CN111039105A

CN111039105A - Method, device and system for controlling AGV to take elevator and storage medium

Info

Publication number: CN111039105A
Application number: CN201911302910.4A
Authority: CN
Inventors: 丁晟
Original assignee: Ruijie Networks Co Ltd
Current assignee: Ruijie Networks Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-04-21

Abstract

The application provides a method, a device and a system for controlling an AGV to take an elevator and a storage medium, which are used for solving the problem that the AGV cannot take the elevator under the condition that the elevator is not covered by signals. The method comprises the following steps: establishing a communication connection with a first elevator controller within an elevator car upon determining that an AGV enters the elevator car; sending a destination floor to the first elevator controller so that the first elevator controller controls the elevator car to go to the destination floor, and sending first notification information to the AGV when the first elevator controller monitors that the elevator car reaches the destination floor; receiving the first notification message from the first elevator controller.

Description

Method, device and system for controlling AGV to take elevator and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a method, an apparatus, a system, and a storage medium for controlling an AGV to take an elevator.

Background

An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device and capable of automatically traveling along a predetermined guide path.

Currently, multiple AGVs are scheduled in unison by a scheduling device. However, when there is no signal coverage in the elevator car or when the signal coverage strength is weak, the AGV may not communicate with the dispatching device after entering the elevator, and in this case, the AGV may not be able to take the elevator.

Disclosure of Invention

The embodiment of the application provides a method, a device and a system for controlling an AGV to take an elevator, and a storage medium, which are used for solving the problem that the AGV cannot take the elevator under the condition that an elevator car is not covered by a signal.

In a first aspect, a method for controlling an AGV to take an elevator is provided, where the method includes:

establishing a communication connection with a first elevator controller within an elevator car upon determining that the AGV enters the elevator car;

sending a destination floor to the first elevator controller so that the first elevator controller controls the elevator car to go to the destination floor, and sending first notification information to the AGV when the first elevator controller monitors that the elevator car reaches the destination floor;

receiving the first notification information from the first elevator controller.

In the embodiment of the application, after the AGV enters the elevator car, the AGV enters the elevator car and can communicate with the elevator controller through establishing communication connection with the elevator controller, the destination floor of the AGV can be sent to the elevator controller, the notification information that the elevator car reaches the destination floor is received, even if the AGV is in the elevator car and cannot communicate with other equipment, the AGV still can take the elevator through interaction with the elevator controller. And, the AGV moves between different floors in this way. Compared with the mode that the AGV dispatches through the dispatching equipment in the prior art, in the embodiment of the application, the AGV can switch between different floors at will, and the utilization rate of the AGV and the utilization rate of the elevator are improved.

Optionally, before determining that the AGV enters an elevator car, the method includes:

determining whether the remaining space in the elevator car is greater than or equal to a preset space;

if the residual space is determined to be smaller than the preset space, sending prompt information; the prompt information is used for prompting passengers in the elevator car to give up riding space for the AGV;

attempting to access the elevator car;

if the attempt to enter the elevator car fails, adding 1 to the number of failed attempts;

determining whether the number of failed attempts after adding 1 reaches a preset number;

and if the number of failed attempts after adding 1 reaches the preset number, determining that the AGV does not successfully enter the elevator car, and sending release information to dispatching equipment so that the dispatching equipment updates the path information for the AGV.

In this application embodiment, when AGV got into elevator car, can confirm earlier whether remaining space in the elevator car can hold AGV to and the goods that AGV carried etc. when remaining space in confirming elevator car is enough, AGV just gets into elevator car. If the residual space in the elevator car is not enough to accommodate the AGV, the AGV can send prompt information to remind passengers in the elevator car to give way for the AGV to take the space. If the AGV has not entered the elevator car when the number of attempts to enter the elevator car reaches the preset number, the AGV gives up taking the elevator car. In the embodiment of the application, AGV judges earlier whether this elevator car can get into before getting into elevator car, provides a AGV and the mode that people took the elevator with one. And the condition that the goods carried by the AGV are squeezed out due to too many passengers when the goods directly enter the elevator car is avoided. And, when the space of taking the elevator is not enough, send prompt message, avoided because the passenger distributes loosely, perhaps, the passenger concentrates on the elevator car gate, the illusion that the residual space in the elevator car is not enough that causes reduces AGV's latency, has improved AGV the efficiency of taking the elevator.

receiving path information from a scheduling device; the path information comprises an elevator car distributed for the AGV, and the current floor and the target floor of the AGV;

receiving second notification information from the scheduling device; wherein the second notification information is used to indicate that the elevator car arrives at the floor of the AGV at which the car is currently located.

In the embodiment of the application, the AGV determines the elevator needing to be taken according to the path information, and the AGV can determine the arrival of the elevator car according to the second notification information, so that the elevator can be taken more quickly, the overlong waiting time is avoided, and the efficiency of taking the elevator car by the AGV is improved.

Optionally, after sending the destination floor to the first elevator controller, the method further comprises:

if the first notification information from the first elevator controller is not received within a first time period, sending indication information to the first elevator controller so that the first elevator controller controls the elevator car to run to the target floor.

In the embodiment of the application, in the process that the AGV takes the elevator car to go to the target floor, if the first notification information from the elevator controller is not received within the first time period, namely the elevator car does not reach the target floor of the AGV within the first time period, the indication information is sent to the elevator controller and used for indicating the elevator controller to control the elevator car to run to the target floor of the AGV, and the situation that the target floor of the AGV is cancelled in the running process of the elevator car due to human factors or faults and the like is reduced.

In a second aspect, a method for controlling an AGV to take an elevator is provided, which is applied to a first elevator controller in an elevator car, and includes:

after communication connection is established with the AGV, receiving a target floor sent by the AGV;

controlling the elevator car to move to the destination floor;

if the elevator car reaches the target floor, first notification information is generated and sent to the AGVs, so that the AGVs determine that the elevator car reaches the target floor.

Optionally, before establishing a communication connection with the AGV, the method includes:

receiving path information from a scheduling device; the path information comprises the elevator car distributed for the AGV, the current floor of the AGV and a target floor;

controlling the elevator car to run to the current floor of the AGV according to the current floor of the AGV;

if the elevator car is monitored to reach the current floor of the AGV, sending arrival information to the dispatching equipment so that the dispatching equipment can send second notification information to the AGV; wherein the second notification information is used to indicate that the elevator car arrives at the floor of the AGV at which the car is currently located.

Optionally, after controlling the elevator car to move to the destination floor, the method includes:

if receiving the indication information from the AGV, controlling the elevator car to run to the target floor; alternatively, the first and second electrodes may be,

and if the floor where the elevator car stays in the current running process does not comprise the target floor, controlling the elevator car to run to the target floor.

In the embodiment of the application, if the elevator car is abnormal in the process of running to the target floor of the AGV, for example, the indication information from the AGV is received, or the floor where the elevator car stops in the running process does not include the target floor of the AGV, the elevator car is controlled to run to the target floor of the AGV, so that the situation that the target floor of the AGV is cancelled in the running process of the elevator car due to human factors or faults and the like is reduced.

Optionally, before determining that the elevator car reaches the destination floor, the method includes:

acquiring a floor signal of a nixie tube in the elevator car for indicating the current floor of the elevator car;

and determining whether the floor where the elevator car is located is the target floor or not according to the floor signal.

In the embodiment of the application, through obtaining the floor signal to the charactron in the elevator car, the floor that the elevator car is located at present that can be timely obtains to confirm whether the floor that the elevator car is located at present is AGV's target floor, reduced the time delay condition of obtaining the floor that the elevator car is located at present.

