CN113371560A

CN113371560A - Elevator joint control method, device and system

Info

Publication number: CN113371560A
Application number: CN202110679751.0A
Authority: CN
Inventors: 刘志胜
Original assignee: Winone Elevator Co Ltd
Current assignee: Winone Elevator Co Ltd
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2021-09-10
Anticipated expiration: 2041-06-18
Also published as: CN113371560B

Abstract

The application is suitable for the technical field of elevators, and provides an elevator joint control method, device and system, which comprise the following steps: receiving a call request sent by an automatic navigation vehicle; detecting the current working mode of an elevator, wherein the working mode comprises an integrated control mode and a manual mode, when the elevator is in the integrated control mode, the elevator only carries the automatic navigation vehicle, and when the elevator is in the manual mode, the elevator does not carry the automatic navigation vehicle; and if the current working mode of the elevator is the manual mode and is in an idle state, switching the elevator from the manual mode to the joint control mode, and sending feedback information containing consent information to the automatic navigation vehicle, and if the current working mode of the elevator is the manual mode and is not in the idle state, sending feedback information containing rejection information to the automatic navigation vehicle. By the method, the probability of man-machine collision is reduced, and the utilization rate of the elevator can be effectively improved.

Description

Elevator joint control method, device and system

Technical Field

The application belongs to the technical field of elevators, and particularly relates to an elevator joint control method, device and system and a computer readable storage medium.

Background

Today, many factories often require people to share one elevator with an Automated Guided Vehicle (AGV) due to cost limitations, site limitations, and considerations to improve the efficiency of elevator usage. Can not only disturb the stability of intelligent joint control between elevator and the AGV dolly in case the direct sharing of man-machine, influence conveying efficiency, take place the incident that people and goods collided moreover very easily.

In the existing method, when the AGV enters the elevator, if a person enters the elevator, an alarm is given out to prompt passengers in the elevator to pay attention. But the method not only interrupts the joint control process, but also has the possibility of collision of people and goods.

Disclosure of Invention

The embodiment of the application provides an elevator joint control method, device and system, and aims to solve the problems that in the existing method, a joint control process is artificially interrupted and the probability of people and goods collision is too high.

In a first aspect, an embodiment of the present application provides an elevator joint control method, which is applied to an elevator joint control system, and includes:

receiving a call request sent by an automatic navigation vehicle;

detecting the current working mode of an elevator, wherein the working mode comprises an integrated control mode and a manual mode, when the elevator is in the integrated control mode, the elevator only carries the automatic navigation vehicle, and when the elevator is in the manual mode, the elevator does not carry the automatic navigation vehicle;

and if the current working mode of the elevator is the manual mode and is in the no-load state, switching the elevator from the manual mode to the joint control mode, and sending feedback information containing consent information to the automatic navigation vehicle, and if the current working mode of the elevator is the manual mode and is not in the no-load state, sending feedback information containing rejection information to the automatic navigation vehicle.

In a second aspect, the embodiment of the present application provides an elevator joint control device, which is applied to an elevator joint control system, and includes:

the call request receiving module is used for receiving a call request sent by an automatic navigation vehicle;

the elevator control system comprises a working mode detection module, a control module and a control module, wherein the working mode detection module is used for detecting the current working mode of an elevator, the working mode comprises an integrated control mode and a manual mode, the elevator only carries the automatic navigation vehicle when in the integrated control mode, and the elevator does not carry the automatic navigation vehicle when in the manual mode;

and the working mode switching module is used for switching the elevator from the manual mode to the joint control mode and sending feedback information containing consent information to the automatic navigation vehicle if the current working mode of the elevator is the manual mode and is in an idle state, and sending feedback information containing rejection information to the automatic navigation vehicle if the current working mode of the elevator is the manual mode and is not in the idle state.

In a third aspect, an embodiment of the present application provides an elevator joint control system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the method according to the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.

In a fifth aspect, the present application provides a computer program product, which when running on an elevator integrated control system, causes the elevator integrated control system to execute the method described in the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that:

in the embodiment of the application, after the elevator receives a call request of an automatic navigation vehicle, if the working mode of the elevator is a manual mode, whether the elevator is in an idle state is judged, if the elevator is in the idle state, the elevator is switched to an integrated control mode, and the automatic navigation vehicle is allowed to carry. And if the vehicle is not in the idle state, the switching operation is not executed, and the automatic navigation vehicle is refused to be mounted. Because the elevator adopts different working modes to separately carry the automatic navigation vehicle and the passengers, the automatic navigation vehicle and the passengers cannot simultaneously exist in the same elevator car, and the possibility of people and goods collision is greatly reduced. When the distance between people and goods is short, the joint control process of the automatic navigation vehicle is likely to be interrupted, so that the possibility of collision between people and goods is reduced, namely the probability of artificial interruption of the joint control process is reduced. In addition, because automatic navigation vehicle and passenger can take the same elevator at different times, consequently, the elevator joint control method that this application embodiment provided also can improve the rate of utilization of elevator.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.

