CN110498306B - Central control system of elevator and control method thereof - Google Patents
Central control system of elevator and control method thereof Download PDFInfo
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- CN110498306B CN110498306B CN201910800455.4A CN201910800455A CN110498306B CN 110498306 B CN110498306 B CN 110498306B CN 201910800455 A CN201910800455 A CN 201910800455A CN 110498306 B CN110498306 B CN 110498306B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
Abstract
The invention provides a control method of an elevator, which comprises the following steps: the delivery robot takes out the express mails and obtains delivery information of the express mails, wherein the delivery information comprises delivery floors and delivery doorplate numbers, and the delivery robot sends the delivery floors and delivery instructions to the elevator control system; the delivery robot goes to an elevator port of the waiting floor for waiting, and the elevator control system controls the elevator car to reach the waiting floor and opens the car door; the elevator central control system and the elevator control method can enable the delivery robot to replace manual delivery at the last distance completely, express mails are sent to the delivery box at a door of a home instead of being taken from a specific place by a receiver, so that the express mails in the cloud cabinet can be taken out in time, overstock cannot be caused, in addition, the elevator is mainly an up-and-down tool of residents, and optimization is performed in the method considering that daily use of the elevator by the residents is not influenced as much as possible.
Description
Technical Field
The invention relates to the technical field of elevator control, in particular to a central control system of an elevator and a control method thereof.
Background
Receiving and dispatching express becomes a part of our life, generally speaking, a courier can send the express to a fixed collection point or a cloud cabinet, a receiver informs the receiver to go to a corresponding place according to a received short message to take the express, the operation is troublesome for the receiver, the current express quantity is larger and larger, the storage quantity of the cloud cabinet is difficult to meet the requirement of delivery, the backlog of the express can be caused once the receiver does not get the express in time, the economic investment can be greatly increased when more cloud cabinets are delivered or the area of the collection point is increased, and the economic burden can be greatly brought to an express company.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides a central control system of an elevator and a control method thereof to solve the problem of excessive pressure on a cloud cabinet and a collection point due to too large express delivery in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a control method of an elevator, comprising the steps of:
the delivery robot takes out the express mails and obtains delivery information of the express mails, wherein the delivery information comprises delivery floors and delivery doorplate numbers, and the delivery robot sends the delivery floors and delivery instructions to the elevator control system;
the delivery robot goes to an elevator port of the waiting floor for waiting, and the elevator control system controls the elevator car to reach the waiting floor and opens the car door;
the elevator control system sends a compartment entering instruction to the delivery robot, and the delivery robot enters the compartment and stays in the designated area;
when the lift car moves upwards to reach the next floor of the delivery floor, the lift control system counts the floors of an upper traveling carriage and the floors of an upper traveling carriage;
the elevator control system judges:
u1, if the ascending carriage exit floor and/or the ascending carriage floor comprises a delivery floor, the carriage door is opened when the carriage ascends to the delivery floor, the elevator control system sends a carriage exit instruction to the delivery robot, and the delivery robot exits the carriage and delivers;
u2, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floor of the ascending exit compartment is larger than or equal to a threshold value n1, the elevator car ascends through the delivery floor, when the elevator car descends to the delivery floor, a compartment door is opened, an elevator control system sends a compartment exit instruction to a delivery robot, and the delivery robot exits the elevator car and delivers;
and U3, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floors of the ascending exit compartment is less than a threshold value n1, the compartment door is opened when the compartment ascends to reach the delivery floor, the elevator control system sends a compartment exit instruction to the delivery robot, and the delivery robot exits the compartment and delivers.
Preferably, the method further comprises the following steps:
when the delivery robot finishes delivery, the delivery robot returns to the elevator entrance to wait, and the delivery robot sends a return instruction to the elevator control system;
when the lift car descends to the upper floor of the delivery floor, the elevator control system counts the descending exit floor;
the elevator control system judges:
d1, if the descending carriage-out floor comprises a delivery floor, the carriage door is opened when the carriage descends to the delivery floor, the elevator control system sends a carriage-in instruction to the delivery robot, and the delivery robot carries out the carriage;
d2, if the number of downstream floors is greater than or equal to the threshold n2, the car descends through the delivery floor if the delivery floor is not included in the downstream floors;
d3, if the number of the floors of the descending exit compartment is less than the threshold n2, the compartment door is opened when the compartment arrives at the delivery floor, and the elevator control system sends a compartment entering instruction to the delivery robot to enable the delivery robot to carry out the compartment.