Optionally, the method further includes:

after the elevator car is powered off and restarted, determining whether the current floor of the elevator car is the target floor stored in the first elevator controller;

and if the current floor of the elevator car is different from the target floor, controlling the elevator car to move to the target floor.

In the embodiment of the application, after the elevator car is restarted in unexpected outage, the elevator car can be controlled to operate to the destination floor of the AGV stored in the elevator controller, and the condition that the AGV loses control due to unexpected outage of the elevator is reduced.

In a third aspect, a method for controlling an AGV to take an elevator is provided, which is applied to a dispatching device, and includes:

obtaining a target floor of a first AGV;

determining path information of the first AGV according to the target floor; the path information comprises a first elevator car distributed for the first AGV, the current floor of the first AGV and the target floor;

and sending the path information to the first AGV so that after the first AGV enters the first elevator car, the first AGV establishes communication connection with a first elevator controller in the first elevator car and sends the destination floor to the first elevator controller.

Optionally, after obtaining the destination floor of the first AGV, the method includes:

obtaining a target floor of a second AGV and a current floor of the second AGV;

if the current floor of the first AGV is the same as the current floor of the second AGV, and the target floor of the first AGV is the same as the target floor of the second AGV, the path information of the second AGV is determined to be the path information of the first AGV.

In the embodiment of the application, under the condition that a plurality of AGVs need to take the elevator, if the current floors of the plurality of AGVs are the same and the target floors of the plurality of AGVs are the same, the same path information can be determined for the plurality of AGVs, paths are planned in a unified mode for the plurality of AGVs, and the utilization rate of elevator resources can be improved.

Optionally, after determining that the path information of the second AGV is the path information of the first AGV, the method includes:

if first AGV enters behind the first elevator car, second AGV arrives first elevator car gate, then passes through first AGV control first elevator car's car door is in the open mode, and notifies second AGV enters first elevator car.

In the embodiment of the application, under the condition that a plurality of AGVs need to take the same elevator, after a first AGV enters an elevator car, a car door capable of controlling the elevator car is in an open state until a second AGV enters the elevator car, and when the car door of the elevator car is closed and the plurality of AGVs take the same elevator, the situation that the AGVs do not enter the elevator car still exists, so that the plurality of AGVs take the elevator in a coordinated mode, and the elevator taking efficiency of each AGV is improved.

Optionally, after determining the path information of the first AGV according to the destination floor, the method includes:

receiving release information for updating path information from the first AGV;

and updating the path information of the first AGV so that the first AGV can take the second elevator car in the updated path information according to the updated path information.

In the embodiment of the application, under the condition that the AGV does not successfully enter the elevator car, the path information can be determined for the AGV again, another idle elevator car is determined for the AGV, or the elevator car which is closest to the current floor of the AGV is determined, the AGV takes the elevator according to the updated path information, the AGV does not need to wait for the elevator car in the path information determined for the AGV for the first time, the mode that the AGV takes the elevator is more flexible, and the efficiency that the AGV takes the elevator is improved.

In a fourth aspect, an apparatus for controlling an AGV to ride an elevator is provided, comprising:

a processing module: for establishing a communication connection with a first elevator controller within an elevator car upon determining that an AGV has entered the elevator car;

a sending module: the AGV comprises a first elevator controller, a second elevator controller and an AGV, wherein the first elevator controller is used for sending a target floor to the first elevator controller so as to enable the first elevator controller to control the elevator car to move to the target floor, and when the first elevator controller monitors that the elevator car reaches the target floor, the first elevator controller sends first notification information to the AGV;

a receiving module: for receiving the first notification information from the first elevator controller.

Optionally, the processing module is further configured to: determining whether a remaining space in the elevator car is greater than or equal to a preset space before determining that the AGV enters the elevator car; and, attempting to access the elevator car; and if the attempt to enter the elevator car fails, adding 1 to the number of failed attempts; and determining whether the number of failed attempts after adding 1 reaches a preset number; and if the number of failed attempts after adding 1 reaches a preset number, determining that the AGV does not successfully enter the elevator car;

the sending module is further configured to: before the AGV enters an elevator car, if the remaining space is smaller than the preset space, sending prompt information; the prompt information is used for prompting passengers in the elevator car to give up riding space for the AGV; and if the number of failed attempts after adding 1 reaches the preset number, sending release information to dispatching equipment so that the dispatching equipment updates the path information for the AGV.

Optionally, the receiving module is further configured to:

receiving path information from a dispatching device prior to determining that the AGV enters an elevator car; the path information comprises an elevator car distributed for the AGV, and the current floor and the target floor of the AGV; and receiving second notification information from the scheduling device; wherein the second notification information is used to indicate that the elevator car arrives at the floor of the AGV at which the car is currently located.

Optionally, the sending module is further configured to:

after the destination floor is sent to the first elevator controller, if the first notification information from the first elevator controller is not received within a first time period, sending indication information to the first elevator controller so that the first elevator controller controls the elevator car to run to the destination floor.

In a fifth aspect, an apparatus for controlling an AGV to ride an elevator is provided, comprising:

a receiving module: the system comprises a terminal and a terminal, wherein the terminal is used for receiving a destination floor sent by an AGV after establishing communication connection with the AGV;

a processing module: for controlling the elevator car to move to the destination floor;

a sending module: and if the elevator car reaches the destination floor, generating first notification information, and sending the first notification information to the AGV so that the AGV determines that the elevator car reaches the destination floor.

Optionally, the receiving module is further configured to: receiving path information from a dispatching device before establishing communication connection with the AGV; the path information comprises the elevator car distributed for the AGV, the current floor of the AGV and a target floor;

the processing module is further configured to: controlling the elevator car to run to the current floor of the AGV according to the current floor of the AGV;

the sending module is further configured to: if the elevator car is monitored to reach the current floor of the AGV, sending arrival information to the dispatching equipment so that the dispatching equipment can send second notification information to the AGV; wherein the second notification information is used to indicate that the elevator car arrives at the floor of the AGV at which the car is currently located.

Optionally, the processing module is further configured to:

after controlling the elevator car to run to the target floor, if the indication information from the AGV is received, controlling the elevator car to run to the target floor; alternatively, the first and second electrodes may be,

Optionally, the processing module is further configured to:

if the elevator car is monitored to reach the target floor, generating first notification information, and acquiring a floor signal of a nixie tube in the elevator car for indicating the current floor of the elevator car before sending the first notification information to the AGV;

and determining whether the current floor of the elevator car is the target floor or not according to the floor signal.

Optionally, the processing module is further configured to:

In a sixth aspect, an apparatus for controlling an AGV to ride an elevator is provided, comprising:

a receiving module: a destination floor for obtaining a first AGV;

a processing module: the system comprises a first AGV and a second AGV, wherein the first AGV is used for determining the path information of the first AGV according to the destination floor; the path information comprises a first elevator car distributed for the first AGV, the current floor of the first AGV and the target floor;

a sending module: and the path information is sent to the first AGV so that after the first AGV enters the first elevator car, the first AGV establishes communication connection with a first elevator controller in the first elevator car and sends the destination floor to the first elevator controller.

Optionally, the processing module is further configured to:

after the destination floor of a first AGV is obtained, the destination floor of a second AGV and the current floor of the second AGV are obtained;

Optionally, the processing module is further configured to: after determining that the path information of the second AGV is the path information of the first AGV, if the second AGV reaches the door of the first elevator car after the first AGV enters the first elevator car, controlling the car door of the first elevator car to be in an open state through the first AGV;

the sending module is further configured to: notifying the second AGV to enter the first elevator car.

