CN115246606A

CN115246606A - Elevator control method and device and elevator

Info

Publication number: CN115246606A
Application number: CN202211013506.7A
Authority: CN
Inventors: 刘志胜; 罗锦浩
Original assignee: Winone Elevator Co Ltd
Current assignee: Winone Elevator Co Ltd
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2022-10-28
Anticipated expiration: 2042-08-23
Also published as: CN115246606B

Abstract

The application is suitable for the technical field of elevators, and provides an elevator control method, an elevator control device and an elevator, which comprise: when the elevator meets the carrying condition, sending feedback information to the target robot; receiving a first call request sent by the target robot; recording the target floor information of the target robot in a control box of the elevator; controlling the elevator to reach the floor where the target robot is located at present and then opening the elevator door; if the target robot is detected to enter the elevator car of the elevator, controlling the elevator to close the elevator door; and the elevator door is opened after the elevator door reaches the corresponding floor according to the target floor information recorded by the control box. By the method, the use efficiency of the elevator can be improved.

Description

Elevator control method and device and elevator

Technical Field

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

Background

Nowadays, the situation that robots share elevators with people is increasing.

In the prior art, a robot is usually separated from a person to reduce the collision problem when the robot and the person share an elevator, namely, when the robot uses the elevator, the person cannot use the elevator, and when the person uses the elevator, the robot cannot use the elevator. But the robot uses the elevator separately from people, so that the use efficiency of the elevator is low.

Disclosure of Invention

The embodiment of the application provides an elevator control method, an elevator control device and an elevator, and can solve the problem of low use efficiency of the elevator.

In a first aspect, an embodiment of the present application provides an elevator control method, including:

when the elevator meets the carrying condition, sending feedback information to a target robot, wherein the feedback information comprises information of agreeing to take the elevator, and the target robot is a robot which wants to take the elevator;

receiving a first calling request sent by the target robot, wherein the first calling request carries the information of the floor where the target robot is located currently and the information of the target floor of the target robot;

recording target floor information of the target robot in a control box of the elevator;

controlling the elevator to reach the floor where the target robot is located at present and then opening the elevator door;

if the target robot is detected to enter the elevator car, controlling the elevator to close the elevator door;

and the elevator door is opened after the elevator door reaches the corresponding floor according to the target floor information recorded by the control box.

In a second aspect, an embodiment of the present application provides an elevator control apparatus, including:

the load ratio determining module is used for sending feedback information to a target robot when the elevator meets a carrying condition, wherein the feedback information comprises information of agreeing to carry, and the target robot is a robot which wants to carry the elevator;

the first call request receiving module is used for receiving a first call request sent by the target robot, and the first call request carries the current floor information of the target robot and the target floor information of the target robot;

the target floor information recording module is used for recording the target floor information of the target robot in the control box of the elevator;

the elevator door opening module is used for controlling the elevator to open the elevator door after the elevator reaches the floor where the target robot is located currently, reaching the corresponding floor according to the floor information recorded by the control box, and opening the elevator door after the elevator reaches the corresponding floor;

and the elevator door closing module is used for controlling the elevator to close the elevator door if the target robot is detected to enter the elevator car of the elevator.

In a third aspect, an embodiment of the present application provides an elevator, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.

In a fifth aspect, the present application provides a computer program product, which when run on an elevator, causes the elevator to perform the method of the first aspect.

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

in the embodiment of the application, the feedback information comprises the information of agreeing to take, so that after the robot (namely the target robot) wishing to take the elevator receives the feedback information sent by the elevator, the first call request can be sent to the elevator in time, so that the elevator can know the floor information of the current target robot and the target floor information of the target robot from the first call request, and the target robot can be sent to the target floor from the floor of the current target robot in time. Simultaneously, because the elevator only sends feedback information to the target robot when satisfying the embarkation condition, and the elevator shows that current elevator can embarkation the target robot when satisfying the embarkation condition, consequently, can reduce the probability that target robot and other target robot (or take advantage of the terraced personnel) bump. In addition, because the target robot and the people can carry the elevator at the same time, the utilization rate of the elevator can be greatly improved.

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 schematic flow chart of an elevator control method according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a designated location provided by an embodiment of the present application;

fig. 3 is a schematic structural diagram of an elevator control apparatus according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an elevator provided in 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," 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. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this 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:

when the robot and the person share the elevator, if the robot and the person can only separately use the elevator, the use efficiency of the elevator is low. And if the robot and people can use the elevator at the same time, good experience of people taking the elevator can be influenced.

In order to improve the use efficiency of an elevator and improve the good experience of elevator taking personnel, the embodiment of the application provides an elevator control method. In the elevator control method, only when the elevator meets the carrying condition, the elevator carries the robot with the same idea.

