CN111584961B - Charging method and device applied to elevator car and computer equipment - Google Patents
Charging method and device applied to elevator car and computer equipment Download PDFInfo
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- CN111584961B CN111584961B CN202010305457.9A CN202010305457A CN111584961B CN 111584961 B CN111584961 B CN 111584961B CN 202010305457 A CN202010305457 A CN 202010305457A CN 111584961 B CN111584961 B CN 111584961B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/446—Initial charging measures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The application relates to a charging method, a charging device, a computer device and a storage medium applied to an elevator car. The method comprises the following steps: sending a ladder waiting instruction to a charger robot so that the charger robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction; sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a elevator waiting floor corresponding to an elevator waiting place; when the elevator car runs to a waiting floor, the elevator car is controlled to open the car door so that the charger robot can enter the elevator car to charge the energy storage device. By adopting the method, the charging robot can charge the energy storage equipment in the running process of the elevator, so that the charging of the energy storage equipment is not interfered by electromagnetism, and the charging time is sufficient.
Description
Technical Field
The present application relates to the field of elevator technology, and in particular, to a charging method and apparatus applied to an elevator car, a computer device, and a storage medium.
Background
With the continuous promotion of the national urbanization process and the gradual development of building construction, the demand of the elevator is gradually increased, and people also put forward higher requirements on the comfort level and the humanized design of the elevator in the use process.
Current elevator uses the cable conductor to supply power for elevator car, and when the elevator had a power failure, normal lighting switched into emergency lighting, arouses passenger's nervous mood easily, and in addition, fan stall in the car causes ventilation condition in the car to worsen easily, further leads to passenger's discomfort, especially to weak crowd such as pregnant woman and old man, under the airtight circumstances of car, if can not get timely rescue when sick, causes life danger easily. By providing the elevator car with energy storage devices, the above-mentioned problems can be avoided.
However, when the conventional charging method is used for charging the energy storage device, the elevator car needs to stay at a designated position in the hoistway to be charged in a coupling manner, which easily causes the problems of electromagnetic interference and insufficient charging time.
Therefore, when an energy storage device is provided for an elevator car, the conventional charging method is used for charging the energy storage device, and the problems of electromagnetic interference and insufficient charging time exist.
Disclosure of Invention
In view of the above, it is necessary to provide a charging method, a charging device, a computer apparatus, and a storage medium, which are applied to an elevator car, are free from electromagnetic interference and have a sufficient charging time.
A charging method applied to an elevator car, wherein the elevator car is provided with energy storage equipment and a charger robot; the method comprises the following steps:
sending a ladder waiting instruction to the charging robot so that the charging robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction;
sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a waiting floor corresponding to the waiting place;
when the elevator car moves to when waiting the terraced floor, control the elevator car opens the sedan-chair door, in order to supply charging robot gets into the elevator car, for energy storage equipment charges.
In one embodiment, the charging robot comprises a plurality of candidate robots; the transmission waits the terraced instruction to charging robot includes:
acquiring floor information and electric quantity information of the candidate robots;
determining a target robot in the candidate robots according to the floor information and the electric quantity information;
and sending the ladder waiting instruction to the target robot.
In one embodiment, the sending a call elevator command to a main controller of an elevator comprises:
acquiring a robot floor of the target robot;
generating the elevator calling instruction of the target robot according to the robot floor;
and sending the elevator calling command of the target robot to the main controller so that the main controller controls the elevator car to run to the robot floor.
In one embodiment, the sending a call elevator command to a main controller of an elevator further comprises:
acquiring a robot number of the target robot;
and sending the robot number to the main controller so that the main controller can obtain the weight and the volume of the target robot according to the robot number, and responding to the elevator calling instruction of the target robot according to the weight and the volume.
In one embodiment, the target robot is configured with a robot power supply device; the method further comprises the following steps:
when a charging request of the target robot is received, confirming the charging request and generating a confirmation message of the charging request;
sending the confirmation message to the target robot so that the target robot charges the energy storage device through the robot power supply device when receiving the confirmation message;
interrupting power to the elevator car from the energy storage device to reduce a charge time of the energy storage device.
In one embodiment, the method further comprises:
generating a charging end instruction when the electric quantity of the energy storage device exceeds a first electric quantity threshold value or the electric quantity of the robot power supply device is lower than a second electric quantity threshold value;
sending the charging end instruction to the target robot so that the target robot stops charging when receiving the charging end instruction;
restoring power to the elevator car from the energy storage device.
In one embodiment, the sending a waiting instruction to the charging robot further includes:
acquiring the residual capacity of the energy storage equipment and the power consumption of the elevator car in unit time;
obtaining the residual power supply time of the energy storage equipment according to the residual electric quantity and the unit time power consumption;
and when the residual power supply time is lower than a preset time threshold value, sending the elevator waiting instruction to the charging robot.
A charging device applied to an elevator car is provided with energy storage equipment and a charger robot; the device comprises:
the first sending module is used for sending a ladder waiting instruction to the charging robot so that the charging robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction;
the second sending module is used for sending a calling command to a main controller of the elevator so that the main controller can control the elevator car to run to the elevator waiting floor corresponding to the elevator waiting place;
and the control module is used for controlling the elevator car to open the car door when the elevator car runs to the elevator waiting floor, so that the charging robot enters the elevator car and the energy storage device is charged.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
sending a ladder waiting instruction to the charging robot so that the charging robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction;
sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a waiting floor corresponding to the waiting place;
when the elevator car moves to when waiting the terraced floor, control the elevator car opens the sedan-chair door, in order to supply charging robot gets into the elevator car, for energy storage equipment charges.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
sending a ladder waiting instruction to the charging robot so that the charging robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction;
sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a waiting floor corresponding to the waiting place;
when the elevator car moves to when waiting the terraced floor, control the elevator car opens the sedan-chair door, in order to supply charging robot gets into the elevator car, for energy storage equipment charges.
