WO2022193761A1 - 用于控制电梯、控制amr的方法和装置 - Google Patents

用于控制电梯、控制amr的方法和装置 Download PDF

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Publication number
WO2022193761A1
WO2022193761A1 PCT/CN2021/139579 CN2021139579W WO2022193761A1 WO 2022193761 A1 WO2022193761 A1 WO 2022193761A1 CN 2021139579 W CN2021139579 W CN 2021139579W WO 2022193761 A1 WO2022193761 A1 WO 2022193761A1
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WIPO (PCT)
Prior art keywords
elevator
amr
amrs
information
floor
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PCT/CN2021/139579
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English (en)
French (fr)
Inventor
闫国旗
郑宇�
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灵动科技（北京）有限公司
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Publication of WO2022193761A1 publication Critical patent/WO2022193761A1/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
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
    • 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
    • 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
    • B66B1/34—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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • 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
    • B66B2201/4661—Call registering systems for priority users

Definitions

  • the present invention relates to the field of elevator and robot control, and in particular, to a method and an elevator control device for controlling an elevator, a method and an AMR control device for controlling an AMR (Autonomous Mobile Robot).
  • the robot when it needs to be transported across floors, it first needs to obtain the information about the current floor and destination floor of the robot, and then lock an elevator for the robot to use according to the information, and the elevator will not wait until the elevator transports the robot to the destination floor. Can be unlocked for use by other robots.
  • An object of the present invention is to provide a method and an elevator control device for controlling an elevator, a method and an AMR control device for controlling an AMR.
  • a method for controlling an elevator comprising: receiving call information from an AMR, wherein the call information includes identification, destination floor, current floor and priority of the AMR
  • the call sequence including the call information of the at least one AMR that has been received determine the AMRs to be conveyed in the at least one AMR to enter the elevator to be conveyed; according to the calls of all AMRs that will exist in the elevator information to determine the conveying order of each AMR conveyed by the elevator; according to the conveying order, send the conveying information to the AMR to be conveyed to make the AMR to be conveyed enter the elevator and park it in the corresponding parking space in the elevator, so that the elevator will send the conveying information that already exists in the elevator according to the conveying order. All AMRs in the elevator are delivered to the corresponding destination floors.
  • the method further includes: receiving a query request for querying whether there is a vacant waiting space near the elevator from the AMR; in response to the query request, sending waiting position information to the AMR, wherein the waiting position information indicates whether there is a vacancy near the elevator Waiting position, and driving the AMR to the vacant waiting position when there is a vacant waiting position; wherein, the step of receiving call information from the AMR includes: receiving call information from the AMR located at the waiting position or traveling to the waiting position.
  • the step of determining the AMRs to be conveyed in the at least one AMR to be entered into the elevator to be conveyed includes: determining whether the elevator is in an empty state; When it is determined that the elevator is in an empty state, according to the call sequence, determine whether the number of AMRs on the predetermined floor is greater than the number of parking spaces, where the number of AMRs on the predetermined floor is the number of AMRs located on the predetermined floor in the at least one AMR , the number of parking spaces is the number of parking spaces used to park AMRs in the elevator; when it is determined that the number of AMRs on the predetermined floor is not greater than the number of parking spaces, all AMRs located on the predetermined floor are determined as AMRs to be transported; When it is determined that the number of AMRs on the predetermined floor is greater than the number of parking spaces, according to the call information of each AMR located on the predetermined floor and/or the conveying efficiency of
  • the step of determining the AMR equal to the number of parking spaces among the AMRs located on the predetermined floor as the waiting AMR includes: The priority of each AMR of the predetermined floor, the AMR equal to the number of parking spaces in the AMRs located on the predetermined floor is determined as the waiting AMR, wherein, for the AMRs of the same priority, first according to the same destination floor The number of AMRs, Secondly, the waiting AMR is determined according to the total number of floors that the elevator needs to cross.
  • the predetermined floor is the floor where the elevator is located when it is determined that the elevator is empty, the floor where the AMR with the highest priority in the at least one AMR is located, or the AMR with the most AMRs in the at least one AMR is located. floor.
  • the step of determining the conveying sequence of each AMR by the elevator includes: according to the priority of the AMRs to be conveyed, the destination floor, the number of AMRs on the same destination floor, and the elevator. At least one of the number of floors to be spanned in total determines the conveying sequence of the AMRs to be conveyed by the elevator.
  • the step of sending the transport information to the AMRs to be transported according to the transport sequence for making the AMRs to be transported enter the elevator and park them in the corresponding parking spaces in the elevator comprises: sending transport information to each AMR to be transported according to the door opening mode of the elevator. , where the conveying information is used to make the AMRs to be conveyed enter the elevator in the conveying sequence or the reverse order of the conveying sequence and park in the corresponding parking spaces in the elevator in turn; The AMR to be delivered is delivered to the corresponding destination floor.
  • the step of determining the AMR to be conveyed in the at least one AMR that is to enter the elevator to be conveyed includes: determining whether there is a vacant parking space in the elevator; When it is determined that there is a vacant parking space in the elevator, it is determined whether there is an alternative AMR according to the position of the vacant parking space, the call sequence, and the existing delivery order of the AMRs that already exist in the elevator, where the alternative AMR is Among the at least one AMR, an AMR that satisfies the following conditions: the current floor is a floor located in the running direction of the elevator, the existing conveying sequence is not disrupted after the current floor and the destination floor are inserted into the existing conveying sequence, and the current floor is parked in a free space.
  • the existing AMRs in the elevator In the case of parking spaces, it will not affect the existing AMRs in the elevator to exit the elevator according to the existing conveying order; in the case of determining that there are alternative AMRs, determine whether the number of alternative AMRs is greater than the number of vacant parking spaces; When the number of AMRs is greater than the number of vacant parking spaces, according to the priority of the candidate AMRs and/or the conveying efficiency of the elevator, the AMRs in the candidate AMRs that are equal to the number of vacant parking spaces are determined as the AMRs to be delivered; If the number of AMRs is not greater than the number of vacant parking spaces, all candidate AMRs are determined as AMRs to be delivered.
  • the step of determining the AMR equal to the number of vacant parking spaces in the candidate AMR as the AMR to be delivered includes: according to the priority of the candidate AMR, Among the candidate AMRs, the AMRs equal to the number of vacant parking spaces are determined as the AMRs to be delivered, wherein, for the candidate AMRs of the same priority, the AMRs to be delivered are determined according to at least one of the following items: the destination floor of the AMR, the The number of AMRs and the total number of floors the elevator needs to span.
  • the step of determining the conveying sequence of each AMR by the elevator includes: according to the current floor, destination floor and existing conveying sequence of the AMRs to be conveyed, the AMRs to be conveyed The current floor and destination floor are inserted into the existing conveying sequence to determine the conveying sequence of the existing AMR and the candidate AMR in the elevator.
  • the step of sending, to the AMRs to be transported, according to the transport sequence, the transport information for making the AMRs to be transported enter the elevator and park in the corresponding parking spaces in the elevator includes: when the elevator reaches the current floor of the AMRs to be transported, according to the elevator's Open the door, send conveying information to each AMR to be conveyed, wherein the conveying information is used to make the AMRs to be conveyed enter the elevator according to the conveying sequence or the reverse order of the conveying sequence and park in the corresponding vacant parking spaces in the elevator in sequence; After the AMRs are transported into the elevator, the elevator is made to transport each AMR in the elevator to the corresponding destination floor according to the transport sequence.
  • the method further comprises: assigning a respective elevator to the at least one AMR according to the call sequence and the transportation efficiency of the multiple elevators, and assigning the respective elevators to the respective AMRs.
  • Send the corresponding elevator allocation information so that the corresponding AMR travels to the allocated elevator, wherein each elevator determines, according to the corresponding call sequence, that all AMRs allocated to the elevator will enter the elevator to be delivered.
  • An AMR is delivered, wherein the corresponding call sequence includes call information for all AMRs assigned to the elevator.
  • a method for controlling an AMR comprising: receiving shipping information for causing the AMR to transport goods and determining call information for the AMR in response to the shipping information, wherein the call The information includes information about the identification of the AMR, the destination floor, the current floor and the priority; make the AMR drive to the elevator of the current floor and send call information to the elevator control device for controlling the elevator; receive the elevator control device from the elevator control device.
