WO2021238888A1

WO2021238888A1 - Elevator control method and system, conveying robot, and elevator controller

Info

Publication number: WO2021238888A1
Application number: PCT/CN2021/095655
Authority: WO
Inventors: 许哲涛; 姚秀军
Original assignee: 京东数科海益信息科技有限公司
Priority date: 2020-05-29
Filing date: 2021-05-25
Publication date: 2021-12-02
Also published as: CN111606157A

Abstract

Disclosed are an elevator control method and system, a conveying robot, and an elevator controller. The method comprises: measuring a communication distance from an elevator controller; when the communication distance meets a preset condition, sending a query request to the elevator controller; receiving operating information fed back by the elevator controller on the basis of the query request; and determining a scheduling instruction according to the operating information, and then sending the scheduling instruction to the elevator controller.

Description

Elevator control method, system, transport robot and elevator controller

References to related applications

This disclosure requires all the rights and interests of the invention patent application filed with the State Intellectual Property Office of the People's Republic of China on May 29, 2020, with the application number 202010473210.8, titled "An elevator control method, system, transport robot, and elevator controller". And incorporate its entire content into this article by way of reference.

field

The present disclosure generally relates to the field of intelligent control technology, and more specifically, to elevator control methods, systems, transportation robots, and elevator controllers.

background

With the development of the Internet, indoor transportation robots are mostly used in large-scale indoor scenes such as hospitals and shopping malls, and most of these scenes need to perform delivery tasks across floors. The current dispatching system for transport robots generally runs the robot to the elevator door, and sends instructions to the nearest operating elevator through Bluetooth, ZiBee, Wi-Fi and other near-field communication means to make the elevator reach the floor where the robot is located.

In some cases, the transportation robot cannot judge the passengers in the elevator. If there are more passengers, it may affect the safety of the transportation robot in and out of the elevator and affect the delivery efficiency. In addition, the delivery robot needs to arrive at the elevator door first, and waiting for the elevator will waste delivery time. Sometimes there are delivery scenarios of multiple elevators, and the delivery robot cannot judge the operating status of each elevator to select the optimal delivery route.

Overview

In one aspect, the present disclosure relates to an elevator control method, which includes:

Detect the communication distance with the elevator controller;

When the communication distance satisfies a preset condition, sending a query request to the elevator controller;

Receiving the operating information fed back by the elevator controller based on the query request; and

A dispatch instruction is determined according to the operation information, and the dispatch instruction is sent to the elevator controller.

In some embodiments, the operating information includes at least one of the following data: passenger load data and the status of floor buttons.

In some embodiments, the passenger load data is calculated based on the level data obtained by detecting the elevator cabin.

In some embodiments, the determining a dispatching instruction based on the operation information and sending the dispatching instruction to the elevator controller includes:

When it is determined that multiple elevators are in an idle state according to the operation information, obtaining the distance to each elevator, taking the elevator with the smallest distance as the target elevator, and sending a dispatching instruction to the elevator controller of the target elevator;

Or, when it is determined that only one elevator is in an idle state according to the operation information, the elevator is regarded as a target elevator, and a dispatching instruction is sent to the elevator controller of the target elevator;

Or, when it is determined according to the operation information that all elevators are not in an idle state, the elevator whose operation information meets the preset condition is taken as the target elevator, and a dispatching instruction is sent to the elevator controller of the target elevator.

In some embodiments, the method further includes:

Receiving the indication information fed back by the elevator controller of the target elevator based on the dispatch instruction; and

Perform a preset operation according to the instruction information, and send delivery information to the elevator controller of the target elevator.

In some embodiments, the method further includes:

Determine the current floor; and

The performing a preset operation according to the instruction information includes:

When it is determined that the target elevator is at the current floor according to the instruction information, execute a driving operation;

or,

When it is determined according to the instruction information that the target elevator is not at the current floor, the time information when the target elevator arrives at the current floor is determined.