According to the charging method, the charging device, the computer equipment and the storage medium applied to the elevator car, the elevator waiting instruction is sent to the charger robot, so that the charger robot can be informed to move to a preset elevator waiting place to wait for the elevator when the energy storage equipment needs to be charged; by sending the elevator calling instruction to the main controller, the elevator car can be controlled to move to the elevator waiting floor where the charger robot is located when the energy storage device needs to be charged; when the elevator car runs to a waiting floor, the elevator car is controlled to open the car door, a charger robot can enter the elevator car, the energy storage equipment is charged in the running process of the elevator, the charging of the energy storage equipment is free from electromagnetic interference, and the charging time is sufficient.
Drawings
Fig. 1 is a diagram of an application environment of a charging method applied to an elevator car in one embodiment;
fig. 2 is a functional block diagram of a charging apparatus applied to an elevator car in one embodiment;
fig. 3 is a schematic flow diagram of a charging method applied to an elevator car in one embodiment;
fig. 4 is a schematic flow diagram of a charging method applied to an elevator car in another embodiment;
fig. 5 is a block diagram of a charging device applied to an elevator car in one embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The charging method applied to the elevator car can be applied to the application environment shown in fig. 1. The elevator car 102 is provided with energy storage equipment 104 and a charger robot 106, the energy storage equipment 104 can supply power to the elevator car 102, the charger robot 106 can charge the energy storage equipment 104 and supply power to the elevator car 102 while charging, and the elevator car 102 and the charger robot 106 can communicate with each other. The energy storage device 104 may be, but is not limited to, various energy storage batteries and super capacitors.
To facilitate understanding of the present application by those skilled in the art, the elevator car 102, the energy storage device 104, and the charger robot 106 of the embodiment of the present application will be described below with reference to fig. 2.
As shown in fig. 2, a functional block diagram of a charging apparatus applied to an elevator car 102 is provided. As can be seen from the figure, the energy storage device 104 of the car is a first energy storage unit, which supplies power to the car device load under the control of the first power management unit, the first energy storage unit can be mounted on the top of the car, and the charging port of the first energy storage unit can be arranged inside the car. The car can be configured with one or more robots for providing charging service, and when a plurality of robots are configured, the robots can be distributed on different floors, and the robots can be loaded with a second energy storage unit and a second power management unit and are provided with power supply ports. The first power management unit can be communicated with the second power management unit and the main controller, wherein the main controller is used for controlling the elevator to run, the first power management unit can play a role in controlling the car to supply power to switch between the first energy storage unit and the second energy storage unit, the functions of detecting the power consumption of car equipment, detecting the residual electric quantity of the first energy storage unit, performing charging management on the first energy storage unit and the like can be realized, and the second power management unit can detect the residual electric quantity of the second energy storage unit and the power consumption of the robot and the car.
In one embodiment, as shown in fig. 3, a charging method applied to an elevator car 102 is provided, which is described by way of example as the method applied to the elevator car 102 in fig. 1, and includes the following steps:
step S310, a waiting ladder instruction is sent to the charger robot 106, so that the charger robot 106 can operate to a preset waiting ladder place when receiving the waiting ladder instruction.
The elevator waiting instruction is an instruction sent by the elevator car 102 to the charging robot 106, and is used for instructing the charging robot 106 to move to a designated elevator waiting place to wait for an elevator.
The elevator waiting place is a place where the charger robot 106 waits for an elevator, and can be outside an elevator car door.
In a specific implementation, the elevator car 102 may detect the remaining power supply time T of the energy storage device 104 through the first power management unit, and when the remaining power supply time T is lower than a preset power supply time threshold T, may generate a charging request to prompt that the energy storage device 104 needs to be charged. When the elevator car 102 receives a charging request, it may send a waiting elevator instruction to the charger robot 106, and when the charger robot 106 receives the waiting elevator instruction, it moves to a designated waiting elevator place to wait for an elevator. For example, when it is detected that the energy storage device 104 needs to be charged, the elevator car 102 may send a waiting command to the second power management unit of the charger robot 106 through the first power management unit, and if the floor where the charger robot 106 is located is 6 th floor, when the waiting command is received, the charger robot 106 moves to the outside of the elevator car door of the 6 th floor, and waits for the elevator car to move to the 6 th floor and open the car door, and then enters the car to charge the energy storage device 106.
In one embodiment, a method of calculating a remaining power supply time t is provided. The first power management unit can record the average power consumption of the car device in different time periods and detect the remaining power of the first energy storage unit, and according to the remaining power of the first energy storage unit and the average power consumption of the car device, the time for the car device to continue to work normally, that is, the remaining power supply time t of the energy storage device 106, can be calculated. For example, the first power management unit performs statistics on power consumption of devices such as lights, fans, door controllers, and control boxes in the car for multiple times within one hour of the peak period of the up-and-down shift, and obtains an average power consumption of 10 watts/hour after averaging, and the first power management unit further detects that the remaining power of the first energy storage unit is 20 watts, and obtains that the remaining power supply time of the energy storage device 106 is 2 hours during the peak period of the up-and-down shift by dividing the average power consumption by 20 watts of the remaining power by 10 watts/hour.