  • the conveyance information sent by the elevator control device in response to the call information for causing the AMR to enter the elevator and park in the corresponding parking space in the elevator; in response to the conveying information, the AMR is made to enter the elevator and park in the corresponding parking space to be conveyed to the destination floor.
  • the step of making the AMR travel to the elevator of the current floor and sending the call information to the elevator control device for controlling the elevator comprises: after the AMR travels to the first predetermined distance from the elevator, sending the call information to the elevator control device.
  • the AMR is driven to the vacant waiting position to stop at the vacant waiting position, and after traveling to a second predetermined distance from the elevator, the elevator control device sends the elevator call information, Wherein, the distance between the vacant waiting position and the elevator is less than or equal to the second predetermined distance; when the waiting position information indicates that there is no vacant waiting position, the AMR is stopped in a predetermined manner and continues to receive the waiting position information until the received waiting position information is received. Indicates until there are free
  • the step of making the AMR travel to the elevator of the current floor and sending the call information to the elevator control device for controlling the elevator includes: the AMR travels to a first predetermined distance from any elevator. After that, send call information and a query request for querying whether there is a vacant waiting space near the elevator to the elevator control device; receive from the elevator control device the information sent by the elevator control device in response to the call information and query request Elevator allocation information and corresponding waiting position information, wherein, the elevator allocation information indicates the elevator to which the AMR is allocated, and the corresponding waiting position information indicates whether there is a vacant waiting position near the allocated elevator; make the AMR drive to the allocated elevator, and in the When the corresponding waiting position information indicates that there is a vacant waiting position near the allocated elevator, make the AMR drive to the vacant waiting position; when the corresponding waiting position information indicates that there is no vacant waiting position near the allocated elevator, make the AMR drive Stop and continue to receive the corresponding waiting-bit information in a predetermined manner
  • the AMR is parked in the vacant waiting position facing the elevator door or facing away from the elevator door according to the door opening method of the elevator, wherein after receiving the call information, according to The door opening method of the elevator makes the AMR enter the elevator in the normal driving or reverse driving mode and park in the corresponding parking space in the elevator.
  • the method further includes: after the AMR enters the elevator, determining whether to reach the destination floor according to autonomous positioning information and/or information received from the elevator control device; after determining that the destination floor is reached, driving out of the elevator.
  • an elevator control apparatus for controlling an elevator, the elevator control apparatus comprising: a receiving unit configured to receive call information from an AMR, wherein the call information includes information on the destination identification, destination floor, current floor and priority of the AMR; an AMR determination unit configured to determine the at least one AMR according to a call sequence including call information of the at least one AMR that has been received AMRs to be transported to enter the elevator in the It is configured to send conveying information to the AMRs to be conveyed according to the conveying order for making the AMRs to be conveyed enter the elevator and park in the corresponding parking spaces in the elevators, so that the elevators convey all the AMRs already existing in the elevators to the elevators in the conveying order. the corresponding destination floor.
  • an AMR control apparatus for controlling an AMR
  • the AMR control apparatus comprising: a response unit configured to receive transport information for causing the AMR to transport goods and to respond to The transportation information determines the call information of the AMR, wherein the call information includes information about the identification of the AMR, the destination floor, the current floor and the priority; the information sending unit is configured to make the AMR drive to the elevator of the current floor and Sending call information to an elevator control device for controlling an elevator; an information receiving unit configured to receive from the elevator control device a message sent by the elevator control device in response to the call information for causing the AMR to enter the elevator conveying information of the corresponding parking space and parked in the elevator; a travel control unit configured to, in response to the conveying information, cause the AMR to enter the elevator and park in the corresponding parking space to be conveyed to the destination floor.
  • a computer program product comprising a computer program which, when executed by a processor, causes the processor to implement the method for controlling an elevator according to the present invention and/or the method for controlling AMR according to the present invention.
  • the method for controlling an elevator and the elevator control device, the method for controlling the AMR, and the AMR control device according to the present invention can make the AMR interact with the elevator control device for controlling the elevator according to the waiting at least one
  • the call information of the AMR is used to determine the AMR to be conveyed by the elevator and its parking space and conveying sequence in the elevator, so that the elevator can convey multiple AMRs at the same time according to the conveying sequence, which improves the flexibility and efficiency of the elevator conveying AMR.
  • FIG. 1 shows a flowchart of a method for controlling an elevator according to an exemplary embodiment of the present invention.
  • Fig. 2 shows a schematic diagram of a waiting space near an elevator and a parking space within the elevator according to an exemplary embodiment of the present invention.
  • Figure 3 shows a flowchart of a first embodiment of the step of determining AMR to be delivered in a method for controlling an elevator according to an exemplary embodiment of the present invention.
  • Figure 4 shows a flow chart of a second embodiment of the step of determining the AMR to be delivered in a method for controlling an elevator according to an exemplary embodiment of the present invention.
  • FIG. 5 shows a flowchart of a method for controlling AMR according to an exemplary implementation of the present invention.
  • FIG. 6 shows a flowchart of a first embodiment of the step of sending call information in the method for controlling AMR according to an exemplary implementation of the present invention.
  • FIG. 7 shows a flowchart of a second embodiment of the step of sending call information in the method for controlling AMR according to an exemplary implementation of the present invention.
  • Fig. 8 shows a block diagram of an elevator control apparatus for controlling an elevator according to an exemplary embodiment of the present invention.
  • FIG. 9 shows a block diagram of an AMR control apparatus for controlling an AMR according to an exemplary embodiment of the present invention.
  • FIG. 1 shows a flowchart of a method for controlling an elevator according to an exemplary embodiment of the present invention.
  • step S11 call information is received from the AMR, wherein the call information includes information about the identity of the AMR, the destination floor, the current floor and the priority.
  • the identifiers of the AMRs may be used to distinguish different AMRs, and the priorities may include, for example, priorities corresponding to "urgent", "normal” and the like.
  • a waiting space for parking the AMR may be provided near the elevator.
  • the method for controlling the elevator according to the present invention may further include the following steps: receiving an inquiry request for inquiring whether there is a vacant waiting space near the elevator from the AMR; In response to the query request, the waiting position information is sent to the AMR, wherein the waiting position information indicates whether there is a vacant waiting position near the elevator, and the AMR is driven to the vacant waiting position if there is a vacant waiting position.
  • the AMR may drive to the vacant waiting position to wait at the vacant waiting position, and the AMR may be in the process of driving to the vacant waiting position. Or send call information after driving to a vacant waiting space.
  • the AMR may stop at a predetermined position or a random position outside the waiting position to wait.
  • waiting bit information indicating that there is a vacant waiting position can be sent to the AMR.
  • the AMR may drive to the vacant waiting position from the predetermined position or random position, and transmit call information during the driving to the vacant waiting position or after driving to the vacant waiting position.
  • step S11 call information can be received from the AMR at the waiting position or driving toward the waiting position.
  • waiting spaces may be provided on one side or both sides of the elevator according to the door opening manner of the elevator.
  • a waiting position can be set on the door opening side of the elevator, and when the elevator can open the door on both sides, the waiting position can be set on the two door opening sides of the elevator.
  • step S12 according to the call sequence including the call information of the at least one AMR that has been received, determine the AMR to be conveyed among the at least one AMR to enter the elevator to be conveyed.
  • the AMR to be delivered to be delivered by the elevator can be determined according to the call sequence including all the received call information.
  • the determined AMRs to be transported are the AMRs that can enter the elevator and park on corresponding parking spaces in the elevator.
  • the AMR to be delivered may be determined only in the case that the elevator is empty (which will be described in detail below).
  • step S12 when there is a vacant parking space in the elevator, the AMR that does not affect the existing delivery order of the AMRs already existing in the elevator among the AMRs that have sent the call information can be determined as the AMR to be delivered (will be described in detail below).
  • Fig. 2 shows a schematic diagram of a waiting space near an elevator and a parking space within the elevator according to an exemplary embodiment of the present invention.
  • FIG. 2 4 parking spaces A1, A2, A3 and A4 are provided in the elevator, and 6 waiting spaces B1, B2, B3, B4, B5 and B6 are provided on one side of the elevator, and between the waiting spaces There is a passageway that enables AMRs in any waiting position to enter the elevator without interfering with AMRs in other waiting positions.
  • the AMR may park at a predetermined position or a random position outside the waiting positions B1-B6 of FIG. 2 and the aisle.