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

Fig. 1 shows a schematic flow chart of an elevator control method provided in an embodiment of the present application, which is detailed as follows:

and step S11, when the elevator meets the carrying condition, sending feedback information to the target robot, wherein the feedback information comprises information of agreeing to carry, and the target robot is the robot which wants to carry the elevator.

The mounting conditions refer to conditions under which the elevator can mount the robot, and for example, the mounting conditions include: the load ratio of the elevator is smaller than a preset threshold value, and/or the ratio of the area of the elevator car occupied by the elevator object bodies (elevator passengers and the robot) in the elevator to the area of the elevator car is smaller than a preset area ratio. When the elevator satisfies the carrying condition, the elevator is not crowded usually in the car, and at this moment, the elevator agrees to take the target robot again, can reduce the probability that this target robot collides with the personnel of taking the elevator in the car or other robots in the car.

In some embodiments, when the piggyback conditions include: when the load ratio of the elevator is smaller than a preset threshold value, the load ratio of the elevator can be calculated in the following way: and acquiring a current weight value in the elevator car of the elevator, and determining the load ratio of the elevator according to the current weight value and the maximum load capacity of the elevator. And comparing the calculated load ratio with a preset threshold value, and if the load ratio is smaller than the preset threshold value, determining that the elevator can carry the robot. For example, when an elevator boarding person, a robot, or both of the robot and the elevator boarding person are present in the car of the elevator, if it is determined that the load ratio of the elevator is smaller than a preset threshold value, feedback information including information that the elevator is approved is transmitted to the robot (i.e., the target robot) that wishes to board the elevator. In the embodiment of the application, the robot may be an AGV, and the AGV has an electromagnetic or optical automatic navigation device, and can travel along a prescribed navigation path.

In some embodiments, the identity of the robot wishing to board the elevator may be registered in the elevator in advance, with the registered robot as the target robot. Alternatively, after the elevator receives a call request from the robot, the elevator takes the robot as a target robot.

And S12, receiving a first calling request sent by the target robot, wherein the first calling request carries the current floor information of the target robot and the target floor information of the target robot.

Specifically, the target robot issues a first call request to the elevator over the communication link established with the elevator to inform the elevator of the floor it is currently on and the floor it wishes to reach (i.e., the target floor). For example, if the floor where the target robot is currently located is 3 floors and the floor that the target robot desires to reach is 5 floors, the first call request sent by the target robot to the elevator will include information indicating that the floor where the target robot is currently located is 3 floors and information indicating that the floor that the target robot desires to reach is 5 floors.

And a step S13 of recording the target floor information of the target robot in the control box of the elevator.

Specifically, after the destination floor information is recorded in the control box of the elevator, the floor number corresponding to the destination floor information can be lighted on the display panel of the control box. For example, if the floor number corresponding to the target floor information of the target robot is 5, "5" on the display panel of the console box can be lit.

In some embodiments, it is considered that some floor numbers illuminated on the display panel of the manipulation boxes can be cancelled by pressing the corresponding buttons again, and since the target robot does not need to cancel the target floor information registered by the manipulation boxes by pressing the corresponding buttons again, in order to avoid that the target floor information of the target robot registered by the manipulation boxes is artificially and erroneously cancelled, the floor cancellation command issued on the display panel of the manipulation boxes for cancelling the registered target floor information of the target robot is masked. For example, assuming that the floor number corresponding to the target floor information of the target robot is "5" and the floor number corresponding to one target floor information of the elevator boarding person is "4", when the "4" and the "5" of the display panel of the control box are turned on, and then the elevator boarding person presses the button corresponding to the "4" again, the turned-on "4" is turned off, that is, the target floor information of the floor 4 recorded in the control box is canceled. When the elevator taking personnel presses the button corresponding to the '5' again, the lighted '5' cannot be turned off, namely, the elevator taking personnel cannot cancel the target floor information of the target robot recorded by the control box because the elevator shields the floor canceling command sent by the elevator taking personnel through the control box.

Of course, in the embodiment of the present application, only the destination floor information may be recorded without lighting the floor number corresponding to the destination floor information on the display panel.

And S14, controlling the elevator to reach the floor where the target robot is located and then opening the elevator door.

Specifically, the elevator determines the floor where the target robot is located according to the information of the floor where the target robot is located currently, and opens the elevator door after the elevator reaches the floor, so that the target robot can enter the elevator car.

And S15, if the target robot is detected to enter the elevator car of the elevator, controlling the elevator to close the elevator door.