Optionally, the receiving module is further configured to: after determining the path information of a first AGV according to the destination floor, receiving release information for updating the path information from the first AGV;

the processing module is further configured to: after the path information of the first AGV is determined according to the destination floor, the path information of the first AGV is updated, so that the first AGV rides the second elevator car in the updated path information according to the updated path information.

In a seventh aspect, a system for controlling an AGV to ride an elevator is provided, comprising: the apparatus for controlling an AGV to ride an elevator according to the fourth aspect, the apparatus for controlling an AGV to ride an elevator according to the fifth aspect, and the apparatus for controlling an AGV to ride an elevator according to the sixth aspect.

In an eighth aspect, an apparatus for controlling an AGV to ride an elevator is provided, comprising:

a memory for storing program instructions;

a processor for calling the program instructions stored in the memory and executing the method according to the obtained program instructions.

In a ninth aspect, there is provided a storage medium storing computer-executable instructions for causing a computer to perform the method of any one of the first, second or third aspects.

Drawings

Fig. 1 is a schematic diagram of an application scenario of a method for controlling an AGV to ride an elevator according to an embodiment of the present application;

FIG. 2 is a schematic view of a deployment of various devices for a method of controlling an AGV to ride an elevator according to an embodiment of the present application;

fig. 3 is a schematic diagram of a possible structure of a first elevator controller provided in an embodiment of the present application;

fig. 4 is a schematic diagram of a possible cascade of first elevator controllers provided in an embodiment of the present application;

FIG. 5 is a diagram of an interactive process for controlling an AGV to ride an elevator according to an embodiment of the present application;

FIG. 6 is a first schematic structural diagram of an apparatus for controlling an AGV to ride an elevator according to an embodiment of the present disclosure;

FIG. 7 is a second schematic structural diagram of an apparatus for controlling an AGV to ride an elevator according to an embodiment of the present disclosure;

FIG. 8 is a third schematic structural diagram of an apparatus for controlling an AGV to ride an elevator according to an embodiment of the present disclosure;

fig. 9 is a fourth schematic structural diagram of an apparatus for controlling an AGV to ride an elevator according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In addition, in the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

Hereinafter, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

Automated Guided Vehicle (AGV): the device is provided with an electromagnetic or optical automatic guiding device, is controlled by a computer, is characterized by wheeled movement, is provided with a power or power conversion device, and is a transportation tool capable of automatically traveling along a specified guiding path. Generally, an AGV has a plurality of functions such as safety protection and load transfer.

In order to realize that the AGV rides the elevator under the condition of no signal coverage of the elevator, the present application provides a method for controlling the AGV to ride the elevator, please refer to fig. 1, which is an application scenario of the method for controlling the AGV to ride the elevator, or can also be understood as a structural schematic diagram of a system for controlling the AGV to ride the elevator. The application scenario diagram includes an AGV101, an elevator controller 102, and a dispatching device 103, and the elevator controller 102 may include only a first elevator controller 201 inside an elevator car, or, referring to fig. 2, the elevator controller 102 may include the first elevator controller 201 inside the elevator car and a second elevator controller 202 outside the elevator car. The first elevator controller 201 and the second elevator controller 202 can be realized by one controller, or can be realized by different controllers, and the specific implementation forms of the first elevator controller 201 and the second elevator controller 202 are not limited in this application. Communication can be made between the AGV101 and the dispatching device 103 and between the AGV101 and the first elevator controller 201.

For the case where there is a second elevator controller 202, communication can be between the dispatching device 103 and the second elevator controller 202. For the case where the first elevator controller 201 is not under the same signal coverage as the AGV101 and the dispatching device 103, no communication is possible between the dispatching device 103 and the first elevator controller 201; communication between the dispatching device 103 and the first elevator controller 201 is possible for the case where the first elevator controller 201 is under the same signal coverage as the AGV101 and the dispatching device 103.

The first elevator controller 201 is generally referred to as the elevator controller 102 that controls an operation panel in the elevator car. The first elevator controller 201 may control the elevator car to travel to different floors, or may control the car doors of the elevator car to open or close, etc. The first elevator controller 201 may be used for controlling only one elevator, i.e. one first elevator controller 201 is configured for each elevator, or may be used for controlling a plurality of elevators, i.e. one first elevator controller 201 is configured for a plurality of elevators, and is not limited in particular.

The second elevator control 202 is broadly referred to as the elevator control 102 that controls an outside-car operating panel, such as for an outside-hall call box. The second elevator controller 202 may control the elevator car to travel to the current floor of the second elevator controller 202, or may control the car door of the elevator car to open or close, and so on. The second elevator controller 202 may be used for controlling only one elevator in one floor, that is, one second elevator controller 202 is allocated to each elevator in each floor, or may be used for controlling a plurality of elevators in one floor, that is, one second elevator controller 202 is allocated to a plurality of elevators in each floor, and the present invention is not limited in particular.

To more clearly illustrate the deployment of each device, please continue to refer to fig. 2, which shows a deployment diagram of each device. The interaction process between the devices is illustrated below with reference to fig. 2.

Specifically, the AGV101 sends the destination floor to the dispatching device 103, and the dispatching device 103 receives the destination floor from the AGV 101. The dispatching device 103 determines the path information of the AGVs 101 according to the received destination floors of the AGVs 101, that is, determines the elevator cars that the AGVs 101 need to take, and the dispatching device 103 can control the elevator cars to move to the current floors of the AGVs 101. After the AGV101 determines that the elevator car has reached the current floor of the AGV101, the AGV101 enters the elevator car. After the AGV101 enters the elevator car, the AGV101 establishes a communication connection with the first elevator controller 201, and the AGV101 sends the destination floor to the first elevator controller 201. After the elevator car reaches the destination floor of the AGV101, the AGV101 leaves the elevator car.

After the dispatching equipment 103 determines the path information for the AGV101, the dispatching equipment 103 can directly control the elevator car to move to the current floor of the AGV 101;

alternatively, the dispatching device 103 may control the elevator car to move to the current floor of the AGV101 through the second elevator controller 202;

alternatively, for the case where the first elevator controller 201 is under the same signal coverage as the AGV101 and the dispatching device 103, the dispatching device 103 can control the elevator car to move to the current floor of the AGV101 through the first elevator controller 201.

For example, the AGV101 starts at point A in FIG. 2, the dispatching device 103 determines the path information of the AGV101 to be A-B-D or A-B-D-F, i.e., the dispatching device 103 determines the elevator car that the AGV101 needs to ride to be the elevator car of the 6-1 elevator. The dispatching device 103 controls the elevator car of the 6-1 elevator to move to floor 6, at which time the AGV101 can be understood as being at point B in fig. 2, waiting for the elevator car to reach floor 6. The AGV101 enters the elevator car of the 6-1 elevator after determining that the elevator car of the 6-1 elevator has reached floor 6 and establishes a communication connection with the first elevator controller 201 within the elevator car of the 6-1 elevator. The destination floor of the AGV101 is floor 5, the AGV101 sends the destination floor to the first elevator controller 201, and the first elevator controller 201 controls the elevator car of the 6-1 elevator to move to floor 5. The AGV101 determines that the elevator car of the 6-1 elevator arrives at floor 5 and the AGV101 leaves the elevator car, and at this time, the AGV101 can be understood as being at point D or point F in fig. 2.

In the embodiment of the application, after the AGV101 enters the elevator car, the AGV101 establishes communication connection with the first elevator controller 201, so that the first elevator controller 201 and the AGV101 can communicate with each other, so that the first elevator controller 201 can receive a target floor from the AGV101, and control the elevator car to run to the target floor of the AGV101, and meanwhile, the AGV101 can determine that the elevator car reaches the target floor by receiving the first notification information from the first elevator controller 201, so that the AGV101 is controlled to take the elevator, and the AGV101 can take the elevator to switch between floors to run.