  • AMRs located on one or more parking spaces among the waiting spaces B1-B6 in FIG. 2 may be determined as the AMRs to be delivered according to the first embodiment or the second embodiment, so that the determination The AMR to be conveyed can enter the elevator through the passage and park in the corresponding parking space A1, A2, A3 or A4 in the elevator, so as to be conveyed to the corresponding destination floor by the elevator.
  • the positions of the waiting spaces, the number of waiting spaces and the parking spaces shown in FIG. 2 are only examples, and the waiting spaces can be set at any position near the elevator according to actual needs, for example, the waiting spaces can be set on both sides of the elevator, And any number of waiting spaces and parking spaces different from the number of waiting spaces and parking spaces set in FIG. 2 can be set according to actual needs.
  • step S13 according to the call information of all the AMRs to be present in the elevator, the conveyance order in which the elevator conveys the respective AMRs is determined.
  • step S13 it is possible to determine the conveyance order for the AMRs to be conveyed that can enter the elevator.
  • step S13 the current floor and destination floor of the AMR to be conveyed can be inserted into the existing conveyance sequence of the AMR already existing in the elevator to determine the AMR to be conveyed and the destination floor of the AMR to be conveyed in the elevator. Delivery order of existing AMRs.
  • step S14 the conveying information for making the AMR to be conveyed enter the elevator and park in the corresponding parking space in the elevator is sent to the AMR to be conveyed according to the conveying sequence, so that the elevator conveys all the AMRs already existing in the elevator to the elevator in the conveying sequence. the corresponding destination floor.
  • the conveying information for the AMR to be conveyed determined in step S12 may be sent to the AMR to be conveyed when it enters the elevator and parks in the corresponding parking space according to the door opening method of the elevator.
  • the AMRs to be transported may enter the elevator according to the respective received transport information and park in the corresponding parking spaces to be transported to the destination floor.
  • the conveying information can be used to make each AMR to be conveyed enter the elevator in the reverse order of the conveying sequence
  • the conveying information can be used to make each AMR to be conveyed enter the elevator in the conveying sequence.
  • FIG. 3 shows a flowchart of a first embodiment of step S12 of determining AMR to be delivered in a method for controlling an elevator according to an exemplary embodiment of the present invention.
  • step S12-11 it may be determined whether the elevator is in an empty state.
  • the empty elevator state may be a state in which all parking spaces in the elevator are empty.
  • step S12-11 When it is determined in step S12-11 that the state of the elevator is not an empty state (“N” in FIG. 3 ), it is possible to return to and continue to execute step S12-11.
  • step S12-12 can be executed to determine whether the number of AMRs on the predetermined floor is greater than the number of parking spaces according to the call sequence, wherein , the number of AMRs on the predetermined floor is the number of AMRs located on a predetermined floor in the at least one AMR, and the number of parking spaces is the number of parking spaces for parking AMRs in the elevator.
  • the predetermined floor may be the floor where the elevator is located when it is determined that the elevator is empty, the floor where the AMR with the highest priority in the at least one AMR is located, or the AMR with the most AMRs in the at least one AMR is located floor.
  • predetermined floor may be set in any other manner according to actual needs.
  • step S12-14 can be executed to determine all AMRs located on the predetermined floor as to be transported AMR.
  • the elevator can accommodate the M AMRs, so all AMRs on the predetermined floor can be determined as AMRs to be delivered.
  • step S12-13 can be executed, according to the call information and /or the conveying efficiency of the elevator, among the AMRs located on the predetermined floor, the AMRs equal to the number of parking spaces are determined as the AMRs to be conveyed.
  • N AMRs can be selected from all the waiting AMRs to determine them AMR to be transported to be transported for entering the elevator.
  • steps S12-13 may include: according to the priorities of the respective AMRs located on the predetermined floor, determining an AMR equal to the number of parking spaces among the AMRs located on the predetermined floor as waiting AMRs, wherein for the same priority
  • the waiting AMR is determined first according to the number of AMRs on the same destination floor, and secondly according to the total number of floors the elevator needs to cross.
  • an AMR with a higher priority of "urgent” may be selected first as the AMR to be delivered, and when the priority is "urgent"
  • the AMR with the most same destination floor among the AMRs with the priority of “common” can be selected as the AMR to be transported, and then the one with the least number of floors to be spanned by the elevator is selected.
  • AMR as AMR to be delivered.
  • step S13 in FIG. 1 may include: according to the priority of the AMRs to be delivered, the destination floor, the number of AMRs on the same destination floor, and the total number of elevators At least one of the number of floors to be spanned determines the conveyance sequence in which the elevator conveys the AMRs to be conveyed.
  • step S13 may be performed simultaneously with step S12, eg, step S13 may be performed at the same time as step S12-13 or step S12-14 determines that the AMR is to be delivered.
  • step S14 may include: sending conveying information to each AMR to be conveyed according to the door opening mode of the elevator, wherein the conveying information is used to make the AMRs to be conveyed enter the elevator in the conveying sequence or the reverse order of the conveying sequence and send the conveying information to the elevator. Park in the corresponding parking spaces in the elevator in sequence; after confirming that all the AMRs to be transported enter the elevator, make the elevator transport each AMR to be transported to the corresponding destination floor according to the transport sequence.
  • the corresponding conveying information can be sent to each AMR to be conveyed, so that it enters the elevator in the reverse order of the conveying sequence, so that the one entering the elevator first Exit the elevator after AMR.
  • the AMR that first enters the elevator can be parked in the parking space A1
  • the AMRs that enter later can be parked in the parking spaces A2, A3, and A4 in sequence, so that the AMR located in the parking space A4 can be the earliest. Exit the elevator, and then the AMRs in parking spaces A3, A2, and A1 can exit the elevator in sequence.
  • the door opening method of the elevator is the double-sided door opening method (ie, different in and out)
  • corresponding conveying information can be sent to each AMR to be conveyed, so that it enters the elevator according to the conveying sequence, so that the AMR that enters the elevator first exits the elevator first .
  • the AMR that first enters the elevator can be parked in the parking space A1, and the AMRs that enter later can be parked in the parking spaces A2, A3, and A4 in sequence, so that the AMR located in the parking space A1 can be the earliest. Exit the elevator, and then the AMRs in parking spaces A2, A3, and A4 can exit the elevator in sequence.
  • the information that the destination floor has been reached can be sent to the corresponding AMR, so that the corresponding AMR can exit the elevator. It should be understood that in the case where the AMR can autonomously determine the floor on which it is located, this information may not be sent.
  • the elevator can be dispatched, so that the elevator can efficiently transport one or more AMRs located on a predetermined floor at the same time.
  • Figure 4 shows a flow chart of a second embodiment of the step of determining AMR to be delivered in a method for controlling an elevator according to an exemplary embodiment of the present invention.
  • step S12-21 it may be determined whether there is a vacant parking space in the elevator.
  • step S12-21 When it is determined in step S12-21 that there is no free parking space in the elevator (“N” in FIG. 4 ), it is possible to return to and continue to execute step S12-21.
  • step S12-22 can be executed, according to the position of the vacant parking space, the call sequence and the existing parking space in the elevator
  • the existing delivery sequence of the AMRs is determined to determine whether there is an alternative AMR, where the alternative AMR is an AMR that satisfies the following conditions in the at least one AMR: the current floor is the floor located in the running direction of the elevator, and the current floor and the destination After the floor is inserted into the existing conveying sequence, it will not disrupt the existing conveying sequence and will not affect the existing AMRs in the elevator to exit the elevator according to the existing conveying sequence when it is parked in a vacant parking space.
  • step S12-22 In the case where it is determined in step S12-22 that there is no candidate AMR ("N" in FIG. 4 ), the process may return to continue to perform step S12-22.
  • step S12-23 can be executed to determine whether the number of candidate AMRs is greater than the number of vacant parking spaces.
  • step S12-24 may be executed, according to the priority of the candidate AMRs and/or the delivery of the elevators Efficiency, AMRs equal to the number of vacant parking spaces among the candidate AMRs are determined as the AMRs to be delivered.
  • step S12-24 may include: according to the priority of the candidate AMRs, determining an AMR equal to the number of vacant parking spaces among the candidate AMRs as the AMR to be delivered, wherein, for the candidate AMRs of the same priority, according to the following At least one of the terms determines the AMR to be delivered: the destination floor of the AMR, the number of AMRs of the same destination floor, and the number of floors the elevator needs to traverse in total.
  • the above manner of selecting the AMR to be delivered from the candidate AMRs is only an example, and the AMR to be delivered may be selected from the candidate AMRs in any manner according to actual needs.
