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Method for controlling transport robot to autonomously enter elevator

A robotic and autonomous technology, applied in electrical program control, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of easy interference in the control process, low safety performance of elevator control, etc., and achieve a high success rate , High recognition, ensure the effect of judgment accuracy

Inactive Publication Date: 2016-08-17
CENT SOUTH UNIV
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Problems solved by technology

[0007] The present invention proposes a control method for a transportation robot to autonomously enter an elevator. The purpose is to identify the elevator button through the robot's vehicle-mounted vision module, use the robot to trigger the elevator button, and complete the control of the elevator. The controller is controlled, and the control process is susceptible to interference, which leads to the problem of low safety performance of elevator control

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  • Method for controlling transport robot to autonomously enter elevator
  • Method for controlling transport robot to autonomously enter elevator
  • Method for controlling transport robot to autonomously enter elevator

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Such as figure 1 Shown is a control method for a transport robot autonomously entering an elevator according to the present invention, comprising the following steps:

[0036] Step 1: When the mobile robot runs to the front of the elevator door 2, the robot uses the ultrasonic sensor in the indoor retreat sensor module on its own vehicle to judge the switch state of the elevator door;

[0037] Step 2: If the elevator door is in the "open" state, the robot uses the arm control module to drive the corresponding robot arm to block the elevator door to prevent it from closing automatically, and at the same time, the robot controls the walking motor in the walking motion module to enter the elevator;

[0038] During the process of entering the elevator, one of the raised arms of the robot is kept raised to trigger the elevator's infrared sensor so th...

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Abstract

The invention discloses a method for controlling a transport robot to autonomously enter an elevator. The method for controlling the transport robot to autonomously enter the elevator comprises the following steps of navigating the robot to a doorway of the elevator by utilizing an own navigation device of the robot, before the robot enters the elevator, obtaining the position of an elevator call button by utilizing a robot vehicular vision module with depth information collection, triggering the elevator call button according to the position information of the elevator call button, and calling the elevator; obtaining the state information of an elevator door by utilizing a retreating sensor module, and controlling the robot to enter the elevator. According to the method for controlling the transport robot to autonomously enter the elevator, through combining with signals obtained by a Kinect sensor and the retreating sensor module, the past way that an instruction is sent to an elevator controller by a remote control center is thoroughly changed; the past way is changed into the way that an instruction is sent to the robot by the remote control center, the instruction is sent to a PLC (Programmable Logic Controller) by a robot vehicular controller and the elevator is triggered through an arm of the robot; by combining with the redundant design of a full load judgment condition module in the elevator, the control safety performance of the elevator is promoted.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to a control method for a transport robot autonomously entering an elevator. Background technique [0002] In recent years, mobile robots have been widely used in various indoor environments to achieve indoor transportation tasks, such as various manufacturing plants, modern laboratories, etc. Mobile robots used for transport tasks can be collectively referred to as transport robots. Early indoor transportation environments are usually single-floor, so the transportation robot does not need to control the elevator itself. However, with the intelligence and complexity of modern robot transportation tasks, transportation robots need to realize automatic control of various elevators to achieve multi-floor automatic transportation. Therefore, how to realize the automatic control of the elevator by the transportation robot has become one of the key technical bottlenecks in the research and...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B19/05B66B1/14
CPCG05D1/0246B66B1/14G05B19/05G05D1/0255
Inventor 刘辉李燕飞
Owner CENT SOUTH UNIV
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