WO2020077951A1 - 一种电梯调度方法、装置、服务器及计算机可读存储介质 - Google Patents

一种电梯调度方法、装置、服务器及计算机可读存储介质 Download PDF

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Publication number
WO2020077951A1
WO2020077951A1 PCT/CN2019/079728 CN2019079728W WO2020077951A1 WO 2020077951 A1 WO2020077951 A1 WO 2020077951A1 CN 2019079728 W CN2019079728 W CN 2019079728W WO 2020077951 A1 WO2020077951 A1 WO 2020077951A1
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WIPO (PCT)
Prior art keywords
elevator
target
information
dispatchable
robot
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PCT/CN2019/079728
Other languages
English (en)
French (fr)
Inventor
闵伟
李佩
郝慧涛
张金钟
陈彬彬
Original Assignee
拉扎斯网络科技（上海）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 拉扎斯网络科技（上海）有限公司 filed Critical 拉扎斯网络科技（上海）有限公司
Priority to US17/286,182 priority Critical patent/US20210387829A1/en
Publication of WO2020077951A1 publication Critical patent/WO2020077951A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3446—Data transmission or communication within the control system
    • B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/46—Adaptations of switches or switchgear
    • B66B1/468—Call registering systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/08—Access security
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/10—Details with respect to the type of call input
    • B66B2201/104—Call input for a preferential elevator car or indicating a special request
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
    • B66B2201/212—Travel time
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
    • B66B2201/215—Transportation capacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/46—Switches or switchgear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/46—Switches or switchgear
    • B66B2201/4607—Call registering systems
    • B66B2201/4615—Wherein the destination is registered before boarding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/46—Switches or switchgear
    • B66B2201/4607—Call registering systems
    • B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/46—Switches or switchgear
    • B66B2201/4607—Call registering systems
    • B66B2201/4653—Call registering systems wherein the call is registered using portable devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/46—Switches or switchgear
    • B66B2201/4607—Call registering systems
    • B66B2201/4676—Call registering systems for checking authorization of the passengers

Definitions

  • the embodiments of the present application relate to the technical field of communications, and in particular, to an elevator dispatch method, device, server, and computer-readable storage medium.
  • An object of some embodiments of the present application is to provide an elevator dispatch method, device, server, and computer-readable storage medium.
  • An embodiment of the present application provides an elevator dispatching method, which is applied to a server and includes the following steps: determining an elevator dispatching request, the elevator dispatching request includes starting floor information and target floor information; according to the elevator dispatching request and dispatchable elevator operation information , Determine the target elevator dispatched by the target robot; generate control instructions based on the starting floor information, target floor information, and target elevator identification information; send control instructions to the elevator control device; where the elevator control device controls the target elevator motion.
  • An embodiment of the present application also provides an elevator scheduling device, including: a determination module, a scheduling module, a generation module, and a communication module; the determination module is used to determine an elevator scheduling request, and the elevator scheduling request includes starting floor information and target floor information; The dispatch module is used to determine the target elevator dispatched by the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator; the generation module is used to generate the control instruction based on the starting floor information, the target floor information and the target elevator's identification information; The communication module is used to send control instructions to the elevator control device; wherein, the elevator control device controls the target elevator movement.
  • An embodiment of the present application further provides a server, including: at least one processor; and a memory communicatively connected to the at least one processor; and a communication component communicatively connected to the elevator control device, the communication component is under the control of the processor Receive and send data; wherein, the memory stores instructions executable by at least one processor, the instructions are executed by at least one processor to achieve: determine the elevator dispatch request, the elevator dispatch request includes the starting floor information and the target floor information; The elevator dispatch request and the operation information of the dispatchable elevator are determined as the target elevator dispatched by the target robot; according to the starting floor information, the target floor information and the identification information of the target elevator, a control command is generated; the control command is sent to the elevator control device; , The elevator control device controls the target elevator movement.
  • a server including: at least one processor; and a memory communicatively connected to the at least one processor; and a communication component communicatively connected to the elevator control device, the communication component is under the control of the processor Receive and send data; wherein, the
  • An embodiment of the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the elevator scheduling method mentioned in the foregoing embodiment is implemented.
  • the elevator dispatching method before sending a control command to the elevator control device, the elevator dispatching method further includes: receiving a call request sent by the target robot; wherein, the call request includes authentication information, and the authentication information is that the elevator control device receives the target robot After sending the authentication request, feedback the information to the target robot; confirm that the authentication information in the call request is correct.
  • the target robot communicates with the elevator control device through near field communication technology.
  • the elevator dispatch request is sent by the target robot after determining that it needs to ride.
  • the elevator dispatch method further includes: sending the target elevator's identification information to the target robot, the target elevator's identification information is used To identify the target elevator.
  • the elevator dispatch method further includes: determining the target robot for the delivery product based on the robot information; the robot information includes the robot Status information and / or information about the current floor of the robot; send delivery instructions to the target robot.
  • the elevator scheduling method determines the target robot for delivery, specifically including: determining the target robot based on the robot information and the order information of the goods; before sending the delivery instruction to the target robot, the elevator scheduling method also includes: according to the order information of the goods To generate delivery instructions.
  • the elevator dispatch request also includes authentication information of the target robot; after determining the elevator dispatch request, according to the elevator dispatch request and the operation information of the dispatchable elevator, before determining the target elevator dispatched by the target robot, the elevator dispatch method further includes: The authentication information is used for authentication, and the authentication is determined to be successful.
  • the elevator dispatching method further includes: after determining that the target elevator reaches the floor corresponding to the starting floor information, sending an elevator entry instruction to the target robot; wherein, the elevator entry instruction is used to instruct the target robot Enter the target elevator; after determining that the target elevator reaches the floor corresponding to the target floor information, send the elevator instruction to the target robot; where the elevator instruction is used to instruct the target robot to leave the target elevator.
  • the operation information of the dispatchable elevator includes the state information of the dispatchable elevator, and the state information of the dispatchable elevator is used to indicate that the dispatchable elevator is in the scheduled state or the dispatchable elevator is in the unscheduled state; according to the elevator dispatch request and the dispatchable elevator
  • the running information of the target is determined as the target elevator dispatched by the target robot, which specifically includes: according to the status information of the dispatchable elevator, select one elevator from the elevators in the unscheduled state as the target elevator.
  • the operation information of the dispatchable elevator includes the movement direction of the dispatchable elevator and the current floor information of the dispatchable elevator; according to the elevator dispatch request and the operation information of the dispatchable elevator, the target elevator dispatched by the target robot is determined, which specifically includes: Determine the moving direction of the target robot by starting floor information and target floor information; according to the operation information of the dispatchable elevator, take the elevator whose moving direction is the same as the moving direction of the target robot as the candidate dispatch elevator; according to the current floor information and starting of the candidate dispatch elevator Starting floor information, select one elevator from candidate dispatching elevators as the target elevator.
  • the operation information of the dispatchable elevator includes the full load rate of the dispatchable elevator; according to the elevator dispatch request and the operation information of the dispatchable elevator, the target elevator dispatched by the target robot is determined, which specifically includes: selecting the full load according to the full load rate of the dispatchable elevator The dispatchable elevator with the lowest rate is used as the target elevator.
  • the operation information of the dispatchable elevator includes information of the stop floor of the dispatchable elevator; according to the elevator dispatch request and the operation information of the dispatchable elevator, the target elevator dispatched by the target robot is determined, which specifically includes: according to the stop of the dispatchable elevator Floor information and elevator dispatch request, to determine whether there is a schedulable elevator with a stop floor including the floor corresponding to the start floor information or a floor corresponding to the target floor information; if it is determined to exist, the stop floor includes the floor corresponding to the start floor information
  • the dispatchable elevator on the floor corresponding to the target floor information serves as the target elevator.
  • the operation information of the dispatchable elevator includes the number of stopped floors of the dispatchable elevator; according to the elevator dispatch request and the operation information of the dispatchable elevator, the target elevator dispatched by the target robot is determined, which specifically includes: according to the stopped floor of the dispatchable elevator Number, select the dispatchable elevator with the smallest number of stopped floors as the target elevator.
  • the processor is also used to receive the call request sent by the target robot before sending the control command to the elevator control device; where the call request includes authentication information, the authentication information is that the elevator control device receives the target robot After sending the authentication request, feedback the information to the target robot; confirm that the authentication information in the call request is correct.
  • the target robot communicates with the elevator control device through near field communication technology.
  • the elevator dispatch request is sent by the robot after determining that the elevator needs to be taken.
  • the processor is also used to: after determining the target elevator scheduled by the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator, send the identification information of the target elevator to the target robot.
  • the identification information of the target elevator is used To identify the target elevator.
  • the processor is also used to: before determining the target elevator scheduled for the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator, determine the target robot for the delivery product based on the robot information; the robot information includes the robot's status information and / Or information about the current floor of the robot; send delivery instructions to the target robot.
  • the processor is specifically used to determine the target robot for delivery based on the robot information and the order information of the goods; before sending the delivery instruction to the target robot, the processor is also used to: generate a delivery instruction based on the order information of the goods .
  • the elevator dispatch request also includes the authentication information of the target robot; the processor is also used to: after determining the elevator dispatch request, according to the elevator dispatch request and the operation information of the dispatchable elevator, determine the target elevator dispatched by the target robot before The authentication information is used for authentication, and the authentication is determined to be successful.
  • the processor is also used to: after sending the control instruction to the elevator control device, after determining that the target elevator reaches the floor corresponding to the starting floor information, send the elevator instruction to the target robot; wherein, the elevator instruction is used to instruct the target robot Enter the target elevator; after determining that the target elevator reaches the floor corresponding to the target floor information, send the elevator instruction to the target robot; where the elevator instruction is used to instruct the target robot to leave the target elevator.
  • the operation information of the dispatchable elevator includes the state information of the dispatchable elevator.
  • the state information of the dispatchable elevator is used to indicate that the dispatchable elevator is in the scheduled state or the dispatchable elevator is in the unscheduled state; the processor is specifically used to: For the status information of dispatching elevators, select one elevator from the elevators in the unscheduled state as the target elevator.