  • step S12-25 can be executed to determine all candidate AMRs as AMRs to be delivered.
  • the vacant parking spaces can accommodate all the candidate AMRs, so all the candidate AMRs may be determined as AMRs to be delivered.
  • step S13 in FIG. 1 may include: according to the current floor of the AMR to be delivered, the destination floor and the existing delivery order, The current floor and the destination floor are inserted into the existing conveying sequence to determine the conveying sequence of the existing AMR and the candidate AMR in the elevator conveying elevator.
  • step S14 may include: when the elevator arrives at the current floor of the AMR to be conveyed, according to the door opening mode of the elevator, sending conveying information to each AMR to be conveyed, wherein the conveying information is used to make the AMR to be conveyed Enter the elevator according to the conveying sequence or the reverse order of the conveying sequence and park in the corresponding vacant parking spaces in the elevator in turn; after confirming that all the AMRs to be conveyed on the current floor enter the elevator, make the elevator convey each AMR in the elevator to the corresponding elevator according to the conveying sequence. destination layer.
  • parking space A4 has the first AMR with priority of "Urgent” and the destination floor is the 3rd floor
  • parking space A3 has the priority of "Normal” and the destination floor is the 4th floor.
  • the second AMR the parking space A2 has the third AMR with the priority of "Normal” and the destination floor is the 4th floor
  • the parking space A1 has the fourth AMR with the priority of "Normal” and the destination floor is the 2nd floor
  • the existing delivery order It is: 3rd floor ⁇ 4th floor ⁇ 2nd floor.
  • the elevator can make the first floor when it reaches the 3rd floor.
  • the second AMR and the third AMR exit the elevator, and the fifth AMR enters (for example, the fifth AMR can be parked at the parking space A3 in FIG. 2 ), at this time
  • the conveying sequence of the elevator can be determined as: 4th floor ⁇ 2nd floor.
  • the elevator can make the sixth AMR enter the elevator when it reaches the 3rd floor (for example, the sixth AMR can be stopped.
  • the conveying sequence of the elevator At the parking space A2 or A4 in Figure 2), and adjust the conveying sequence of the elevator to: 3rd floor ⁇ 2nd floor ⁇ 1st floor.
  • the priority of the AMR may not be considered, but only the current floor, the destination floor and the position of the vacant parking space of the AMR.
  • the parking spaces of the existing AMRs in the elevator can be adjusted when there are vacant parking spaces, so that more AMRs can be determined as the AMRs to be conveyed.
  • the method for controlling an elevator according to the present invention can also be applied to a plurality of elevators.
  • the method for controlling an elevator according to the present invention may further include: according to the call Elevator sequence and transportation efficiency of the plurality of elevators, assigning respective elevators to the at least one AMR, and sending corresponding elevator assignment information to the respective AMRs, so that the respective AMRs travel to the assigned elevators, wherein each elevator AMRs to be delivered that will enter the elevator to be delivered are determined from among all AMRs allocated to the elevator, according to a corresponding call sequence, wherein the corresponding call sequence includes calls of all AMRs allocated to the elevator ladder information.
  • AMRs of the same destination floor may be assigned to the same elevator, or AMRs of more consecutive destination floors may be assigned to the same elevator, or the like.
  • the method for controlling an elevator of the present invention it is possible to determine the AMR to be conveyed by the elevator and its parking space in the elevator according to the call information of at least one AMR that is waiting, and to determine the conveying sequence, so that the elevator can convey the AMR according to the conveyance sequence.
  • Multiple AMRs are transported simultaneously in sequence, which improves the flexibility and efficiency of elevator transport of AMRs.
  • FIG. 5 shows a flowchart of a method for controlling AMR according to an exemplary implementation of the present invention.
  • step S21 receiving transportation information for enabling the AMR to transport goods and determining AMR call information in response to the transportation information, wherein the call information includes the identification, destination floor, current floor and priority of the AMR. information.
  • the AMR may determine whether it needs to transport the goods across floors, and if it determines that it needs to transport the goods across the floors, the above-mentioned call information.
  • step S22 the AMR is made to travel to the elevator of the current floor and transmits call information to the elevator control device for controlling the elevator.
  • the elevator control device for controlling the elevator may be a server, a processor, or the like that executes the method for controlling an elevator according to the present invention described above with reference to FIGS. 1 to 4 .
  • Fig. 6 shows a flowchart of the first embodiment of step S22 of sending call information in the method for controlling AMR according to an exemplary implementation of the present invention.
  • step S22-11 after the AMR travels to the first predetermined distance from the elevator, a query request for querying whether there is a vacant waiting space near the elevator may be sent to the elevator control device.
  • the first predetermined distance may be greater than the distances between the respective waiting spaces near the elevator and the elevator.
  • step S22-12 the waiting position information sent by the elevator control device in response to the query request is received from the elevator control device and it is determined whether the waiting position information indicates that there is a vacant waiting position near the elevator.
  • step S22-14 can be executed to make the AMR drive to the vacant waiting position to stop at the vacant waiting position, and when it travels to a distance from the elevator After the second predetermined distance, call information is sent to the elevator control device, wherein the distance between the vacant waiting space and the elevator is less than or equal to the second predetermined distance.
  • the AMR may transmit call information during the process of traveling to the waiting position or after traveling to the waiting position.
  • step S22-13 can be executed to stop the AMR in a predetermined manner and continue to receive the waiting bit information until the received waiting bit information Indicates until there are free wait bits.
  • the AMR can be stopped at a predetermined position or a random position outside the waiting bit and the channel shown in FIG. 2, and continue to receive the waiting bit information.
  • FIG. 7 shows a flowchart of a second embodiment of step S22 of sending call information in the method for controlling AMR according to an exemplary implementation of the present invention.
  • the second embodiment of step S22 shown in FIG. 7 is an embodiment of step S22 when there are a plurality of elevators.
  • step S22-21 after the AMR travels to the first predetermined distance from any elevator, it may send call information and a query request for querying whether there is a vacant waiting space near the elevator to the elevator control device.
  • step S22-22 elevator allocation information and corresponding waiting space information sent by the elevator control device in response to the call information and the query request may be received from the elevator control device, wherein the elevator allocation information indicates that the AMR is allocated. Elevator, the corresponding waiting space information indicates whether there is a vacant waiting space near the allocated elevator. In addition, in this step S22-22, it can also be determined whether there is a vacant waiting space near the elevator to which the AMR is allocated according to the corresponding waiting position information.
  • step S22-24 is executed to drive the AMR To the vacant waiting space of the assigned elevator.
  • step S22-23 can be executed to stop the AMR in a predetermined manner and continue to receive the corresponding waiting space information until the corresponding waiting position information received indicates that there is a free waiting position near the assigned elevator.
  • step S22-23 the AMR can be stopped at a predetermined position or a random position outside the waiting position of the assigned elevator and the passage, and the corresponding waiting position information can be received successively.
  • step S22 in order to improve the efficiency of the AMR entering the elevator, as an example, after the AMR travels to the vacant waiting position, according to the door opening method of the elevator, make The AMR is parked in a vacant waiting space with either facing the elevator door or facing away from the elevator door.
  • the AMR can be parked at the waiting position with its back to the elevator door.
  • the door opening mode of the elevator is a double-side door opening mode (ie, different entrances and exits)
  • the AMR can be parked in the waiting position facing the elevator door.
  • the AMR may determine the door opening manner of the elevator by receiving a corresponding signal from the elevator control device for controlling the elevator, or the AMR may determine the elevator according to the arrangement manner (single-sided, double-sided) of the waiting spaces near the elevator, etc. or the AMR can store the door opening method of the elevator in advance.
  • step S23 a corresponding message sent by the elevator control device in response to the call information for making the AMR enter the elevator and park in the elevator is received from the elevator control device. Information on the delivery of parking spaces.
  • step S24 in response to the conveyance information, the AMR is made to enter the elevator and park at the corresponding parking space to be conveyed to the destination floor.
  • step S24 the AMR can enter the elevator in a reverse driving manner and park in the corresponding parking space in the elevator; when the AMR faces the elevator
  • step S24 the AMR can enter the elevator in a normal driving manner and park in a corresponding parking space in the elevator.
  • the method for controlling the AMR may further include: after the AMR enters the elevator, determining whether to reach the destination floor according to autonomous positioning information and/or information received from the elevator control device; Then, get out of the elevator.