The structure of the first elevator controller 201 will be explained below by way of example.

Referring to fig. 3, the first elevator controller 201 includes a power supply 301, a voltage conversion module 302, a communication module 303, a transmission module 304, and a conversion interface 305.

Specifically, the power supply 301 may be, for example, a power supply supporting output of 24V voltage, the output voltage is converted into a voltage value required by the communication module 303 through a voltage conversion module 302 (for example, a direct current-direct current (DC-DC) conversion module), the communication module 303 may be a wireless station or a wireless access point, and the communication module 303 may be, for example, a wireless fidelity (WIFI) module. The transmission module 304 may output a corresponding signal, which may include, for example, 8 isolated outputs and 8 isolated inputs. The conversion interface 305 may convert one protocol interface into another protocol interface, for example, may be used to convert data transmitted in a universal asynchronous receiver/transmitter (UART) protocol into data transmitted in a Universal Serial Bus (USB) standard.

As an embodiment, the structure of the second elevator controller 202 may be the same as that of the first elevator controller 201, and specifically, the content discussed in fig. 3 may be referred to, and details are not repeated here.

As an example, please refer to fig. 4, which is a schematic diagram of a possible cascade of the first elevator controller 201. The first elevator controller 201 in fig. 4 comprises at least one elevator control unit 400, the first elevator controller 201 comprises at least one elevator control unit 400, each elevator control unit 400 is used for controlling the elevator car to move to any preset floor in the preset floor set and/or determining whether the elevator car reaches the preset floor corresponding to the elevator control unit 400; wherein the preset floor sets controlled by any two elevator control units 400 are different.

For example, referring to table 1, one possible scenario for implementing the first elevator controller 201 for two elevator control units 400 in cascade. The total floor that the elevator can reach is 8 floors, the first elevator control unit 400 can control the elevator car to move to the 1 st to 4 th floors, the second elevator control unit 400 can control the elevator car to move to the 5 th to 8 th floors, and therefore the first elevator controller 201 composed of the first elevator control unit 400 and the second elevator control unit 400 can control the elevator car to move to the 1 st to 8 th floors.

TABLE 1

First elevator control unit	Second elevator control unit
		Floor
1	Floor 5
		Floor 2	Floor 6
Floor 3	Floor 7
		Floor 4	Floor 8

Based on the application scenario of fig. 1, a method for controlling the AGV101 to take an elevator in the embodiment of the present application is described below.

Referring to fig. 5, a diagram of an interaction process among the dispatching device 103, the AGV101 and the first elevator controller 201 according to an embodiment of the present application is shown.

In the embodiment of the present application, the AGVs include the first AGV and the second AGV as an example, and the process of cooperatively sitting in an elevator among a plurality of AGVs is described as an example, actually, the number of AGVs may be arbitrary, and the number of AGVs is not specifically limited in the present application.

S501, the AGV101 sends the destination floor to the dispatching device 103, and the dispatching device 103 receives the destination floor from the AGV 101.

Specifically, when the AGV101 needs to take the elevator, the AGV101 may send the destination floor of the AGV101 to the dispatching device 103, and the dispatching device 103 receives the destination floor from the AGV 101. The destination floor represents the floor that the AGV needs to reach. When there are a plurality of AGVs, each AGV transmits the destination floor to the dispatching device 103.

For example, the floor where the AGV101 is currently located is floor 1, the AGV101 needs to transport the goods to floor 3, that is, the destination floor of the AGV101 is floor 3, and the AGV101 sends the destination floor to the dispatching device 103, that is, the dispatching device 103 receives the destination floor sent by the AGV 101.

In a possible embodiment, the scheduling device 103 may allocate a destination floor to the AGV101, or the user may set the destination floor for the AGV101 through the scheduling device 103, and the AGV101 does not need to send the destination floor to the scheduling device 103, and the manner in which the scheduling device 103 obtains the destination floor of the AGV101 is not particularly limited.

S502, the dispatching equipment 103 determines the path information of the AGV101 according to the destination floor of the AGV 101.

In particular, the number of elevators can be one or more in each floor. When the number of elevators is one, the dispatching device 103 may directly determine the elevator car as the elevator car that the AGV101 needs to ride. When the number of elevators is plural, the dispatching device 103 can allocate an elevator car to be taken to the AGV101 according to the destination floor of the AGV 101. There are various ways for the dispatching facility 103 to assign the AGV101 to the elevator car to be taken, and the method is not limited in particular, and two of them are described below as examples.

The method comprises the following steps:

the dispatching device 103 obtains the number of the required destination floors of each elevator car in the current operation process, and the dispatching device 103 determines the elevator car with the minimum number of the required destination floors as the elevator car in which the AGV101 takes this time.

Specifically, in the actual elevator sitting process, when there are a plurality of floors, different passengers can correspondingly press the keys of the destination floors that need to be reached by the passengers, so that the dispatching device 103 can determine the number of the destination floors reached as the number of the passengers in the elevator car in the current operation process.

The more destination floors an elevator car needs to reach, the more busy the elevator car is. The dispatching equipment 103 determines the busy degree of each elevator car by acquiring the number of the target floors required to be reached by each elevator car in the operation process, and determines an elevator car with the least number of the target floors required to be reached as the elevator which the AGV101 needs to take, namely, the dispatching equipment 103 determines a most idle elevator car from the elevator cars as the elevator car which the AGV101 needs to take, so that the success rate of taking the elevator by the AGV is improved. If the elevator car is not in the running process, the number of the destination floors required to be reached by the elevator car in the running process is 0.

For example, two elevators are arranged in each floor, the number of the target floors to be reached by the first elevator car in the current operation process is 7, and the number of the target floors to be reached by the second elevator car in the current operation process is 15, so that the dispatching device 103 determines the elevator corresponding to the first elevator car as the elevator in which the AGV101 takes this time after acquiring the number of the target floors to be reached by the two elevator cars.

The second method comprises the following steps:

the dispatching device 103 obtains the current floor of each elevator car and the running direction of the elevator car, so that the value difference between the current floor of the elevator car and the current floor of the AGV101 is the minimum, and the running direction is the elevator car corresponding to the elevator car running towards the current floor of the AGV101 and determined as the elevator car to be taken by the AGV 101.

Specifically, if the elevator car is not currently in operation, the dispatching device 103 obtains the value of the current floor of the elevator car, and determines the operation direction of the elevator car as the current floor operation direction of the AGV 101. If the elevator car is currently in the process of traveling, the dispatching device 103 obtains the value of the floor to which the elevator car is about to arrive and obtains the current traveling direction of the elevator car. The dispatching equipment 103 determines that the difference between the floor of the elevator car and the current floor of the AGV101 is the minimum according to the acquired floor value and the running direction of the elevator car, and the running direction of the elevator car is the elevator which needs to be taken by the AGV101 and runs towards the current floor of the AGV 101.

For example, two elevators are arranged in each floor, the first elevator car is currently in an ascending state and is about to reach floor 7, the second elevator car is currently in an idle state, and the floor where the first elevator car is located is floor 15, so that the dispatching device 103 determines the first elevator car as the elevator that the AGV101 needs to take because the floor where the AGV101 is currently located is floor 8.

In a possible embodiment, the first elevator controller 201 may obtain abnormal information such as a fault signal or an overhaul signal of the elevator car, and for a case where the first elevator controller 201 is under the same signal coverage as the AGV101 and the dispatching device 103, the first elevator controller 201 may send the abnormal information to the dispatching device 103, so that the dispatching device 103 may not determine the elevator car in an abnormal state for the AGV101 when determining the path information for the AGV101, or the dispatching device 103 may obtain the abnormal information of the elevator car in time.