In particular, the target robot can send a signal to the elevator containing information that the elevator has been entered, so that the elevator knows that the target robot has entered the elevator. Or the elevator can shoot the elevator door through the camera, the shot image is analyzed, if the analysis result indicates that the target robot enters the elevator car from the outside of the elevator door, the target robot is considered to enter the elevator car, and at the moment, the elevator door can be closed, so that the elevator taking personnel and/or the robot in the elevator car can be timely delivered to the corresponding target floor.

And S16, reaching the corresponding floor according to the target floor information recorded by the control box, and opening the elevator door after reaching the corresponding floor.

Specifically, when the control box records the target floor information of the elevator taking personnel and/or the target robot, the elevator arrives at the corresponding floor according to the floor sequence corresponding to the target floor information recorded by the control box by combining the current running direction of the elevator, and the elevator door is opened after the elevator arrives at the floor, so that the elevator taking personnel and/or the target robot leave the elevator car. For example, if the floor numbers corresponding to the target floor information recorded in the control box are respectively "3", "5" and "7", the floor where the elevator is currently located is 4 floors, and the running direction of the elevator is upward, the elevator will first run to the "5" floor, stop and open the elevator door, and then continue to run to the "7" floor, stop and open the elevator door.

In the embodiment of the application, the feedback information comprises the information of agreeing to take, so that after the robot (namely the target robot) wishing to take the elevator receives the feedback information sent by the elevator, the first call request can be sent to the elevator in time, so that the elevator can know the floor information of the current target robot and the target floor information of the target robot from the first call request, and the target robot can be sent to the target floor from the floor of the current target robot in time. Simultaneously, because the elevator only sends feedback information to the target robot when satisfying the embarkation condition, and the elevator shows that current elevator can embark the target robot when satisfying the embarkation condition, consequently, can reduce the probability that target robot and other target robot (or take advantage of the terraced personnel) bump. In addition, because the target robot and the people can carry the elevator at the same time, the utilization rate of the elevator can be greatly improved.

In some embodiments, in order to facilitate the elevator to timely know which robots need to board the elevator, the elevator control method provided in the embodiment of the present application further includes:

a1, determining the target operation direction of the target robot according to the information of the floor where the target robot is located currently and the information of the target floor of the target robot.

Specifically, if the floor indicated by the floor information where the target robot is currently located is shorter than the floor indicated by the target floor information, it is determined that the target operation direction is downward. And otherwise, if the floor indicated by the floor information where the target robot is located is higher than the floor indicated by the target floor information, determining that the target running direction is upward.

And A2, if the target running direction is the same as the current running direction of the elevator and the floor where the elevator is located is shorter than the floor where the target robot is located, determining the time length required by the target robot to reach the elevator door according to the first call request.

In the embodiment of the application, the first call request further comprises position information when the target robot sends the first call request, at the moment, the distance between the target robot and the car door can be determined according to the position information when the target robot sends the first call request and the position information of the elevator acquired in advance, and the determined distance is divided by the average speed of the target robot to determine the time length required by the target robot to reach the elevator door.

In some embodiments, the target robot may be preset to issue a first call request while passing a fixed location, at which point the elevator can determine where the target robot is currently located (i.e., the set fixed location at which the first call request was issued) as long as the elevator receives the first call request. For example, information such as a geomagnetic sensor or a two-dimensional code is set in advance at a fixed position of each floor, when the target robot passes through the fixed position, the geomagnetic sensor is triggered and the position of the geomagnetic sensor is determined, and if the position of the geomagnetic sensor is determined to be the same as the preset fixed position, a first call request is sent. Or, a two-dimensional code is set at a fixed position of each floor in advance, the target robot determines the position of the two-dimensional code by scanning the two-dimensional code, and if the determined position is the same as the preset fixed position, the first call request is sent out.

And A3, according to the floor where the target robot is located and the floor where the elevator is located at present, calculating the time length when the elevator reaches the floor where the target robot is located and the door opening time length, and determining the total time length according to the time length of the floor where the target robot is located and the door opening time length.

In this application embodiment, can confirm the distance between the floor that the present place of target robot of target and the floor that above-mentioned elevator is present earlier, according to the functioning speed of this distance and elevator, confirm the length of time that the elevator arrived the present place floor of above-mentioned target robot. And adding the duration and the preset door opening duration to obtain the total duration.

Correspondingly, the step S14 includes:

and if the absolute value of the difference between the time length required by the target robot to reach the elevator door and the total time length is less than a preset difference threshold value, controlling the elevator to open the elevator door after the elevator reaches the floor where the target robot is located at present.

Wherein, the preset difference threshold may be 2 seconds.