Fig. 1 is a flowchart of an elevator joint control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a scenario in which an elevator integrated control system provided by an embodiment of the present application interacts with an AGV;

FIG. 3 is a schematic diagram of a scenario in which an elevator integrated control system according to an embodiment of the present application communicates with an AGV;

fig. 4 is a schematic structural diagram of an elevator joint control device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an elevator joint control system according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. That is, the appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, appearing in various places throughout the specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.

The first embodiment is as follows:

at present, when an elevator is shared by an AGV trolley and a person, if the AGV trolley and the person (namely a passenger) exist in a car of the elevator at the same time, an alarm is given, and the passenger can move out of the elevator after hearing the alarm and can stop in the car close to the side. In either case, however, there may be a possibility of a passenger colliding with the AGV. When the AGV car is collided, the joint control with the elevator can be disconnected, so that the transportation efficiency is influenced.

In order to solve the technical problem, the embodiment of the application provides an elevator joint control method, and in the method, an elevator has two working modes. When the working mode of the elevator is the joint control mode, the elevator can be used only by an automatic navigation vehicle (namely an AGV trolley) and cannot be used by passengers; on the contrary, when the working mode of the elevator is the manual mode, the elevator can only be used by passengers and cannot be used by the AGV trolley. Because AGV dolly and passenger can not exist in same elevator car simultaneously, consequently, can avoid AGV dolly and passenger to take place the possibility of colliding with.

The elevator joint control method provided by the embodiment of the application is described below with reference to the accompanying drawings.

Fig. 1 shows a flowchart of an elevator joint control method provided in an embodiment of the present application, which is applied to an elevator joint control system, and is detailed as follows:

step S11, a call request from an auto-pilot vehicle is received.

Specifically, when the automated navigation vehicle wishes to pick up an elevator, a call request is sent to the elevator joint control system, for example, when the automated navigation vehicle reaches the vicinity of the elevator (e.g., 5 meters away from the elevator), the automated navigation vehicle sends a call request to the elevator joint control system. The call request is used for informing the elevator joint control system of the elevator taking will of the automatic navigation vehicle, namely the call request can only comprise information that the automatic navigation vehicle needs to take the elevator, and does not comprise floor information that the automatic navigation vehicle needs to take the elevator (namely carrying floor information) and floor information that the automatic navigation vehicle needs to arrive (namely destination floor information). Of course, the call request may also include the above-mentioned pick-up floor information and destination floor information.

Step S12, detecting the current working mode of the elevator, wherein the working mode comprises an integrated control mode and a manual mode, when the elevator is in the integrated control mode, the elevator only carries the automatic navigation vehicle, and when the elevator is in the manual mode, the elevator does not carry the automatic navigation vehicle;

the elevator of the embodiment has two working modes, one is a joint control mode, and the other is a manual mode. When an elevator is in the intermodal mode, it will only respond to call requests from the auto-pilot vehicle and will not respond to call requests from passengers. Conversely, when an elevator is in manual mode, the elevator will only respond to the passenger's call request and not to the call request of the auto-pilot vehicle. That is, the elevator adopts different working modes to carry the automatic navigation vehicle and passengers in turn. Because the automatic navigation vehicle and the passengers are carried by the elevators in turn, the automatic navigation vehicle and the passengers cannot be simultaneously in the same elevator car, so that the possibility of collision between the automatic navigation vehicle and the passengers cannot exist, and the transportation efficiency of the automatic navigation vehicle is improved.

And step S13, if the current working mode of the elevator is the manual mode and is in the no-load state, switching the working mode of the elevator from the manual mode to the joint control mode, sending feedback information containing consent information to the automatic navigation vehicle, and if the current working mode of the elevator is the manual mode and is not in the no-load state, sending feedback information containing rejection information to the automatic navigation vehicle.

The empty state here refers to a state in which the elevator is in a state in which no passenger is present in the car of the elevator and no cargo is present. Specifically, the elevator joint control system acquires an empty load signal in the elevator car, and judges whether passengers and goods exist in the elevator car according to the empty load signal (for example, when the empty load signal is "1", the elevator is in an empty load state, and when the empty load signal is "0", the elevator is not in the empty load state), and if no passenger or no goods exist, the elevator is in the empty load state. In this embodiment, a weighing sensing module may be disposed in the car, and if the weighing sensing module detects that the weight in the car is smaller than a preset weight threshold, an empty load signal indicating that the elevator is in an empty load state is generated, otherwise, an empty load signal indicating that the elevator is in a non-empty load state is generated.

It should be noted that, if the call request does not include the above-mentioned receiving floor information and destination floor information, after the automatic navigation vehicle receives the feedback information containing the agreement information sent by the elevator joint control system, the receiving floor information and destination floor information need to be sent to the elevator joint control system, and the elevator joint control system controls the elevator to the floor corresponding to the receiving floor information to receive the automatic navigation vehicle, so that the elevator carries the automatic navigation vehicle to the floor corresponding to the destination floor information.