Preferably, in step U1, if the ascending car exit floor includes a delivery floor, after receiving a car exit instruction, the delivery robot opens the camera and sends a way-giving prompt, the camera takes a plurality of pictures of the car exit in a period of time T and performs image recognition on the pictures, whether a person exits from the elevator entrance is judged, after all persons exit from the car, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and then closes the door after a delay of P seconds;
if the floor of the upper traveling carriage comprises a delivery floor, the external display of the elevator on the delivery floor displays the delivery robot identification, and the delivery robot identification is extinguished after the elevator control system recognizes that the delivery robot exits the carriage.
Preferably, in step U2, when the delivery robot receives the car exit instruction, the delivery robot issues a way-giving prompt, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and closes the car door after a delay of P seconds.
Preferably, in step U3, when the delivery robot receives the car exit instruction, the delivery robot issues a way-giving prompt, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and closes the car door after a delay of P seconds.
Preferably, in steps D1 and D3, the delivery robot sends out a way-giving reminder after receiving the car-entering command, and sends the landing confirmation information to the elevator control system when the delivery robot arrives at the designated area, and then the elevator control system closes the car door after delaying for P seconds.
The invention also provides a central control system of the elevator, which comprises:
the information acquisition module is configured to receive delivery information and delivery instructions of express mails sent by a delivery robot, wherein the delivery information comprises delivery floors and delivery house numbers;
a car control module configured to control a car to arrive at a waiting floor and open a door;
an instruction module configured to send a feed compartment instruction to a delivery robot;
the statistical module is configured to count the floors of an upper traveling compartment and the floors of an upper traveling compartment when the lift car moves upwards to reach the next floor of the delivery floor;
the exit strategy module is configured to make the following judgment and strategy formulation:
u1, if the ascending carriage-exiting floor and/or the ascending carriage floor comprises a delivery floor, the carriage control module opens a carriage door when the carriage ascends to the delivery floor, and the command module sends a carriage command to the delivery robot;
u2, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floor of the ascending exit compartment is larger than or equal to a threshold value n1, the car ascends through the delivery floor, when the car descends to the delivery floor, the car control module opens a door, and the command module sends a compartment command to the delivery robot;
and U3, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floors of the ascending exit compartment is less than a threshold n1, the compartment door is opened by the compartment control module when the compartment reaches the delivery floor, and the compartment command is sent to the delivery robot by the command module.
As a preference, the first and second liquid crystal compositions are,
the information acquisition module is further configured to receive a return instruction sent by the delivery robot;
the statistical module is also configured to count the descending exit floors when the cage descends to the upper floor of the delivery floor;
the elevator central control system also comprises a compartment entrance strategy module which is configured to make the following judgment and strategy formulation:
d1, if the descending carriage-exit floor contains a delivery floor, the carriage control module opens a carriage door when the carriage descends to the delivery floor, and the instruction module sends a carriage-entering instruction to the delivery robot;
d2, if the number of downstream floors is greater than or equal to the threshold n2, the car descends through the delivery floor if the delivery floor is not included in the downstream floors;
d3, if the number of the downstream exit floors is less than the threshold n2, the car control module opens the door when the car descends to the delivery floor, and the command module sends a car command to the delivery robot if the number of the downstream exit floors is less than the threshold n 2.
Preferably, the method further comprises the following steps:
an exit identification module configured to identify that the delivery robot exits the car, the car control module configured to close the door after a delay of P seconds after identifying that the delivery robot exits the car;
and the reminding module is configured to display the delivery robot identification on an external display of the elevator on the delivery floor if the floor of the upper traveling compartment comprises the delivery floor, and extinguish the delivery robot identification after the delivery robot exits the car.
Preferably, the information acquisition module is configured to receive the landing confirmation information sent by the delivery robot, and then the car control module is configured to close the car door after a delay of P seconds.