In one embodiment, a method for setting a power supply time threshold T is provided. The power supply time threshold value may be set to T1+ TS1+ TS2, where T1 is a time required for the electric quantity of the first energy storage unit to drop to the first electric quantity threshold value Q, TS1 is a time required for the charger robot 106 to travel to a waiting area, TS2 is a time required for the elevator to travel to the floor where the charger robot 106 is located in response to the elevator calling up by the charger robot 106, where the first electric quantity threshold value Q1+ Q2, Q1 is an electric quantity consumed by the elevator car 102 during a period from when the charger robot 106 enters the car until the car is ready for charging, and Q2 is an electric quantity required for emergency power supply for one hour (standard specifies that emergency lighting and talkback in the car should be maintained for at least one hour).
In one embodiment, the charging request may also be generated when the remaining power supply time T of the energy storage device 104 satisfies T1< T < k · T0, and the elevator car 102 determines the state of the elevator when receiving the charging request, and if the elevator is in an idle state (e.g., empty and the stop time at the landing exceeds a certain threshold), the charger robot 106 may be enabled to enter the car to charge in response to the charging request, thereby avoiding charging the car when the passenger uses the car, and prolonging the time for which the energy storage device 104 provides service to the passenger. T0 is the time that the first energy storage unit is fully charged and can last to maintain normal operation of the car, k is a coefficient set according to actual demand, and the value range may be 0< k <1, for example, k may be 0.5.
In a specific embodiment, a selection method of the charger robot 106 is provided. When the elevator car 102 is provided with a plurality of candidate robots, each candidate robot can carry a second power management unit, the second power management unit is communicated with the first power management unit of the elevator car 102, information of floors, positions and electric quantity of the candidate robots is provided for the elevator car 102, the elevator car 102 selects a target robot from the candidate robots according to the information of the floors, the positions and the electric quantity, and the target robot is used as a charger robot 106 for charging the energy storage device 104. The elevator car 102 may select the candidate robot with the largest remaining capacity as the charging robot 106; the elevator car 102 may also select a candidate robot closest to the designated waiting place as the charging robot 106; the elevator car 102 may also select the candidate robot closest to the current floor as the charging robot 106; the elevator car 102 can also select a candidate robot with any floor, position and electric quantity meeting the preset value range as the charging robot 106. For example, for candidate robots with 10 watts and 20 watts of remaining power, respectively, 20 watts may be selected as the charging robot 106; for candidate robots respectively positioned in an elevator waiting area and a staircase, the candidate robots positioned in the elevator waiting area can be selected as the charging robots 106; when the elevator car is located on floor 5, for candidate robots located on floors 4 and 10 respectively, floor 4 can be selected as the charging robot 106; when the requirement for setting the charging robot 106 is that the charging robot can operate to the waiting area within the TS1 time and the remaining power is higher than 10 watts, any candidate robot meeting the requirement can be selected as the charging robot 106. Further, if the selected charger robot 106 fails to arrive at the elevator waiting location within a predetermined time (e.g., TS1), the charger robot 106 may be reselected. When receiving the elevator waiting instruction, the charging robot 106 may wait for an elevator at the current floor, or may move to a designated floor to wait for an elevator, for example, after receiving the elevator waiting instruction, the charging robot 106 located in the 6 th floor may move to a waiting area waiting elevator in the 6 th floor, and if the stopping landing of the elevator is an odd-numbered floor, the charging robot 106 may also move to the 5 th floor or the 7 th floor to wait for an elevator.
And step S320, sending an elevator calling command to a main controller of the elevator, so that the main controller can control the elevator car 102 to move to the elevator waiting floor corresponding to the elevator waiting place.
The elevator calling command is a command sent by the elevator car 102 to the main controller, and the main controller can be notified to control the elevator car to move to the floor where the charger robot 106 is located.
The elevator waiting floor is a floor where the charging robot 106 operates to a preset elevator waiting place to wait for the elevator.
In a specific implementation, when the remaining power supply time T is lower than the preset power supply time threshold T, the elevator car 102 may send a notification to the main controller through the first power management unit, so as to notify the main controller that the car has a charging demand within a time period of TS1+ TS2, and the elevator needs to complete an elevator taking response within a time period of TS2 after the charger robot 106 arrives at the elevator waiting place. The first power management unit can also send a calling instruction to the main controller, the calling instruction can include the floor where the charging robot 106 is located and the robot number, the main controller searches the size and weight information of the charging robot 106 in a preset lookup table according to the robot number after receiving the calling instruction, and preferentially responds to the calling instruction of the charging robot 106 within the time of TS2 according to the size and weight information of the charging robot 106, the floor where the charging robot 106 is located, the internal and external calling requirements of the elevator, the residual space inside the elevator car, the current load condition of the elevator car and the like, and then the main controller can control the elevator car 102 to move to the elevator waiting floor where the charging robot 106 is located within the time of TS 2.
Step S330, when the elevator car 102 runs to a waiting floor, the elevator car 102 is controlled to open a car door, so that the charger robot 106 can enter the elevator car 102 to charge the energy storage device 104.
In the concrete implementation, when the elevator car 102 runs to a waiting floor, the door controller of the car can control the elevator car 102 to open the car door, the first power management unit can send a car entering instruction to the second power management unit, the second power management unit informs the charging robot 106 to enter the car after receiving the car entering instruction, a power supply port is connected with a charging port in an abutting mode, the second power management unit can send a charging request instruction to the first power management unit after the abutting mode, the first power management unit confirms after receiving the charging request instruction, and charging is enabled after the confirmation of the passing mode.