On the other hand, the present disclosure relates to an elevator control method, which includes:

Receive the query request sent by the shipping robot;

Obtain elevator operation information according to the query request;

Sending the operation information to the transportation robot, and the transportation robot generates a scheduling instruction according to the operation information; and

The scheduling instruction is received, and the corresponding scheduling operation is executed according to the scheduling instruction.

In some embodiments, the method further includes:

Receive the delivery information sent by the delivery robot; and

A first control instruction is generated according to the delivery information, and the first control instruction is used to control the elevator to perform a first operation.

In some embodiments, the delivery information carries the destination floor of the delivery robot; and

The method also includes:

When it is determined that the destination floor is reached, a second control instruction is generated, and the second control instruction is used to control the elevator to perform a second operation.

In yet another aspect, the present disclosure relates to a transport robot, which includes: a controller, and a communication unit connected to the controller; and

The controller is also connected with an inertial measurement unit, a laser radar, and a motor driver, and the motor driver is also connected with the motor and the encoder.

In some embodiments, the controller includes:

The detection module is configured to detect the communication distance with the elevator controller;

A sending module, configured to send a query request to the elevator controller when the communication distance meets a preset condition;

A receiving module configured to receive the operating information fed back by the query request of the elevator controller; and

The processing module is configured to determine a dispatch instruction according to the operation information, and send the dispatch instruction to the elevator controller.

In another aspect, the present disclosure relates to an elevator controller, which includes: a single-chip microcomputer, and a processing unit, a communication unit, a DIP switch, and a comparator connected to the single-chip microcomputer. Discharge sensor.

In some embodiments, the single-chip microcomputer includes:

The receiving module is configured to receive the query request sent by the transportation robot;

An obtaining module, configured to obtain elevator operation information according to the query request;

A sending module configured to send the operation information to the transport robot, and the transport robot generates a scheduling instruction according to the operation information; and

The execution module is configured to receive scheduling instructions and execute corresponding scheduling operations according to the scheduling instructions.

In another aspect, the present disclosure relates to an elevator control system, which includes: the above-mentioned transport robot and at least one above-mentioned elevator controller.

In another aspect, the present disclosure relates to an electronic device, which includes: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus;

The memory is configured to store a computer program; and

The processor is configured to implement the above method when the computer program is executed.

In another aspect, the present disclosure relates to a computer-readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned method when executed by a processor.

Certain embodiments of the present disclosure can realize the robot's grasp of the passenger situation in the elevator, realize the remote dispatch of multiple elevators according to the elevator passengers and the current floor, select the optimal elevator transportation path, improve the elevator transportation efficiency, and reduce the transportation robots. The probability of collisions with passengers when entering and exiting the elevator reduces the time the robot waits for the elevator.

Brief description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments consistent with the disclosure, and are used together with the specification to explain the principle of the disclosure.

In order to more clearly explain the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can be obtained based on these drawings without creative labor.

Figure 1 shows a schematic diagram of an elevator control system provided by an embodiment of the present disclosure;

Figure 2 shows a schematic diagram of the appearance of a transport robot provided by an embodiment of the present disclosure;

Figure 3 shows a flowchart of an elevator control method provided by an embodiment of the present disclosure;

Figure 4 shows a flowchart of an elevator control method provided by another embodiment of the present disclosure;

Figure 5 shows a functional block diagram of a transport robot provided by an embodiment of the present disclosure;

Fig. 6 shows a block diagram of a controller provided by an embodiment of the present disclosure;

Figure 7 shows a functional module diagram of an elevator controller provided by an embodiment of the present disclosure;

FIG. 8 shows a block diagram of a single-chip microcomputer provided by an embodiment of the present disclosure;

FIG. 9 shows a schematic diagram of coding of a DIP switch provided by an embodiment of the present disclosure; and

Fig. 10 shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

Detail

In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments They are a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

The embodiments of the present disclosure provide an elevator control method, system, transportation robot, and elevator controller. The method provided in the embodiments of the present disclosure can be applied to any required electronic device, for example, it can be an electronic device such as a server, a terminal, etc., which is not specifically limited here, and for convenience of description, it is referred to as electronic device in the following.

The following first introduces the elevator control system provided by the embodiments of the present disclosure.