The elevator central control system and the elevator control method have the advantages that the delivery robot can replace manual delivery at the last distance completely, express mails do not need to go to a specific place to take the express mails, but the express mails are sent to the delivery box at a door of a home by the delivery robot, so the express mails in the cloud cabinet can be taken out in time, overstock cannot be caused, in addition, the elevator is mainly an up-down tool of residents, and the elevator central control system and the elevator control method are optimized by considering that the daily use of the elevator by the residents is not influenced as much as possible.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic diagram of an intelligent robot-based express delivery hardware system.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
As shown in fig. 1, the express delivery hardware system based on an intelligent robot includes at least one delivery robot, an elevator control system and an express delivery storage cabinet, the delivery robot includes a first processing unit, a first wireless communication unit, a mobile unit, a visual recognition system, an RFID tag and a first display unit, the elevator control system includes a second processing unit, a second wireless communication unit, a car control unit, a second display unit and an RFID reading unit, the express delivery storage cabinet may use a cloud cabinet in the prior art, and an embodiment of a control method of an elevator is specifically described below in conjunction with the express delivery hardware system:
the express delivery method comprises the steps that an express delivery person stores express delivery into a cloud cabinet, the express delivery information and a check number stored in the express delivery are uploaded to a platform by the express delivery person through an existing express delivery service platform, the platform generates a two-dimensional code by combining the check number and the delivery information and sends the two-dimensional code to a delivery robot, the delivery robot receives the two-dimensional code through a first wireless communication unit (such as a 4g communication module and a 5g communication module), a first processing unit analyzes the two-dimensional code to obtain delivery information, the delivery information comprises a delivery floor and a delivery doorplate number, the delivery robot displays the two-dimensional code through a first display unit, a code scanner of the cloud cabinet scans the two-dimensional code to analyze to obtain the check number, a corresponding check is opened, and the delivery robot takes out the express delivery and sends a delivery instruction and the delivery floor corresponding to the express delivery order;
the visual recognition system comprises a first camera arranged at the bottom of the robot and a second camera arranged at the upper part of the robot, marks are arranged on the ground and in the car, the first camera is positioned by shooting and acquiring the marks, and the car control unit controls the car to reach the waiting floor and open a car door;
the elevator control system sends a compartment feeding command to the delivery robot through the second wireless communication unit, and the elevator control system can also be accessed into the network in a wired mode to communicate with the robot. The delivery robot enters the lift car after receiving the car entering command and stays in the designated area, and the designated area is arranged at the position close to the inner side of the lift car so as to prevent residents from entering and exiting the lift car;
when the cage goes upwards to reach the next floor of the delivery floor, the second processing unit counts the floors of an upper traveling compartment and the floors of an upper outgoing compartment, the floor of the upper traveling compartment refers to the floor where the residents who go upwards to take the elevator outside the cage are located at the moment, and the cage is in an upward state at the moment, so the residents need to stay at the floors to be accommodated in the cage. The upward departure floor refers to a floor to which the resident in the car wants to go.
The second processing unit judges:
u1, if the ascending carriage-exiting floor and/or the ascending carriage floor comprises a delivery floor, the car is necessarily stopped when arriving at the delivery floor, at the moment, the time of a passenger is delayed when the delivery robot comes out of the car, a carriage door is opened when the car ascends to arrive at the delivery floor, an elevator control system sends a carriage instruction to the delivery robot, and the delivery robot receives the carriage-exiting instruction, exits the car and delivers;
u2, if the floor of the ascending exit compartment and the floor of the ascending travel compartment do not contain a delivery floor, further judging that if the number of the floor of the ascending exit compartment is greater than or equal to a threshold n1 (the threshold n1 is a preset value, such as 5), the number of people in the car is more at the moment, the robot will bring inconvenience to passengers if going out from the delivery floor, so the car goes upward and directly passes through the delivery floor without stopping, when the car finishes sending all passengers going upward and goes downward to the delivery floor, the car door is opened, the elevator control system sends a compartment instruction to the delivery robot, and the delivery robot exits the car and delivers;
u3, if the number of the ascending exit floors is less than the threshold value n1, which indicates that the number of people in the car is moderate, the car door is opened when the car ascends to the delivery floor, the elevator control system sends a car exit instruction to the delivery robot, and the delivery robot exits the car and delivers.