In one embodiment, the elevator car 102 can cut off the output of the first energy storage unit during charging, and the second energy storage unit can simultaneously charge the first energy storage unit and supply power to the car equipment, so as to reduce the charging time and reduce the influence of charging on the passengers riding the elevator, wherein the car equipment comprises the lighting equipment, the fan, the door controller, the control box, the voice equipment, the camera, the passenger detection equipment, the temperature detection equipment and the alarm of the car. When the first energy storage unit is fully charged (the electric quantity is higher than the preset threshold) or the second energy storage unit is low in electric quantity (the electric quantity is lower than the preset threshold), the first power management unit can restore the power supply of the car equipment to the power supply of the first energy storage unit and disconnect the direct power supply of the second energy storage unit to the car equipment. The first power management unit may further notify the charging robot 106 that power supply is finished, the charging robot 106 sends a lift-out requirement to the first power management unit, the lift-out requirement includes a lift-out landing of the charging robot 106, the first power management unit may forward the lift-out requirement to the main controller, and the main controller controls the elevator car to run to the lift-out landing when receiving the lift-out requirement, so that the charging robot 106 can run out of the elevator car to supplement electric quantity.
In a specific embodiment, the second power management unit can also monitor the electric quantity of the charging robot 106 in real time, predict the time for supplying electric energy according to the electric energy output and the residual electric quantity of the charging robot 106, feed back the time for supplying electric energy to the first power management unit, and inform the main controller through the first power management unit, thereby avoiding the abnormal electric quantity and the influence of the electric quantity of the charging robot 106 on the power supply of the elevator car 102.
According to the charging method applied to the elevator car, the elevator waiting instruction is sent to the charger robot, so that the charger robot can be informed to move to a preset elevator waiting place to wait for the elevator when the energy storage equipment needs to be charged; by sending the elevator calling instruction to the main controller, the elevator car can be controlled to move to the elevator waiting floor where the charger robot is located when the energy storage device needs to be charged; when the elevator car runs to a waiting floor, the elevator car is controlled to open the car door, a charger robot can enter the elevator car, the energy storage equipment is charged in the running process of the elevator, the charging of the energy storage equipment is free from electromagnetic interference, and the charging time is sufficient.
In one embodiment, the step S310 includes: acquiring floor information and electric quantity information of a plurality of candidate robots; determining a target robot from the candidate robots according to the floor information and the electric quantity information; and sending a ladder waiting instruction to the target robot.
Wherein the candidate robot is a robot capable of charging the elevator car, and the target robot is a robot selected to charge the elevator car.
Wherein the floor information includes the floor where the candidate robot is located and the position in the floor, for example, when the candidate robot is located in a staircase of 6 th floor, the floor information is "6 th floor-staircase".
In the concrete realization, elevator car can be configured with a plurality of candidate robots, every candidate robot all can carry on the second power management unit, first power management unit through second power management unit and elevator car communicates mutually, the floor with candidate robot, position and electric quantity information provide elevator car, elevator car is according to the floor, position and electric quantity information, select the target robot from a plurality of candidate robots, regard the target robot as the machine people that charges to first energy storage unit (energy storage equipment), and send the command of waiting to the target robot, instruct the target robot to move to predetermined waiting elevator place and wait the ladder. The elevator car can select the candidate robot with the largest residual electric quantity as a target robot; the elevator car can also select a candidate robot closest to the appointed waiting place as a target robot; the elevator car can also select a candidate robot closest to the current floor as a target robot; the elevator car can also select a candidate robot with any floor, position and electric quantity meeting the preset numerical value range as a target robot, for example, for candidate robots with 10 watts and 20 watts of residual electric quantity respectively, 20 watts of residual electric quantity can be selected as the target robot; for candidate robots respectively positioned in an elevator waiting area and a staircase, the candidate robots positioned in the elevator waiting area can be selected as target robots; when the elevator car is located on the 5 th floor, the candidate robots respectively located on the 4 th floor and the 10 th floor can select the candidate robot on the 4 th floor as a target robot; when the target robot is set to have a requirement of being capable of operating to a waiting area within the time of TS1 and the remaining power is higher than 10 watts, any candidate robot meeting the requirement can be selected as the target robot. Further, if the selected target robot fails to reach the elevator waiting site within a predetermined time (e.g., TS1), the target robot may be reselected. When the target robot receives the elevator waiting instruction, the target robot can wait the elevator on the current floor and can also move to the appointed floor to wait the elevator, for example, the target robot located in the 6 th floor can move to the elevator waiting area waiting elevator of the 6 th floor after receiving the elevator waiting instruction, and if the stopping landing of the elevator is an odd number floor, the target robot can also move to the 5 th floor or the 7 th floor to wait the elevator.
In the embodiment, a target robot meeting preset requirements can be selected by acquiring floor information and electric quantity information of a plurality of candidate robots and determining the target robot in the candidate robots according to the floor information and the electric quantity information; the elevator waiting instruction is sent to the target robot, the target robot can be informed to operate to the appointed elevator waiting place to wait for the elevator, and the situation that passengers wait for the robot is avoided.
In one embodiment, the step S320 includes: acquiring a robot floor of a target robot; generating a calling command of the target robot according to the robot floor; and sending a calling command of the target robot to the main controller so that the main controller controls the elevator car to run to the floor of the robot.
Wherein, the robot floor is the floor that the target robot was located when waiting the ladder.
In concrete the realization, elevator car can be through first power management unit and second power management unit looks communication, acquire the robot floor at target robot place, and call the terrane instruction according to robot floor generation target robot, instruct elevator car need move to the floor at target robot place, communicate with main control unit through first power management unit mutually, elevator car can be with calling the terrane instruction and sending to main control unit, main control unit is after receiving calling the terrane instruction, can control elevator car and move to the floor at robot place.