The embodiment of the present disclosure provides an elevator control system, including: a transport robot and at least one elevator controller; wherein

The transport robot is used to send query requests to the elevator controller when it is in the communication range of the elevator controller;

The elevator controller is used to obtain the operation information of the elevator according to the query request, and send the operation information to the transport robot;

The transport robot is used to determine the dispatch instruction according to the operation information and send the dispatch instruction to the elevator controller; and

The elevator controller is used to perform corresponding dispatch operations according to dispatch instructions.

The transport robot involved in this embodiment may be a robot that performs express delivery (as shown in FIG. 2).

Fig. 1 shows a schematic diagram of an elevator control system provided by an embodiment of the present disclosure. As shown in Fig. 1, the elevator dispatching area in this embodiment is the communication range of the elevator controller. When the transport robot reaches the elevator dispatching area, Send query requests to the elevator controller of elevator No. 1, the elevator controller of elevator No. 2, the elevator controller of elevator No. 3, and the elevator controller of elevator No. 4. Each elevator controller is connected with a pyroelectric sensor. The pyroelectric sensor will feed back the level data obtained from the detection of the elevator cabin to the elevator controller. The elevator controller obtains the passenger carrying capacity of each elevator according to the level data. Data and send the passenger data to the delivery robot.

It is understandable that when the transportation robot sends a query request to the elevator controller, it carries the position of the transportation robot, such as: the floor where the transportation robot is currently located. In addition, the operating information fed back by the elevator controller includes: the current operating direction of the elevator, the elevator position , Passenger data and the status of floor buttons. When the transport robot receives operating information, it will determine the working status of the elevator when the elevator reaches the floor where the transport robot is currently located according to the direction of the elevator, the number of passengers and the floor that the passengers are going to reach.

In this embodiment, when the transport robot determines that multiple elevators are in an idle state according to the operation information, the distance between each elevator is obtained, the elevator with the smallest distance from the transport robot is used as the target elevator, and the elevator controller of the target elevator Send scheduling instructions; and

The elevator controller of the target elevator updates the working state of the elevator to the first state in response to the dispatch instruction, and sends the first state to the transport robot. It can be understood that the first state is the delivery state.

When the transport robot arrives at the target elevator, it sends the destination floor to the elevator controller of the target elevator; and when the elevator controller of the target elevator confirms that it has reached the destination floor, the elevator controller of the target elevator updates the elevator working status from the first state to the first state. Two states, it is understandable that the second state is the idle state.

In another embodiment, when the transport robot determines that only one elevator is in the idle state according to the operation information, the transport robot uses the elevator as the target elevator and sends a dispatching instruction to the elevator controller of the target elevator; and

When the transport robot reaches the target elevator, it sends the target floor to the elevator controller of the target elevator; and when it reaches the target floor, the elevator controller of the target elevator updates the elevator working state from the first state to the second state, which is understandable , The second state is the idle state.

In another embodiment, when the transport robot determines that all elevators are not in an idle state according to the operation information, the transport robot sends a query instruction to the elevator controller;

The elevator controller obtains the operation information of the elevator in real time according to the query instruction, and feeds the operation information back to the transport robot;

The transport robot takes the elevator whose operating information meets the preset conditions as the target elevator, and sends a dispatching instruction to the elevator controller of the target elevator; and the elevator controller of the target elevator updates the working state of the elevator to the first state according to the response to the dispatching instruction, And send the first state to the delivery robot, it can be understood that the first state is the delivery state.

It is understandable that after the transport robot receives the operation information, it first determines the direction of the elevator and the position of the elevator, and then obtains the status of the floor buttons in the elevator, determines the stopping floors of the elevator according to the status of the floor buttons, and according to the direction of operation, the position of the elevator, and the position of the elevator. Determine the expected time for the elevator to travel to the floor where the transport robot is located through the stopping floor, and take the elevator with the smallest expected and all floor buttons in the idle state as the target elevator.