  • the operation information of the dispatchable elevator includes the movement direction of the dispatchable elevator and the current floor information of the dispatchable elevator; the processor is specifically used to: determine the movement direction of the target robot according to the starting floor information and the target floor information; according to the dispatchable For the elevator operation information, an elevator with the same moving direction as the target robot is regarded as a candidate dispatch elevator; according to the current floor information and starting floor information of the candidate dispatch elevator, one elevator is selected from the candidate dispatch elevators as the target elevator.
  • the operation information of the dispatchable elevator includes the full load rate of the dispatchable elevator; the processor is specifically configured to: according to the full load rate of the dispatchable elevator, select the dispatchable elevator with the lowest full load rate as the target elevator.
  • the operation information of the dispatchable elevator includes the stop floor information of the dispatchable elevator; the processor is specifically used to determine whether there is a stop floor in the dispatchable elevator based on the stop floor information of the dispatchable elevator and the elevator dispatch request.
  • the operation information of the dispatchable elevator includes the number of stopped floors of the dispatchable elevator; the processor is specifically used to select the dispatchable elevator with the smallest number of stopped floors as the target elevator according to the number of stopped floors of the dispatchable elevator.
  • FIG. 1 is a flowchart of the elevator dispatching method in the first embodiment of the present application
  • FIG. 3 is a schematic diagram of the connection relationship between the robot, the elevator control device, and the server in the second embodiment of the present application;
  • FIG. 4 is a schematic structural diagram of an elevator dispatching device according to a third embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a server according to a fourth embodiment of the present application.
  • the first embodiment of the present application relates to an elevator dispatch method applied to a server.
  • the elevator dispatch method includes the following steps:
  • Step 101 Determine the elevator dispatch request.
  • the elevator dispatch request includes start floor information and target floor information.
  • the elevator dispatch request can be determined by the delivery management system in the server, or it can be sent directly by the target robot after determining that it needs to take the elevator.
  • the delivery management system may also be on another server, and the other server establishes a communication connection with the server, so that the server can receive the elevator dispatch request determined by the delivery management system.
  • the goods may be objects such as meals, commodities, flowers, documents, etc. This embodiment does not limit specific delivery objects.
  • the elevator dispatch request is determined by the delivery management system in the server.
  • the server determines that there is a product to be delivered in the first storage container at the place where the robot takes the meal. Based on the robot information, the server determines the target robot to be delivered, and sends a delivery instruction to the target robot. The server determines the information of the floor where the target robot is located, uses the information of the floor where the target robot is located as the starting floor information, uses the information of the floor where the first storage container is located as the target floor information, and determines the elevator dispatch request based on the starting floor information and the target floor information .
  • the server determines that the rider needs robot assistance to distribute the goods. Based on the robot information, the server determines the target robot for delivery, generates a delivery instruction based on the order information of the goods, and sends the delivery instruction to the target robot.
  • the server determines the information of the floor where the target robot is located, uses the information of the floor where the target robot is located as the starting floor information, uses the information of the floor where the rider is located as the target floor information, and determines the elevator dispatch request based on the starting floor information and the target floor information.
  • the server can dispatch the elevator immediately after delivery is required, so that the target robot can take the elevator in time after picking up the goods, which improves the delivery efficiency.
  • the robot information includes status information of the robot and / or information of the floor where the robot is currently located.
  • the status information of the robot may be information indicating whether the robot is in a delivery state, or information on the order quantity of the robot in the cabin.
  • the status information of the robot can also be sent with the robot. Information related to goods is not repeated here.
  • the method for the server to determine the target robot for delivery of goods based on the robot information includes but is not limited to the following four:
  • Method 1 Based on the robot's status information, the server arbitrarily selects one of the robots that can be delivered as the target robot for delivery.
  • Method 2 Based on the current floor information of the robot, the server selects the robot closest to the floor of the first storage container or the floor of the rider as the target robot for delivery.
  • Method 3 The server arbitrarily selects one robot as the candidate robot from the robots in the delivery-able state according to the robot's status information.
  • the server selects the robot closest to the floor where the first storage container is located or the floor where the rider is located from the candidate robots as the target robot for delivery of goods based on the information of the floor where the candidate robot is currently located.
  • Method 4 The server arbitrarily selects one robot as the candidate robot from the robots in the delivery state according to the status information of the robot. Based on the order information of the goods, for example, the weight information of the goods, the server selects one robot from the candidate robots as the target robot for delivery.
  • the order information of the goods can include the delivery address, the attributes of the goods (preferably used after heating or suitable for normal temperature or suitable for cooling), weight and other information; the robot information can also include the weight information of the robot, whether it has Those skilled in the art can understand information such as the function of heating or cooling the goods, and in actual application, the server can fully consider one or any combination of the above information to determine the target robot. For example, when the goods attribute indicates that the goods should be used after heating, the server selects one robot from the robots having the function of heating the goods as the target robot.
  • the status information of the robot can also include other information such as the number of goods in the robot cabin, and the server can comprehensively consider the status information of the robot, the current floor information of the robot and other information After the information is determined, the target robot for the delivery product is determined. This embodiment does not limit the specific manner in which the server determines the target robot for the delivery product.
  • the elevator dispatch request is sent by the target robot after determining that it needs to ride.
  • the robot is the target robot.
  • the target robot determines the start floor information and the target floor information to determine whether the start floor information is the same as the target floor information. If the determination is not the same, an elevator dispatch request is generated based on the start floor information and the target floor information, and the elevator dispatch request is sent To the server.
  • the server receives and determines the elevator dispatch request.
  • the starting floor information is the information of the floor where the target robot itself is located.
  • the target floor information can be determined according to the delivery address of the goods, or can be determined according to the information of the floor where the second storage container of the user takes the meal.
  • the rider places the goods directly in the cabin of a robot, which is the target robot.
  • the target robot determines the start floor information and the target floor information to determine whether the start floor information is the same as the target floor information. If the determination is not the same, an elevator dispatch request is generated based on the start floor information and the target floor information, and the elevator dispatch request is sent To the server.
  • the server receives and determines the elevator dispatch request.
  • the starting floor information is the information of the floor where the target robot is located.
  • the target floor information can be determined according to the order information of the goods, or based on the information entered by the rider through the target robot's operation interface, or according to the user 2.
  • the floor of the storage container is determined.
  • the elevator dispatch request may also include other information such as the weight of the delivery object (such as goods), which is not repeated here one by one. In actual applications, according to the needs Just set it up.
  • Step 102 According to the elevator dispatch request and the operation information of the dispatchable elevator, determine the elevator dispatched by the target robot.
  • the operation information of the elevator may include any one or more of information such as the status information of the elevator, the identity information of the elevator, the current floor information of the elevator, the status information of the elevator door, the moving direction of the elevator, etc. No longer list them one by one.
  • the status information of the elevator is used to indicate that the elevator is in the scheduled state or the elevator is in the undispatched state.
  • the operation information of the dispatchable elevator in the server can be provided by the elevator control device.
  • one server can communicate with multiple elevator control devices in one building, or can communicate with multiple elevator control devices in multiple buildings.
  • the following is an example of a method for the server to determine the target elevator dispatched by the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator.
  • the operation information of the dispatchable elevator includes the movement direction of the dispatchable elevator and the information of the floor where the dispatchable elevator is currently located.
  • the server determines the moving direction of the target robot according to the starting floor information and target floor information in the elevator dispatch request. Based on the operation information of the dispatchable elevator, the server selects the elevator with the same moving direction as the target robot as the candidate dispatching elevator, and selects an elevator from the candidate dispatching elevator as the target according to the current floor information and the starting floor information of the candidate dispatching elevator elevator. For example, the server may select the elevator closest to the floor corresponding to the starting floor information as the target elevator according to the current floor information and starting floor information of each candidate dispatch elevator.
  • the operation information of the dispatchable elevator includes the state information of the dispatchable elevator, and the state information of the dispatchable elevator is used to indicate that the dispatchable elevator is in the scheduled state or the dispatchable elevator is in the unscheduled state.
  • the server selects one elevator from the elevators in the unscheduled state as the target elevator according to the status information of the dispatchable elevators.
  • the operation information of the dispatchable elevator includes the full load rate of the dispatchable elevator.
  • the server selects the dispatchable elevator with the lowest full load rate as the target elevator according to the full load rate of the dispatchable elevator.
  • the operation information of the dispatchable elevator includes information of the stop floor of the dispatchable elevator.
  • the server determines whether there is a schedulable elevator including the floor corresponding to the starting floor information or the floor corresponding to the target floor information according to the stop floor information of the dispatchable elevator and the elevator dispatch request; if it exists, the stop floor is included
  • the dispatchable elevator on the floor corresponding to the starting floor information or the floor corresponding to the target floor information is regarded as the target elevator.
  • the operation information of the dispatchable elevator includes the number of stopped floors of the dispatchable elevator.
  • the server selects the dispatchable elevator with the smallest number of stopped floors as the target elevator according to the number of stopped floors with dispatchable elevators.
  • the operation information of the dispatchable elevator includes any two or more kinds of information mentioned in the above example.
  • the operation information of the dispatchable elevator includes the movement direction of the dispatchable elevator, the current floor information of the dispatchable elevator, and the status information of the dispatchable elevator.
  • the server determines the candidate dispatching elevator according to the moving direction of the dispatchable elevator.
  • the server preferentially selects the elevator closest to the current floor of the target robot and in an unscheduled state as the target elevator based on the floor information of the current elevator and the state information of the elevator. If there is no elevator that meets the above requirements, the elevator closest to the current floor of the target robot is selected as the target elevator.
  • the specific logic of the server to determine the target elevator can be set as needed, and this embodiment does not limit the specific logic of the server to determine the target elevator.
  • the server performs elevator dispatching.
  • the server can update elevator operation information and robot information in a timely manner, thereby better dispatching elevators and robots.