For example, when the target robot is located 6 th floor, the elevator car acquires that the target robot is located 6 th floor through first power management unit, and generate the calling command of target robot, the elevator car will call the calling command and send to main control unit, call floor and robot number that can contain the target robot place in the calling command, main control unit is calling the calling command after receiving, look for the size and the weight information of target robot in preset lookup table according to the robot number, size and weight information according to the target robot, the floor at target robot place, the demand is called to inside and outside of elevator, the inside residual space of car and the current load condition of car etc. the calling command of priority response target robot, afterwards, main control unit can control elevator car and move the elevator waiting floor that the target robot is located in TS2 time.
In the embodiment, the elevator car can be called to move to the floor where the target robot is located by acquiring the robot floor of the target robot and generating the elevator calling command of the target robot according to the robot floor; the calling command of the target robot is sent to the main controller, the main controller can control the elevator car to move to the floor where the robot is located, the target robot enters the elevator car to charge the energy storage device, and therefore the charging device does not need to be arranged in the shaft, and the charging convenience of the energy storage device is improved.
In an embodiment, the step S320 further includes: acquiring a robot number of a target robot; and sending the robot number to the main controller so that the main controller can obtain the weight and the volume of the target robot according to the robot number and respond to the elevator calling instruction of the target robot according to the weight and the volume.
In the concrete realization, in calling up the terraced instruction at elevator car to main control unit transmission, except can containing the robot floor of target robot, can also contain the robot number of target robot, main control unit is calling up terraced instruction after receiving, look for the size and the weight information of target robot in predetermined lookup table according to the robot number, size and weight information according to the target robot, and the floor at target robot place, the demand is called up inside and outside the elevator, the inside residual space of car and the current load condition of car etc. the terraced instruction of calling up terraced of priority response target robot.
For example, the elevator car can send the robot number of the target robot to the main controller to be 10, the main controller finds that the weight of the robot 10 is 10kg and the volume is 20cm × 20cm × 50cm in a lookup table, judges according to the remaining space and the remaining load inside the elevator car, and determines that the car can accommodate the robot 10, and then the main controller can acquire that the robot floor of the target robot is 6 stories, the elevator car is currently in 10 stories and in a downlink state, and the main controller can control the car to preferentially respond to the calling of the target robot and stop the car to 6 stories.
In this embodiment, through the robot number who obtains the target robot to send robot number to main control unit, can make main control unit obtain the weight and the volume of robot according to the robot number, and confirm whether permit the target robot to get into the car according to the actual passenger carrying condition of weight, volume and elevator car, thereby ensure the safety of elevator operation, and reduce the influence of taking advantage of the ladder to the passenger.
In one embodiment, the above charging method applied to an elevator car further includes: when receiving a charging request of a target robot, confirming the charging request and generating a confirmation message of the charging request; sending a confirmation message to the target robot so that the target robot charges the energy storage device through the robot power supply device when receiving the confirmation message; the power supply of the energy storage device to the elevator car is interrupted to reduce the charging time of the energy storage device.
The robot power supply equipment is a second energy storage unit carried on the robot.
In the specific implementation, when a target robot enters a car and a power supply port of the robot is butted with a charging port of the car, the target robot can send a charging request to the elevator car, for example, the target robot can send the charging request to a first power management unit through a second power management unit, the first power management unit confirms after receiving the charging request, and if the confirmation is passed, a confirmation message is generated, the target robot is indicated to permit charging of the elevator car by the target robot, the first power management unit feeds the confirmation message back to a second power management unit, and when the second power management unit receives the confirmation message, the target robot is controlled to charge a first energy storage unit of the elevator car through a second energy storage unit. In order to shorten the charging time of the target robot, the power supply of the first energy storage unit to the elevator car can be cut off in the charging process, the electric energy output of the first energy storage unit is avoided, and the second energy storage unit supplies power to the elevator car while charging for the first energy storage unit.
In the embodiment, when the charging request of the target robot is received, the charging request is confirmed, and the confirmation message of the charging request is generated, so that the condition that illegal equipment is randomly accessed into a charging port to damage energy storage equipment of an elevator car can be avoided; sending a confirmation message to the target robot, so that the target robot can charge the energy storage equipment when receiving the confirmation message, the charging is free from electromagnetic interference, and the charging time is sufficient; the power supply of the energy storage equipment to the elevator car is interrupted, so that the charging time can be shortened, and the influence of charging on the elevator taking of passengers can be reduced.
In one embodiment, the above charging method applied to an elevator car further includes: when the electric quantity of the energy storage device exceeds a first electric quantity threshold value or the electric quantity of the robot power supply device is lower than a second electric quantity threshold value, generating a charging end instruction; sending a charging end instruction to the target robot so that the target robot stops charging when receiving the charging end instruction; power to the elevator car is restored from the energy storage device.
The first electric quantity threshold value is an electric quantity threshold value when the energy storage device is judged to finish charging, and the second electric quantity threshold value is an electric quantity threshold value when the electric energy needs to be supplemented and the electric quantity of the target robot is insufficient.