In the embodiment, when the elevator is in the manual mode but is not carried by people, the elevator joint control system switches the working mode of the elevator to the joint control mode so that the elevator can carry an automatic navigation vehicle which sends a call request. Specifically, when the working mode of the elevator is switched to the joint control mode, the elevator joint control system sends feedback information containing consent information to the automatic navigation vehicle which sends the call request, so that the automatic navigation vehicle can know that the automatic navigation vehicle can take the elevator. And when the elevator is in the manual mode and is carried by people, the elevator is indicated to carry other passengers, and at the moment, the elevator joint control system refuses the call request sent by the automatic navigation vehicle. The elevator joint control system switches the working mode of the elevator to the joint control mode when the elevator is in the manual mode and no person carries the elevator, and the elevator after the working mode is switched can carry the automatic navigation vehicle, so that the utilization rate of the elevator is improved.

In some embodiments, in order to improve the accuracy of the detected empty load condition, the step S13 of switching the operation mode of the elevator from the manual mode to the joint control mode if the operation mode of the elevator is the manual mode and the empty load condition includes:

if the current working mode of the elevator is a manual mode and is in a no-load state, whether a car door of the elevator is closed or not is detected, and if yes, the working mode of the elevator is switched from the manual mode to the joint control mode.

Specifically, whether the car door is closed (or closed to a specified position) can be judged through the elevator door closing in-place signal. For example, if the door closing position signal is "1", it indicates that the car door is closed, and if the door closing position signal is "0", it indicates that the car door is not closed.

The elevator of the embodiment comprises car doors and landing doors, wherein a landing door is also called a hall door, i.e. the door that is seen while waiting for the elevator. The landing door does not move along with the elevator, but is fixed at the shaft opening and kept in a closed state, and only when the elevator reaches a floor and needs to be opened, the landing door can be opened without power during opening. The car door is just opposite and can only be seen in the elevator, and the car door can move up and down along with the elevator and needs to depend on power when being opened.

In this embodiment, the working mode of the elevator is switched to the joint control mode only when the elevator simultaneously satisfies the manual mode, the no-load state and the car door is closed, and after the car door is closed, the car door indicates that the car is in the no-load state within a period of time, so that the switching operation accuracy can be improved by switching the working mode of the elevator to the joint control mode, and the possibility of people and goods collision is further reduced.

In some embodiments, if the current operation mode of the elevator is the manual mode and the elevator is in the idle state, but the car door of the elevator is not closed, after a period of time, whether the operation mode of the elevator is the manual mode, whether the elevator is in the idle state and whether the car door is closed are detected again. Since the switching operation of the operation mode is not performed when the car door is not closed, the accuracy of the switching operation can be improved.

In some embodiments, the call request comprises the information of the pickup floor and the information of the destination floor, and the elevator joint control method further comprises the following steps:

and if the obstacle is detected outside the landing door of the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information, outputting warning information.

Wherein, output warning information includes: and broadcasting warning information and/or displaying the warning information. The warning information may be information such as a request to stop the vehicle from entering or a request to move away from an obstacle.

In this embodiment, the obstacle is an object that prevents an automatic navigation vehicle from entering an elevator or from coming out of the elevator, and may be an automatic navigation vehicle that does not issue a call request, a passenger who wishes to board an elevator, or the like.

In this embodiment, considering that only the unobstructed passage outside the elevator door needs to be ensured, the automatic navigation vehicle can enter the elevator or go out from the elevator, and therefore, only the preset area outside the landing door needs to be checked to see whether an obstacle exists. For example, it is checked whether an obstacle exists in an area extending outward from the landing door by about 5 meters.

In some embodiments, the outputting the warning information if the obstacle is detected outside the landing door of the floor corresponding to the receiving floor information and/or the floor corresponding to the destination floor information includes:

and A1, if the elevator is in the joint control mode and the weight value is detected in the detection area, judging that an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a landing door of a floor corresponding to the target floor information, and outputting warning information, wherein the detection area is outside the landing door of the elevator, and the floor where the landing door of the elevator is located is the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information.

And A2, if receiving information which is sent by the automatic navigation vehicle and contains the identification of the automatic navigation vehicle, identifying whether the identification in the information is the identification corresponding to the automatic navigation vehicle sending the call request, if so, suspending detecting the weight of the object in the detection area, simultaneously detecting whether a human body exists in the detection area, if so, judging that an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the destination floor information, and outputting warning information.

Wherein, the warning information can be output through the warning indicator.