  • Step 103 Generate a control instruction based on the starting floor information, the target floor information and the target elevator's identification information.
  • Step 104 Send a control command to the elevator control device.
  • the elevator control device controls the target elevator movement so that the elevator moves to the floor corresponding to the starting floor information, and after determining that the target robot is riding, controls the elevator movement to the floor corresponding to the target floor information.
  • the elevator control device controls the target elevator movement.
  • the server After determining that the target elevator reaches the floor corresponding to the starting floor information, the server sends an elevator entry instruction to the target robot; where the elevator entry instruction is used to instruct the target robot to enter the target elevator. After it is determined that the target elevator reaches the floor corresponding to the target floor information, the elevator instruction is sent to the target robot; wherein, the elevator instruction is used to instruct the target robot to leave the target elevator.
  • the target robot after entering the target elevator or leaving the target elevator, the target robot sends a completion instruction to the server, so that the server and the server know the relative state of the target robot and the target elevator, so as to better dispatch the elevator.
  • step 104 is set as a subsequent step of step 103.
  • step 104 only needs to be set after step 102, and step 104 can be set to any step after step 102 as needed, and this embodiment has no limitation.
  • the server after acquiring the starting floor information and the target floor information of the robot, the server combines the operation information of the dispatchable elevator to dispatch the elevator for the robot, so that the robot has many In the case of an elevator, it can also take the elevator automatically. Because the server dispatches elevators for all robots, the server can learn the information of all robots, so that the server can fully consider the information of all robots when scheduling elevators for a certain robot, and dispatch elevators for robots, so that multiple robots are in the same building Work together efficiently.
  • the second embodiment of the present application relates to an elevator dispatching method. This embodiment is further improved on the basis of the first embodiment. The specific improvements are: before step 102 and step 104, other related step.
  • this embodiment includes steps 201 to 207, where steps 201, 203, 207, and 208 are respectively similar to steps 101 to 104 in the first embodiment.
  • steps 201, 203, 207, and 208 are respectively similar to steps 101 to 104 in the first embodiment.
  • steps 201, 203, 207, and 208 are respectively similar to steps 101 to 104 in the first embodiment.
  • steps 201, 203, 207, and 208 are respectively similar to steps 101 to 104 in the first embodiment.
  • steps 201, 203, 207, and 208 are respectively similar to steps 101 to 104 in the first embodiment.
  • steps 101 to 104 in the first embodiment.
  • Step 202 Authenticate the authentication information in the elevator dispatch request, and determine that the authentication is successful.
  • the elevator dispatch request also includes authentication information of the delivery management system or the target robot.
  • the server authenticates the authentication information, and has confirmed that the device that sends the elevator dispatch request is a registered or authorized device.
  • the server authenticates the device that sends the scheduling request, avoids external devices or unsafe devices from accessing the server, improves the security of the server, and prevents unqualified devices from occupying server resources.
  • Step 204 Send the identification information of the target elevator to the target robot.
  • the identification information of the target elevator is used to identify the target elevator, for example, the number of the target elevator.
  • the identification information of the target elevator may also indicate the location of the target elevator.
  • the target robot queries the position of the elevator corresponding to the number, or the identification information of the target elevator is determined by The location information of the target elevator is determined, and the target robot can obtain the location of the target elevator by analyzing the identity information of the target elevator.
  • the identification information of the target elevator can also indicate the position of the target elevator, when multiple elevators in the building where the target robot is located are located at different positions, the target robot can move to the target elevator according to the identification information of the target elevator .
  • Step 205 Receive the call request sent by the target robot.
  • the call request includes authentication information, which is information that the elevator control device feeds back to the target robot after receiving the authentication request sent by the target robot.
  • authentication information is information that the elevator control device feeds back to the target robot after receiving the authentication request sent by the target robot.
  • the target robot After receiving the identification information of the target elevator returned by the server, the target robot sends an authentication information request to the elevator control device corresponding to the identification information of the target elevator. After receiving the authentication information request, the elevator control device corresponding to the identification information of the target elevator sends the authentication information to the target robot.
  • the target robot After the target robot obtains the authentication information of the elevator control device, it then sends a control command to the elevator control device, which improves safety.
  • the target robot communicates with the elevator control device through near field communication technology, such as Laura LoRa technology.
  • near field communication technology such as Laura LoRa technology.
  • the target robot can only obtain the authentication information sent by the elevator control device within a certain distance of the elevator control device, avoiding It is a waste of resources caused by prematurely dispatching the elevator to the floor where the target robot is located.
  • Step 206 Determine that the authentication information in the call request is correct.
  • the server determines whether the authentication information in the call request is correct. If it is determined that the call request is correct, step 207 and step 208 are executed, otherwise, the elevator is not dispatched for the target robot.
  • the target robot After the target robot obtains the authentication information of the elevator control device, it then sends a control command to make the elevator control device control the movement of the elevator, which further improves the safety of the scheduling process.
  • step 202, step 205, and step 206 are not mandatory steps, and step 202, step 205, and step 206 may be selectively executed, or only step 202, or only step 205 and step 206 may be executed.
  • the elevator control device 30 includes a control unit 301 and a communication unit 302.
  • the communication unit 302 may be deployed on the top of each elevator car and communicate with the control unit 301 of each elevator according to a communication protocol agreed with the elevator manufacturer.
  • the communication unit 302 is provided with a remote communication module such as 4G.
  • the 4G module can communicate with the server 303 based on the Constrained Application Protocol (CoAP).
  • the data format is a script language object notation (JavaScript Object Notation, json).
  • the underlying communication protocol User Datagram Protocol User Datagram Protocol (User Datagram Protocol, UDP).
  • the communication unit 302 is also provided with a near field communication module to communicate with the robot 304.
  • the robot 304 is provided with a remote communication module such as 4G, which can communicate with the server 303, and a near field communication module to communicate with the communication unit 302.
  • the server 303 is provided with an elevator background management system, including an elevator reform background and an elevator management platform.
  • the elevator backstage is a bridge for the elevator management platform to communicate with the communication unit 302 and the robot 304. Both the elevator management platform and the robot 304 will send a request to the elevator background.
  • the elevator background can also be used for elevator registration, robot registration, elevator landing, robot landing, elevator heartbeat report, robot heartbeat report, elevator dispatch request, call request forwarded to Elevator management platform and other functions.
  • the elevator management platform stores elevator operation information.
  • the elevator operation information is updated in real time according to the elevator operation information fed back by the elevator control device, and the elevator can be dispatched for the robot according to the elevator dispatch request, call request, etc.
  • the robot 304 When the robot 304 performs an elevator ride task near the elevator, it first sends an elevator dispatch request to the server 303. After receiving the elevator dispatch request, the server 303 determines the target elevator according to the elevator dispatch request and the operation information of the dispatchable elevator, that is, the server 303 determines which elevator is dispatched to complete the task according to the preset elevator dispatch algorithm. The server sends the identification information of the communication unit 302 of the target elevator to the robot 304. After receiving the identity identification information of the communication unit 302 returned by the server 303, the robot 304 sends an authentication information request to the communication unit 302 corresponding to the identity identification information by using near field communication. After receiving the authentication information request, the communication unit 302 sends the authentication information to the robot 304.
  • the robot 304 After receiving the authentication information returned by the communication unit 302, the robot 304 carries the authentication information in the call request and sends it to the server 303 together.
  • the server 303 judges whether the authentication information is legal. If it is legal, it sends a control instruction to the communication unit 302.
  • the communication unit 302 After receiving the control instruction, the communication unit 302 sends the control instruction to the control unit 301.
  • the control unit 301 controls the target elevator movement to complete the call action .
  • the control unit 301 controls the target elevator to move to the floor corresponding to the starting floor information. At this time, the operation information of the target elevator indicates that the target elevator reaches the floor corresponding to the starting floor information.
  • the server 303 After determining that the target elevator reaches the floor corresponding to the starting floor information according to the operation information of the target elevator, the server 303 sends an elevator entry instruction to the robot 304. After receiving the elevator entry instruction, the robot 304 enters the target elevator, and after entering the destination elevator, sends the elevator completion instruction to the server 303. After receiving the elevator completion instruction, the server 303 sends the elevator completion instruction to the communication unit 302, and the communication unit 302 transmits it to the control unit 301. The control unit 301 controls the target elevator to move to the floor information corresponding to the target floor information. At this time, the operation information of the target elevator indicates that the target elevator reaches the floor corresponding to the target floor information.
  • the server 303 After determining that the target elevator reaches the floor corresponding to the target floor information according to the operation information of the target elevator, the server 303 sends a lift instruction to the robot 304.
  • the robot 304 leaves the target elevator after receiving the elevator exit instruction, and sends the elevator completion instruction to the server 303 after leaving the target elevator.
  • the robot 304 may not directly communicate with the communication unit 302, but indirectly communicate with the communication unit 302 through the server 303 to complete the task of automatically taking the elevator to avoid malicious control of the robot 304 elevator.
  • the server after acquiring the starting floor information and the target floor information of the robot, the server combines the operation information of the dispatchable elevator to dispatch the elevator for the robot, so that the robot has many In the case of an elevator, it can also take the elevator automatically. Because the server dispatches elevators for all robots, the server can learn the information of all robots, so that the server can fully consider the information of all robots when scheduling elevators for a certain robot, and dispatch elevators for robots, so that multiple robots are in the same building Work together efficiently.
  • the server dispatches the elevator after the authentication information in the elevator dispatch request is successfully authenticated, to prevent external devices or unsafe devices from accessing the server, and to prevent unqualified devices from occupying the server resources. Further, after receiving the call request and determining that the authentication information in the call request is correct, the server sends a control command to make the elevator control device control the movement of the elevator, which further improves the safety of the dispatch process.
  • the third embodiment of the present application relates to an elevator dispatching device. As shown in FIG. 4, it includes: a determination module 401, a dispatch module 402, a generation module 403, and a communication module 404.
  • the determination module 401 is used to determine an elevator dispatch request, and the elevator dispatch request includes start floor information and target floor information.