In the specific implementation, when the elevator car is fully charged (for example, the electric quantity of the first energy storage unit exceeds a preset first electric quantity threshold), a charging end instruction can be generated by the first power management unit, and the charging end instruction is sent to the second power management unit of the target robot, when the second power management unit receives the charging end instruction, the charging of the second energy storage unit to the first energy storage unit is stopped, and then the second power management unit can feed back the charging stop information to the first power management unit, and when the first power management unit receives the charging stop information, the power supply of the first energy storage unit to the elevator car is recovered. Or, when the electric quantity of the target robot is insufficient (for example, the electric quantity of the second energy storage unit is lower than a preset second electric quantity threshold), the second energy storage unit can be directly controlled by the second power management unit to stop charging the first energy storage unit, a charging ending instruction is generated by the second power management unit and sent to the first power management unit, and when the first power management unit receives the charging ending instruction, the power supply of the first energy storage unit to the elevator car can be recovered.
In the embodiment, when the electric quantity of the energy storage device exceeds the first electric quantity threshold value or the electric quantity of the robot power supply device is lower than the second electric quantity threshold value, a charging end instruction is generated, and the elevator car and the target robot can be informed to stop charging when the preset conditions are met; sending a charging end instruction to the target robot, and stopping charging of the elevator car by the target robot; the power supply of the energy storage equipment to the elevator car is recovered, so that the energy storage equipment can continuously supply power to the elevator car after the charging is finished.
In an embodiment, the step S310 further includes: acquiring the residual electric quantity of the energy storage equipment and the power consumption of the elevator car in unit time; obtaining the residual power supply time of the energy storage equipment according to the residual electric quantity and the unit time power consumption; and when the residual power supply time is lower than a preset time threshold value, sending a ladder waiting instruction to the charger robot.
In the concrete implementation, the elevator car can detect the residual power supply time T of the energy storage device through the first power supply management unit, and when the residual power supply time T is lower than a preset power supply time threshold value T, a charging request can be generated to prompt that the energy storage device needs to be charged. The first power management unit can record the average power consumption of the car equipment in different time periods in unit time, detect the residual capacity of the first energy storage unit, and calculate the time for the car equipment to continuously maintain normal work, namely the residual power supply time t of the energy storage equipment according to the residual capacity of the first energy storage unit and the average power consumption of the car equipment. For example, the first power management unit performs statistics on power consumption of devices such as light, a fan, a door controller and a control box in a car for multiple times within one hour of a peak period of up and down shifts, and obtains an average power consumption of 10 watts/hour after averaging, the first power management unit further detects that the remaining power of the first energy storage unit is 20 watts, and the remaining power supply time of the energy storage device in the peak period of up and down shifts can be obtained as 2 hours by dividing the average power consumption by 20 watts of the remaining power by 10 watts/hour. The power supply time threshold value may be set to T1+ TS1+ TS2, where T1 is the time required for the electric quantity of the first energy storage unit to drop to the first electric quantity threshold value Q, TS1 is the time required for the charger robot 106 to travel to the elevator waiting area, TS2 is the time required for the elevator to travel to the floor where the charger robot 106 is located in response to the elevator calling of the charger robot 106, where the first electric quantity threshold value Q1+ Q2, Q1 is the electric quantity consumed by the elevator car 102 during the time period from the time when the charger robot 106 enters the car until the car is ready for charging, and Q2 is the electric quantity required for emergency power supply for one hour (standard specifies that emergency lighting and talkback need to be maintained for at least one hour in the case of power outage).
In the embodiment, the remaining power supply time of the energy storage device can be estimated by acquiring the remaining power of the energy storage device and the power consumption of the elevator car in unit time and obtaining the remaining power supply time of the energy storage device according to the remaining power and the power consumption in unit time; when the remaining power supply time is lower than a preset time threshold, a waiting elevator instruction is sent to the charger robot, so that the charging robot can charge in time when the electric quantity of the energy storage equipment is low, and the situation that the electric quantity of the energy storage equipment is exhausted and the operation of the car equipment cannot be maintained is avoided.
In order to facilitate understanding of the present application by those skilled in the art, an energy saving method applied to an elevator car according to an embodiment of the present application will be described below with reference to fig. 4.
As shown in fig. 4, a flow diagram of another charging method applied to an elevator car is provided. The first power management unit records the average power consumption of the car equipment in unit time in different time periods, detects the electric quantity of the first energy storage unit, and according to the electric quantity of the first energy storage unit and the average power consumption of the car equipment, the sustainable time T of the remaining electric quantity of the first energy storage unit can be obtained, when the T is less than T1+ TS1+ TS2, the main controller can be informed through the first power management unit, the charging requirement exists in the time of TS1+ TS2, the elevator car can also be communicated with the second power management unit of the robot through the first power management unit, the floor where the robot is located, the electric quantity and the time of arriving at a waiting area are obtained, and according to the time of the robot arriving at the waiting area and the available electric quantity, the suitable robot can be appointed to arrive at the appointed waiting area for waiting in the time of TS 1. The first power management unit sends the floor where the charger robot performing charging is located and the robot number to the main controller, the main controller can acquire the size and weight information of the robot according to the robot number, preferentially responds to the elevator taking demand of the charger robot according to the size and weight information of the robot, the internal and external calling demands, the remaining space in the elevator car and the current load situation, and ensures that the elevator car is controlled to run to the floor where the charger robot waits in the TS2 time and the elevator car door is opened. The charging robot enters the car, and the power supply port is butted with the charging port, the charging request is sent to the first power management unit through the second power management unit, after the first power management unit confirms, the charging is enabled, the charging amount caused by the output of the first energy storage unit is increased, the power supply of the first energy storage unit to the elevator car can be cut off, and the charging of the first energy storage unit and the power supply of the car equipment are realized simultaneously by the second energy storage unit. In the charging process, the second power management unit can monitor the second energy storage unit in real time to avoid the influence of abnormal electric quantity on power supply, the second power management unit can predict the time for supplying electric energy according to the electric energy output and the residual electric quantity of the second energy storage unit and feed the time back to the first power management unit, and the first power management unit can also predict the time required for full charging and feed the time back to the main controller. When the first energy storage unit is fully charged or the electric quantity of the second energy storage unit reaches a set value (for example, the electric quantity is lower than a preset threshold), the first power management unit can control the car to supply power to be switched back to the first energy storage unit, the second energy storage unit is disconnected from directly supplying power to the car equipment, and the charging robot is informed that the charging is finished. The charging robot sends a demand to the first power management unit, the demand needs to be sent out at which landing, the main controller controls the car to move to the required landing after receiving the demand, and the robot drives out of the car to supplement electric quantity after opening the car door. When the remaining capacity of the first energy storage unit can be maintained for a time T1< T < k · T0(k can be set according to actual requirements, for example, k is 0.5), a charging request can also be sent, and if the elevator is in an idle state, the robot is enabled to enter the car for charging in response to the charging request, so that the car is prevented from being charged when the passenger uses the elevator, and the time for the energy storage device to serve the passenger is prolonged.