S503, the dispatching device 103 controls the elevator car to move to the current floor of the AGV 101.

Specifically, after the dispatching device 103 determines the path information for the AGVs 101, that is, after the elevator cars that the AGVs 101 need to take are allocated to the AGVs 101, the dispatching device 103 may directly control the elevator cars to move to the current floor of the AGVs 101.

Or, the dispatching device 103 may send the path information of the AGVs 101 to the second elevator controller 202, and after the second elevator controller 202 receives the path information of the AGVs 101 from the dispatching device 103, the elevator car may be controlled to run to the floor where the AGVs 101 are currently located according to the floor where the AGVs 101 are currently located in the path information of the AGVs 101.

Or, for the case that the first elevator controller 201 is not under the same signal coverage as the AGV101 and the dispatching device 103, the dispatching device 103 may send the path information of the AGV101 to the first elevator controller 201, and after the first elevator controller 201 receives the path information of the AGV101 from the dispatching device 103, the first elevator controller may control the elevator car to run to the floor where the AGV101 is currently located according to the floor where the AGV101 is currently located in the path information of the AGV 101.

For example, the scheduling device 103 determines the path information for the AGV 101. The elevator car that the AGV101 needs to take is currently located at 7 floors, the current floor where the AGV101 is located is 8 floors, the target floor of the AGV101 is 10 floors, then the dispatching device 103 sends the path information of the AGV101 to the second elevator controller 202, the second elevator controller receives the path information of the AGV101 from the dispatching device 103, the elevator car is controlled to operate towards 8 floors according to the current floor 8 where the AGV101 is located, and the elevator car operates towards 8 floors after the AGV101 presses an uplink button of an elevator hall external control box at 8 floors.

In one possible embodiment, when there are a plurality of AGVs 101 that need to take an elevator, if the current floors of the AGVs 101 are the same and the destination floors of the AGVs 101 are also the same, the dispatching device 103 may determine the same path information for the AGVs 101.

Specifically, there are two AGVs 101, such as a first AGV101 and a second AGV101, when an elevator needs to be taken, the current floors of the first AGV101 and the second AGV101 are the same, and the destination floors of the first AGV101 and the second AGV101 are the same. The dispatching device 103 receives the destination floors sent by the first AGV101 and the second AGV101, the dispatching device 103 may determine the same path information for the first AGV101 and the second AGV101, or after the dispatching device 103 determines the path information for the first AGV101 and before the elevator car reaches the current floor of the first AGV101, the dispatching device 103 receives the destination floor sent by the second AGV101, and the dispatching device 103 may determine the path information of the first AGV101 as the path information of the second AGV 101.

For example, the current floor of the first AGV101 is floor 7, the destination floor of the first AGV101 is floor 9, the dispatching device 103 determines the first elevator car for the first AGV101, and if the destination floor of the second AGV101 received by the dispatching device 103 before the first elevator car reaches floor 7 is floor 9, the dispatching device 103 determines the elevator that the second AGV101 needs to ride as the first elevator car.

S504, the dispatching device 103 determines that the elevator car arrives at the current floor of the AGV 101.

Specifically, when the elevator car reaches the current floor of the AGV101, the dispatching device 103 can directly determine that the elevator car reaches the current floor of the AGV 101.

Alternatively, when the elevator car reaches the current floor of the AGV101, the second elevator controller 202 determines that the elevator car reaches the current floor of the AGV 101. The second elevator controller 202 sends arrival information to the dispatching device 103, the dispatching device 103 receives the arrival information from the second elevator controller 202, and the dispatching device 103 determines that the elevator car arrives at the current floor of the AGV 101.

Or, in the case that the first elevator controller 201 is not under the same signal coverage as the AGV101 and the dispatching device 103, when the elevator car reaches the current floor of the AGV101, the first elevator controller 201 determines that the elevator car reaches the current floor of the AGV 101. The first elevator controller 201 can send arrival information to the dispatching device 103, the dispatching device 103 receives the arrival information from the first elevator controller 201, and the dispatching device 103 determines that the elevator car arrives at the current floor of the AGV 101.

Wherein the arrival information is used to indicate to the dispatching device 103 that the elevator car arrives at the current floor of the AGV 101.

S505, the dispatching equipment 103 sends second notification information to the AGV101, and the AGV101 receives the second notification information from the dispatching equipment 103.

Specifically, after the dispatching device 103 determines that the elevator car reaches the current floor of the AGV101, the dispatching device 103 generates second notification information and sends the second notification information to the AGV101, and the AGV101 receives the second notification information from the dispatching device 103, wherein the second notification information is used for indicating the AGV101 that the elevator car reaches the current floor of the AGV101, so that the AGV101 tries to enter the elevator car.

S506, before the AGV101 enters the elevator car, the AGV101 determines whether the remaining space in the elevator car is greater than or equal to the preset space, and there are many methods for the AGV101 to determine the remaining space in the elevator car, which are not limited specifically, and two of them are described as examples below.

The method comprises the following steps:

scanning the residual space in the elevator car through a laser radar to obtain point cloud data, and shooting the residual space in the elevator car through a laser camera to obtain image data;

and calibrating the point cloud data in the image data to obtain a calibration matrix, and calculating the size of the residual space in the elevator car according to the calibration matrix.

Specifically, the AGV101 is provided with a laser radar, a laser camera, a calculation module, and the like. Before the AGV101 enters the elevator car, the laser radar on the AGV101 scans the remaining space in the elevator car to obtain point cloud data. Meanwhile, a laser camera on the AGV101 shoots the remaining space in the elevator car to obtain image data. And the computing module calibrates the point cloud data into the image data to obtain a calibration matrix. And the calculation module calculates the size of the residual space in the elevator car according to the calibration matrix.

The second method comprises the following steps:

the size of the remaining space in the elevator car is determined by sending acoustic signals to different locations in the elevator car.

Specifically, the AGV101 is provided with an acoustic wave sensor, and the acoustic wave sensor includes at least one acoustic wave transmitting module and at least one corresponding acoustic wave receiving module. The method comprises the steps that a sound wave sending module sends sound wave signals into an elevator car, a corresponding sound wave receiving module receives the reflected sound wave signals, and the distance from the sound wave sending module to a sound wave signal reflection point is determined according to the sound wave propagation speed and the time length between the sending of the sound wave signals and the receiving of the reflected sound wave signals, so that the distance from the AGV101 to the sound wave reflection point is obtained. And sending sound wave signals to different positions in the elevator car to obtain the distance from the AGV101 to different sound wave reflection points, so that the size of the residual space in the elevator car is obtained.

S507, if the AGV101 determines that the remaining space in the elevator car is greater than or equal to the preset space, the AGV101 enters the elevator car.

Specifically, if the remaining space in the elevator car that AGV101 determined is greater than or equal to the preset space, then AGV101 can enter this elevator car, wherein, the preset space can be the space that AGV101 itself occupied, or, can be the space that the goods that AGV101 carried were occupied, or, can be other preset space sizes, do not specifically do the restriction.

S508, if the AGV101 determines that the remaining space in the elevator car is smaller than the preset space, the AGV101 sends prompt information.

Specifically, if the remaining space in the elevator car determined by the AGV101 is smaller than the preset space, the AGV101 sends a prompt message, where the prompt message is used to prompt a passenger in the elevator car to make room for the AGV 101. The prompt mode of the prompt message may be a voice prompt, such as a voice prompt or a buzzer sound prompt, or may be a text prompt, or may be a light prompt, and the like.

