is located above the other photoelectric sensor. If the photoelectric sensor located above receives the signal from the magnetic baffle first, it determines that the direction of elevator car travel is upward. If the photoelectric sensor located below receives the signal from the magnetic baffle first, it determines that the direction of elevator car travel is downward.

[0034] It is understood that the above sensors are preferred sensors in this embodiment. Other independent leveling acquisition devices, position calibration sensors, door opening and closing position switches, etc., can also be used in this embodiment to monitor the leveling status, floor, and door opening and closing status of the elevator in real time.

[0035] It is understood that the above is only a preferred embodiment of this utility model, and there are various existing floor positioning technologies, such as UWB technology or RFID technology. Existing elevator door opening and closing recognition can also use AI recognition technology, etc.

[0036] In this embodiment, the button panel is connected in parallel with the existing elevator buttons, simulating the function of manually pressing buttons and calling the elevator. Specifically, each button on the new button panel forms a parallel circuit with the corresponding button on the existing elevator button panel; that is, the button signal lines of the new button panel are connected in parallel to the button signal lines of the existing button panel. Additionally, the backlight power line of the new button panel is connected in parallel to the backlight power line of the existing button panel.

[0037] In this embodiment, the button panel is preferably located on the back of the original button panel, but it can also be located in other positions. By adding a button panel, the operation of manual button operation can be simulated. Moreover, the original elevator button panel is mainly designed for manual operation. If the robot operates these buttons directly, it may affect the normal use of the elevator or cause system misjudgment. The addition of a button panel in this embodiment can avoid such potential interference and ensure that the elevator can simultaneously support the automatic control of the robot and normal human use.

[0038] Understandably, the number of button panels can be one or more. For example, a single button panel can support up to 16 floors. If there are more than 16 floors, at least two button panels will be connected in series and stacked, and connected in parallel with the original button panel's circuitry to illuminate the designated floors in a simulated button manner.

[0039] The working principle of this embodiment is as follows:

[0040] 1. The robot sends an elevator request (elevator call point). This function supports both long-distance and near-field control modes. The specific process is as follows:

[0041] Remote control: The robot sends an elevator access request to the elevator control cloud platform via its robot platform. The elevator control cloud platform converts the robot's request into instructions and sends them to the elevator's control panel.

[0042] Near-field control: When the robot moves to the elevator entrance, it communicates directly with the elevator control board through the LoRa communication module and sends a ride request to the elevator control board.

[0043] When the robot sends a ride request to the elevator control board via remote or on-site control, the control board connects to the newly installed button board through physical wiring. Since the button board is connected in parallel to the floor selection and door opening button signals of the original elevator button board, it simulates the passenger's operation, sends floor selection and door opening instructions, and dispatches the elevator to the floor where the robot is located.

[0044] 2. Elevator operation status monitoring

[0045] The system uses photoelectric sensors and magnetic proximity switches to monitor the elevator's leveling status, current floor, and door opening / closing status in real time, enabling automatic floor calibration and ensuring accurate positioning of the elevator. The robot acquires the elevator's floor location and door opening / closing information in real time via long-distance or near-field communication, allowing it to understand the elevator's operational status and take appropriate actions based on this information.

[0046] 3. The robot enters the elevator (boarding point).

[0047] The robot's controller acquires elevator floor and door opening / closing information via long-range or near-field communication. Once the robot confirms that the elevator has reached its floor and the doors are open, it smoothly enters the elevator according to a preset path and speed. Additionally, the robot further checks the safety of the environment inside and outside the elevator.

[0048] 4. The robot leaves the elevator (release point).

[0049] During elevator operation, the robot obtains real-time floor information through the controller. Once the elevator reaches the target floor and comes to a stop, the robot will detect that the elevator doors are open and confirm that the external environment is safe before exiting the elevator according to the preset path.

Claims

1. A robot intelligent control system for taking an elevator, comprising a robot cloud platform, an elevator control cloud platform and an elevator control unit; a robot body is in communication connection with the robot cloud platform; the elevator control cloud platform is in communication connection with the elevator control unit; characterized in that, The elevator control unit performs near field communication with the robot body through a near field communication module; the elevator control unit performs remote communication with a lift control cloud platform through a remote communication module, and the lift control cloud platform is in communication connection with a robot cloud platform.

2. The robotic elevator intelligent control system of claim 1, wherein, The elevator control unit comprises a control board and the near field communication module, the remote communication module and a key board connected with the control board.

3. The robotic elevator intelligent control system of claim 2, wherein, The near field communication module is a LoRa communication module, and the control board establishes a wireless point-to-point communication connection with the robot body through the LoRa communication module.

4. The robotic elevator intelligent control system of claim 2, wherein, The remote communication module comprises a wireless router wirelessly connected with the control board, and the lift control cloud platform is connected with the wireless router through a local area network or a 4G / 5G communication module.

5. The robotic elevator intelligent control system of claim 2, wherein, The control board is electrically connected with the key board through an RS485 communication interface; the key board is connected in parallel with an original key board of the elevator, each key of the key board forms a parallel circuit with a corresponding key of the original key board of the elevator, and the backlight power line of the key board is connected in parallel to the backlight power line of the original key board of the elevator.

6. The robotic elevator intelligent control system of claim 2, wherein, The control board and the near field communication module are installed on the top of the elevator car.

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