When the delivery robot finishes delivery, the delivery robot returns to the elevator port to wait, the delivery robot sends a return instruction to the elevator control system, and the elevator control system receives the return instruction and knows that the delivery robot waits at the elevator port of the delivery floor at the moment;
when the elevator car descends to the upper floor of the delivery floor, the elevator control system counts descending exit floors, wherein the descending exit floors refer to floors to which residents in the elevator car go when the elevator descends;
the elevator control system judges:
d1, if the descending carriage-out floor comprises a delivery floor, the carriage door is opened when the carriage descends to the delivery floor, the elevator control system sends a carriage-in instruction to the delivery robot, and the delivery robot carries out the carriage;
d2, if the number of the downstream floors is larger than or equal to the threshold n2 and the threshold n2 is also a preset value, if the delivery floors are not contained in the downstream floors, the car descends through the delivery floors. And stopping the receiving robot at the delivery floor when the next cage descends.
D3, if the number of the floors of the descending exit compartment is less than the threshold value n2, the compartment door is opened when the compartment arrives at the delivery floor, the elevator control system sends a compartment entering command to the delivery robot, and the delivery robot carries out the compartment.
According to some other embodiments, in step U1, if the upstream exit floor includes a delivery floor, the delivery robot turns on the second camera and sends a way-giving reminder after receiving the exit instruction, and the way-giving reminder can send out a voice prompt through a speaker configured in the robot, so that the passenger in the car knows that the robot is about to exit the car. Meanwhile, a second camera continuously shoots a plurality of carriage-out pictures in a period of time T and carries out image recognition on the pictures, whether people exit from the elevator outlet is judged, when all people exit from the elevator, the delivery robot withdraws from the elevator, an elevator control system reads an RFID tag on the robot through an RFID reading unit, after the delivery robot withdraws from the elevator is recognized, a car door is closed after a delay of P seconds, and P is a preset value;
if the floor of the upper traveling compartment contains the delivery floor, the elevator displays the delivery robot identification on the second display unit positioned on the delivery floor, so that the resident robots outside the car are reminded to come out, the resident robots are enabled to wait for the robot to come out and then enter the car, and then the delivery robot identification is extinguished after the elevator control system identifies that the delivery robot exits the car.
According to other embodiments, in step U2, when the delivery robot receives the car-out command and issues a way-giving prompt, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and closes the car door after a delay of P seconds.
According to other embodiments, in step U3, when the delivery robot receives the car-out command and issues a way-giving prompt, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and closes the car door after a delay of P seconds.
According to other embodiments, in steps D1 and D3, after the delivery robot receives the car entering command, a way-giving prompt is sent, the delivery robot enters the car and reaches the designated area, then the landing confirmation information is sent to the elevator control system, and then the elevator control system delays for P seconds and closes the car door.
The invention also provides a central control system of the elevator, which comprises:
the information acquisition module is configured to receive delivery information and delivery instructions of express mails sent by the delivery robot, wherein the delivery information comprises delivery floors and delivery house numbers;
a car control module configured to control a car to arrive at a waiting floor and open a door;
an instruction module configured to send a feed compartment instruction to a delivery robot;
the statistical module is configured to count the floors of an upper traveling compartment and the floors of an upper traveling compartment when the lift car moves upwards to reach the next floor of the delivery floor;
the exit strategy module is configured to make the following judgment and strategy formulation:
u1, if the ascending carriage-exiting floor and/or the ascending carriage floor comprises a delivery floor, the carriage control module opens a carriage door when the carriage ascends to the delivery floor, and the command module sends a carriage command to the delivery robot;
u2, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floor of the ascending exit compartment is larger than or equal to a threshold value n1, the car ascends through the delivery floor, when the car descends to the delivery floor, the car control module opens a door, and the command module sends a compartment command to the delivery robot;
and U3, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floors of the ascending exit compartment is less than a threshold n1, the compartment door is opened by the compartment control module when the compartment reaches the delivery floor, and the compartment command is sent to the delivery robot by the command module.