In this application embodiment, when the absolute value of the difference of the required length of time of target robot arrival lift-cabin door and above-mentioned total length of time is less than predetermined difference threshold, it is close with total length of time to show that the required length of time of target robot arrival lift-cabin door is close, and at this moment, steerable elevator opens the lift-cabin door after the floor that the current place of target robot is reachd to the target robot can in time carry on the elevator. In some embodiments, if the elevator determines that the time required for the target robot to reach the elevator door is less than the total time, the target robot is sent to the elevator door

In some embodiments, the elevator control method provided by the embodiment of the present application further includes:

if the absolute value of the difference between the time length required by the target robot to reach the elevator door and the total time length is not less than the preset difference threshold value, a nearby stop indication is sent to the target robot, the nearby stop indication is used for indicating the target robot to stop at the specified position, and the time length required by the target robot to reach the elevator door from the specified position is shorter than the time length required by the target robot to reach the elevator door from the current position of the target robot.

The designated position is usually outside the doorway of the elevator door, and the designated position may be a position close to 0 distance from the elevator door. The current position of the target robot is usually a certain distance away from the elevator door, for example, the position where the distance between the target robot and the elevator door is 10-20 m is used as the position where the target robot sends the first call request. In some embodiments, the designated location is an off-board nearby stop point as shown in fig. 2, and the current location of the target robot is the target robot first call location as shown in fig. 2.

In some embodiments, when the target robot waits at the designated position for a preset time threshold, no elevator can be taken, and the elevator (or the elevator system) receives a second call request sent by the target robot, wherein the second call request can comprise the information of the position where the target robot is located currently, the information of the target floor which the target robot wants to reach, and the inquiry information of the arrival time point of the elevator. Because the calling call request is sent to the elevator again, whether the target robot is still in the connection relation with the elevator can be confirmed in time, and the timely taking of the target robot is facilitated.

In some embodiments, the above-mentioned loading condition includes that the load ratio of the elevator is smaller than a preset threshold, and before step S11, the method further includes:

and detecting whether the current time point does not belong to a preset time period, and if not, determining whether the load ratio of the elevator is smaller than the preset threshold value.

Specifically, at least one time period is preset, and the robot is refused to take the car in the preset time period. For example, a time period is set according to the peak of work, and/or a time period is set according to the rest time of work, and/or a time period is set according to the peak of work, etc., if the robot wishing to take the elevator is detected in the set time periods, feedback information containing information of refusal to take the elevator is sent to the robots. Because the corresponding time period is set according to the daily use scene of the elevator taking personnel, the carrying of the robot is refused when the elevator is in a large passenger capacity or is about to be in the large passenger capacity, and the elevator taking experience of the elevator taking personnel can be greatly improved.

In the embodiment of the application, the situation that more persons who take the elevator need to take the elevator in a certain time period is considered, and therefore the elevator judges whether the load ratio of the elevator is smaller than a preset threshold value only at the time point which does not belong to the time period, and therefore it can be guaranteed that the feedback information is sent to the target robot only when the current time point does not belong to the preset time period. I.e. the elevator only considers riding the robot at a point in time that does not belong to the time period.

Because when judging that the current time point does not belong to the preset time period, the elevator is not in or is about to be in the time period with larger passenger capacity, whether the elevator can carry the target robot at present is judged according to the load ratio, and the robot can be prevented from being carried when the elevator has large passenger capacity, so that the probability of collision between elevator taking personnel and the robot is reduced, and the good elevator taking experience of the elevator taking personnel is improved.

In some embodiments, in order to avoid that the elevator frequently judges whether the current time point does not belong to the preset time period, after the elevator establishes the communication link with the target robot, the elevator detects whether the current time point does not belong to the preset time period.

In some embodiments, at the time of step S14, the method further includes:

and shielding a door closing signal sent by a button of the control box until the target robot is detected to enter the elevator car.

The elevator can shoot the elevator door through the shooting equipment, and whether the target robot enters the elevator car or not is judged through analyzing the shot picture. Or after the elevator receives a safe stop signal actively reported by the target robot, the target robot is judged to enter the car. The method comprises the following steps of dividing a robot parking area (such as a parking point in a car in fig. 2) in a car in advance, and pasting information such as two-dimensional codes in the robot parking area, so that after a target robot enters the robot parking area, the pasted two-dimensional codes can be scanned, and a 'safe parking' signal is reported to an elevator according to a scanning result.

In the embodiment of the application, in order to avoid the linkage control interruption between the target robot and the elevator, the elevator door is kept in an open state in the process that the robot enters the elevator car. For example, in the process that the target robot moves from the outside of the elevator to the inside of the car, if the door closing button of the control box is pressed by the elevator passenger, the elevator does not respond to the door closing signal sent by the pressed door closing button until the elevator judges that the target robot enters the car. Because the in-process that gets into the car at the target robot, the door signal of closing that the button that the elevator shielding sent through the control box consequently for the target robot can get into the car of elevator smoothly, thereby avoids the joint control of target robot and elevator to take place the accident that the interrupt led to.