  • the method for controlling an AMR of the present invention it is possible to determine the sequence in which the AMR enters the elevator and the parking space in the elevator by making the AMR interact with the elevator control device for controlling the elevator, so that a plurality of AMRs can be Shared elevator energy improves the flexibility and efficiency of AMR being transported through elevators.
  • Fig. 8 shows a block diagram of an elevator control apparatus for controlling an elevator according to an exemplary embodiment of the present invention.
  • the elevator control apparatus for controlling an elevator includes a receiving unit 11 , an AMR determination unit 12 , an order determination unit 13 and a transmission unit 14 .
  • the receiving unit 1 is configured to receive call information from the AMR, wherein the call information includes information about the identity of the AMR, the destination floor, the current floor and the priority.
  • the AMR determination unit 2 is configured to determine, according to a call sequence including call information of the at least one AMR that has been received, to-be-delivered AMRs of the at least one AMR that are to enter the elevator to be delivered.
  • the order determination unit 3 is configured to determine the conveyance order in which the elevator conveys the respective AMRs based on the call information of all AMRs to be present in the elevator.
  • the sending unit 4 is configured to send, to the AMRs to be conveyed, the conveying information for making the AMRs to be conveyed enter the elevator and park in the corresponding parking spaces in the elevators according to the conveying order, so that the elevators will send the AMRs already existing in the elevators according to the conveying order. All AMRs are delivered to the corresponding destination floors.
  • the elevator control device for controlling an elevator of the present invention it is possible to determine the AMR to be conveyed by the elevator and its parking space in the elevator according to the call information of at least one AMR that is waiting, and to determine the conveyance sequence, so that the elevator can Conveying multiple AMRs at the same time according to the conveying sequence improves the flexibility and efficiency of the elevator conveying AMRs.
  • FIG. 9 shows a block diagram of an AMR control apparatus for controlling an AMR according to an exemplary embodiment of the present invention.
  • the AMR control apparatus for controlling the AMR according to the present invention may include a response unit 21 , an information transmission unit 22 , an information reception unit 23 and a travel control unit 24 .
  • the response unit 21 is configured to receive transportation information for causing the AMR to transport goods and to determine the AMR's call information in response to the transportation information, wherein the call information includes information about the AMR's identification, destination floor, current floor and priority. information.
  • the information transmission unit 22 is configured to drive the AMR to the elevator of the current floor and to transmit call information to the elevator control device for controlling the elevator.
  • the information receiving unit 23 is configured to receive, from the elevator control device, conveyance information sent by the elevator control device in response to the call information for causing the AMR to enter the elevator and park at a corresponding parking space in the elevator.
  • the ride control unit 24 is configured to, in response to the delivery information, cause the AMR to enter the elevator and park in the corresponding parking space to be delivered to the destination floor.
  • the sequence of the AMR entering the elevator and the parking space in the elevator can be determined by making the AMR interact with the elevator control device for controlling the elevator, so that multiple AMRs can share elevator energy, which improves the flexibility and efficiency of AMRs being transported through elevators.
  • the above elevator control device for controlling the elevator and the AMR control device for controlling the AMR may be at least partially integrated in the same server, processor.
  • An exemplary embodiment according to the present invention also provides a computer program product, wherein the computer program product comprises a computer program which, when executed by a processor, causes the processor to implement the method for controlling an elevator according to the present invention and/or methods for controlling AMR.
  • a computer program product may include a computer program, program code, instructions, or some combination thereof, for commanding or configuring hardware devices, individually or collectively, to operate as desired.
  • Computer programs and/or program code may include programs or computer-readable instructions, software components, software modules, data files, data structures, etc., that may be implemented by one or more hardware devices. Examples of program code may include machine code produced by a compiler and higher level program code executed using an interpreter.