In the above-mentioned a1 and a2, when the operation mode of the elevator is the joint control mode, the elevator joint control system will detect whether there is an obstacle in the detection area other than the landing door of the loading floor and/or the destination floor. Specifically, when an object passes through the detection area, a weight value is detected in the detection area, and at this time, it is determined that an obstacle exists outside the landing door. In some scenarios, considering that the automatic navigation vehicle is generally used for loading goods, i.e. the elevator joint control system is difficult to judge whether the automatic navigation vehicle sending the call request has arrived at the detection area according to the weight, when the automatic navigation vehicle approaches the detection area, the elevator joint control system sends information containing its own identifier, the elevator joint control system identifies the identifier to judge whether the automatic navigation vehicle sending the call request has arrived at the detection area, if the automatic navigation vehicle sending the call request has arrived at the detection area, the weight of the object on the detection area is suspended, and simultaneously whether the human body exists in the detection area is detected, if the human body exists in the detection area, the obstacle is detected outside the floor corresponding to the receiving floor information and/or the floor corresponding to the destination floor information, and outputs warning information. By doing so, the passenger can be prevented from entering the elevator along with the automatic guided vehicle.

In some embodiments, when the small object is in the detection area, it is considered that the small object does not bring a great obstacle to the automatic navigation vehicle, and therefore, when the weight value is detected in the detection area, it may be further determined whether the weight value exceeds a preset weight, and if so, it may be determined that an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the destination floor information, and warning information may be output. For example, if a kitten, a puppy, or the like passes through the detection area, a weight value is detected in the detection area, the weight value is compared with a preset weight value, and if the weight value is not greater than the preset weight value, it is determined that no obstacle is detected outside a landing door of a floor corresponding to the receiving landing information and/or a floor corresponding to the destination landing information. Because when the weight value that detects is greater than preset weight value, just judge and be in the floor that connects the layer information to correspond and/or detect the barrier outside the layer door of the floor that the destination floor information corresponds to output warning information, consequently, can improve the accuracy of judged result, reduce the probability of wrong report police.

In some embodiments, the obstacle detection device can detect obstacles and send the detection result to the elevator joint control system. In particular, the corresponding obstacle detection device can be arranged in the detection area outside the landing doors of different floors, so that no matter which floor the automatic navigation vehicle is loaded from and arrives at, the elevator joint control system can detect whether the obstacle exists in the detection area of the corresponding floor or not, and outputs corresponding warning information when the obstacle exists, namely the obstacle is reminded to leave by outputting the warning information, thereby further improving the running efficiency of the automatic navigation vehicle.

In some embodiments, the obstacle detection device may be one or more of: the hall weight detection module, the human body inductor, etc. Of course, the obstacle detection device may be a camera or the like. Different obstacle detection devices have certain differences in corresponding installation positions.

For example, if the obstacle detection device is an outdoor weight detection module, the detection area is on the ground outside the landing door, that is, the outdoor weight detection module is disposed on the ground outside the landing door, and the distance between the detection area and the landing door is not greater than a preset distance threshold. Wherein the hall weight detection module is used for detecting the weight of an object above the detection area. When the automatic navigation vehicles or passengers stand in the detection area corresponding to the carrying floor, namely stand above the hall weight detection module, the automatic navigation vehicles or passengers prevent the automatic navigation vehicle which sends the call request from entering the elevator, so that the automatic navigation vehicles or passengers standing above the hall weight detection module are judged as obstacles.

For example, if the obstacle detection device is a human body sensor (e.g., an infrared detection sensor), the detection area is a wall beside a landing door, i.e., the human body sensor is disposed on the wall beside the landing door. The human body sensor judges whether a passenger (i.e., an obstacle) exists outside the landing door by scanning the area outside the landing door left and right.

For example, if this barrier detection device is the camera, then the detection area is the wall of the top of layer door, and this camera setting is on the wall of the top of layer door promptly to height through raising the shooting obtains more comprehensive field of vision, and then obtains more comprehensive image, obtains more accurate barrier analysis result.

In some embodiments, when an obstacle exists outside the landing door, if the car door and the landing door of the elevator are opened, the obstacle may enter the elevator, and therefore, in order to reduce the probability of man-machine collision, the elevator joint control method further comprises the following steps: receiving a door opening and/or closing request sent by an automatic navigation vehicle, if the elevator joint control system detects that an obstacle exists outside a landing door when the elevator joint control system arrives at a floor corresponding to the load receiving layer information and/or a floor corresponding to the target layer information, controlling the elevator door and the landing door not to be opened, and/or if the elevator joint control system detects that no obstacle exists outside the landing door when the elevator joint control system arrives at the floor corresponding to the load receiving layer information and/or the floor corresponding to the target layer information, controlling the elevator door and the landing door to be opened.