In some embodiments, if the floor to which the target robot arrives is a floor corresponding to the target floor information of the target robot, the method further includes, in step S16, when the elevator door is opened after the corresponding floor is reached:

and shielding a door closing signal sent by a button of the control box until the target robot is detected to leave the elevator car.

The elevator can shoot the elevator door through the shooting equipment, and whether the target robot leaves the elevator car or not is judged by analyzing the shot picture. Or after the elevator receives a safe leaving signal actively reported by the target robot, the target robot is judged to leave the car.

In this application embodiment, after the floor that the elevator judged that current berthhing was hoped to arrive for the target robot, will shield and take advantage of the close door signal that the personnel sent through the button of pressing the control box to avoid the target robot not leave the car, the lift-cabin door just is closed, thereby leads to the joint control of this target robot and elevator to interrupt.

In some embodiments, the areas in the car include a robot parking area and a non-robot parking area, and in step S14, the method further includes:

if the fact that the human body exists in the robot parking area is detected, a reminding voice is sent out, and the reminding voice comprises voice for reminding passengers not to occupy the robot parking area.

In the embodiment of the application, the image obtained by shooting through the camera of the robot parking area in the shooting range can be analyzed to detect whether a human body exists in the preset robot parking area, the sensor data obtained by the infrared sensor of the robot parking area in the detection area can be analyzed to detect whether the human body exists in the robot parking area, and if the human body exists in the robot parking area in the car, the elevator taking personnel can be reminded not to occupy the area. Because the robot parking area is defined in the car, the target robot can be separated from elevator taking personnel after entering the car, and therefore the probability of conflict between the target robot in the car and the elevator taking personnel is favorably reduced.

In some embodiments, the elevator control method provided in the embodiments of the present application further includes:

and when the load ratio of the elevator is not less than the preset threshold value, feeding back information containing the taking refusal to the target robot.

In the embodiment of the application, because when the load of the elevator is bigger, indicate that the car is crowded, consequently, to the information that the target robot feedback refused to take, can avoid the phenomenon that the target robot requests again to take the crowdedly aggravation that this elevator leads to.

In some embodiments, the elevator control method of the embodiments of the present application is applied to an elevator control system, where the elevator control system may include one elevator or a plurality of elevators, and when the elevator control system includes at least two elevators, the elevator control method of the embodiments of the present application further includes:

b1, traversing the elevators of the elevator control system, and taking the currently traversed elevators as candidate elevators.

And B2, determining whether the candidate elevator is smaller than the elevator meeting the carrying condition.

And B3, when the candidate elevator does not meet the carrying condition, returning to the step of traversing the elevators of the elevator control system and the subsequent steps until all the elevators of the elevator control system are traversed or the candidate elevator meets the carrying condition.

In the embodiment of the application, when the elevator control system judges that the robot wants to take the elevator, the elevator control system selects the elevator meeting the carrying conditions from the elevators included in the elevator control system, and then sends the identifier of the elevator meeting the carrying conditions to the robot wishing to take the elevator. For example, assuming that the elevator control system includes 3 elevators, namely elevator 1, elevator 2 and elevator 3, when the elevator control system determines that the robot 1 desires to board the elevator at time 1, the elevator control system determines whether the elevator 1 satisfies the mounting condition (if the load ratio of the elevator 1 is less than a preset threshold), if not, determines whether the elevator 2 satisfies the mounting condition, and if the mounting condition is satisfied, transmits feedback information to the robot 1, wherein the feedback information includes information that the elevator 1 agrees to board and an identifier of the elevator 2, so that the robot 1 can transmit a first call request to the elevator 2. Because each elevator is traversed, the elevator meeting the carrying conditions can be found out as much as possible, and the timeliness of the target robot carrying the elevator can be improved.

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:

fig. 3 shows a block diagram of an elevator control device according to an embodiment of the present application, which corresponds to the elevator control method according to the first embodiment, and only the portions related to the embodiment of the present application are shown for convenience of description.

Referring to fig. 3, the elevator control device 3 includes: a feedback information sending module 31, a first call request receiving module 32, a target floor information recording module 33, an elevator door opening module 34 and an elevator door closing module 35. Wherein:

and a feedback information transmitting module 31 for transmitting feedback information to the target robot when the elevator satisfies the carrying condition, wherein the feedback information includes information of agreeing to carry, and the target robot is the robot wishing to carry the elevator.