  • respective units in the above-described apparatuses and devices according to exemplary embodiments of the present invention may be implemented as hardware components or software modules.
  • those skilled in the art can implement each unit by using, for example, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), or a processor according to the processes performed by the defined individual units.
  • FPGA Field Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • S14 sends the conveying information to the AMRs to be conveyed according to the conveying sequence for making the AMRs to be conveyed enter the elevator and park in the corresponding parking spaces in the elevator, so that the elevator conveys all the AMRs already existing in the elevator to the corresponding destination according to the conveying sequence floor
  • S12-21 determines whether there is a vacant parking space in the elevator
  • S12-23 determines whether the number of candidate AMRs is greater than the number of vacant parking spaces
  • S21 receives transportation information for making the AMR transport goods and determines the call information of the AMR in response to the transportation information
  • S23 receives from the elevator control device the conveyance information sent by the elevator control device in response to the call information for causing the AMR to enter the elevator and park in the corresponding parking space in the elevator
  • S22-12 receives the waiting bit information and determines whether the waiting bit information indicates that there is a vacant waiting position near the elevator
  • S22-13 causes AMR to stop in a predetermined manner and continue to receive wait bit information
  • S22-22 receives the elevator allocation information and the corresponding waiting position information, and determines whether there is a vacant waiting position near the allocated elevator according to the corresponding waiting position information
  • S22-23 causes AMR to stop in a predetermined manner and continue to receive wait bit information

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Abstract

本发明公开了一种用于控制电梯、控制AMR的方法和装置。控制电梯的方法包括：从AMR接收呼梯信息；根据包括已接收的呼梯信息的呼梯序列，确定待进入电梯被输送的待输送AMR；根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序；根据输送顺序向待输送AMR发送用于使其进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。根据本发明的控制电梯、控制AMR的方法和装置，能够根据至少一个AMR的呼梯信息来确定将被输送的AMR及其停车位和输送顺序，使得电梯可按照输送顺序同时输送多个AMR，提高了电梯输送AMR的灵活性和高效性。

Description

用于控制电梯、控制AMR的方法和装置 技术领域
本发明涉及电梯和机器人控制领域，特别地，涉及一种用于控制电梯的方法和电梯控制装置、用于控制AMR(自主移动机器人)的方法和AMR控制装置。
背景技术
随着仓库规模的日益扩大，在使用机器人运输货物时，经常会出现需要使机器人跨楼层进行运输的情况，因此需要通过电梯来将机器人从当前楼层输送到目的楼层。
通常，在机器人需要跨楼层运输时，首先需要获得关于机器人的当前楼层和目的楼层的信息，然后根据该信息为机器人锁定一个电梯供此机器人使用，在电梯将此机器人输送到目的楼层之后电梯才能够解锁来供其他机器人使用。
由于电梯每次仅输送一个机器人，因而在多个机器人需要跨楼层运输货物而需要通过电梯被输送时，电梯输送机器人的效率不高。
发明内容
本发明的目的在于提供一种用于控制电梯的方法和电梯控制装置、用于控制AMR的方法和AMR控制装置。
根据本发明的一方面，提供了一种用于的控制电梯的方法，所述方法包括：从AMR接收呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息；根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR；根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序；根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按 照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。
可选地，所述方法还包括：从AMR接收用于查询电梯附近是否存在空余等待位的查询请求；响应于查询请求，向AMR发送等待位信息，其中，等待位信息指示电梯附近是否存在空余等待位，并在存在空余等待位的情况下使AMR行驶到空余等待位；其中，从AMR接收呼梯信息的步骤包括：从位于等待位或向等待位行驶的AMR接收呼梯信息。
可选地，根据包括所述至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR的步骤包括：确定电梯是否为空梯状态；在确定电梯为空梯状态的情况下，根据所述呼梯序列，确定预定层AMR数量是否大于停车位数量，其中，所述预定层AMR数量为所述至少一个AMR中位于预定楼层的AMR的数量，停车位数量为电梯内用于停放AMR的停车位的数量；在确定所述预定层AMR数量不大于停车位数量的情况下，将位于所述预定楼层的所有AMR确定为待输送AMR；在确定所述预定层AMR数量大于停车位数量的情况下，根据位于所述预定楼层的各个AMR的呼梯信息和/或电梯的输送效率，将位于所述预定楼层的AMR中等于停车位数量的AMR确定为等待AMR。
可选地，根据位于所述预定楼层的各个AMR的呼梯信息/或电梯的输送效率，将位于所述预定楼层的AMR中等于停车位数量的AMR确定为等待AMR的步骤包括：根据位于所述预定楼层的各个AMR的优先级，将位于所述预定楼层的AMR中的等于停车位数量的AMR确定为等待AMR，其中，对于相同优先级的AMR，首先根据相同目的楼层的AMR的数量，其次根据电梯总共需要跨越的楼层的数量，来确定等待AMR。
可选地，所述预定楼层是在确定电梯为空梯时电梯所位于的楼层、所述至少一个AMR中优先级最高的AMR所位于的楼层、或者所述至少一个AMR中最多的AMR所位于的楼层。
可选地，根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序的步骤包括：根据待输送AMR的优先级、目的楼层、相同目的楼层的AMR的数量以及电梯总共需要跨越的楼层的数量中的至少一个，确定电梯输送待输送AMR的输送顺序。
可选地，根据输送顺序向待输送AMR发送用于使待输送AMR进入电 梯并停放在电梯内的相应停车位的输送信息的步骤包括：根据电梯的开门方式，向各个待输送AMR发送输送信息，其中，输送信息用于使待输送AMR按照输送顺序或输送顺序的逆序进入电梯并依次停放在电梯内的相应停车位；在确定全部的待输送AMR进入电梯后，使电梯按照输送顺序将各个待输送AMR输送到相应的目的楼层。
可选地，根据包括所述至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR的步骤包括：确定电梯内是否存在空余停车位；在确定电梯内存在空余停车位的情况下，根据空余停车位的位置、所述呼梯序列以及电梯内已经存在的AMR的现有输送顺序，确定是否存在备选AMR，其中，备选AMR为所述至少一个AMR中满足以下条件的AMR：当前楼层是位于电梯运行方向上的楼层、在将当前楼层和目的楼层插入到现有输送顺序之后不会打乱现有输送顺序并且在停放在空余停车位的情况下不会影响电梯内已经存在的AMR按现有输送顺序出梯；在确定存在备选AMR的情况下，确定备选AMR的数量是否大于空余停车位的数量；在确定备选AMR的数量大于空余停车位的数量的情况下，根据备选AMR的优先级和/或电梯的输送效率，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR；在备选AMR的数量不大于空余停车位的数量的情况下，将所有备选AMR确定为待输送AMR。
可选地，根据备选AMR的优先级和/或电梯的输送效率，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR的步骤包括：根据备选AMR的优先级，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR，其中，对于相同优先级的备选AMR，根据以下项中的至少一个确定待输送AMR：AMR的目的楼层、相同目的楼层的AMR的数量以及电梯总共需要跨越的楼层的数量。