According to some other embodiments, the information acquisition module is further configured to receive a return instruction sent by the delivery robot;
the statistical module is also configured to count the descending exit floors when the lift car descends to the upper floor of the delivery floor;
the central control system of the elevator also comprises a compartment entering strategy module which is configured to make the following judgment and strategy formulation:
d1, if the descending carriage-exit floor contains a delivery floor, the carriage control module opens a carriage door when the carriage descends to the delivery floor, and the instruction module sends a carriage-entering instruction to the delivery robot;
d2, if the number of downstream floors is greater than or equal to the threshold n2, the car descends through the delivery floor if the delivery floor is not included in the downstream floors;
d3, if the number of the downstream exit floors is less than the threshold n2, the car control module opens the door when the car descends to the delivery floor, and the command module sends a car command to the delivery robot if the number of the downstream exit floors is less than the threshold n 2.
According to some other embodiments, further comprising:
the car exit identification module is configured to identify that the delivery robot exits the car, and the car control module is configured to close the car door after a delay of P seconds after the delivery robot exits the car;
and the reminding module is configured to display the delivery robot identification on an external display of the elevator on the delivery floor if the floor of the upper traveling compartment comprises the delivery floor, and extinguish the delivery robot identification after the delivery robot is identified to exit the car by the compartment-exiting identification module.
According to some other embodiments, the information acquisition module is configured to receive the landing confirmation information sent by the delivery robot, and then the car control module is configured to close the car door after a delay of P seconds.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of the term does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A control method of an elevator, characterized by comprising the steps of:
the delivery robot takes out the express mails and obtains delivery information of the express mails, wherein the delivery information comprises delivery floors and delivery doorplate numbers, and the delivery robot sends the delivery floors and delivery instructions to the elevator control system;
the delivery robot goes to an elevator port of the waiting floor for waiting, and the elevator control system controls the elevator car to reach the waiting floor and opens the car door;
the elevator control system sends a compartment entering instruction to the delivery robot, and the delivery robot enters the compartment and stays in the designated area;
when the lift car moves upwards to reach the next floor of the delivery floor, the lift control system counts the floors of an upper traveling carriage and the floors of an upper traveling carriage;
the elevator control system judges:
u1, if the ascending carriage exit floor and/or the ascending carriage floor comprises a delivery floor, the carriage door is opened when the carriage ascends to the delivery floor, the elevator control system sends a carriage exit instruction to the delivery robot, and the delivery robot exits the carriage and delivers;
u2, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floor of the ascending exit compartment is larger than or equal to a threshold value n1, the elevator car ascends through the delivery floor, when the elevator car descends to the delivery floor, a compartment door is opened, an elevator control system sends a compartment exit instruction to a delivery robot, and the delivery robot exits the elevator car and delivers;
and U3, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floors of the ascending exit compartment is less than a threshold value n1, the compartment door is opened when the compartment ascends to reach the delivery floor, the elevator control system sends a compartment exit instruction to the delivery robot, and the delivery robot exits the compartment and delivers.
2. The control method of an elevator according to claim 1, further comprising the steps of:
when the delivery robot finishes delivery, the delivery robot returns to the elevator entrance to wait, and the delivery robot sends a return instruction to the elevator control system;
when the lift car descends to the upper floor of the delivery floor, the elevator control system counts the descending exit floor;
the elevator control system judges:
d1, if the descending carriage-out floor comprises a delivery floor, the carriage door is opened when the carriage descends to the delivery floor, the elevator control system sends a carriage-in instruction to the delivery robot, and the delivery robot carries out the carriage;
d2, if the number of downstream floors is greater than or equal to the threshold n2, the car descends through the delivery floor if the delivery floor is not included in the downstream floors;
d3, if the number of the floors of the descending exit compartment is less than the threshold n2, the compartment door is opened when the compartment arrives at the delivery floor, and the elevator control system sends a compartment entering instruction to the delivery robot to enable the delivery robot to carry out the compartment.