And the first call request receiving module 32 is configured to receive a first call request sent by the target robot, where the first call request carries information about a floor where the target robot is currently located and information about a target floor of the target robot.

And a target floor information recording module 33 for recording the target floor information of the target robot in the operation box of the elevator.

Specifically, after the destination floor information is recorded in the control box of the elevator, the floor number corresponding to the destination floor information can be lighted on the display panel of the control box. For example, if the floor number corresponding to the target floor information of the target robot is 5, "5" on the display panel of the control box can be lit.

Of course, in the present embodiment, only the destination floor information may be recorded without lighting the floor number corresponding to the destination floor information on the display panel.

And an elevator door opening module 34, configured to control the elevator to open the elevator door after reaching the current floor of the target robot, and to reach the corresponding floor according to the floor information recorded by the control box, and to open the elevator door after reaching the corresponding floor.

And an elevator door closing module 35, configured to control the elevator to close the elevator door if it is detected that the target robot enters the elevator car of the elevator.

Specifically, the target robot can send a signal to the elevator containing information that the elevator has entered so that the elevator knows that the target robot has entered the elevator. Or the elevator can shoot the elevator door through the camera, the shot image is analyzed, if the analysis result indicates that the target robot enters the elevator car from the outside of the elevator door, the target robot is considered to enter the elevator car, and at the moment, the elevator door can be closed, so that the elevator taking personnel and/or the robot in the elevator car can be timely delivered to the corresponding target floor.

In some embodiments, in order to facilitate the elevator to timely know which robots need to board the elevator, the elevator control apparatus 3 provided in the embodiment of the present application further includes:

and the target running direction determining module is used for determining the target running direction of the target robot according to the floor information of the current target robot and the target floor information of the target robot.

Specifically, if the floor indicated by the floor information where the target robot is currently located is shorter than the floor indicated by the target floor information, it is determined that the target operation direction is downward. On the contrary, if the floor indicated by the floor information where the target robot is currently located is higher than the floor indicated by the target floor information, the target running direction is determined to be upward.

And the time length determining module is used for determining the time length required by the target robot to reach the elevator door according to the first call calling request if the target running direction is the same as the current running direction of the elevator and the floor where the elevator is currently located is shorter than the floor where the target robot is currently located.

In some embodiments, the target robot may be preset to issue a first call request while passing a fixed location, at which point the elevator can determine where the target robot is currently located (i.e., the set fixed location at which the first call request was issued) as long as the elevator receives the first call request.

And the total duration determining module is used for calculating the duration when the elevator reaches the floor where the target robot is located and the door opening duration according to the floor where the target robot is located and the floor where the elevator is located currently, and determining the total duration according to the duration when the target robot is located and the door opening duration.

In this application embodiment, can confirm the distance between the floor that the present place of target robot and the floor that above-mentioned elevator is present earlier, according to the functioning speed of this distance and elevator, confirm the length of time that the elevator arrived the floor that above-mentioned target robot is present. And adding the time length and the preset door opening time length to obtain the total time length.

Correspondingly, the elevator door opening module 34 is specifically configured to:

Wherein, the preset difference threshold may be 2 seconds.

In some embodiments, the elevator control apparatus 2 provided in the embodiment of the present application further includes:

the nearby parking indication sending module is used for sending a nearby parking indication to the target robot if the absolute value of the difference between the time length required by the target robot to reach the elevator door and the total time length is not less than a preset difference threshold value, and the nearby parking indication is used for indicating the target robot to park at a specified position, wherein the time length required by the target robot to reach the elevator door from the specified position is shorter than the time length required by the target robot to reach the elevator door from the current position of the target robot.

The designated position is usually outside the doorway of the elevator door, and the designated position may be a position close to 0 distance from the elevator door. The current position of the target robot is usually a certain distance away from the elevator door, for example, the position where the distance between the target robot and the elevator door is 10-20 m is used as the position where the target robot sends the first call request. In some embodiments, the designated location is a nearby stopping point outside the car as shown in fig. 2, and the current location of the target robot is the first call location of the target robot as shown in fig. 2.

In some embodiments, when the target robot waits at the designated position for a preset time threshold, and no elevator can be taken, the elevator control apparatus 2 provided in this embodiment further includes:

and the second call request receiving module is used for receiving a second call request sent by the target robot, wherein the second call request can comprise the information of the current position of the target robot, the information of the target floor which the target robot wants to reach and also can comprise the inquiry information of the arrival time point of the elevator. Because the calling call request is sent to the elevator again, whether the target robot is still in the connection relation with the elevator or not can be confirmed in time, and the calling call request is also favorable for taking the target robot in time.