可选地，根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序的步骤包括：根据待输送AMR的当前楼层、目的楼层和现有输送顺序，将待输送AMR的当前楼层、目的楼层插入到现有输送顺序中，来确定电梯输送电梯内已存在的AMR和备选AMR的输送顺序。
可选地，根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息的步骤包括：在电梯到达待输送AMR的当前楼层时，根据电梯的开门方式，向各个待输送AMR发送输送信息，其中，输送信息用于使待输送AMR按照输送顺序或输送顺序的逆序进入电梯并依次停放在电梯内的相应空余停车位；在确定当前楼层的所有待输送AMR进入电梯后，使电梯按照输送顺序将电梯内的各个AMR输送到相应的目的层。
可选地，在存在多个电梯的情况下，所述方法还包括：根据所述呼梯序列和所述多个电梯的运输效率，为所述至少一个AMR分配各自的电梯，并向各个AMR发送相应的电梯分配信息，以使相应AMR向被分配的电梯行驶，其中，每个电梯根据相应呼梯序列，确定被分配到所述电梯的所有AMR中将进入所述电梯以被输送的待输送AMR，其中，所述相应呼梯序列包括被分配到所述电梯的所有AMR的呼梯信息。
根据本发明的另一方面，提供了一种用于控制AMR的方法，所述方法包括：接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息；使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息；从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发送的用于使AMR进入电梯并停放在电梯内的相应停车位的输送信息；响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层。
可选地，使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息的步骤包括：在AMR行驶到距电梯第一预定距离后，向所述电梯控制装置发送用于查询电梯附近是否存在空余等待位的查询请求；从所述电梯控制装置接收所述电梯控制装置响应于查询请求而发送的等待位信息，其中，等待位信息指示电梯附近是否存在空余等待位；在等待位信息指示存在空余等待位的情况下，使AMR向空余等待位行驶以停在空余等待位，并在行驶到距电梯第二预定距离后，向所述电梯控制装置发送呼梯信息，其中，空余等待位距电梯的距离小于或等于第二预定距离；在等待位信息指示不存在空余等待位的情况下，使AMR按预定方式停止 并继续接收等待位信息，直至接收的等待位信息指示存在空余等待位为止。
可选地，在存在多个电梯的情况下，使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息的步骤包括：在AMR行驶到距离任意电梯第一预定距离后，向所述电梯控制装置发送呼梯信息和用于查询电梯附近是否存在空余等待位的查询请求；从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息和查询请求而发送的电梯分配信息和相应的等待位信息，其中，电梯分配信息指示AMR被分配的电梯，相应的等待位信息指示被分配的电梯附近是否存在空余等待位；使AMR向被分配的电梯行驶，并在相应的等待位信息指示被分配的电梯附近存在空余等待位的情况下，使AMR行驶到空余等待位；在相应的等待位信息指示被分配的电梯附近不存在空余等待位的情况下，使AMR按照预定方式停止并继续接收相应的等待位信息，直至接收的相应的等待位信息指示被分配的电梯附近存在空余等待位为止。
可选地，在AMR行驶到空余等待位之后，根据电梯的开门方式，使AMR以面对电梯门或背对电梯门的方式停放在空余等待位，其中，在接收到呼梯信息后，根据电梯的开门方式，使AMR以正常行驶或倒车行驶的方式进入电梯并停放在电梯内的相应停车位。
可选地，所述方法还包括：在AMR进入电梯之后，根据自主定位信息和/或从所述电梯控制装置接收的信息确定是否到达目的楼层；在确定到达目的楼层后，驶出电梯。
根据本发明的另一方面，提供了一种用于控制电梯的电梯控制装置，所述电梯控制装置包括：接收单元，其被配置为用于从AMR接收呼梯信息，其中，呼梯信息包括关于AMR的目的标识、目的楼层、当前楼层和优先级的信息；AMR确定单元，其被配置为用于根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR；顺序确定单元，其被配置为用于根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序；发送单元，其被配置为用于根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。
根据本发明的另一方面，提供了一种用于控制AMR的AMR控制装置，所述AMR控制装置包括：响应单元，其被配置为用于接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息；信息发送单元，其被配置为用于使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息；信息接收单元，其被配置为用于从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发送的用于使AMR进入电梯并停放在电梯内的相应停车位的输送信息；行驶控制单元，其被配置为用于响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层。
根据本发明的另一方面，提供了一种计算机程序产品，其中，所述计算机程序产品包括计算机程序，所述计算机程序在被处理器执行时，使得处理器实施根据本发明的用于控制电梯的方法和/或根据本发明的用于控制AMR的方法。
根据本发明的用于控制电梯的方法和电梯控制装置、用于控制AMR的方法和AMR控制装置，能够通过使AMR与用于控制电梯的电梯控制装置进行交互的方式，根据正在等待的至少一个AMR的呼梯信息来确定将被电梯输送的AMR及其在电梯内的停车位和输送顺序，使得电梯能够按照输送顺序同时输送多个AMR，提高了电梯输送AMR的灵活性和高效性。
附图说明
通过以下结合附图所作的详细描述，将更全面地理解本发明的前述和其他方面，附图包括：
图1示出了根据本发明的一个示例性实施例的用于控制电梯的方法的流程图。
图2示出了根据本发明的一个示例性实施例的电梯附近的等待位和电梯内的停车位的示意图。
图3示出了根据本发明的一个示例性实施例的用于控制电梯的方法中确定待输送AMR的步骤的第一实施例的流程图。
图4示出了根据本发明的一个示例性实施例的用于控制电梯的方法中 确定待输送AMR的步骤的第二实施例的流程图。
图5示出了根据本发明的一个示例性实施的用于控制AMR的方法的流程图。
图6示出了根据本发明的一个示例性实施的用于控制AMR的方法中发送呼梯信息的步骤的第一实施例的流程图。
图7示出了根据本发明的一个示例性实施的用于控制AMR的方法中发送呼梯信息的步骤的第二实施例的流程图。
图8示出了根据本发明的一个示例性实施例的用于控制电梯的电梯控制装置的框图。
图9示出了根据本发明的一个示例性实施例的用于控制AMR的AMR控制装置的框图。
具体实施方式
下面，将参照附图更为详细地描述本发明的一些示例性实施例，以便更好地理解本发明的基本思想和优点。
图1示出了根据本发明的一个示例性实施例的用于控制电梯的方法的流程图。
参照图1，在步骤S11，从AMR接收呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息。
这里，AMR的标识可用于区分不同的AMR，优先级例如可以包括对应于“紧急”、“普通”等的优先级。
此外，电梯附近可设置有用于停放AMR的等待位，作为示例，根据本发明的用于控制电梯的方法还可包括以下步骤：从AMR接收用于查询电梯附近是否存在空余等待位的查询请求；响应于查询请求，向AMR发送等待位信息，其中，等待位信息指示电梯附近是否存在空余等待位，并在存在空余等待位的情况下使AMR行驶到空余等待位。
例如，在向相应AMR发送指示电梯附近存在空余等待位的等待位信息的情况下，该AMR可向空余等待位行驶以在空余等待位等待，并且该AMR可在向空余等待位行驶的过程中或行驶到空余等待位之后发送呼梯信息。
此外，例如，在向相应AMR发送指示电梯附近不存在空余等待位的等待位信息的情况下，该AMR可停在等待位之外的预定位置或随机位置进行等待。之后，根据本发明的用于控制电梯的方法，可在检测到存在空余等待位的情况下，向该AMR发送指示存在空余等待位的等待位信息。此时，该AMR可从该预定位置或随机位置行驶到空余等待位，并在向空余等待位行驶的过程中或行驶到空余等待位之后发送呼梯信息。
因此，此时步骤S11可从位于等待位或向等待位行驶的AMR接收呼梯信息。
这里，可根据电梯的开门方式而在电梯的一侧或两侧设置等待位。例如，当电梯的单侧开门时，可在电梯的开门侧设置等待位，当电梯可双侧开门时，可在电梯的两个开门侧设置等待位。
在步骤S12，根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR。
由于在电梯的运行中可能会接收一个或多个AMR的呼梯信息，因此可根据包括已经接收的所有呼梯信息的呼梯序列，来确定电梯将输送的待输送AMR。
这里，确定的待输送AMR为能够进入电梯并停放在电梯内的相应停车位上的AMR。
作为步骤S12的第一实施例，可仅在电梯为空梯的情况下确定待输送AMR(将在下文详细描述)。
作为步骤S12的第二实施例，可在电梯中存在空余停车位的情况下，将发送了呼梯信息的AMR中不影响电梯内已存在的AMR的现有输送顺序的AMR确定为待输送AMR(将在下文详细描述)。
图2示出了根据本发明的一个示例性实施例的电梯附近的等待位和电梯内的停车位的示意图。
参照图2，在电梯内设置有4个停车位A1、A2、A3和A4，并且在电梯的一侧设置有6个等待位B1、B2、B3、B4、B5和B6，并且在等待位之间设置有能够使位于任意等待位的AMR在不妨碍其他等待位的AMR的情况下驶入电梯的通道。
例如，在上述等待位信息指示电梯附近不存在空余等待位的情况下， AMR可停放在图2的等待位B1-B6和通道之外的预定位置或随机位置。
例如，在步骤S12中，可根据第一实施例或第二实施例，将位于图2中的等待位B1-B6中的一个或多个停车位上的AMR确定为待输送AMR，以使确定的待输送AMR能够通过通道进入电梯并停放在电梯内的相应停车位A1、A2、A3或A4，从而通过电梯被输送到相应的目的楼层。
应该理解，图2示出的等待位的位置、等待位和停车位的数量仅是示例，可根据实际需要在电梯附近的任意位置设置等待位、例如可在电梯的两侧均设置等待位，并且可根据实际需要设置不同于图2中设置的等待位和停车位的数量的任意数量的等待位和停车位。
返回参照图1，在步骤S13，根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序。
这里，在步骤S12的第一实施例的情况下，在步骤S13可确定针对能够进入电梯的待输送AMR的输送顺序。
在步骤S12的第二实施例的情况下，在步骤S13可将待输送AMR的当前楼层和目的楼层插入到电梯内已存在的AMR的现有输送顺序中，来确定针对待输送AMR和电梯内已存在的AMR的输送顺序。
在步骤S14，根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。