  • the dispatch module 402 is used to determine the target elevator dispatched by the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator.
  • the generating module 403 is used to generate a control instruction according to the starting floor information, the target floor information and the target elevator identification information.
  • the communication module 404 is used to send control instructions to the elevator control device; wherein, the elevator control device controls the target elevator motion.
  • this embodiment is a device embodiment corresponding to the first embodiment and the second embodiment, and this embodiment can be implemented in cooperation with the first embodiment and the second embodiment.
  • the relevant technical details mentioned in the first embodiment and the second embodiment are still valid in this embodiment, and in order to reduce repetition, they will not be repeated here.
  • the relevant technical details mentioned in this embodiment can also be applied to the first embodiment and the second embodiment.
  • modules involved in the third embodiment are all logical modules.
  • a logical unit may be a physical unit or a part of a physical unit, or may be multiple The combination of physical units is realized.
  • the third embodiment does not introduce units that are not closely related to solving the technical problems proposed by the application, but this does not mean that there are no other units in the third embodiment. .
  • the fourth embodiment of the present application relates to a server, as shown in FIG. 5, including: at least one processor 501; and, a memory 502 communicatively connected to the at least one processor 501; and a communication component communicatively connected to the elevator control device 503, the communication component 503 receives and sends data under the control of the processor 501; wherein, the memory 502 stores instructions executable by at least one processor 501, and the instructions are executed by at least one processor 501 to realize: determine an elevator dispatch request, The elevator dispatch request includes the starting floor information and the target floor information; according to the elevator dispatch request and the operation information of the dispatchable elevator, the elevator scheduled for the target robot is determined; according to the starting floor information, the target floor information, and the identification information of the target elevator , Generate a control instruction; send the control instruction to the elevator control device; wherein, the elevator control device controls the target elevator movement.
  • the server includes one or more processors 501 and a memory 502.
  • a processor 501 is used as an example.
  • the processor 501 and the memory 502 may be connected through a bus or in other ways. In FIG. 5, the connection through a bus is used as an example.
  • the memory 502 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs, and modules.
  • the processor 501 executes various functional applications and data processing of the device by running non-volatile software programs, instructions, and modules stored in the memory 502, that is, implementing the above elevator scheduling method.
  • the memory 502 may include a storage program area and a storage data area, where the storage program area may store an operating system and application programs required by at least one function; the storage data area may store a list of options, and the like.
  • the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 502 may optionally include memories remotely set relative to the processor 501, and these remote memories may be connected to an external device through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.
  • One or more modules are stored in the memory 502, and when executed by one or more processors 501, execute the elevator dispatch method in any of the above method embodiments.
  • the fifth embodiment of the present application relates to a server.
  • This embodiment is a further refinement of the fourth embodiment, and specifically describes the function of the processor 501.
  • the processor 501 is further used to receive the call request sent by the target robot before sending the control command to the elevator control device; wherein, the call request includes authentication information, and the authentication information indicates that the elevator control device is receiving After receiving the authentication request sent by the target robot, the information fed back to the target robot is returned; it is determined that the authentication information in the call request is correct.
  • the target robot communicates with the elevator control device through near field communication technology.
  • the elevator dispatch request is sent by the target robot after determining that it needs to ride.
  • the processor is also used to: after determining the target elevator scheduled by the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator, send the identification information of the target elevator to the target robot.
  • the identification information of the target elevator is used To identify the target elevator.
  • the processor is also used to: before determining the target elevator scheduled by the target robot according to the elevator dispatch request and the operation information of the dispatchable elevator, before sending the identification information of the target elevator to the target robot, determine according to the robot information
  • the processor is specifically used to determine the target robot based on the robot information and the order information of the goods; before sending the delivery instruction to the target robot, the processor is also used to generate a delivery instruction based on the order information of the goods.