It should be understood that although the various steps in the flow charts of fig. 3-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 5, there is provided a charging device 500 applied to an elevator car, including: a first sending module 502, a second sending module 504, and a control module 506, wherein:
the first sending module 502 is configured to send a ladder waiting instruction to the charging robot, so that the charging robot runs to a preset ladder waiting place when receiving the ladder waiting instruction;
a second sending module 504, configured to send a call instruction to a main controller of an elevator, so that the main controller controls the elevator car to operate to a waiting floor corresponding to the waiting place;
and the control module 506 is used for controlling the elevator car to open the car door when the elevator car runs to the elevator waiting floor, so that the charging robot enters the elevator car and charges the energy storage device.
In an embodiment, the first sending module 502 is further configured to obtain floor information and power information of the candidate robots; determining a target robot in the candidate robots according to the floor information and the electric quantity information; and sending the ladder waiting instruction to the target robot.
In an embodiment, the second sending module 504 is further configured to obtain a robot floor of the target robot; generating the elevator calling instruction of the target robot according to the robot floor; and sending the elevator calling command of the target robot to the main controller so that the main controller controls the elevator car to run to the robot floor.
In an embodiment, the second sending module 504 is further configured to obtain a robot number of the target robot; and sending the robot number to the main controller so that the main controller can obtain the weight and the volume of the target robot according to the robot number, and responding to the elevator calling instruction of the target robot according to the weight and the volume.
In one embodiment, the charging device 500 applied to the elevator car is further configured to, when receiving a charging request from the target robot, confirm the charging request and generate a confirmation message of the charging request; sending the confirmation message to the target robot so that the target robot charges the energy storage device through the robot power supply device when receiving the confirmation message; interrupting power to the elevator car from the energy storage device to reduce a charge time of the energy storage device.
In one embodiment, the charging device 500 applied to the elevator car is further configured to generate a charge ending instruction when the electric quantity of the energy storage device exceeds a first electric quantity threshold value or the electric quantity of the robot power supply device is lower than a second electric quantity threshold value; sending the charging end instruction to the target robot so that the target robot stops charging when receiving the charging end instruction; restoring power to the elevator car from the energy storage device.
In one embodiment, the first sending module 502 is further configured to obtain the remaining capacity of the energy storage device and the power consumption of the elevator car per unit time; obtaining the residual power supply time of the energy storage equipment according to the residual electric quantity and the unit time power consumption; and when the residual power supply time is lower than a preset time threshold value, sending the elevator waiting instruction to the charging robot.
For specific definitions of the charging device applied to the elevator car, reference may be made to the above definitions of the charging method applied to the elevator car, which are not described in detail here. The above-described respective modules applied to the charging apparatus for the elevator car may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store charging data applied to the elevator car. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a charging method applied to an elevator car.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: sending a ladder waiting instruction to a charger robot so that the charger robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction; sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a elevator waiting floor corresponding to an elevator waiting place; when the elevator car runs to a waiting floor, the elevator car is controlled to open the car door so that the charger robot can enter the elevator car to charge the energy storage device.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring floor information and electric quantity information of a plurality of candidate robots; determining a target robot from the candidate robots according to the floor information and the electric quantity information; and sending a ladder waiting instruction to the target robot.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a robot floor of a target robot; generating a calling command of the target robot according to the robot floor; and sending a calling command of the target robot to the main controller so that the main controller controls the elevator car to run to the floor of the robot.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a robot number of a target robot; and sending the robot number to the main controller so that the main controller can obtain the weight and the volume of the target robot according to the robot number and respond to the elevator calling instruction of the target robot according to the weight and the volume.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when receiving a charging request of a target robot, confirming the charging request and generating a confirmation message of the charging request; sending a confirmation message to the target robot so that the target robot charges the energy storage device through the robot power supply device when receiving the confirmation message; the power supply of the energy storage device to the elevator car is interrupted to reduce the charging time of the energy storage device.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the electric quantity of the energy storage device exceeds a first electric quantity threshold value or the electric quantity of the robot power supply device is lower than a second electric quantity threshold value, generating a charging end instruction; sending a charging end instruction to the target robot so that the target robot stops charging when receiving the charging end instruction; power to the elevator car is restored from the energy storage device.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the residual electric quantity of the energy storage equipment and the power consumption of the elevator car in unit time; obtaining the residual power supply time of the energy storage equipment according to the residual electric quantity and the unit time power consumption; when the residual power supply time is lower than a preset time threshold value, a ladder waiting instruction is sent to the charger robot
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: sending a ladder waiting instruction to a charger robot so that the charger robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction; sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a elevator waiting floor corresponding to an elevator waiting place; when the elevator car runs to a waiting floor, the elevator car is controlled to open the car door so that the charger robot can enter the elevator car to charge the energy storage device.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring floor information and electric quantity information of a plurality of candidate robots; determining a target robot from the candidate robots according to the floor information and the electric quantity information; and sending a ladder waiting instruction to the target robot.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a robot floor of a target robot; generating a calling command of the target robot according to the robot floor; and sending a calling command of the target robot to the main controller so that the main controller controls the elevator car to run to the floor of the robot.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a robot number of a target robot; and sending the robot number to the main controller so that the main controller can obtain the weight and the volume of the target robot according to the robot number and respond to the elevator calling instruction of the target robot according to the weight and the volume.