S509, after the AGV101 transmits the prompt message, the AGV101 tries to enter the elevator car again.

Specifically, after the AGV101 sends the prompt information, the AGV101 redetermines the remaining space in the elevator car, the specific determination is not repeated, and if the remaining space in the elevator car is smaller than the preset space, the AGV101 sends the prompt information again until the AGV101 successfully enters the elevator car.

S510, if the AGV101 attempts to enter the elevator car for a preset number of times and still does not successfully enter the elevator car, the AGV101 sends a release message to the dispatching device 103.

Specifically, each time the AGV101 attempts to enter the elevator car and fails, the AGV101 accumulates the number of failed attempts to enter the elevator car, and when the number of failed attempts to enter the elevator car by the AGV101 reaches the preset number, the AGV101 still does not successfully enter the elevator car, so that the AGV101 does not attempt to enter the elevator car, and sends the release information to the scheduling device 103, and the scheduling device 103 receives the release information sent by the AGV 101.

The release information is used to indicate, to the scheduling device 103, that the scheduling device 103 determines an elevator car for the AGV101 in the path information indicating that the AGV101 has not successfully boarded the AGV101, and the scheduling device 103 needs to determine an elevator to be taken for the AGV101 again, that is, the scheduling device 103 is instructed to update the path information of the AGV 101.

The number of failed attempts may be added by 1 after each failed attempt, or may be added by a preset value after each failed attempt, and the specific addition manner is not limited.

For example, the number of failed attempts by the AGV101 to enter the elevator car after the first attempt by the AGV101 to enter the elevator car is 1, and the number of failed attempts by the AGV101 to enter the elevator car after the second attempt by the AGV101 to enter the elevator car is 2. If the preset number of times is 3, after the third attempt by the AGV101 to enter the elevator car fails, the AGV101 no longer attempts to enter the elevator car and sends a release message to the scheduling apparatus so that the scheduling apparatus updates the path information of the AGV 101.

S511, after the AGV101 enters the elevator car, establishes a communication connection with the first elevator controller 201.

Specifically, after the AGV101 enters the elevator car, the AGV101 establishes a communication connection with the first elevator controller 201. For the case where the first elevator controller 201 is under the same signal coverage as the AGV101 and the dispatching device 103, the first elevator controller 201 can communicate with the AGV101, the first elevator controller 201 can communicate with the dispatching device 103, and then the AGV101 and the first elevator controller 201 do not need to re-establish a communication connection. For the case that the first elevator controller 201 is not under the same signal coverage as the AGV101 and the dispatching device 103, and the first elevator controller 201 cannot communicate with either the AGV101 or the dispatching device 103, the AGV101 needs to establish a communication connection with the first elevator controller 201, wherein there are various methods for establishing the communication connection, and the following two methods are taken as examples without limitation.

The method comprises the following steps:

the AGV101 connects to a wireless connection signal sent by the first elevator controller 201.

Specifically, the first elevator controller 201 sends a wireless signal in the elevator car, at this time, the first elevator controller 201 can be regarded as a wireless access point, the wireless network is divided into a plurality of sub-networks requiring different authentication through a Service Set Identifier (SSID), and when the AGV101 is connected to the wireless signal sent by the first elevator controller 201, the wireless network can be successfully connected to the wireless network only through the authentication, so as to prevent other unauthorized devices from being connected to the wireless network, which causes elevator dispatching failure or elevator operation failure and other situations.

For example, the first elevator controller 201 sends a wireless signal in the elevator car, the SSID divides the wireless network into two sub-networks, two different ID verification codes are respectively set for the two sub-networks, after the AGV101 enters the elevator car, the wireless signal sent by the first elevator controller 201 is connected according to the ID verification code carried by the AGV101, if the ID verification code is correct, the AGV101 can successfully connect to the wireless network, and thus the AGV101 and the first elevator controller 201 successfully establish communication connection. If the ID verification code is incorrect or there is no ID verification code, the AGV101 cannot connect to the wireless network and the AGV101 and the first elevator controller 201 cannot successfully establish a communication connection.

The second method comprises the following steps:

the AGV101 connects to the bluetooth signal sent by the first elevator controller 201.

Specifically, first elevator controller 201 sends bluetooth signal in elevator car, this bluetooth signal has preset a plurality of different verification codes that pair, after AGV101 got into elevator car, need pair with the bluetooth signal that first elevator controller 201 sent, AGV101 pairs the verification code according to what self carried, pair with the bluetooth signal that first elevator controller 201 sent, if it is correct to pair the verification code, then AGV101 can successfully connect this bluetooth signal, thereby AGV101 and first elevator controller 201 establish communication connection successfully. If the pairing verification code is wrong or there is no pairing verification code, the AGV101 cannot connect the bluetooth signal, and thus the AGV101 and the first elevator controller 201 cannot successfully establish a communication connection.

S512, when a plurality of AGVs 101 need to take the same elevator car, after the elevator car reaches the floor where the AGVs 101 are located currently, the AGVs 101 can be controlled to enter the elevator car in sequence according to the sequence of the AGVs 101 reaching the door of the elevator car.

Specifically, the first AGV101 and the second AGV101 need to ride a first elevator car, after the first AGV101 arrives at a first elevator car doorway, the arrival information of the first AGV101 may be sent to the dispatching device 103, and after the first AGV101 arrives at the first elevator car doorway, the second AGV101 arrives at the first elevator car doorway, and the arrival information of the second AGV101 may be sent to the dispatching device 103. The dispatching device 103 determines the sequence of the arrival of the first AGV101 and the second AGV101 at the door of the first elevator car according to the sequence of the received arrival information. After the elevator car reaches the current floor of the first AGV101 and the second AGV101, the dispatching device 103 may notify the first AGV101 to enter the elevator car, and after the first AGV101 enters the elevator car, the dispatching device 103 may notify the second AGV101 to enter the elevator car again.

S513, when there are a plurality of AGVs 101 needing to take the same elevator, after the first AGV101 enters the elevator car, the first elevator controller 201 controls the car door of the elevator car to be in the open state until the remaining AGVs 101 enter the elevator car.

Specifically, when a first AGV101 and a second AGV101 need to take the same elevator, after the first AGV101 enters the elevator car, the first AGV101 establishes a communication connection with the first elevator controller 201, and the first AGV101 sends indication information to the first elevator controller 201, so as to indicate the first elevator controller 201 to control the car door of the elevator car to be in an open state until the second AGV101 enters the elevator car.

In a possible embodiment, when there are multiple AGVs 101 that need to take the same elevator, the dispatching device 103 determines the sequence in the sequence to be arranged at the last AGV101 according to the sequence of the multiple AGVs 101, and before the last AGV101 enters the elevator car, the second elevator controller 202 controls the car door of the elevator car to be in an open state until the last AGV101 enters the elevator car.

Specifically, when the first AGV101 and the second AGV101 need to take the same elevator, before the second AGV101 enters the elevator car, the second AGV101 sends indication information to the second elevator controller 202, so as to indicate the second elevator controller 202 to control the car door of the elevator car to be in an open state until the second AGV101 enters the elevator car.

In a possible embodiment, when there are multiple AGVs 101 that need to take the same elevator, the dispatching device 103 determines, according to the sequence of the multiple AGVs 101, that the sequence in the sequence is arranged at the last AGV101, and before the last AGV101 enters the elevator car, the dispatching device 103 directly controls the car door of the elevator car to be in an open state until the last AGV101 enters the elevator car.

Specifically, when the first AGV101 and the second AGV101 need to take the same elevator, the dispatching device 103 controls the car door of the elevator car to be in an open state until the second AGV101 enters the elevator car before the second AGV101 enters the elevator car.