In this embodiment, when an obstacle (for example, an automatic navigation vehicle different from the automatic navigation vehicle that issued the call request, or, for example, a passenger) is outside the landing door of the elevator on the pick-up floor (the floor corresponding to the pick-up floor information), it indicates that the obstacle wishes to take the elevator, and at this time, in order to avoid a collision event that the obstacle and the automatic navigation vehicle that issued the call request intrude into the elevator together, if the elevator joint control system receives a door closing request issued by the automatic navigation vehicle that issued the call request, the elevator joint control system controls neither the car door nor the landing door of the elevator to open when detecting the obstacle, so that the obstacle cannot enter the elevator on the pick-up floor. And/or if the elevator joint control system receives a door opening request sent by an automatic navigation vehicle sending a call request, the elevator joint control system controls a car door and a landing door of the elevator to be opened when no obstacle is detected, so that the automatic navigation vehicle sending the call request can enter the elevator on a loading layer in time. Meanwhile, the elevator joint control system also outputs warning information, so that the elevator joint control system can remind the obstacles to evacuate as soon as possible. That is, through the operation that neither the sedan-chair door nor the landing door of control elevator was opened and output warning information, can further reduce the probability that the man-machine collided. Similarly, when the obstacle is outside the landing door of the destination floor (i.e. the floor corresponding to the destination floor information), the control principle of the elevator is similar, and the description is omitted here.

In some embodiments, in order to ensure that the auto-pilot vehicle issuing the call request can successfully enter (or exit) the elevator, considering that the auto-pilot vehicle may not recognize the alert information, i.e., the auto-pilot vehicle other than the auto-pilot vehicle issuing the call request is outside the landing door after the alert information is output by the elevator (i.e., is not the auto-pilot vehicle issuing the call request):

and if the obstacle is still detected outside the landing door of the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information after the warning information is output for the preset time, sending a notice containing the position information of the obstacle to the specified user.

The preset time period here may be 5 minutes, or 2 minutes, and the like, and may be specifically set according to actual requirements.

In this embodiment, after the elevator joint control system outputs warning information of a preset duration, and if it is still detected that an obstacle exists outside a landing door, a notification is sent to a designated user (such as a manager), so that the designated user can reach a corresponding position according to the position information of the obstacle carried by the notification to drive the obstacle to leave, thereby improving the transportation efficiency of an automatic navigation vehicle sending a call request, and further reducing the probability of human-computer collision.

In some embodiments, if a loading completion notification sent by the automatic navigation vehicle is received, the operation mode of the elevator is switched from the joint control mode to the manual mode, and the loading completion notification is used for indicating that the automatic navigation vehicle has reached the floor corresponding to the destination floor information.

In this embodiment, if the automatic navigation vehicle that issued the call request has reached the destination floor, for example, the automatic navigation vehicle that issued the call request has reached the outside of the landing door of the destination floor, a boarding completion notification is sent to the elevator integrated control system, and after the elevator integrated control system receives the boarding completion notification sent by the automatic navigation vehicle that issued the call request, the operation mode of the elevator is controlled to switch back to the manual mode, so as to board the subsequent passenger.

In some embodiments, if at least two automatic navigation vehicles send call requests, the elevator continues to carry other automatic navigation vehicles sending call requests after carrying one automatic navigation vehicle, and the elevator joint control system does not control the operation mode of the elevator to be switched back to the manual mode until all the automatic navigation vehicles sending call requests are carried to the destination floor. The working mode of the elevator is controlled to be switched back to the manual mode after all automatic navigation vehicles sending the call request are carried to the destination layer, so that each automatic navigation vehicle can be quickly sent to the destination, and the transportation efficiency of each automatic navigation vehicle is improved.

In some embodiments, after switching the operating mode of the elevator from manual mode to joint control mode in step S13, the designated call signal, which is the call signal issued by the auto-guided vehicle not issuing a call request, is cleared and the call button controlling the elevator is not available.

In this embodiment, in order to avoid that the automatic navigation vehicle sending the call request can still use the elevator while using the elevator, the call signal sent by the automatic navigation vehicle is removed, for example, if the passenger sends the call request by pressing the call button on the 3 rd floor and the automatic navigation vehicle sends the call request on the 2 nd floor, the elevator joint control system determines that the current operating mode of the elevator is the manual mode and is in the no-load state, and controls the operating mode of the elevator to be switched from the manual mode to the joint control mode. Then, the elevator joint control system clears the calling call requests sent by the passengers on the 3 rd floor, and controls the calling call buttons on all floors to be unavailable, namely, the passengers can not send the calling call requests on all floors any more, so that the passengers are prevented from waiting for the elevator outside the landing door, and the probability of man-machine collision can be reduced.

In some embodiments, when the car is large, the same car can hold a plurality of automatic navigation vehicles in the same time period, that is, the automatic navigation vehicles may be simultaneously loaded in the same time period, the elevator joint control method includes:

if a call request sent by a second automatic navigation vehicle is received in the process of carrying the first automatic navigation vehicle on the elevator, whether the residual capacity in the elevator car is enough to accommodate the second automatic navigation vehicle is judged, and if the residual capacity is enough to accommodate the second automatic navigation vehicle, feedback information containing consent information is sent to the second automatic navigation vehicle.

In this embodiment, the elevator joint control system may calculate the remaining capacity in the car by acquiring the maximum area of the automatic navigation vehicle (i.e., the first automatic navigation vehicle) that has entered the car and the capacity of the elevator itself (i.e., the maximum area of the car), and compare the remaining capacity with the volume of the automatic navigation vehicle (i.e., the second automatic navigation vehicle) that will enter the car, and if the remaining capacity is greater than the volume of the second automatic navigation vehicle, it is determined that the second automatic navigation vehicle can be mounted.