3. The control method of an elevator according to claim 2, characterized in that: in step U1, if the ascending carriage exit floor includes a delivery floor, after receiving a carriage exit instruction, the delivery robot opens the camera and sends a way-giving prompt, the camera takes a plurality of carriage exit pictures in a period of time T and carries out image recognition on the pictures, whether people exit the elevator car at the elevator exit is judged, after all people exit the car, the delivery robot exits the car, and the elevator control system recognizes that the delivery robot exits the car and then closes the car door after a delay of P seconds;
if the floor of the upper traveling carriage comprises a delivery floor, the external display of the elevator on the delivery floor displays the delivery robot identification, and the delivery robot identification is extinguished after the elevator control system recognizes that the delivery robot exits the carriage.
4. A control method of an elevator according to claim 3, characterized in that: in step U2, when the delivery robot receives the car exit instruction, a way-giving prompt is sent, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and closes the car door after a delay of P seconds.
5. The control method of an elevator according to claim 4, characterized in that: in step U3, when the delivery robot receives the car exit instruction, a way-giving prompt is sent, the delivery robot exits from the car, and the elevator control system recognizes that the delivery robot exits from the car and closes the car door after a delay of P seconds.
6. The control method of an elevator according to claim 5, characterized in that: in steps D1 and D3, when the delivery robot receives the car entering command, a way giving prompt is sent, when the delivery robot reaches the designated area, the landing confirmation information is sent to the elevator control system, and then the elevator control system delays for P seconds and closes the car door.
7. A center control system of an elevator, comprising:
the information acquisition module is configured to receive delivery information and delivery instructions of express mails sent by a delivery robot, wherein the delivery information comprises delivery floors and delivery house numbers;
a car control module configured to control a car to arrive at a waiting floor and open a door;
an instruction module configured to send a feed compartment instruction to a delivery robot;
the statistical module is configured to count the floors of an upper traveling compartment and the floors of an upper traveling compartment when the lift car moves upwards to reach the next floor of the delivery floor;
the exit strategy module is configured to make the following judgment and strategy formulation:
u1, if the ascending carriage-exiting floor and/or the ascending carriage floor comprises a delivery floor, the carriage control module opens a carriage door when the carriage ascends to the delivery floor, and the command module sends a carriage command to the delivery robot;
u2, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floor of the ascending exit compartment is larger than or equal to a threshold value n1, the car ascends through the delivery floor, when the car descends to the delivery floor, the car control module opens a door, and the command module sends a compartment command to the delivery robot;
and U3, if the floor of the ascending exit compartment and the floor of the ascending traveling compartment do not contain a delivery floor, if the number of the floors of the ascending exit compartment is less than a threshold n1, the compartment door is opened by the compartment control module when the compartment reaches the delivery floor, and the compartment command is sent to the delivery robot by the command module.
8. The central control system of an elevator according to claim 7, characterized in that:
the information acquisition module is further configured to receive a return instruction sent by the delivery robot;
the statistical module is also configured to count the descending exit floors when the cage descends to the upper floor of the delivery floor;
the elevator central control system also comprises a compartment entrance strategy module which is configured to make the following judgment and strategy formulation:
d1, if the descending carriage-exit floor contains a delivery floor, the carriage control module opens a carriage door when the carriage descends to the delivery floor, and the instruction module sends a carriage-entering instruction to the delivery robot;
d2, if the number of downstream floors is greater than or equal to the threshold n2, the car descends through the delivery floor if the delivery floor is not included in the downstream floors;
d3, if the number of the downstream exit floors is less than the threshold n2, the car control module opens the door when the car descends to the delivery floor, and the command module sends a car command to the delivery robot if the number of the downstream exit floors is less than the threshold n 2.
9. The central control system of an elevator according to claim 8, further comprising:
an exit identification module configured to identify that the delivery robot exits the car, the car control module configured to close the door after a delay of P seconds after identifying that the delivery robot exits the car;
and the reminding module is configured to display the delivery robot identification on an external display of the elevator on the delivery floor if the floor of the upper traveling compartment comprises the delivery floor, and extinguish the delivery robot identification after the delivery robot exits the car.
10. The central control system of an elevator, according to claim 9, characterized in that said information acquisition module is configured to receive the landing confirmation information sent by the delivery robot, and then said car control module is configured to close the car door after a delay of P seconds.
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