S514, the AGV101 sends the destination floor to the first elevator controller 201, and the first elevator controller 201 receives the destination floor from the AGV 101.

Specifically, after the AGV101 establishes a communication connection with the first elevator controller 201, the AGV101 sends the target floor of the AGV101 to the first elevator controller 201, and the first elevator controller 201 receives the target floor from the AGV101 and controls the elevator car to move to the target floor of the AGV 101.

S515, the first elevator controller 201 determines whether the elevator car reaches the destination floor.

Specifically, the first elevator controller 201 can obtain a floor signal through a nixie tube used for indicating the current floor of the elevator car in the elevator car, and the first elevator controller 201 determines whether the elevator car reaches the target floor of the AGV101 according to whether the floor value represented by the obtained floor signal is the same as the value of the target floor of the AGV 101. The nixie tube may be a decimal-coded nixie tube, or may be a binary-coded decimal (BCD) coded nixie tube, or may be a seven-segment coded nixie tube, which is not limited in particular.

For example, the floor signal obtained by the first elevator controller 201 to the nixie tube indicates that the current floor of the elevator car is 7 and the target floor of the AGV101 is 7, and at this time, the first elevator controller 201 determines that the elevator car is the target floor of the AGV 101.

S516, if the first elevator controller 201 determines that the elevator car reaches the destination floor, the first elevator controller 201 sends the first notification message to the AGV101, and the AGV101 receives the first notification message from the first elevator controller 201.

Specifically, after the first elevator controller 201 determines that the elevator car reaches the destination floor of the AGV101, the first elevator controller 201 sends first notification information to the AGV101, and the AGV101 receives the first notification information from the first elevator controller 201, wherein the first notification information is used for indicating the AGV101 that the elevator car reaches the destination floor of the AGV 101.

S517, if the AGV101 does not receive the first notification information from the first elevator controller 201 within the first time period, the AGV101 sends the indication information to the first elevator controller 201, and the first elevator controller 201 receives the indication information from the AGV 101.

Specifically, in a first time period after the AGV101 sends the destination floor to the elevator control, the AGV101 does not receive the first notification message from the first elevator controller 201, and then the AGV101 sends an indication message like the first elevator controller 201, wherein the indication message is used for indicating the first elevator controller 201 to control the elevator car to move to the destination floor of the AGV 101.

S518, the first elevator controller 201 determines that the floor where the elevator car stays in the current operation does not include the target floor of the AGV101, and then the first elevator controller 201 controls the elevator car to operate to the target floor of the AGV 101.

Specifically, the first elevator controller 201 may periodically or non-periodically obtain a floor signal from a nixie tube in the elevator car for indicating a floor where the elevator car stays in the current operation process, and the first elevator controller 201 determines whether the floor where the elevator car stays in the current operation process includes a target floor of the AGV101 according to whether a floor value indicated by the obtained floor signal includes a target floor of the AGV 101. If the first elevator controller 201 determines that the floor at which the elevator car stays during the present run does not include the target floor of the AGV101, the first elevator controller 201 controls the elevator car to run to the target floor of the AGV 101.

In one possible embodiment, after the elevator car is restarted after a power outage, the first elevator controller 201 determines whether the floor at which the elevator car is currently located is the destination floor of the AGV101 stored in the first elevator controller 201.

Specifically, when the elevator car is abnormally powered off and the elevator car is restarted, the first elevator controller 201 obtains a floor signal from a nixie tube in the elevator car, which is used for indicating the floor where the elevator car is currently located, and the first elevator controller 201 determines whether the floor where the elevator car is currently located is the target floor of the AGV101 stored in the first elevator controller 201 according to whether the floor data represented by the obtained floor signal is the same as the floor value of the target floor of the AGV101 stored in the first elevator controller 201.

In one possible embodiment, if the floor where the elevator car is currently located is the destination floor of the AGV101 stored in the first elevator controller 201, the first elevator controller 201 sends the first notification information to the AGV101, and the AGV101 receives the first notification information from the first elevator controller 201.

In one possible embodiment, the first elevator controller 201 controls the elevator car to travel to the destination floor of the AGV101 stored in the first elevator controller 201 if the floor where the elevator car is currently located is not the destination floor of the AGV101 stored in the first elevator controller 201.

As an embodiment, S506-S510, S512-S513, S517-S518 are optional parts.

Based on the same invention concept, the embodiment of the application provides the device for controlling the AGV to take the elevator, and the device can realize the corresponding functions of the method for controlling the AGV to take the elevator. The device is provided in the AGV101 discussed earlier. Referring to fig. 6, the apparatus includes a processing module 601, a sending module 602, and a receiving module 603, wherein:

the processing module 601: for establishing a communication connection with a first elevator controller within the elevator car upon determining that the AGV has entered the elevator car;

the sending module 602: the system comprises a first elevator controller, an AGV and a second elevator controller, wherein the first elevator controller is used for sending a target floor to the first elevator controller so as to enable the first elevator controller to control the elevator car to move to the target floor, and sending first notification information to the AGV when the first elevator controller monitors that the elevator car reaches the target floor;

the receiving module 603: for receiving first notification information from the first elevator controller.

In a possible embodiment, the processing module 601 is further configured to: determining whether the remaining space in the elevator car is greater than or equal to a preset space before determining that the AGV enters the elevator car; and, attempting to access the elevator car; and if the attempt to enter the elevator car fails, adding 1 to the number of failed attempts; and determining whether the number of failed attempts after adding 1 reaches a preset number; and if the number of failed attempts after adding 1 reaches the preset number, determining that the AGV does not successfully enter the elevator car;

the sending module 602 is further configured to: before the AGV enters the elevator car, if the remaining space is smaller than the preset space, sending prompt information; the prompting information is used for prompting passengers in the elevator car to give up riding space for the AGV; and if the number of failed attempts after adding 1 reaches the preset number, sending release information to the dispatching equipment so that the dispatching equipment updates the path information for the AGV.

In a possible embodiment, the receiving module 603 is further configured to:

receiving path information from a dispatching device prior to determining that the AGV enters the elevator car; the path information comprises an elevator car distributed for the AGV, the current floor of the AGV and a target floor; and receiving second notification information from the scheduling device; and the second notification information is used for indicating the elevator car to reach the current floor of the AGV.

In a possible embodiment, the sending module 602 is further configured to:

after the destination floor is sent to the first elevator controller, if the first notification information from the first elevator controller is not received within the first time period, the indication information is sent to the first elevator controller, so that the first elevator controller controls the elevator car to move to the destination floor.

Based on the same invention concept, the embodiment of the application provides the device for controlling the AGV to take the elevator, and the device can realize the corresponding functions of the method for controlling the AGV to take the elevator. The arrangement is provided in the first elevator control 201 discussed above. Referring to fig. 7, the apparatus includes a receiving module 701, a processing module 702, and a sending module 703, wherein:

the receiving module 701: the system comprises a terminal, a terminal and a terminal, wherein the terminal is used for receiving a destination floor sent by an AGV after establishing communication connection with the AGV;

the processing module 702: the elevator control system is used for controlling the elevator car to move to a target floor;

the sending module 703: and if the elevator car reaches the target floor, generating first notification information and sending the first notification information to the AGV so that the AGV can determine that the elevator car reaches the target floor.

In a possible embodiment, the receiving module 701 is further configured to: receiving path information from a dispatching device before establishing communication connection with the AGV; the path information comprises an elevator car distributed for the AGV, the current floor of the AGV and a target floor;

the processing module 702 is further configured to: controlling the elevator car to move to the current floor of the AGV according to the current floor of the AGV;

the sending module 703 is further configured to: if the elevator car is monitored to reach the current floor of the AGV, sending arrival information to dispatching equipment so that the dispatching equipment can send second notification information to the AGV; and the second notification information is used for indicating the elevator car to reach the current floor of the AGV.