In some embodiments, the above-mentioned carrying condition includes that a load ratio of the elevator is smaller than a preset threshold, and the elevator control device 2 provided in the embodiment of the present application further includes:

and the time point detection module is used for detecting whether the current time point does not belong to the preset time period or not, and if not, determining whether the load ratio of the elevator is smaller than the preset threshold value or not.

In the embodiment of the application, the situation that more persons who take the elevator need to take the elevator in a certain time period is considered, and therefore the elevator judges whether the load ratio of the elevator is smaller than a preset threshold value only at the time point which does not belong to the time period, and therefore it can be guaranteed that the feedback information is sent to the target robot only when the current time point does not belong to the preset time period. I.e. the elevator only considers taking the robot at a point in time not belonging to the time period.

When the current time point is judged not to belong to the preset time period, the elevator is indicated not to be in or to be in the time period with larger passenger capacity, so that whether the elevator can carry the target robot or not is judged according to the load ratio, the robot can be prevented from being carried when the passenger capacity of the elevator is large, the probability of collision between elevator taking personnel and the robot is reduced, and good elevator taking experience of the elevator taking personnel is improved.

In some embodiments, when the elevator door is opened after the elevator is controlled to reach the floor where the target robot is currently located, the elevator control apparatus 3 provided in the embodiment of the present application further includes:

the first signal shielding module is used for shielding a door closing signal sent by a button of the control box until the target robot is detected to enter the elevator car of the elevator.

The elevator can shoot the elevator door through the shooting equipment, and whether the target robot enters the elevator car or not is judged through analyzing the shot picture. Or after the elevator receives a safe stop signal actively reported by the target robot, the target robot is judged to enter the car. In the method, a robot stopping area (such as a stopping point in a car in fig. 2) can be divided in the car in advance, and information such as a two-dimensional code is pasted in the robot stopping area, so that after a target robot enters the robot stopping area, the pasted two-dimensional code can be scanned, and a 'safe stopping' signal is reported to an elevator according to a scanning result.

In some embodiments, if the floor reached is a floor corresponding to the target floor information of the target robot, when the elevator door is opened after the floor reached, the elevator control device 3 provided in the embodiment of the present application further includes:

and the second door closing signal shielding module is used for shielding a door closing signal sent by a button of the control box until the target robot is detected to leave the elevator car.

In this application embodiment, judge the floor that the current stopped for the floor that target robot hoped to arrive when the elevator after, will shield and take advantage of the signal of closing the door that the personnel sent through the button of pressing the control box to avoid target robot not to leave the car, the lift-cabin door just is closed, thereby leads to the joint control of this target robot and elevator to break.

In some embodiments, the areas in the car include a robot stop area and a non-robot stop area, and when the elevator door is opened after the elevator is controlled to reach the floor where the target robot is currently located, the elevator control device 3 provided in the embodiment of the present application further includes:

and the reminding module is used for sending reminding voice if detecting that a human body exists in the robot parking area, wherein the reminding voice comprises voice for reminding passengers not to occupy the robot parking area.

In some embodiments, the elevator control apparatus 3 provided in the embodiment of the present application further includes:

and the refusal information feedback module is used for feeding back information containing refusal to take the elevator to the target robot when the load ratio of the elevator is not less than the preset threshold value.

In some embodiments, the elevator control device 3 of the present embodiment is applied to an elevator control system including at least two elevators, and the elevator control device 3 further includes:

and the elevator traversing module is used for traversing the elevators of the elevator control system and taking the currently traversed elevators as candidate elevators.

And the load ratio determining module is used for determining whether the candidate elevator is smaller than the elevator meeting the carrying condition.

And the load ratio comparison module is used for returning to the step of traversing the elevators of the elevator control system and the subsequent steps when the candidate elevators do not meet the carrying conditions until the elevators of the elevator control system are traversed or the candidate elevators meet the carrying conditions.

In the embodiment of the application, when the elevator control system judges that the robot wants to take the elevator, the elevator control system selects the elevator meeting the carrying conditions from the elevators included in the elevator control system, and then sends the identifier of the elevator meeting the carrying conditions to the robot wishing to take the elevator. Because each elevator is traversed, the elevator meeting the carrying conditions can be found out as much as possible, and the timeliness of the target robot carrying the elevator can be improved.

It should be noted that, for the information interaction, execution process, and other contents between the above devices/units, the specific functions and technical effects thereof based on the same concept as those of the method embodiment of the present application can be specifically referred to the method embodiment portion, and are not described herein again.

Example three:

fig. 4 is a schematic structural diagram of an elevator provided in an embodiment of the present application. As shown in fig. 4, the elevator 4 of this embodiment includes: at least one processor 40 (only one processor is shown in fig. 4), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, wherein the steps of any of the method embodiments described above are implemented when the computer program 42 is executed by the processor 40.