  • the elevator dispatch request also includes the authentication information of the target robot; the processor is also used to: after determining the elevator dispatch request, according to the elevator dispatch request and the operation information of the dispatchable elevator, determine the target elevator dispatched by the target robot before The authentication information is used for authentication, and the authentication is determined to be successful.
  • the processor is also used to: after sending the control instruction to the elevator control device, after determining that the target elevator reaches the floor corresponding to the starting floor information, send the elevator instruction to the target robot; wherein, the elevator instruction is used to instruct the target robot Enter the target elevator; after determining that the target elevator reaches the floor corresponding to the target floor information, send the elevator instruction to the target robot; where the elevator instruction is used to instruct the target robot to leave the target elevator.
  • the operation information of the dispatchable elevator includes the state information of the dispatchable elevator.
  • the state information of the dispatchable elevator is used to indicate that the dispatchable elevator is in the scheduled state or the dispatchable elevator is in the undispatched state; For the status information of dispatching elevators, select one elevator from the elevators in the unscheduled state as the target elevator.
  • the operation information of the dispatchable elevator includes the movement direction of the dispatchable elevator and the current floor information of the dispatchable elevator; the processor is specifically used to: determine the movement direction of the target robot according to the starting floor information and the target floor information; according to the dispatchable For the elevator operation information, an elevator with the same moving direction as the target robot is regarded as a candidate dispatch elevator; according to the current floor information and starting floor information of the candidate dispatch elevator, one elevator is selected from the candidate dispatch elevators as the target elevator.
  • the operation information of the dispatchable elevator includes the full load rate of the dispatchable elevator; the processor is specifically used to select the dispatchable elevator with the lowest full load rate as the target elevator according to the full load rate of the dispatchable elevator.
  • the operation information of the dispatchable elevator includes the information of the stop floor of the dispatchable elevator; the processor is specifically used to determine whether there is a stop floor in the dispatchable elevator based on the stop floor information of the dispatchable elevator and the elevator dispatch request.
  • the sixth embodiment of the present application relates to a computer-readable storage medium that stores a computer program.
  • the computer program is executed by the processor, the above method embodiments are implemented.
  • a program which is stored in a storage medium and includes several instructions to make a device ( It may be a single chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
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  • Computer Security & Cryptography (AREA)
  • Elevator Control (AREA)

Abstract

一种电梯调度方法、装置、服务器及计算机可读存储介质。该电梯调度方法应用于服务器（303），包括：确定电梯调度请求，电梯调度请求中包括起始楼层信息和目标楼层信息；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人（304）调度的目标电梯；根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令；发送控制指令至电梯控制装置（30）；其中，电梯控制装置（30）控制目标电梯运动。使用该方法，当一个大楼存在多个电梯时，可以对电梯进行调度，使机器人能够自动进出并乘坐大楼内的电梯。

Description

一种电梯调度方法、装置、服务器及计算机可读存储介质
交叉引用
本申请引用于2018年10月17日递交的名称为“一种电梯调度方法、装置、服务器及计算机可读存储介质”的第201811208541.8号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请实施例涉及通信技术领域，特别涉及一种电梯调度方法、装置、服务器及计算机可读存储介质。
背景技术
随着人工智能和机器人技术的不断发展，智能车辆和机器人在各行各业得到了广泛的应用。特别是近年来出现的具备自动定位导航功能的商用服务机器人和送货机器人，可以实现在写字楼、酒店大楼等特定场所自主运送物品，大大降低了相关行业服务人员的劳动强度，提高了这些行业的生产效率，降低了酒店、快递、外卖送餐等行业的人员成本。在写字楼或者酒店大楼中，商用服务机器人和送货机器人需要乘坐电梯在各个楼层间穿梭运送物品。为了解决这一问题，机器人或智能车辆需要能够自动进出并乘坐大楼内电梯。
然而，发明人发现相关技术中至少存在如下问题：当一个写字楼或酒店 大楼中存在多个电梯时，无法对电梯进行调度。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本申请的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本申请部分实施例的目的在于提供一种电梯调度方法、装置、服务器及计算机可读存储介质。
本申请实施例提供了一种电梯调度方法，应用于服务器，包括以下步骤：确定电梯调度请求，电梯调度请求中包括起始楼层信息和目标楼层信息；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯；根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令；发送控制指令至电梯控制装置；其中，电梯控制装置控制目标电梯运动。
本申请实施例还提供了一种电梯调度装置，包括：确定模块、调度模块、生成模块和通信模块；确定模块用于确定电梯调度请求，电梯调度请求中包括起始楼层信息和目标楼层信息；调度模块用于根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯；生成模块用于根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令；通信模块用于发送控制指令至电梯控制装置；其中，电梯控制装置控制目标电梯运动。
本申请实施例还提供了一种服务器，包括：至少一个处理器；以及，与至少一个处理器通信连接的存储器；以及，与电梯控制装置通信连接的通信组件，通信组件在处理器的控制下接收和发送数据；其中，存储器存储有可被至 少一个处理器执行的指令，指令被至少一个处理器执行以实现：确定电梯调度请求，电梯调度请求中包括起始楼层信息和目标楼层信息；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯；根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令；发送控制指令至电梯控制装置；其中，电梯控制装置控制目标电梯运动。
本申请实施例还提供了一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现上述实施例提及的电梯调度方法。
例如，在发送控制指令至电梯控制装置之前，电梯调度方法还包括：接收目标机器人发送的呼梯请求；其中，呼梯请求中包括鉴权信息，鉴权信息为电梯控制装置在接收到目标机器人发送的鉴权请求后，反馈给目标机器人的信息；确定呼梯请求中的鉴权信息正确。
例如，目标机器人与电梯控制装置通过近场通信技术通信。
例如，电梯调度请求由目标机器人在确定需要乘梯后发送。
例如，在根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之后，电梯调度方法还包括：将目标电梯的身份标识信息发送至目标机器人，目标电梯的身份标识信息用于标识目标电梯。
例如，在所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，电梯调度方法还包括：根据机器人信息，确定配送货品的目标机器人；机器人信息包括机器人的状态信息和/或机器人当前所在楼层的信息；发送送货指令至目标机器人。
例如，根据机器人信息，确定配送货品的目标机器人，具体包括：根据机器人信息和货品的订单信息，确定目标机器人；在发送送货指令至目标机器 人之前，电梯调度方法还包括：根据货品的订单信息，生成送货指令。
例如，电梯调度请求中还包括目标机器人的认证信息；在确定电梯调度请求之后，根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，电梯调度方法还包括：对认证信息进行认证，且确定认证成功。