In one embodiment, the computer program when executed by the processor further performs the steps of: when receiving a charging request of a target robot, confirming the charging request and generating a confirmation message of the charging request; sending a confirmation message to the target robot so that the target robot charges the energy storage device through the robot power supply device when receiving the confirmation message; the power supply of the energy storage device to the elevator car is interrupted to reduce the charging time of the energy storage device.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the electric quantity of the energy storage device exceeds a first electric quantity threshold value or the electric quantity of the robot power supply device is lower than a second electric quantity threshold value, generating a charging end instruction; sending a charging end instruction to the target robot so that the target robot stops charging when receiving the charging end instruction; power to the elevator car is restored from the energy storage device.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the residual electric quantity of the energy storage equipment and the power consumption of the elevator car in unit time; obtaining the residual power supply time of the energy storage equipment according to the residual electric quantity and the unit time power consumption; and when the residual power supply time is lower than a preset time threshold value, sending a ladder waiting instruction to the charger robot.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A charging method applied to an elevator car is characterized in that the elevator car is provided with energy storage equipment and a charger robot; the method comprises the following steps:
sending a ladder waiting instruction to the charging robot so that the charging robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction; the sending of the elevator waiting instruction to the charging robot comprises: the method comprises the steps of obtaining floor information and electric quantity information of a plurality of candidate robots, determining a target robot in the candidate robots according to the floor information and the electric quantity information, and sending a ladder waiting instruction to the target robot;
sending a calling command to a main controller of the elevator, so that the main controller controls the elevator car to run to a waiting floor corresponding to the waiting place;
when the elevator car moves to when waiting the terraced floor, control the elevator car opens the sedan-chair door, in order to supply charging robot gets into the elevator car, for energy storage equipment charges.
2. The method of claim 1, wherein determining a target robot among the plurality of candidate robots based on the floor information and the power information comprises:
taking the candidate robot with the largest residual electric quantity as the target robot;
or the like, or, alternatively,
taking the candidate robot closest to the appointed elevator waiting place as the target robot;
or the like, or, alternatively,
taking a candidate robot closest to the current floor as the target robot;
or the like, or, alternatively,
and taking the candidate robot with any floor, position and electric quantity meeting the preset numerical range as the target robot.
3. The method of claim 1, wherein sending a call to a master controller of an elevator comprises:
acquiring a robot floor of the target robot;
generating the elevator calling instruction of the target robot according to the robot floor;
and sending the elevator calling command of the target robot to the main controller so that the main controller controls the elevator car to run to the robot floor.
4. The method of claim 3, wherein the sending a call to elevator master control further comprises:
acquiring a robot number of the target robot;
and sending the robot number to the main controller so that the main controller can obtain the weight and the volume of the target robot according to the robot number, and responding to the elevator calling instruction of the target robot according to the weight and the volume.
5. The method according to claim 1, wherein the target robot is configured with a robot power supply device; the method further comprises the following steps:
when a charging request of the target robot is received, confirming the charging request and generating a confirmation message of the charging request;
sending the confirmation message to the target robot so that the target robot charges the energy storage device through the robot power supply device when receiving the confirmation message;
interrupting power to the elevator car from the energy storage device to reduce a charge time of the energy storage device.
6. The method of claim 5, further comprising:
generating a charging end instruction when the electric quantity of the energy storage device exceeds a first electric quantity threshold value or the electric quantity of the robot power supply device is lower than a second electric quantity threshold value;
sending the charging end instruction to the target robot so that the target robot stops charging when receiving the charging end instruction;
restoring power to the elevator car from the energy storage device.
7. The method of claim 1, wherein the sending a waiting elevator instruction to the charging robot further comprises:
acquiring the residual capacity of the energy storage equipment and the power consumption of the elevator car in unit time;
obtaining the residual power supply time of the energy storage equipment according to the residual electric quantity and the unit time power consumption;
and when the residual power supply time is lower than a preset time threshold value, sending the elevator waiting instruction to the charging robot.
8. A charging device applied to an elevator car is characterized in that the elevator car is provided with energy storage equipment and a charger robot; the device comprises:
the first sending module is used for sending a ladder waiting instruction to the charging robot so that the charging robot can operate to a preset ladder waiting place when receiving the ladder waiting instruction;
the first sending module is further used for obtaining floor information and electric quantity information of a plurality of candidate robots, determining a target robot in the candidate robots according to the floor information and the electric quantity information, and sending the elevator waiting instruction to the target robot;
the second sending module is used for sending a calling command to a main controller of the elevator so that the main controller can control the elevator car to run to the elevator waiting floor corresponding to the elevator waiting place;
and the control module is used for controlling the elevator car to open the car door when the elevator car runs to the elevator waiting floor, so that the charging robot enters the elevator car and the energy storage device is charged.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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