The elevator 4 may include, but is not limited to, a processor 40 and a memory 41. It will be understood by those skilled in the art that fig. 4 is merely an example of an elevator 4 and does not constitute a limitation of an elevator 4 and may include more or fewer components than shown, or some components in combination, or different components, such as input output devices, network access devices, etc.

The Processor 40 may be a Central Processing Unit (CPU), and the Processor 40 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 aforementioned memory 41 may in some embodiments be an internal memory unit of the aforementioned elevator 4, such as a hard disk or a memory of the elevator 4. In other embodiments, the memory 41 may be an external storage device of the elevator 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the elevator 4. Further, the memory 41 may include both an internal storage unit and an external storage device of the elevator 4. The memory 41 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, other programs, and the like, such as program codes of the computer programs. The above-mentioned memory 41 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 functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement 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.

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 embodiments of the present application provide a computer program product, which when running on an elevator, enables the elevator to implement the steps in the above-mentioned method embodiments when 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 an elevator, recording medium, computer Memory, read-Only Memory (ROM), random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and 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 technical solution. 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 control method, characterized by comprising:

when the elevator meets the carrying condition, sending feedback information to a target robot, wherein the feedback information comprises information of agreeing to carry, and the target robot is a robot which wants to carry the elevator;

controlling the elevator to reach the floor where the target robot is located at present and then opening an elevator door;

2. The elevator control method according to claim 1, further comprising:

determining the target operation direction of the target robot according to the information of the floor where the target robot is located currently and the information of the target floor of the target robot;

if the target running direction is the same as the current running direction of the elevator and the current floor of the elevator is shorter than the current floor of the target robot, determining the time length required by the target robot to reach the elevator door according to the first call request;

calculating the time length of the elevator reaching the floor where the target robot is currently located and the door opening time length according to the floor where the target robot is currently located and the floor where the elevator is currently located, and determining the total time length according to the time length of the floor where the target robot is currently located and the door opening time length;

correspondingly, the control the elevator reaches the present floor at of target robot and opens the lift-cabin door, includes:

and if the absolute value of the difference between the time length required by the target robot to reach the elevator door and the total time length is less than a preset difference threshold value, controlling the elevator to open the elevator door after the elevator reaches the floor where the target robot is located.

3. The elevator control method according to claim 2, further comprising:

if the absolute value of the difference between the time length when the elevator reaches the floor where the target robot is located and the total time length is not less than the preset difference threshold value, sending a nearby stop indication to the target robot, wherein the nearby stop indication is used for indicating the target robot to stop at a specified position, and the time length required by the target robot to reach the elevator door from the specified position is shorter than the time length required by the target robot to reach the elevator door from the current position.

4. The elevator control method according to claim 1, wherein the mounting condition includes that a load ratio of the elevator is less than a preset threshold, and before the transmitting the feedback information to the target robot when the elevator satisfies the mounting condition, the method further comprises:

5. The elevator control method according to claim 1, when the elevator door is opened after the controlling the elevator reaches the floor where the target robot is currently located, further comprising:

6. The elevator control method according to claim 1, wherein if the floor reached is a floor corresponding to the target floor information of the target robot, when the elevator door is opened after the floor reached, the method further comprises:

shielding a door closing signal sent by a button of the control box until the target robot is detected to leave the elevator car.

7. The elevator control method according to any one of claims 1 to 6, wherein the areas within the car include a robot stop area and a non-robot stop area, and when an elevator door is opened after the controlling the elevator reaches a floor where the target robot is currently located, further comprising:

if the human body exists in the robot parking area, a reminding voice is sent out, wherein the reminding voice comprises voice for reminding passengers not to occupy the robot parking area.

8. The elevator control method according to claim 1, applied to an elevator control system including at least two elevators, further comprising:

traversing the elevators of the elevator control system, and taking the currently traversed elevators as candidate elevators;

determining whether the candidate elevator satisfies the pick-up condition;

when the candidate elevator does not meet the embarkation condition, returning to the step of traversing the elevators of the elevator control system and the subsequent steps until the elevators of the elevator control system are traversed or the candidate elevator meets the embarkation condition.

9. An elevator control apparatus, comprising:

the feedback information sending module is used for sending feedback information to a target robot when the elevator meets the carrying condition, the feedback information comprises information of agreeing to carry, and the target robot is a robot which wants to carry the elevator;

and the elevator door closing module is used for controlling the elevator to close the elevator door if detecting that the target robot enters the elevator car of the elevator.

10. Elevator comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the method according to any of claims 1 to 8 when executing the computer program.

11. 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 8.