Certain embodiments of the disclosed system can realize the robot's grasp of the passengers in the elevator, realize the remote dispatch of multiple elevators according to the elevator passengers and the current floor, select the optimal elevator transportation path, improve the elevator transportation efficiency, and reduce The probability of collision of passengers when the transport robot enters and exits the elevator reduces the waiting time of the robot for the elevator.

Fig. 3 shows a flowchart of an elevator control method provided by an embodiment of the present disclosure. As shown in Figure 3, the elevator control method provided in this embodiment is applied to a transport robot, and includes:

S31, detecting the communication distance with the elevator controller;

S32: When the communication distance meets the preset condition, send a query request to the elevator controller;

S33: Receive operation information fed back by the elevator controller based on the query request; and

S34: Determine the dispatch instruction according to the operation information, and send the dispatch instruction to the elevator controller.

In S31, the transport robot continuously sends detection signals. When the detection signal of the transport robot finds the elevator controller, it determines the communication distance with the elevator controller. The transport robot can be a smart device such as a transport robot.

In S32, the elevator controller has its own communication range. It can be understood that the elevator controller is taken as the center of the circle, and the propagation distance of the elevator controller signal is taken as the radius to obtain the communication range. The communication distance meets the preset condition, and the communication distance is less than Or equal to the propagation radius of the elevator controller signal, it can also be understood that the transport robot is currently within the communication range of the elevator controller, and the transport robot sends a query request to the elevator controller, and the query request is used to query the working status of each elevator.

In S33, the operation information includes at least one of the following data: passenger load data and the state of floor buttons. As an example, when the operation information includes the level data obtained from the detection of the elevator cabin, the passenger data can be calculated according to the level data.

In S34, when it is determined that multiple elevators are in an idle state according to the operation information, the distance to each elevator is obtained, the elevator with the smallest distance is taken as the target elevator, and the dispatching instruction is sent to the elevator controller of the target elevator;

Or, when it is determined that only one elevator is in the idle state according to the operation information, the elevator is regarded as the target elevator, and the dispatching instruction is sent to the elevator controller of the target elevator;

Or, when it is determined that all elevators are not in an idle state according to the operation information, the elevator whose operation information meets the preset condition is regarded as the target elevator, and the dispatching instruction is sent to the elevator controller of the target elevator.

The method provided in this embodiment further includes: receiving indication information fed back by the elevator controller of the target elevator based on the dispatching instruction; and performing preset operations according to the indication information, and sending delivery information to the elevator controller of the target elevator. Among them, the instruction information includes: the floor where the target elevator is located, and the delivery information includes: the destination floor to be reached by the transport robot and the delivery task to be performed.

It is also necessary to determine the current floor where the transport robot is located before following the instruction information. Perform a preset operation according to the instruction information, including: when it is determined according to the instruction information that the floor of the target elevator is the same as the current floor where the transport robot is located, controlling the transport robot to perform the driving operation and enter the target elevator; or, when the target elevator is determined according to the instruction information When the local floor is different from the current floor where the transport robot is located, the time information when the target elevator arrives at the current floor is determined.

In some cases, when the transportation robot arrives at the destination floor, if there is no driving record associated with the floor in the historical driving record of the transportation robot, the staff also needs to store the environment map in the transportation robot in advance before correcting The transport robot plans a route. Take the transportation robot as an example. When the transportation robot needs to enter an unfamiliar floor to perform delivery tasks, the staff needs to store the map of the floor in the transportation robot in advance, which will waste manpower and material resources.

Therefore, before the transport robot enters an unfamiliar floor to perform a task, it also needs to scan the current floor to obtain an environmental map. Therefore, this embodiment provides a method for constructing an environment map, which is applied to a transportation robot and includes:

Receive the echo signal, and determine the local point cloud data of the location of the transportation robot based on the echo signal, extract feature information based on the local point cloud data, and determine the target object based on the feature information, determine the driving route according to the target object, and obtain all the driving route The local point cloud data of the location, and generate a complete environment map based on the local point cloud data of all locations.

As an example, the target object may be an object with a speed of 0 (ie, a static target), and determining the driving route according to the target object may be: first determine the direction of the target object, and use the direction that meets the preset conditions as the direction of the driving route. It is understandable that the direction that meets the preset condition is that there is no target object in this direction.