Of course, if the remaining capacity in the car is not sufficient to accommodate the automatic navigation vehicle, the elevator joint control system sends feedback information including rejection information to the automatic navigation vehicle.

In some embodiments, in order to facilitate passengers to know the current operating mode of the elevator, the elevator joint control method further comprises:

and displaying the current working mode of the elevator.

In the embodiment, the current working mode of the elevator can be displayed on the display interface for displaying the floor. For example, "ally" may be displayed when the elevator is in the intermodal mode, "person" may be displayed when the elevator is in the manual mode, etc., so that passengers outside the landing doors can choose whether to continue waiting outside the landing doors for the elevator.

In order to more clearly describe the elevator joint control method provided by the embodiment of the present application, the following description is made with reference to fig. 2 and 3.

In fig. 2, the elevator car, the buttons of the elevator, the AGV car, the out-of-hall weight detection module, the human body sensor and the alarm are shown.

As can be seen in fig. 2, the hall weight detection module is disposed outside the landing door of the elevator, and the alarm and the human body sensor are disposed on the wall near the landing door. The AGV car can enter the lift car of the elevator after passing through a detection area provided with an out-of-hall weight detection module. Before the AGV trolley reaches the detection area, the AGV trolley sends information containing the identification of the AGV trolley to an elevator joint control system, the elevator joint control system judges that the identification in the information is the identification of the AGV trolley sending the call request, and then the outside-hall weight detection module is informed to suspend detection, and after the AGV trolley enters the elevator car, the outside-hall weight detection module is informed to continue to detect the weight of the object on the detection area.

It is noted that when the elevator is in the joint control mode, the buttons of the elevator will be in a state of non-availability.

Referring to fig. 3, the elevator joint control system communicates with the AGV through the wireless communication module, and communicates with the hall external weight detection modules on each floor to acquire the weight values detected by the hall external weight detection modules on each floor, and communicates with the elevator through serial ports, for example, data such as an empty load signal of a car on the elevator, an elevator door closing in-place signal, forced elevator door closing input, an external call prompt elevator state, an internal call button failure, an external call button failure, and elevator state mode switching are acquired through RS 485.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Example two:

corresponding to the elevator joint control method of the above embodiment, fig. 4 shows a structural block diagram of an elevator joint control device provided in the embodiment of the present application, which is applied to an elevator joint control system, and for convenience of explanation, only the parts related to the embodiment of the present application are shown.

This elevator allies oneself with accuse device 4 includes: a call request receiving module 41, an operation mode detecting module 42 and an operation mode switching module 43. Wherein:

and a call request receiving module 41 for receiving a call request sent by an automatic navigation vehicle.

The call request is used for informing the elevator joint control system of the elevator taking will of the automatic navigation vehicle, namely the call request can only comprise information that the automatic navigation vehicle needs to take the elevator, and does not comprise floor information that the automatic navigation vehicle needs to take the elevator (namely carrying floor information) and floor information that the automatic navigation vehicle needs to arrive (namely destination floor information). Of course, the call request may also include the above-mentioned pick-up floor information and destination floor information.

And the working mode detection module 42 is used for detecting the current working mode of the elevator, the working mode comprises an integrated control mode and a manual mode, when the elevator is in the integrated control mode, the elevator only carries the automatic navigation vehicle, and when the elevator is in the manual mode, the elevator does not carry the automatic navigation vehicle.

And the working mode switching module 43 is configured to switch the working mode of the elevator from the manual mode to the joint control mode and send feedback information including the consent information to the automatic navigation vehicle if the current working mode of the elevator is the manual mode and is in an idle state, and send feedback information including the rejection information to the automatic navigation vehicle if the current working mode of the elevator is the manual mode and is not in an idle state.

In the embodiment, when the elevator is in the manual mode but is not carried by people, the elevator joint control system switches the working mode of the elevator to the joint control mode so that the elevator can carry an automatic navigation vehicle which sends a call request. Specifically, when the working mode of the elevator is switched to the joint control mode, the elevator joint control system sends feedback information containing consent information to the automatic navigation vehicle which sends the call request, so that the automatic navigation vehicle can know that the automatic navigation vehicle can take the elevator. And when the elevator is in the manual mode and is carried by people, the elevator is indicated to carry other passengers, and at the moment, the elevator joint control system refuses the call request sent by the automatic navigation vehicle. The elevator joint control system switches the working mode of the elevator to the joint control mode when the elevator is in the manual mode and no person carries the elevator, and the elevator with the switched working mode can carry the automatic navigation vehicle, so that the utilization rate of the elevator is improved.