例如，在发送控制指令至电梯控制装置之后，电梯调度方法还包括：在确定目标电梯到达起始楼层信息对应的楼层后，发送进梯指令至目标机器人；其中，进梯指令用于指示目标机器人进入目标电梯；在确定目标电梯到达目标楼层信息对应的楼层后，发送出梯指令至目标机器人；其中，出梯指令用于指示目标机器人离开目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的状态信息，可调度电梯的状态信息用于指示可调度电梯处于被调度状态或可调度电梯处于未被调度状态；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：根据可调度电梯的状态信息，从处于未被调度状态的电梯中选择一个电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的移动方向和可调度电梯当前所在楼层信息；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：根据起始楼层信息和目标楼层信息，确定目标机器人的移动方向；根据可调度电梯的运行信息，将移动方向与目标机器人的移动方向相同的电梯作为候选调度电梯；根据候选调度电梯当前所在楼层信息和起始楼层信息，从候选调度电梯中选择一个电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的满载率；根据电梯调度 请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：根据可调度电梯的满载率，选择满载率最低的可调度电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的经停楼层的信息；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：根据可调度电梯的经停楼层信息和电梯调度请求，判断是否存在经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的可调度电梯；若确定存在，将经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的可调度电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的经停楼层数量；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：根据可调度电梯的经停楼层数量，选择将经停楼层数量最少的可调度电梯作为目标电梯。
例如，处理器还用于：在发送控制指令至电梯控制装置之前，接收目标机器人发送的呼梯请求；其中，呼梯请求中包括鉴权信息，鉴权信息为电梯控制装置在接收到目标机器人发送的鉴权请求后，反馈给目标机器人的信息；确定呼梯请求中的鉴权信息正确。
例如，目标机器人与电梯控制装置通过近场通信技术通信。
例如，电梯调度请求由机器人在确定需要乘梯后发送。
例如，处理器还用于：在根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之后，将目标电梯的身份标识信息发送至目标机器人，目标电梯的身份标识信息用于标识目标电梯。
例如，处理器还用于：在根据电梯调度请求和可调度电梯的运行信息， 确定为目标机器人调度的目标电梯之前，根据机器人信息，确定配送货品的目标机器人；机器人信息包括机器人的状态信息和/或机器人当前所在楼层的信息；发送送货指令至目标机器人。
例如，处理器具体用于：根据机器人信息和货品的订单信息，确定配送货品的目标机器人；在发送送货指令至目标机器人之前，处理器还用于：根据货品的订单信息，生成送货指令。
例如，电梯调度请求中还包括目标机器人的认证信息；处理器还用于：在确定电梯调度请求之后，根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，对认证信息进行认证，且确定认证成功。
例如，处理器还用于：在发送控制指令至电梯控制装置之后，在确定目标电梯到达起始楼层信息对应的楼层后，发送进梯指令至目标机器人；其中，进梯指令用于指示目标机器人进入目标电梯；在确定目标电梯到达目标楼层信息对应的楼层后，发送出梯指令至目标机器人；其中，出梯指令用于指示目标机器人离开目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的状态信息，可调度电梯的状态信息用于指示可调度电梯处于被调度状态或可调度电梯处于未被调度状态；处理器具体用于：根据可调度电梯的状态信息，从处于未被调度状态的电梯中选择一个电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的移动方向和可调度电梯当前所在楼层信息；处理器具体用于：根据起始楼层信息和目标楼层信息，确定目标机器人的移动方向；根据可调度电梯的运行信息，将移动方向与目标机器人的移动方向相同的电梯作为候选调度电梯；根据候选调度电梯当前所在楼 层信息和起始楼层信息，从候选调度电梯中选择一个电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的满载率；处理器具体用于：根据可调度电梯的满载率，选择满载率最低的可调度电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的经停楼层的信息；处理器具体用于：根据可调度电梯的经停楼层信息和电梯调度请求，判断可调度电梯中是否存在经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的电梯；若确定存在，将经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的电梯作为目标电梯。
例如，可调度电梯的运行信息包括可调度电梯的经停楼层数量；处理器具体用于：根据可调度电梯的经停楼层数量，选择将经停楼层数量最少的可调度电梯作为目标电梯。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定。
图1是根据本申请第一实施例中的电梯调度方法的流程图；
图2是根据本申请第二实施例中的电梯调度方法的流程图；
图3是根据本申请第二实施例中的机器人、电梯控制装置和服务器三者之间的连接关系的示意图；
图4是根据本申请第三实施例中的电梯调度装置的结构示意图；
图5是根据本申请第四实施例中的服务器的结构示意图。
具体实施例
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请部分实施例进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请第一实施例涉及一种电梯调度方法，应用于服务器。如图1所示，该电梯调度方法包括以下步骤：
步骤101：确定电梯调度请求。
具体地说，电梯调度请求中包括起始楼层信息和目标楼层信息。电梯调度请求可以由服务器中的送货管理系统确定，也可以是直接由目标机器人在确定需要乘梯后发送。
需要说明的是，本领域技术人员可以理解，实际应用中，送货管理系统也可以其他服务器上，其他服务器与服务器建立通信连接，使得服务器能够接收送货管理系统确定的电梯调度请求。
需要说明的是，货品可以是餐品、商品、鲜花、文件等物体，本实施例不限制具体的配送物体。
在第一种实现方式中，电梯调度请求由服务器中的送货管理系统确定。
在一个例子中，服务器确定机器人取餐处的第一存货柜中存在货品需要配送。服务器根据机器人信息，确定配送货品的目标机器人，发送送货指令至目标机器人。服务器确定目标机器人所在楼层的信息，将目标机器人所在楼层的信息作为起始楼层信息，将第一存货柜所在楼层的信息作为目标楼层信息，根据起始楼层信息和目标楼层信息，确定电梯调度请求。
另一例子中，服务器确定骑手需要机器人协助配送货品。服务器根据机 器人信息，确定配送货品的目标机器人，根据货品的订单信息，生成送货指令，发送送货指令至目标机器人。服务器确定目标机器人所在楼层的信息，将目标机器人所在楼层的信息作为起始楼层信息，将骑手所在楼层的信息作为目标楼层信息，根据起始楼层信息和目标楼层信息，确定电梯调度请求。
值得一提的是，服务器能够在需要送货后立即调度电梯，使得目标机器人取货后能够及时搭乘电梯，提高了送货效率。
需要说明的是，机器人信息包括机器人的状态信息和/或机器人当前所在楼层的信息。机器人的状态信息可以是指示机器人是否处于可送货状态的信息，也可以是机器人当前舱内订单数量的信息，本领域技术人员可以理解，实际应用中，机器人的状态信息还可以是与机器人送货相关的信息，此处不一一赘述。
其中，服务器根据机器人信息，确定配送货品的目标机器人的方法包括但不限于以下四种：
方法1：服务器根据机器人的状态信息，从处于可送货状态的机器人中，任意选择一个机器人作为配送货品的目标机器人。
方法2：服务器根据机器人当前所在楼层的信息，选择与第一存货柜所在楼层或骑手所在楼层距离最近的机器人作为配送货品的目标机器人。
方法3：服务器根据机器人的状态信息，从处于可送货状态的机器人中，任意选择一个机器人作为候选机器人。服务器根据候选机器人当前所在楼层的信息，从候选机器人中，选择与第一存货柜所在楼层或骑手所在楼层距离最近的机器人作为配送货品的目标机器人。
方式4：服务器根据机器人的状态信息，从处于可送货状态的机器人中，任意选择一个机器人作为候选机器人。服务器根据货品的订单信息，例如，货 品的重量信息，从候选机器人中选择一个机器人作为配送货品的目标机器人。
需要说明的是，货品的订单信息可以包括送货地址、货品属性(宜加热后使用或宜常温使用或宜制冷后使用)、重量等信息；机器人信息还可以包括机器人的承载重量信息、是否具有对货品进行加热的功能或制冷功能等信息，本领域技术人员可以理解，实际应用中，服务器可以充分考虑上述信息中的一种或任意组合后，确定目标机器人。例如，当货品属性指示货品宜加热后使用时，服务器从具有对货品进行加热的功能的机器人中选择一个机器人作为目标机器人。
需要说明的是，本领域技术人员可以理解，实际应用中，机器人的状态信息还可以包括机器人舱内的货品数量等其他信息，服务器可以综合考虑机器人的状态信息、机器人当前所在楼层的信息和其他信息后，确定配送货品的目标机器人，本实施例不限制服务器确定配送货品的目标机器人的具体方式。
在第二种实现方式中，电梯调度请求由目标机器人在确定需要乘梯后发送。
在一个例子中，某一机器人在第一存货柜处取到货品后，该机器人为目标机器人。目标机器人确定起始楼层信息和目标楼层信息，判断起始楼层信息是否与目标楼层信息相同，若确定不相同，根据起始楼层信息和目标楼层信息，生成电梯调度请求，并将电梯调度请求发送至服务器。服务器接收并确定该电梯调度请求。其中，起始楼层信息是目标机器人自身所在楼层的信息，目标楼层信息可以根据货品的送货地址确定，也可以根据用户取餐处的第二存货柜所在楼层的信息确定。
另一例子中，骑手将货品直接放置于某一机器人的舱内，该机器人为目 标机器人。目标机器人确定起始楼层信息和目标楼层信息，判断起始楼层信息是否与目标楼层信息相同，若确定不相同，根据起始楼层信息和目标楼层信息，生成电梯调度请求，并将电梯调度请求发送至服务器。服务器接收并确定该电梯调度请求。其中，起始楼层信息是目标机器人自身所在楼层的信息，目标楼层信息可以根据货品的订单信息确定，也可以根据骑手通过目标机器人的操作界面输入的信息确定，还可以根据用户取餐处的第二存货柜所在楼层确定。
需要说明的是，本领域技术人员可以理解，实际应用中，电梯调度请求中还可以包括配送物体(如货品)的重量等其他信息，此处不再一一赘述，在实际应用中，根据需要设置即可。
步骤102：根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的电梯。
具体地说，电梯的运行信息可以包括电梯的状态信息、电梯的身份标识信息、电梯当前所在楼层信息、电梯门的状态信息、电梯的移动方向等信息中的任意一种或多种信息，此处不再一一列举。其中，电梯的状态信息用于指示电梯处于被调度状态或电梯处于未被调度状态。服务器中的可调度电梯的运行信息可以由电梯控制装置提供。其中，一个服务器可以与一个大楼中的多个电梯控制装置通信，也可以与多个大楼中的多个电梯控制装置通信。
以下对服务器根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯的方法进行举例说明。
第一个例子，可调度电梯的运行信息包括可调度电梯的移动方向和可调度电梯当前所在楼层信息。服务器根据电梯调度请求中的起始楼层信息和目标楼层信息，确定目标机器人的移动方向。服务器根据可调度电梯的运行信息， 将移动方向与目标机器人的移动方向相同的电梯作为候选调度电梯，根据候选调度电梯当前所在楼层信息和起始楼层信息，从候选调度电梯中选择一个电梯作为目标电梯。例如，服务器可以根据每个候选调度电梯当前所在楼层信息和起始楼层信息，选择距离起始楼层信息对应的楼层最近的电梯作为目标电梯。
第二个例子，可调度电梯的运行信息包括可调度电梯的状态信息，可调度电梯的状态信息用于指示可调度电梯处于被调度状态或可调度电梯处于未被调度状态。服务器根据可调度电梯的状态信息，从处于未被调度状态的电梯中选择一个电梯作为目标电梯。
第三个例子，可调度电梯的运行信息包括可调度电梯的满载率。服务器根据可调度电梯的满载率，选择满载率最低的可调度电梯作为目标电梯。
第四个例子，可调度电梯的运行信息包括可调度电梯的经停楼层的信息。服务器根据可调度电梯的经停楼层信息和电梯调度请求，判断是否存在经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的可调度电梯；若确定存在，将经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的可调度电梯作为目标电梯。
第五个例子，可调度电梯的运行信息包括可调度电梯的经停楼层数量。服务器根据可调度电梯的经停楼层数量，选择将经停楼层数量最少的可调度电梯作为目标电梯。
第六个例子，可调度电梯的运行信息包括上述例子中提及的任意两种或两种以上的信息。例如，可调度电梯的运行信息包括可调度电梯的移动方向、可调度电梯当前所在楼层信息和可调度电梯的状态信息。服务器根据可调度电梯的移动方向，确定候选调度电梯。服务器根据可调度电梯当前所在楼层信息 和可调度电梯的状态信息，优先选择距离目标机器人当前所在楼层最近且处于未被调度状态的电梯作为目标电梯。若不存在符合上述要求的电梯，则选择距离目标机器人当前所在楼层最近的电梯作为目标电梯。
需要说明的是，本领域技术人员可以理解，实际应用中，可以根据需要设置服务器确定目标电梯的具体逻辑，本实施例不限制服务器确定目标电梯的具体逻辑。
值得一提的是，由服务器进行电梯调度，服务器可以及时更新电梯的运行信息和机器人信息，进而更好的调度电梯和机器人。
步骤103：根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令。
步骤104：发送控制指令至电梯控制装置。
具体地说，电梯控制装置控制目标电梯运动，以使电梯运动至起始楼层信息对应的楼层，并在确定目标机器人搭乘后，控制电梯运动至目标楼层信息对应的楼层。