In a possible embodiment, the processing module 702 is further configured to:

after the elevator car is controlled to run to the target floor, if the indication information from the AGV is received, the elevator car is controlled to run to the target floor; alternatively, the first and second electrodes may be,

In a possible embodiment, the processing module 702 is further configured to:

before the elevator car is determined to reach a target floor, acquiring a floor signal of a floor where a nixie tube in the elevator car is used for indicating the elevator car is located at present;

and determining whether the current floor of the elevator car is a target floor or not according to the floor signal.

In a possible embodiment, the processing module 702 is further configured to:

after the elevator car is powered off and restarted, determining whether the current floor of the elevator car is a target floor stored in a first elevator controller;

Based on the same invention concept, the embodiment of the application provides the device for controlling the AGV to take the elevator, and the device can realize the corresponding functions of the method for controlling the AGV to take the elevator. This arrangement is equivalent to the arrangement in the scheduling device 103 discussed earlier. Referring to fig. 8, the apparatus includes a receiving module 801, a processing module 802, and a sending module 803, wherein:

the receiving module 801: a destination floor for obtaining a first AGV;

the processing module 802: the system comprises a first AGV, a second AGV and a control unit, wherein the first AGV is used for determining path information of the first AGV according to a target floor; the path information comprises a first elevator car distributed for a first AGV, and the current floor and the target floor of the first AGV;

the sending module 803: the system is used for sending path information to the first AGV so that after the first AGV enters the first elevator car, the first AGV establishes communication connection with a first elevator controller in the first elevator car and sends a destination floor to the first elevator controller.

In one possible embodiment, the processing module 802 is further configured to:

after the target floor of the first AGV is obtained, obtaining the target floor of the second AGV and the current floor of the second AGV;

and if the current floor of the first AGV is the same as the current floor of the second AGV, and the target floor of the first AGV is the same as the target floor of the second AGV, determining that the path information of the second AGV is the path information of the first AGV.

In one possible embodiment, the processing module 802 is further configured to: after determining that the path information of the second AGV is the path information of the first AGV, if the second AGV reaches the door of the first elevator car after the first AGV enters the first elevator car, controlling the car door of the first elevator car to be in an opening state through the first AGV;

the sending module 803 is further configured to: and after determining that the path information of the second AGV is the path information of the first AGV, informing the second AGV to enter the first elevator car.

In a possible embodiment, the receiving module 801 is further configured to: receiving release information for updating the path information from the first AGV after determining the path information of the first AGV according to the destination floor;

the processing module 802 is further configured to: and after determining the path information of the first AGV according to the destination floor, updating the path information of the first AGV so that the first AGV rides the second elevator car in the updated path information according to the updated path information.

Based on the same inventive concept, the embodiment of the present application provides an apparatus for controlling an AGV to take an elevator, which is capable of implementing the aforementioned method for controlling an AGV to take an elevator, please refer to fig. 9, and the apparatus includes:

at least one processor 901 and a memory 902 connected to the at least one processor 901, in this embodiment, a specific connection medium between the processor 901 and the memory 902 is not limited in this application, and fig. 9 illustrates an example in which the processor 901 and the memory 902 are connected through a bus 900. The bus 900 is shown in fig. 9 by a thick line, and the connection between other components is merely illustrative and not limited thereto. The bus 900 may be divided into an address bus, a data bus, a control bus, etc., and is shown with only one thick line in fig. 9 for ease of illustration, but does not represent only one bus or type of bus. Alternatively, the processor 901 may also be referred to as the controller 901, without limitation to name.

In the embodiment of the present application, the memory 902 stores instructions executable by the at least one processor 901, and the at least one processor 901 can execute the method for controlling the AGV to ride on the elevator, which is discussed above, by executing the instructions stored by the memory 902. The processor 901 may implement the functions of the respective modules in the apparatuses shown in fig. 6, 7, or 8.

The processor 901 is a control center of the apparatus, and various interfaces and lines may be used to connect various parts of the entire apparatus, and various functions of the apparatus and process data by executing or executing instructions stored in the memory 902 and calling data stored in the memory 902.

In one possible embodiment, the processor 901 may include one or more processing units, and the processor 901 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, and the like, and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 901. In some embodiments, the processor 901 and the memory 902 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.

The processor 901 may be a general-purpose processor, such as a Central Processing Unit (CPU), a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present application.

Memory 902, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 902 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 902 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 902 of the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

Based on the same inventive concept, the present application provides a system for controlling an AGV to ride an elevator, please continue to refer to fig. 1, the system includes an AGV101, a first elevator controller 201, and a dispatching device 103, wherein the AGV101 includes the apparatus for controlling the AGV to ride the elevator in fig. 6, the first elevator controller 201 includes the apparatus for controlling the AGV to ride the elevator in fig. 7, and the dispatching device 103 includes the apparatus for controlling the AGV to ride the elevator in fig. 8.

Based on the same inventive concept, the present application also provides a storage medium storing computer instructions, which when executed on a computer, cause the computer to execute the method for controlling an AGV to ride an elevator, as discussed above.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method for controlling an AGV to take an elevator is applied to the AGV, and the method is characterized by comprising the following steps:

2. The method of claim 1, prior to determining that the AGV entered an elevator car, comprising:

attempting to access the elevator car;

3. The method of claim 1, prior to determining that the AGV entered an elevator car, comprising:

4. The method of any of claims 1-3, after sending a destination floor to the first elevator controller, comprising:

5. A method for controlling an AGV to ride an elevator, for use in a first elevator control in an elevator car, the method comprising:

controlling the elevator car to move to the destination floor;

6. The method of claim 5, prior to establishing a communication connection with the AGV, comprising:

7. The method of claim 5, after controlling the elevator car to travel to the destination floor, comprising:

8. The method of claim 5, before generating a first notification message if the elevator car is monitored to reach the destination floor and sending the first notification message to the AGV, comprising:

9. The method according to any one of claims 5-8, further comprising:

10. A method for controlling an AGV to ride an elevator, which is applied to a dispatching device, and is characterized by comprising the following steps:

obtaining a target floor of a first AGV;

11. The method of claim 10, after obtaining the destination floor for the first AGV, comprising:

obtaining a target floor of a second AGV and a current floor of the second AGV;

12. The method of claim 11, after determining that the path information for the second AGV is the path information for the first AGV, comprising:

13. Method according to any of claims 10-12, characterized in that after determining the path information of the first AGV on the basis of the destination floor, it comprises:

receiving release information for updating path information from the first AGV;

14. An apparatus for controlling an AGV to ride an elevator, comprising:

15. An apparatus for controlling an AGV to ride an elevator, comprising:

16. An apparatus for controlling an AGV to ride an elevator, comprising:

a receiving module: a destination floor for obtaining a first AGV;

17. A system for controlling an AGV to ride an elevator, comprising: an apparatus for controlling an elevator for AGVs according to claim 14, an apparatus for controlling an elevator for AGVs according to claim 15, and an apparatus for controlling an elevator for AGVs according to claim 16.

18. An apparatus for controlling an AGV to ride an elevator, comprising:

a memory for storing program instructions;

a processor for calling program instructions stored in said memory and for executing the method of any one of claims 1-4, 5-9 or 10-13 in accordance with the obtained program instructions.

19. A storage medium storing computer-executable instructions for causing a computer to perform the method of any one of claims 1-4, 5-9, or 10-13.