In some embodiments, in order to improve the accuracy of the detected empty load condition, the operation mode switching module 43 switches the operation mode of the elevator from the manual mode to the joint control mode when the operation mode of the elevator currently being the manual mode and the empty load condition is considered that passengers may enter the elevator before the automatic guided vehicle enters the elevator, and specifically:

In some embodiments, the call request comprises the information of the receiving floor and the information of the destination floor, and the elevator joint control device further comprises:

and the obstacle detection module is used for outputting warning information if an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the target floor information.

In some embodiments, if an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the destination floor information, outputting warning information, including:

if the elevator is in the joint control mode and the weight value is detected in the detection area, judging that an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a landing door of a floor corresponding to the target floor information, and outputting warning information, wherein the detection area is outside the landing door of the elevator, and the floor where the landing door of the elevator is located is the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information; if receiving information which is sent by the automatic navigation vehicle and contains the identification of the automatic navigation vehicle, identifying whether the identification in the information is the identification corresponding to the automatic navigation vehicle sending the call request, if so, suspending detecting the weight of the object in the detection area, simultaneously detecting whether a human body exists in the detection area, if detecting that the human body exists in the detection area, judging that an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the target floor information, and outputting warning information.

In some embodiments, the obstacle detection device can detect obstacles and send the detection result to the elevator joint control system. Particularly, the corresponding obstacle detection device can be arranged in a detection area outside the landing doors of different floors, so that no matter which floor the automatic navigation vehicle is carried on and arrives at, the elevator joint control system can detect whether the obstacle exists in the detection area of the corresponding floor or not, and outputs corresponding warning information when the obstacle exists, namely the obstacle is reminded to leave by outputting the warning information, and therefore the running efficiency of the automatic navigation vehicle is greatly improved.

In some embodiments, when an obstacle is present outside the landing door, if the car door and the landing door of the elevator are opened, the obstacle may enter the elevator, and therefore, in order to reduce the probability of a man-machine collision, the elevator joint control device 4 further includes:

and the elevator door control module is used for receiving door opening and/or closing requests sent by the automatic navigation vehicle, controlling the elevator door and the landing door not to be opened if a barrier exists outside the landing door when the door reaches the floor corresponding to the receiving landing information and/or the floor corresponding to the target landing information, and/or controlling the elevator door and the landing door to be opened if no barrier exists outside the landing door when the door reaches the floor corresponding to the receiving landing information and/or the floor corresponding to the target landing information.

In some embodiments, in order to ensure that the automatic navigation vehicle sending the call request can smoothly enter (or leave) the elevator, the elevator joint control device 4 includes:

and the notification sending module is used for sending a notification containing the position information of the obstacle to the specified user if the obstacle is still detected outside the landing door of the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information after the warning information is output for the preset time.

In some embodiments, the elevator joint control device 4 includes:

and the loading completion notification receiving module is used for switching the working mode of the elevator from the joint control mode to the manual mode if receiving a loading completion notification sent by the automatic navigation vehicle, and the loading completion notification is used for indicating that the automatic navigation vehicle reaches the floor corresponding to the destination floor information.

In some embodiments, if at least two automatic navigation vehicles send call requests, the elevator continues to carry other automatic navigation vehicles sending call requests after carrying one automatic navigation vehicle, and the elevator joint control system does not control the operation mode of the elevator to be switched back to the manual mode until all the automatic navigation vehicles sending call requests are carried to the destination floor. Because the automatic navigation vehicles sending the call requests are switched back to the manual mode after being carried to the destination layer, each automatic navigation vehicle can be quickly sent to the destination, and the transportation efficiency of each automatic navigation vehicle is improved.

In some embodiments, the elevator joint control device 4 includes:

and the call signal clearing module is used for clearing an appointed call signal and controlling the unavailability of a call button of the call signal clearing module after the working mode of the elevator is switched from a manual mode to an integrated control mode, wherein the appointed call signal is a call signal sent by an automatic navigation vehicle which does not send a call request.

In some embodiments, when considering that the car is large, the same car can hold a plurality of automatic navigation vehicles in the same time period, that is, the same time period may carry a plurality of automatic navigation vehicles at the same time, in this case, the elevator joint control device 4 includes:

and the feedback information sending module is used for judging whether the residual capacity in the elevator car is enough to accommodate the second automatic navigation vehicle or not if a call request sent by the second automatic navigation vehicle is received in the process of carrying the first automatic navigation vehicle by the elevator, and sending feedback information containing the consent information to the second automatic navigation vehicle if the residual capacity in the elevator car is enough to accommodate the second automatic navigation vehicle.

In this embodiment, the elevator may calculate the remaining capacity in the car by acquiring the maximum area of the car (i.e., the first car) that has entered the car and the capacity of the elevator itself (i.e., the maximum area of the car), and compare the remaining capacity with the volume of the car (i.e., the second car) that will enter the car, and if the remaining capacity is greater than the volume of the second car, it is determined that the second car can be mounted.

Of course, if the remaining capacity in the car is insufficient to accommodate the automatic guided vehicle, feedback information including rejection information is transmitted to the automatic guided vehicle.