一个例子中，电梯控制装置在接收到控制指令后，控制目标电梯运动。服务器在确定目标电梯到达起始楼层信息对应的楼层后，发送进梯指令至目标机器人；其中，进梯指令用于指示目标机器人进入目标电梯。在确定目标电梯到达目标楼层信息对应的楼层后，发送出梯指令至目标机器人；其中，出梯指令用于指示目标机器人离开目标电梯。
一个例子中，目标机器人在进入目标电梯或离开目标电梯后，发送完成指令至服务器，以使与服务器获知目标机器人与目标电梯的相对状态，以便于更好的调度电梯。
需要说明的是，本实施例中，为描述清楚，将步骤104设置为步骤103的后续步骤。但本领域技术人员可以理解，实际应用中，步骤104只需要设置在步骤102之后即可，步骤104可以根据需要设置为步骤102之后任一步骤，本实施例不起限定作用。
需要说明的是，以上仅为举例说明，并不对本申请的技术方案构成限定。
与现有技术相比，本实施例中提供的电梯调度方法，服务器在获取机器人的起始楼层信息和目标楼层信息后，结合可调度电梯的运行信息，为机器人调度电梯，使得机器人在存在多部电梯的情况下也能自动乘梯。由于服务器为所有机器人调度电梯，使得服务器能够获知所有机器人的信息，进而使得服务器在为某个机器人调度电梯时，能够充分考虑所有机器人的信息，为机器人调度电梯，实现了多个机器人在同一大楼中高效协同工作。
本申请的第二实施例涉及一种电梯调度方法，本实施例在第一实施例的基础上做了进一步改进，具体改进之处为：在步骤102和步骤104之前，分别增加了其他的相关步骤。
具体的说，如图2所示，在本实施例中，包含步骤201至步骤207，其中，步骤201、步骤203、步骤207、步骤208分别与第一实施例中的步骤101至步骤104大致相同，此处不再赘述。下面主要介绍不同之处：
执行步骤201。
步骤202：对电梯调度请求中的认证信息进行认证，且确定认证成功。
具体地说，电梯调度请求中还包括送货管理系统或目标机器人的认证信息。服务器对该认证信息进行认证，已确认发送电梯调度请求的设备为已登记或已授权的设备。
值得一提的是，服务器对发送调度请求的设备进行认证，避免外部设备或不安全设备访问服务器，提高了服务器的安全性，避免了不符合要求的设备占用服务器的资源。
执行步骤203。
步骤204：将目标电梯的身份标识信息发送至目标机器人。
具体地说，目标电梯的身份标识信息用于标识目标电梯，例如，目标电梯的编号。
需要说明的是，目标电梯的身份标识信息还可以指示目标电梯的位置，例如，目标机器人在接收到目标电梯的编号后，查询该编号对应的电梯的位置，或者，目标电梯的身份标识信息由目标电梯的位置信息确定，目标机器人通过解析目标电梯的身份标识信息，即可获得目标电梯的位置。
值得一提的是，由于目标电梯的身份标识信息还可以指示目标电梯的位置，当目标机器人所在大楼的多个电梯位于不同位置时，目标机器人可以根据目标电梯的身份标识信息，运动至目标电梯。
步骤205：接收目标机器人发送的呼梯请求。
具体地说，呼梯请求中包括鉴权信息，鉴权信息为电梯控制装置在接收到目标机器人发送的鉴权请求后，反馈给目标机器人的信息。目标机器人在接收到服务器返回的目标电梯的身份标识信息后，向目标电梯的身份标识信息对应的电梯控制装置发送鉴权信息请求。目标电梯的身份标识信息对应的电梯控制装置在接收到鉴权信息请求后，发送鉴权信息至目标机器人。
值得一提的是，服务器在目标机器人获得电梯控制装置的鉴权信息后，再发送控制指令至电梯控制装置，提高了安全性。
一个例子中，目标机器人与电梯控制装置通过近场通信技术通信，如，劳拉LoRa技术。
值得一提的是，由于目标机器人与电梯控制装置通过近场通信技术通信，使得目标机器人只有在电梯控制装置的一定距离范围内的情况下，才能够获得电梯控制装置发送的鉴权信息，避免了过早调度电梯至目标机器人所在楼层所造成的资源浪费。
需要说明的是，本领域技术人员可以理解，实际应用中，可以根据需要设置电梯控制装置返回鉴权信息的条件，本实施例不限制具体的鉴权方式。
步骤206：确定呼梯请求中的鉴权信息正确。
具体地说，服务器在确定接收到呼梯请求后，判断呼梯请求中的鉴权信息是否正确，若确定呼梯请求正确，执行步骤207和步骤208，否则，不为目标机器人调度电梯。
值得一提的是，服务器在目标机器人获得电梯控制装置的鉴权信息后，再发送控制指令使电梯控制装置控制电梯运动，进一步提高了调度过程的安全性。
执行步骤207和步骤208。
需要说明的是，步骤202、步骤205和步骤206不是必须要执行的步骤，可以有选择性的执行步骤202、步骤205和步骤206，或者只执行步骤202，或者只执行步骤205和步骤206。
以下对机器人、电梯控制装置和服务器三者之间交互完成乘梯任务的过程进行举例说明。机器人、电梯控制装置和服务器三者之间的连接关系如图3所示。电梯控制装置30包括控制单元301和通讯单元302。一个例子中，通讯 单元302可以部署在每部电梯的轿厢顶部，按与电梯厂家商定的通讯协议与每部电梯的控制单元301通讯。通讯单元302上设有4G等远程通讯模块，4G模块可以基于约束应用程序协议(Constrained Application Protocol，CoAP)与服务器303通讯，数据格式为脚本语言对象简谱(JavaScript Object Notation，json)，底层通讯协议为用户数据报协议(User Datagram Protocol，UDP)。通讯单元302还设有近场通讯模块与机器人304通讯。机器人304上设有4G等远程通讯模块，可以与服务器303通讯，还设有近场通讯模块与通讯单元302通讯。服务器303设有电梯后台管理系统，包括梯改后台和电梯管理平台。梯改后台是电梯管理平台与通讯单元302和机器人304进行通信的一个桥梁。电梯管理平台和机器人304都会向梯改后台发送请求，梯改后台还可以进行电梯注册、机器人注册、电梯登陆、机器人登陆、电梯心跳上报、机器人心跳上报、将电梯调度请求、呼梯请求转发至电梯管理平台等功能。电梯管理平台中存储有电梯的运行信息，该电梯的运行信息根据电梯控制装置反馈的电梯的运行信息实时更新，能够根据电梯调度请求、呼梯请求等为机器人调度电梯。
机器人304在电梯附近执行乘坐电梯任务时，首先向服务器303发送电梯调度请求。服务器303收到电梯调度请求后，根据电梯调度请求和可调度电梯的运行信息，确定目标电梯，即服务器303会根据预先设置的电梯调度算法，确定调派哪一部电梯完成任务。服务器将目标电梯的通讯单元302的身份标识信息发给机器人304。机器人304收到服务器303返回的通讯单元302的身份标识信息后，采用近场通讯方式向该身份标识信息对应的通讯单元302发送鉴权信息请求。通讯单元302收到鉴权信息请求后，发送鉴权信息给机器人304。机器人304拿到通讯单元302返回的鉴权信息后，将该鉴权信息携带在呼梯请 求中一同发给服务器303。服务器303判断鉴权信息是否合法，合法则给通讯单元302发送控制指令，通讯单元302收到控制指令后，将控制指令发送至控制单元301，由控制单元301控制目标电梯运动，完成呼梯动作。控制单元301接收控制指令后，控制目标电梯运动至起始楼层信息对应的楼层。此时，目标电梯的运行信息指示目标电梯到达起始楼层信息对应的楼层。服务器303在根据目标电梯的运行信息确定目标电梯到达起始楼层信息对应的楼层后，发送进梯指令至机器人304。机器人304在接收到进梯指令后，进入目标电梯，并在进入目标电梯后，发送进梯完成指令至服务器303。服务器303接收到进梯完成指令后，将进梯完成指令发送至通讯单元302，通讯单元302将其传输至控制单元301。控制单元301控制目标电梯运动至目标楼层信息对应的楼层信息。此时，目标电梯的运行信息指示目标电梯到达目标楼层信息对应的楼层。服务器303在根据目标电梯的运行信息确定目标电梯到达目标楼层信息对应的楼层后，发送出梯指令至机器人304。机器人304在接收到出梯指令后，离开目标电梯，并在离开目标电梯后，发送出梯完成指令至服务器303。
值得一提的是，在整个坐电梯的任务中，机器人304可以不与通讯单元302直接通讯，而是通过服务器303来间接与通讯单元302通讯，完成自动乘坐电梯的任务，避免机器人304恶意控制电梯。
值得一提的是，通过重构通讯单元302上的嵌入式代码可以解析各种品牌电梯的控制协议，实现对各种品牌电梯控制系统的兼容。
需要说明的是，以上仅为举例说明，并不对本申请的技术方案构成限定。
与现有技术相比，本实施例中提供的电梯调度方法，服务器在获取机器人的起始楼层信息和目标楼层信息后，结合可调度电梯的运行信息，为机器人 调度电梯，使得机器人在存在多部电梯的情况下也能自动乘梯。由于服务器为所有机器人调度电梯，使得服务器能够获知所有机器人的信息，进而使得服务器在为某个机器人调度电梯时，能够充分考虑所有机器人的信息，为机器人调度电梯，实现了多个机器人在同一大楼中高效协同工作。除此之外，服务器在电梯调度请求中的认证信息认证成功后调度电梯，避免外部设备或不安全设备访问服务器，避免了不符合要求的设备占用服务器的资源。进一步地，服务器在接收到呼梯请求，且确定呼梯请求中的鉴权信息正确后，发送控制指令使电梯控制装置控制电梯运动，进一步提高了调度过程的安全性。
上面各种方法的步骤划分，只是为了描述清楚，实现时可以合并为一个步骤或者对某些步骤进行拆分，分解为多个步骤，只要包括相同的逻辑关系，都在本专利的保护范围内；对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计，但不改变其算法和流程的核心设计都在该专利的保护范围内。
本申请的第三实施例涉及一种电梯调度装置，如图4所示，包括：确定模块401、调度模块402、生成模块403和通信模块404。确定模块401用于确定电梯调度请求，电梯调度请求中包括起始楼层信息和目标楼层信息。调度模块402用于根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯。生成模块403用于根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令。通信模块404用于发送控制指令至电梯控制装置；其中，电梯控制装置控制目标电梯运动。
不难发现，本实施例为与第一实施例和第二实施例相对应的装置实施例，本实施例可与第一实施例和第二实施例互相配合实施。第一实施例和第二实施例中提到的相关技术细节在本实施例中依然有效，为了减少重复，这里不 再赘述。相应地，本实施例中提到的相关技术细节也可应用在第一实施例和第二实施例中。
值得一提的是，第三实施例中所涉及到的各模块均为逻辑模块，在实际应用中，一个逻辑单元可以是一个物理单元，也可以是一个物理单元的一部分，还可以以多个物理单元的组合实现。此外，为了突出本申请的创新部分，第三实施例中并没有将与解决本申请所提出的技术问题关系不太密切的单元引入，但这并不表明第三实施例中不存在其它的单元。
本申请第四实施例涉及一种服务器，如图5所示，包括：至少一个处理器501；以及，与至少一个处理器501通信连接的存储器502；以及，与电梯控制装置通信连接的通信组件503，通信组件503在处理器501的控制下接收和发送数据；其中，存储器502存储有可被至少一个处理器501执行的指令，指令被至少一个处理器501执行以实现：确定电梯调度请求，电梯调度请求中包括起始楼层信息和目标楼层信息；根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的电梯；根据起始楼层信息、目标楼层信息和目标电梯的身份标识信息，生成控制指令；发送控制指令至电梯控制装置；其中，电梯控制装置控制目标电梯运动。
该服务器包括：一个或多个处理器501以及存储器502，图5中以一个处理器501为例。处理器501、存储器502可以通过总线或者其他方式连接，图5中以通过总线连接为例。存储器502作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块。处理器501通过运行存储在存储器502中的非易失性软件程序、指令以及模块，从而执行设备的各种功能应用以及数据处理，即实现上述电梯调度方法。
存储器502可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储选项列表等。此外，存储器502可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器502可选包括相对于处理器501远程设置的存储器，这些远程存储器可以通过网络连接至外接设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
一个或者多个模块存储在存储器502中，当被一个或者多个处理器501执行时，执行上述任意方法实施例中的电梯调度方法。
本申请的第五实施例涉及一种服务器，本实施例是对第四实施例的进一步细化，具体说明了处理器501的功能。
具体地说，处理器501还用于：在发送控制指令至电梯控制装置之前，接收目标机器人发送的呼梯请求；其中，呼梯请求中包括鉴权信息，鉴权信息为电梯控制装置在接收到目标机器人发送的鉴权请求后，反馈给目标机器人的信息；确定呼梯请求中的鉴权信息正确。
另外，目标机器人与电梯控制装置通过近场通信技术通信。
另外，电梯调度请求由目标机器人在确定需要乘梯后发送。
另外，处理器还用于：在根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之后，将目标电梯的身份标识信息发送至目标机器人，目标电梯的身份标识信息用于标识目标电梯。
另外，处理器还用于：在根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，在将目标电梯的身份标识信息发送至 目标机器人之前，根据机器人信息，确定配送货品的目标机器人；机器人信息包括机器人的状态信息和/或机器人当前所在楼层的信息；发送送货指令至目标机器人。
另外，处理器具体用于：根据机器人信息和货品的订单信息，确定目标机器人；在发送送货指令至目标机器人之前，处理器还用于：根据货品的订单信息，生成送货指令。
另外，电梯调度请求中还包括目标机器人的认证信息；处理器还用于：在确定电梯调度请求之后，根据电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，对认证信息进行认证，且确定认证成功。