It is understandable that acquiring the local point cloud data of all positions on the driving route can be achieved by controlling the transportation robot to drive along the driving route, and recording the local point cloud data of each position on the route during the driving process.

Fig. 4 shows a flowchart of an elevator control method provided by another embodiment of the present disclosure. As shown in Figure 4, the method includes:

S41, receiving the query request sent by the transport robot;

S42: Obtain elevator operation information according to the query request;

S43: Send the operation information to the transportation robot, and the transportation robot generates a scheduling instruction according to the operation information; and

S44: Receive a scheduling instruction, and execute a corresponding scheduling operation according to the scheduling instruction.

In S42, the operation information of the elevator can be obtained by calling the pyroelectric sensor to detect the level data of the elevator, and then calculate the passenger load data of the elevator according to the level data, and then obtain the status of the floor button, according to the passenger load data And the status of the floor button to get the running information.

In S44, the corresponding dispatching operation is executed according to the dispatching instruction, including: running to the floor carried by the dispatching instruction according to the dispatching instruction, wherein the floor carried by the dispatching instruction is the floor where the transport robot is located. In addition, executing the corresponding dispatching operation according to the dispatching instruction may also be stagnating on the floor carried by the dispatching instruction according to the dispatching instruction to wait for the delivery robot to arrive.

The method provided in this embodiment further includes: after the transport robot enters the target elevator, it sends delivery information to the elevator controller of the target elevator, and the elevator controller generates a first control instruction based on the delivery information, and the first control instruction is used to control the elevator Perform the first operation. The first operation is to turn off the floor buttons in the elevator and block passengers from sending dispatch instructions, so as to ensure the efficiency of the delivery robot in performing the delivery task.

In this embodiment, because the delivery information carries the destination floor of the transport robot, when the transport robot reaches the destination floor, the elevator controller generates a second control instruction. The second control instruction is used to control the elevator to perform the second operation. Turn on the floor buttons in the elevator for the elevator and send dispatching instructions to receive passengers.

FIG. 5 shows a functional module diagram of a transport robot provided by an embodiment of the present disclosure. As shown in FIG. 5, the transport robot provided by an embodiment of the present disclosure includes a controller 51 and a communication unit 52 connected to the controller. ;in

The communication unit 52 sends the received scheduling task to the controller 51, and the controller 51 generates a query request according to the scheduling task, and sends the query request to the elevator controller through the communication unit 52;

And the controller 51 is also connected with an inertial measurement unit 53, a laser radar 54 and a motor driver 55, and the motor driver 55 is also connected to the motor 56 and the encoder 57; wherein

The encoder 57 is used to monitor the rotation state of the motor 56 and feedback to the robot controller 51 through the motor driver 55;

The inertial measurement unit 53 obtains the movement parameters of the transport robot and sends the posture information to the controller 51. The controller 51 generates mileage information according to the rotation state and the movement parameters. The inertial measurement unit 53 includes a gyroscope, an electronic compass, etc., and the movement parameters Including: angular velocity, azimuth, acceleration, etc., the posture of the transport robot can be determined according to the motion parameters; and

The lidar 54 scans the current environment to obtain point cloud information, and transmits the point cloud information to the controller 51, and the controller 51 generates an environment image according to the point cloud information.

In this embodiment, when the transport robot is deployed to a new environment for the first time, it is necessary to deploy personnel to remotely control the robot to scan the entire area, that is, the transport robot will obtain a global map of the entire work area. After the transportation robot obtains the global map, the transportation robot performs the transportation task according to the mileage information and the current surrounding environment point cloud information scanned by the lidar to match the global map to obtain accurate indoor positioning coordinates.