In some embodiments, in order to facilitate passengers to know the current operating mode of the elevator, the elevator joint control device 4 further includes:

and the working mode display module is used for displaying the current working mode of the elevator.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Example three:

fig. 5 is a schematic structural diagram of an elevator joint control system according to an embodiment of the present application. As shown in fig. 5, the elevator joint control system 5 of this embodiment includes: at least one processor 50 (only one processor is shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, the steps of any of the above-described method embodiments being implemented when the computer program 52 is executed by the processor 50.

The elevator joint control system 5 may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the elevator integrated control system 5 and does not constitute a limitation of the elevator integrated control system 5, and may include more or less components than those shown, or some components in combination, or different components, and in one scenario may also include input and output devices, network access devices, etc.

The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may in some embodiments be an internal storage unit of the elevator integrated control system 5, such as a hard disk or a memory of the elevator integrated control system 5. The memory 51 may also be an external storage device of the elevator integrated control system 5 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the elevator integrated control system 5. Further, the memory 51 may also include both an internal memory unit and an external memory device of the elevator joint control system 5. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiment of the application provides a computer program product, and when the computer program product runs on an elevator joint control system, the steps in the above method embodiments can be realized when the elevator joint control system is executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. An elevator joint control method is characterized by being applied to an elevator joint control system and comprising the following steps:

receiving a call request sent by an automatic navigation vehicle;

2. The elevator joint control method according to claim 1, wherein if the current working mode of the elevator is manual mode and no-load state, the switching of the elevator from manual mode to joint control mode comprises:

if the current working mode of the elevator is a manual mode and is in a no-load state, whether a car door of the elevator is closed or not is detected, and if yes, the elevator is switched from the manual mode to the joint control mode.

3. The method of elevator integrated control of claim 1, wherein the call request includes pick-up floor information and destination floor information, the method further comprising:

and if an obstacle is detected outside the floor corresponding to the receiving floor information and/or the landing door of the floor corresponding to the target floor information, outputting warning information.

4. The elevator joint control method according to claim 3, wherein the outputting of the warning information if an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the destination floor information includes:

if the elevator is in an integrated control mode and a weight value is detected in a detection area, determining that an obstacle is detected outside a landing door of a floor corresponding to the loading floor information and/or a landing door of a floor corresponding to the target floor information, and outputting warning information, wherein the detection area is outside the landing door of the elevator, and the floor where the landing door of the elevator is located is the floor corresponding to the loading floor information and/or the floor corresponding to the target floor information;

if receiving information which is sent by an automatic navigation vehicle and contains an identifier of the automatic navigation vehicle, identifying whether the identifier in the information is the identifier corresponding to the automatic navigation vehicle sending a call request, if so, suspending detecting the weight of an object on the detection area, simultaneously detecting whether a human body exists in the detection area, if detecting that the human body exists in the detection area, judging that an obstacle is detected outside a landing door of a floor corresponding to the receiving floor information and/or a floor corresponding to the destination floor information, and outputting warning information.

5. The elevator joint control method according to claim 3, further comprising:

receiving a door opening and/or closing request sent by an automatic navigation vehicle;

and if the obstacles exist outside the landing door when the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information are reached, controlling the car door and the landing door of the elevator not to be opened, and/or if the obstacles do not exist outside the landing door when the floor corresponding to the receiving floor information and/or the floor corresponding to the target floor information are reached, controlling the car door and the landing door of the elevator to be opened.

6. The elevator joint control method according to claim 3,

and if the obstacle is still detected outside the floor corresponding to the receiving floor information and/or the landing door of the floor corresponding to the target floor information after the warning information is output for a preset time, sending a notice containing position information of the obstacle to a specified user.

7. The elevator joint control method according to any one of claims 3 to 6,

and if a carrying completion notice sent by the automatic navigation vehicle is received, switching the working mode of the elevator from the joint control mode to the manual mode, wherein the carrying completion notice is used for indicating that the automatic navigation vehicle reaches the floor corresponding to the destination floor information.

8. Method for the joint control of elevators according to any of claims 1-6, characterized in that after the switching of the operating mode of the elevator from manual mode to the joint control mode, the designated call signals, which are call signals issued by automatic navigation vehicles not issuing the call request, are cleared and the call buttons controlling the elevator are not available.

9. The elevator joint control method according to any one of claims 1 to 6, characterized by comprising:

and if the elevator carries the first automatic navigation vehicle, receiving a call request sent by a second automatic navigation vehicle, judging whether the residual capacity in the elevator car is enough to accommodate the second automatic navigation vehicle, and if so, sending feedback information containing consent information to the second automatic navigation vehicle.

10. The elevator joint control method according to any one of claims 1 to 6, characterized by further comprising:

and displaying the current working mode of the elevator.

11. The utility model provides an elevator allies oneself with accuse device which is applied to elevator and allies oneself with accuse system, includes:

12. An elevator joint control system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 10 when executing the computer program.

13. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 10.