另外，处理器还用于：在发送控制指令至电梯控制装置之后，在确定目标电梯到达起始楼层信息对应的楼层后，发送进梯指令至目标机器人；其中，进梯指令用于指示目标机器人进入目标电梯；在确定目标电梯到达目标楼层信息对应的楼层后，发送出梯指令至目标机器人；其中，出梯指令用于指示目标机器人离开目标电梯。
另外，可调度电梯的运行信息包括可调度电梯的状态信息，可调度电梯的状态信息用于指示可调度电梯处于被调度状态或可调度电梯处于未被调度状态；处理器具体用于：根据可调度电梯的状态信息，从处于未被调度状态的电梯中选择一个电梯作为目标电梯。
另外，可调度电梯的运行信息包括可调度电梯的移动方向和可调度电梯当前所在楼层信息；处理器具体用于：根据起始楼层信息和目标楼层信息，确定目标机器人的移动方向；根据可调度电梯的运行信息，将移动方向与目标机器人的移动方向相同的电梯作为候选调度电梯；根据候选调度电梯当前所在楼 层信息和起始楼层信息，从候选调度电梯中选择一个电梯作为目标电梯。
另外，可调度电梯的运行信息包括可调度电梯的满载率；处理器具体用于：根据可调度电梯的满载率，选择满载率最低的可调度电梯作为目标电梯。
另外，可调度电梯的运行信息包括可调度电梯的经停楼层的信息；处理器具体用于：根据可调度电梯的经停楼层信息和电梯调度请求，判断可调度电梯中是否存在经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的电梯；若确定存在，将经停楼层包括起始楼层信息对应的楼层或目标楼层信息对应的楼层的电梯作为目标电梯。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果，未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请第六实施例涉及一种计算机可读存储介质，存储有计算机程序。计算机程序被处理器执行时实现上述方法实施例。
即，本领域技术人员可以理解，实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域的普通技术人员可以理解，上述各实施例是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本 申请的精神和范围。

Claims (30)

  1. 一种电梯调度方法，应用于服务器，其中，包括：
    确定电梯调度请求，所述电梯调度请求中包括起始楼层信息和目标楼层信息；
    根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯；
    根据所述起始楼层信息、所述目标楼层信息和所述目标电梯的身份标识信息，生成控制指令；
    发送所述控制指令至电梯控制装置；其中，所述电梯控制装置控制所述目标电梯运动。
  2. 如权利要求1所述的电梯调度方法，其中，在所述发送所述控制指令至电梯控制装置之前，所述电梯调度方法还包括：
    接收所述目标机器人发送的呼梯请求；其中，所述呼梯请求中包括鉴权信息，所述鉴权信息为所述电梯控制装置在接收到所述目标机器人发送的鉴权请求后，反馈给所述目标机器人的信息；
    确定所述呼梯请求中的鉴权信息正确。
  3. 如权利要求1或2所述的电梯调度方法，其中，所述目标机器人与所述电梯控制装置通过近场通信技术通信。
  4. 如权利要求1至3中任一项所述的电梯调度方法，其中，所述电梯调度请求由所述目标机器人在确定需要乘梯后发送。
  5. 如权利要求1至4中任一项所述的电梯调度方法，其中，在所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之后，所述电梯调度方法还包括：
    将所述目标电梯的身份标识信息发送至所述目标机器人，所述目标电梯的身份标识信息用于标识所述目标电梯。
  6. 如权利要求1至5中任一项所述的电梯调度方法，其中，在所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，所述电梯调度方法还包括：
    根据机器人信息，确定配送货品的目标机器人；所述机器人信息包括机器人的状态信息和/或机器人当前所在楼层的信息；
    发送送货指令至所述目标机器人。
  7. 如权利要求6所述的电梯调度方法，其中，所述根据机器人信息，确定目标机器人，具体包括：
    根据所述机器人信息和货品的订单信息，确定所述目标机器人；
    在所述发送送货指令至所述目标机器人之前，所述电梯调度方法还包括：
    根据货品的订单信息，生成所述送货指令。
  8. 如权利要求1至7中任一项所述的电梯调度方法，其中，所述电梯调度请求中还包括所述目标机器人的认证信息；
    在所述确定电梯调度请求之后，所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，所述电梯调度方法还包括：
    对所述认证信息进行认证，且确定认证成功。
  9. 如权利要求1至8中任一项所述的电梯调度方法，其中，在所述发送所述控制指令至所述电梯控制装置之后，所述电梯调度方法还包括：
    在确定所述目标电梯到达所述起始楼层信息对应的楼层后，发送进梯指令至所述目标机器人；其中，所述进梯指令用于指示所述目标机器人进入所述目标电梯；
    在确定所述目标电梯到达所述目标楼层信息对应的楼层后，发送出梯指令至所述目标机器人；其中，所述出梯指令用于指示所述目标机器人离开所述目标电梯。
  10. 如权利要求1至9中任一项所述的电梯调度方法，其中，所述可调度电梯的运行信息包括可调度电梯的状态信息，所述可调度电梯的状态信息用于指示所述可调度电梯处于被调度状态或所述可调度电梯处于未被调度状态；
    所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：
    根据所述电梯的状态信息，从处于未被调度状态的电梯中选择一个电梯作为所述目标电梯。
  11. 如权利要求1至9中任一项所述的电梯调度方法，其中，所述可调度电梯的运行信息包括可调度电梯的移动方向和可调度电梯当前所在楼层信息；
    所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：
    根据所述起始楼层信息和所述目标楼层信息，确定所述目标机器人的移动方向；
    根据所述可调度电梯的运行信息，将移动方向与所述目标机器人的移动方向相同的电梯作为候选调度电梯；
    根据所述候选调度电梯当前所在楼层信息和所述起始楼层信息，从所述候选调度电梯中选择一个电梯作为所述目标电梯。
  12. 如权利要求1至9中任一项所述的电梯调度方法，其中，所述可调度电梯的运行信息包括可调度电梯的满载率；
    所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：
    根据所述可调度电梯的满载率，选择满载率最低的可调度电梯作为所述目标电梯。
  13. 如权利要求1至9中任一项所述的电梯调度方法，其中，所述可调度电梯的运行信息包括可调度电梯的经停楼层的信息；
    所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：
    根据所述可调度电梯的经停楼层信息和所述电梯调度请求，判断是否存在经停楼层包括所述起始楼层信息对应的楼层和/或所述目标楼层信息对应的楼层的可调度电梯；
    若确定存在，将经停楼层包括所述起始楼层信息对应的楼层或所述目标楼层信息对应的楼层的可调度电梯作为所述目标电梯。
  14. 如权利要求1至9中任一项所述的电梯调度方法，其中，所述可调度电梯的运行信息包括可调度电梯的经停楼层数量；
    所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯，具体包括：
    根据所述可调度电梯的经停楼层数量，选择将经停楼层数量最少的可调度电梯作为所述目标电梯。
  15. 一种电梯调度装置，包括：确定模块、调度模块、生成模块和通信模块；
    所述确定模块用于确定电梯调度请求，所述电梯调度请求中包括起始楼层信息和目标楼层信息；
    所述调度模块用于根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯；
    所述生成模块用于根据所述起始楼层信息、所述目标楼层信息和所述目标电梯的身份标识信息，生成控制指令；
    所述通信模块用于发送所述控制指令至电梯控制装置；其中，所述电梯控制装置控制所述目标电梯运动。
  16. 一种服务器，包括：至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；以及，
    与电梯控制装置通信连接的通信组件，所述通信组件在所述处理器的控制下接收和发送数据；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行以实现：确定电梯调度请求，所述电梯调度请求中包括起始楼层信息和目标楼层信息；根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯；根据所述起始楼层信息、所述目 标楼层信息和所述目标电梯的身份标识信息，生成控制指令；发送所述控制指令至电梯控制装置；其中，所述电梯控制装置控制所述目标电梯运动。
  17. 如权利要求16所述的服务器，其中，所述处理器还用于：
    在所述发送控制指令至电梯控制装置之前，接收所述目标机器人发送的呼梯请求；其中，所述呼梯请求中包括鉴权信息，所述鉴权信息为所述电梯控制装置在接收到所述目标机器人发送的鉴权请求后，反馈给所述目标机器人的信息；确定所述呼梯请求中的鉴权信息正确。
  18. 如权利要求16或17所述的服务器，其中，所述目标机器人与所述电梯控制装置通过近场通信技术通信。
  19. 如权利要求16至18中任一项所述的服务器，其中，所述电梯调度请求由所述目标机器人在确定需要乘梯后发送。
  20. 如权利要求16至19中任一项所述的服务器，其中，所述处理器还用于：
    在所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之后，将所述目标电梯的身份标识信息发送至所述目标机器人，所述目标电梯的身份标识信息用于标识所述目标电梯。
  21. 如权利要求16至20中任一项所述的服务器，其中，所述处理器还用于：
    在所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，根据机器人信息，确定配送货品的目标机器人；所述机器人信息包括机器人的状态信息和/或机器人当前所在楼层的信息；发送送货指令至所述目标机器人。
  22. 如权利要求21所述的服务器，其中，所述处理器具体用于：根据所述机器人信息和货品的订单信息，确定所述目标机器人；
    在所述发送送货指令至所述目标机器人之前，所述处理器还用于：根据所述货品的订单信息，生成所述送货指令。
  23. 如权利要求16至22中任一项所述的服务器，其中，电梯调度请求中还包括所述目标机器人的认证信息；
    所述处理器还用于：在所述确定电梯调度请求之后，所述根据所述电梯调度请求和可调度电梯的运行信息，确定为目标机器人调度的目标电梯之前，对所述认证信息进行认证，且确定认证成功。
  24. 如权利要求16至23中任一项所述的服务器，其中，所述处理器还用于：
    在所述发送所述控制指令至所述电梯控制装置之后，在确定所述目标电梯到达所述起始楼层信息对应的楼层后，发送进梯指令至所述目标机器人；其中，所述进梯指令用于指示所述目标机器人进入所述目标电梯；在确定所述目标电梯到达所述目标楼层信息对应的楼层后，发送出梯指令至所述目标机器人；其中，所述出梯指令用于指示所述目标机器人离开所述目标电梯。
  25. 如权利要求16至24中任一项所述的服务器，其中，所述可调度电梯的运行信息包括可调度电梯的状态信息，所述可调度电梯的状态信息用于指示所述可调度电梯处于被调度状态或所述可调度电梯处于未被调度状态；
    所述处理器具体用于：根据所述可调度电梯的状态信息，从处于未被调度状态的电梯中选择一个电梯作为所述目标电梯。
  26. 如权利要求16至24中任一项所述的服务器，其中，所述可调度电梯的运行信息包括可调度电梯的移动方向和可调度电梯当前所在楼层信息；
    所述处理器具体用于：根据所述起始楼层信息和所述目标楼层信息，确定所述目标机器人的移动方向；根据所述可调度电梯的运行信息，将移动方向与所述目标机器人的移动方向相同的电梯作为候选调度电梯；根据所述候选调度电梯当前所在楼层信息和所述起始楼层信息，从所述候选调度电梯中选择一个电梯作为所述目标电梯。
  27. 如权利要求16至24中任一项所述的服务器，其中，所述可调度电梯的运行信息包括可调度电梯的满载率；
    所述处理器具体用于：根据所述可调度电梯的满载率，选择满载率最低的可调度电梯作为所述目标电梯。
  28. 如权利要求16至24中任一项所述的服务器，其中，所述可调度电梯的运行信息包括可调度电梯的经停楼层的信息；
    所述处理器具体用于：根据所述可调度电梯的经停楼层信息和所述电梯调度请求，判断所述可调度电梯中是否存在经停楼层包括所述起始楼层信息对应的楼层或所述目标楼层信息对应的楼层的电梯；
    若确定存在，将经停楼层包括所述起始楼层信息对应的楼层或所述目标楼层信息对应的楼层的电梯作为所述目标电梯。
  29. 如权利要求16至24中任一项所述的服务器，其中，所述可调度电梯的运行信息包括可调度电梯的经停楼层数量；
    所述处理器具体用于：根据所述可调度电梯的经停楼层数量，选择将经停楼层数量最少的可调度电梯作为所述目标电梯。
  30. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1至14中任一项所述的电梯调度方法。
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