Fig. 6 shows a block diagram of a controller provided by an embodiment of the present disclosure. The controller can be implemented as part or all of an electronic device through software, hardware, or a combination of the two. As shown in Figure 6, the controller includes:

The detection module 61 is configured to detect the communication distance with the elevator controller;

The sending module 62 is configured to send a query request to the elevator controller when the communication distance meets a preset condition;

The receiving module 63 is configured to receive the operation information fed back by the elevator controller query request; and

The processing module 64 is configured to determine a dispatch instruction according to the operation information, and send the dispatch instruction to the elevator controller.

FIG. 7 shows a functional module diagram of an elevator controller provided by an embodiment of the present disclosure. As shown in FIG. 7, the elevator controller provided by an embodiment of the present disclosure includes: a single-chip 71 and a processing unit 72 connected to the single-chip 71 , The communication unit 73, the DIP switch 74 and the comparator 75, the comparator 75 is also connected with a pyroelectric sensor 76;

The pyroelectric sensor 76 detects the elevator to obtain the level data, and sends the level data to the single-chip microcomputer 71 via the comparator 75; and

The single-chip microcomputer 71 determines the passenger carrying data of the elevator according to the level data, and sends the passenger carrying data to the transport robot through the communication unit 73.

It should be noted that the filter of the pyroelectric sensor is a band-pass filter, which is encapsulated on the top of the sensor housing to selectively pass infrared radiation of a specific wavelength and reach the pyroelectric detector in its cut-off range. Outside infrared radiation cannot pass. The pyroelectric detection element is the core element of the pyroelectric sensor. It is made by plating metal electrodes on both sides of the pyroelectric crystal and adding electric polarization, which is equivalent to a flat capacitor with the pyroelectric crystal as the dielectric. When it is irradiated by infrared light of non-constant intensity, the temperature change caused changes the charge density of its surface electrode, and thus the level changes.

FIG. 8 shows a block diagram of a single-chip microcomputer provided by an embodiment of the present disclosure. The single-chip microcomputer can be implemented as part or all of an electronic device through software, hardware, or a combination of the two. As shown in Figure 8, the microcontroller includes:

The receiving module 81 is configured to receive the query request sent by the transportation robot;

The obtaining module 82 is configured to obtain the operating information of the elevator according to the query request;

The sending module 83 is configured to send the operation information to the transportation robot, and the transportation robot generates a scheduling instruction according to the operation information; and

The execution module 84 is configured to receive scheduling instructions and execute corresponding scheduling operations according to the scheduling instructions.

Figure 9 shows a coding diagram of a DIP switch provided by an embodiment of the present disclosure, in which each encoder has two states of 0/1, and an n-bit encoder can realize 2 ⁿ unique codes, that is, 2 ⁿ parts can be encoded. The elevator is uniquely coded, and the coded ID is carried during communication to realize precise communication between the robot and the designated elevator.

The present disclosure also provides an electronic device. As shown in FIG. 10, the electronic device may include a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504. The processor 1501, the communication interface 1502, and the memory 1503 pass through the communication bus 1504. Complete the communication between each other.

In some embodiments, the memory 1503 is configured to store computer programs.

In some embodiments, the processor 1501 is configured to execute the computer program stored in the memory 1503 to implement the method of the present disclosure.

The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used to indicate in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the above-mentioned electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM), and may also include non-volatile memory (Non-Volatile Memory, NVM), such as at least one disk storage. In some embodiments, the memory may also be at least one storage device located far away from the aforementioned processor.

The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (DSP), a dedicated integrated Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

The present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the method of the present disclosure is implemented.

The computer-readable storage medium may include a data signal propagated in baseband or as a part of a carrier wave, and readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium other than the readable storage medium, and the readable medium may send, propagate, or transmit a program for use by the system, apparatus, or device by instructions, or use in combination therewith. The program code contained on the readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

The program code for performing the operations of the present disclosure can be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural styles. Programming language-such as "C" language or similar programming language. The program code can be performed entirely on the user's computing device, partly on the user's device, as an independent software package, partly on the user's computing device and partly on the remote computing device, or entirely on the remote computing device or server Carried on. In the case of a remote computing device, the remote computing device can be connected to a user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using Internet service providers). Shanglai is connected via the Internet).

It should be noted that, for the foregoing device, electronic equipment, and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiments.

It should be further noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply There is any such actual relationship or sequence between these entities or operations. Moreover, the terms "including", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The above are only specific implementations of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features disclosed in this document.

Claims

The elevator control method includes:

Detect the communication distance with the elevator controller;

When the communication distance satisfies a preset condition, sending a query request to the elevator controller;

Receiving the operating information fed back by the elevator controller based on the query request; and

A dispatch instruction is determined according to the operation information, and the dispatch instruction is sent to the elevator controller.
The method according to claim 1, wherein the operation information includes at least one of the following data: passenger load data and status of floor buttons in the elevator.
The method of claim 2, wherein the passenger data is calculated based on the level data obtained by detecting the elevator cabin.
The method according to any one of claims 1 to 3, wherein the determining a dispatching instruction according to the operation information and sending the dispatching instruction to the elevator controller includes:

When it is determined that multiple elevators are in an idle state according to the operation information, obtaining the distance to each elevator, taking the elevator with the smallest distance as the target elevator, and sending a dispatching instruction to the elevator controller of the target elevator;

Or, when it is determined that only one elevator is in an idle state according to the operation information, the elevator is regarded as a target elevator, and a dispatching instruction is sent to the elevator controller of the target elevator;

Or, when it is determined according to the operation information that all elevators are not in an idle state, the elevator whose operation information meets the preset condition is taken as the target elevator, and a dispatching instruction is sent to the elevator controller of the target elevator.
The method of claim 4, further comprising:

Receiving the indication information fed back by the elevator controller of the target elevator based on the dispatch instruction; and

Perform a preset operation according to the instruction information, and send delivery information to the elevator controller of the target elevator.
The method of claim 5, further comprising:

Determine the current floor; and

The performing a preset operation according to the instruction information includes:

When it is determined that the target elevator is at the current floor according to the instruction information, execute a driving operation;

or,

When it is determined according to the instruction information that the target elevator is not on the current floor, the time information when the target elevator arrives at the current floor is determined.
The elevator control method includes:

Receive the query request sent by the shipping robot;

Obtain elevator operation information according to the query request;

Sending the operation information to the transportation robot, and the transportation robot generates a scheduling instruction according to the operation information; and

The scheduling instruction is received, and the corresponding scheduling operation is executed according to the scheduling instruction.
The method of claim 7, further comprising:

Receive the delivery information sent by the delivery robot; and

A first control instruction is generated according to the delivery information, and the first control instruction is used to control the elevator to perform a first operation.
8. The method of claim 8, wherein the delivery information carries the destination floor of the delivery robot; and

The method also includes:

When it is determined that the destination floor is reached, a second control instruction is generated, and the second control instruction is used to control the elevator to perform a second operation.
A transport robot, which includes: a controller, and a communication unit connected to the controller; and

The controller is also connected with an inertial measurement unit, a laser radar, and a motor driver, and the motor driver is also connected with the motor and the encoder.
The transport robot according to claim 10, wherein the controller comprises:

The detection module is configured to detect the communication distance with the elevator controller;

A sending module, configured to send a query request to the elevator controller when the communication distance meets a preset condition;

A receiving module configured to receive the operating information fed back by the query request of the elevator controller; and

The processing module is configured to determine a dispatch instruction according to the operation information, and send the dispatch instruction to the elevator controller.
The elevator controller includes: a single-chip microcomputer, and a processing unit, a communication unit, a DIP switch and a comparator connected with the single-chip microcomputer, wherein the single-chip microcomputer is also connected with a pyroelectric sensor through the comparator.
The elevator controller of claim 12, wherein the single-chip microcomputer comprises:

The receiving module is configured to receive the query request sent by the transportation robot;

An obtaining module, configured to obtain elevator operation information according to the query request;

A sending module configured to send the operation information to the transport robot, and the transport robot generates a scheduling instruction according to the operation information; and

The execution module is configured to receive scheduling instructions and execute corresponding scheduling operations according to the scheduling instructions.
An elevator control system, comprising: the transport robot according to claim 10 or 11, and the elevator controller according to claim 12 or 13.