作为示例，在步骤S13确定输送顺序之后，可根据电梯的开门方式，而向步骤S12中确定的待输送AMR发送用于时其进入电梯而停放在相应停车位的输送信息。之后，待输送AMR可根据各自接收的输送信息而进入电梯并停放在相应的停车位以被输送到目的楼层。
例如，在电梯的开门方式为单侧开门方式时(即，同进同出)，输送信息可用于使各个待输送AMR按照输送顺序的逆序进入电梯，在电梯的开门方式为双侧开门方式时(即，不同进同出)，输送信息可用于使各个待输送AMR按照输送顺序进入电梯。
图3示出了根据本发明的一个示例性实施例的用于控制电梯的方法中确定待输送AMR的步骤S12的第一实施例的流程图。
参照图3，在步骤S12-11，可确定电梯是否为空梯状态。
这里，空梯状态可以是电梯内的所有停车位均为空的状态。
在步骤S12-11确定电梯的状态不是空梯状态的情况下(图3中的“N”)，可返回继续执行步骤S12-11。
在步骤S12-11确定电梯为空梯状态的情况下(图3中的“Y”)，可执行步骤S12-12，根据所述呼梯序列，确定预定层AMR数量是否大于停车位数量，其中，所述预定层AMR数量为所述至少一个AMR中位于预定楼层的AMR的数量，停车位数量为电梯内用于停放AMR的停车位的数量。
作为示例，所述预定楼层可以是在确定电梯为空梯时电梯所位于的楼层、所述至少一个AMR中优先级最高的AMR所位于的楼层、或者所述至少一个AMR中最多的AMR所位于的楼层。
应该理解，以上仅是预定楼层的示例，可根据实际需要通过任意其他方式来设置预定楼层。
例如，在图2的示例的情况下，步骤S12-12可确定在预定楼层的等待位B1-B6等待的AMR的数量M(此时，M为整数且M≤6)是否大于电梯内的停车位数量N(此时，N＝4)。
在步骤S12-12确定所述预定层AMR数量不大于停车位数量的情况下(图3中的“N”)，可执行步骤S12-14，将位于所述预定楼层的所有AMR确定为待输送AMR。
这里，在预定层AMR数量M小于或等于停车位数量N的情况下，电梯可容纳此M个AMR，因此，可将该预定楼层的所有AMR均确定为待输送AMR。
在步骤S12-12确定所述预定层AMR数量大于停车位数量的情况下(图3中的“Y”)，可执行步骤S12-13，根据位于所述预定楼层的各个AMR的呼梯信息和/或电梯的输送效率，将位于所述预定楼层的AMR中等于停车位数量的AMR确定为待输送AMR。
这里，由于在预定楼层的等待位等待的AMR的数量M大于电梯内的停车位的数量，因此电梯无法容纳所有等待的AMR，因而此时可从所有等待的AMR中选择N个AMR将其确定为待进入电梯被输送的待输送AMR。
作为示例，步骤S12-13可包括：根据位于所述预定楼层的各个AMR的优先级，将位于所述预定楼层的AMR中的等于停车位数量的AMR确定 为等待AMR，其中，对于相同优先级的AMR，首先根据相同目的楼层的AMR的数量，其次根据电梯总共需要跨越的楼层的数量，来确定等待AMR。
例如，在优先级可包括对应于“紧急”、“普通”等的优先级情况下，可首先选择优先级较高的优先级为“紧急”的AMR作为待输送AMR，并且在优先级为“紧急”的AMR的数量小于停车位数量的情况下，可首先选择优先级为“普通”的AMR中相同目的楼层最多的AMR作为待输送AMR，之后选择使电梯总共需要跨越的楼层的数量最少的AMR作为待输送AMR。
应该理解，以上优先级的划分方式以及确定待输送AMR的方式仅是示例，可根据实际需要使用任意其他方式来划分优先级、确定待输送AMR。
在图3所示的步骤S12的第一实施例的情况下，作为示例，图1中的步骤S13可包括：根据待输送AMR的优先级、目的楼层、相同目的楼层的AMR的数量以及电梯总共需要跨越的楼层的数量中的至少一个，确定电梯输送待输送AMR的输送顺序。
也就是说，步骤S13可与步骤S12同时执行，例如，可在步骤S12-13或步骤S12-14确定待输送AMR的同时，执行步骤S13。
在这种情况下，作为示例，步骤S14可包括：根据电梯的开门方式，向各个待输送AMR发送输送信息，其中，输送信息用于使待输送AMR按照输送顺序或输送顺序的逆序进入电梯并依次停放在电梯内的相应停车位；在确定全部的待输送AMR进入电梯后，使电梯按照输送顺序将各个待输送AMR输送到相应的目的楼层。
例如，在电梯的开门方式为单侧开门方式时(即，同进同出)，可向各个待输送AMR发送相应的输送信息，以使其按照输送顺序的逆序进入电梯，使得先进入电梯的AMR后出梯。例如，在图2的示例的情况下，最先进入电梯的AMR可停放在停车位A1，之后进入的AMR可依次停放在停车位A2、A3、A4，从而能够使得位于停车位A4的AMR最早出梯，之后位于停车位A3、A2、A1的AMR可依次出梯。
在电梯的开门方式为双侧开门方式时(即，不同进同出)，可向各个待输送AMR发送相应的输送信息，以使其按照输送顺序进入电梯，使得先 进入电梯的AMR先出梯。例如，在图2的示例的情况下，最先进入电梯的AMR可停放在停车位A1，之后进入的AMR可依次停放在停车位A2、A3、A4，从而能够使得位于停车位A1的AMR最早出梯，之后位于停车位A2、A3、A4的AMR可依次出梯。
应该理解，以上进入电梯和出梯的方式仅是示例，可根据实际需要设置其他进入电梯和出梯的方式，例如，可设置为使得位于停车位A3和A4的AMR能够同时出梯或不限定先后顺序，和/或位于停车位A1和A2的AMR能够同时出梯或不限定先后顺序。
此外，在电梯按照输送顺序到达电梯内的相应AMR的目的楼层时，可向相应的AMR发送已经到达目的楼层的信息，以使相应的AMR出梯。应该理解，在AMR能够自主确定其所位于的楼层的情况下，可不发送该信息。
根据以上方式，可每当电梯为空梯的情况下，对电梯进行调度，以使得电梯能够高效地同时输送位于预定楼层的一个或多个AMR。
图4示出了根据本发明的一个示例性实施例的用于控制电梯的方法中确定待输送AMR的步骤的第二实施例的流程图。
参照图4，在步骤S12-21，可确定电梯内是否存在空余停车位。
在步骤S12-21确定电梯内不存在空余停车位的情况下(图4中的“N”)，可返回继续执行步骤S12-21。
在步骤S12-21确定电梯内存在空余停车位的情况下(图4中的“Y”)，可执行步骤S12-22，可根据空余停车位的位置、所述呼梯序列以及电梯内已经存在的AMR的现有输送顺序，确定是否存在备选AMR，其中，备选AMR为所述至少一个AMR中满足以下条件的AMR：当前楼层是位于电梯运行方向上的楼层、在将当前楼层和目的楼层插入到现有输送顺序之后不会打乱现有输送顺序并且在停放在空余停车位的情况下不会影响电梯内已经存在的AMR按现有输送顺序出梯。
换言之，在这种情况下，可以在电梯内存在空余停车位的情况下，确定发送了呼梯信息的所有AMR中能够以搭乘“顺风车”的方式而进入电梯以被输送的AMR、即上述备选AMR，该备选AMR不会影响电梯内现有AMR的出梯顺序，并且进入电梯的空余停车位后不会阻挡应在该备选 AMR之前出梯的AMR出梯。
在步骤S12-22确定不存在备选AMR的情况下(图4中的“N”)，可返回继续执行步骤S12-22。
在步骤S12-22确定存在备选AMR的情况下(图4中的“Y”)，可执行步骤S12-23，确定备选AMR的数量是否大于空余停车位的数量。
此时，可确定电梯内的空余停车位是否能够容纳所有的备选AMR。
在步骤S12-23确定备选AMR的数量大于空余停车位的数量的情况下(图4中的“Y”)，可执行步骤S12-24，根据备选AMR的优先级和/或电梯的输送效率，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR。
作为示例，步骤S12-24可包括：根据备选AMR的优先级，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR，其中，对于相同优先级的备选AMR，根据以下项中的至少一个确定待输送AMR：AMR的目的楼层、相同目的楼层的AMR的数量以及电梯总共需要跨越的楼层的数量。
应该理解，以上从备选AMR中选择待输送AMR的方式仅是示例，可根据实际需要以任意方式从备选AMR中选择待输送AMR。
在步骤S12-23确定备选AMR的数量不大于空余停车位的数量的情况下(图4中的“N”)，可执行步骤S12-25，将所有备选AMR确定为待输送AMR。
在备选AMR的数量不大于空余停车位的数量的情况下，空余停车位可容纳所有的备选AMR，因此可将所有备选AMR确定为待输送AMR。
在图4所示的步骤S12的第一实施例的情况下，作为示例，图1中的步骤S13可包括：根据待输送AMR的当前楼层、目的楼层和现有输送顺序，将待输送AMR的当前楼层和目的楼层插入到现有输送顺序中，来确定电梯输送电梯内已存在的AMR和备选AMR的输送顺序。
在这种情况下，作为示例，步骤S14可包括：在电梯到达待输送AMR的当前楼层时，根据电梯的开门方式，向各个待输送AMR发送输送信息，其中，输送信息用于使待输送AMR按照输送顺序或输送顺序的逆序进入电梯并依次停放在电梯内的相应空余停车位；在确定当前楼层的所有待输 送AMR进入电梯后，使电梯按照输送顺序将电梯内的各个AMR输送到相应的目的层。
例如，在图2的示例的情况下，如果停车位A4具有优先级为“紧急”、目的楼层为3层的第一AMR，停车位A3具有优先级为“普通”、目的楼层为4层的第二AMR，停车位A2具有优先级为“普通”、目的楼层为4层的第三AMR，停车位A1具有优先级为“普通”、目的楼层为2层的第四AMR，现有输送顺序为：3层→4层→2层，此时，如果在4层的等待位存在优先级为“普通”、目的楼层为2层的第五AMR，则电梯可在行驶到3层时使得第一AMR出梯，在行驶到第4层时使得第二AMR和第三AMR出梯，并使得第五AMR进入(例如，可使第五AMR停在图2的停车位A3处)，此时可将电梯的输送顺序确定为：4层→2层。此后，如果在3层的等待位出现优先级为“普通”、目的楼层为1层的第六AMR，则电梯可在到达3层时使得第六AMR进入电梯(例如，可使第六AMR停在图2的停车位A2或A4处)，并将电梯的输送顺序调整为：3层→2层→1层。
此外，在以上第二实施例的情况下，为了提高电梯的运输效率，也可不考虑AMR的优先级，而仅考虑AMR的当前楼层、目的楼层和空余停车位的位置。并且，为了提高电梯的输送效率，可在出现空余停车位时调整电梯内已存在的AMR的停车位，使得能够将更多的AMR确定为待输送AMR。
此外，根据本发明的用于控制电梯的方法还可适用于多个电梯，在存在多个电梯的情况下，作为示例，根据本发明的用于控制电梯的方法还可包括：根据所述呼梯序列和所述多个电梯的运输效率，为所述至少一个AMR分配各自的电梯，并向各个AMR发送相应的电梯分配信息，以使相应AMR向被分配的电梯行驶，其中，每个电梯根据相应呼梯序列，确定被分配到所述电梯的所有AMR中将进入所述电梯以被输送的待输送AMR，其中，所述相应呼梯序列包括被分配到所述电梯的所有AMR的呼梯信息。
例如，可将相同目的楼层的AMR分配到相同的电梯，或者可将目的楼层较连续的AMR分配到相同的电梯等。
应该理解，以上分配电梯的方式仅是示例，可根据实际需求使用任意 方式为AMR分配电梯。
根据本发明的用于控制电梯的方法，能够通过根据正在等待的至少一个AMR的呼梯信息来确定将被电梯输送的AMR及其在电梯内的停车位并确定输送顺序，使得电梯能够按照输送顺序同时输送多个AMR，提高了电梯输送AMR的灵活性和高效性。
图5示出了根据本发明的一个示例性实施的用于控制AMR的方法的流程图。
参照图5，在步骤S21，接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息。
例如，在AMR接收到将运输货物的运输信息的情况下，AMR可确定其是否需要跨楼层运输货物，并在确定其需要跨楼层运输货物的情况下，确定上述呼梯信息。
在步骤S22，使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息。
这里，用于控制电梯的电梯控制装置可以是执行以上参照图1至图4描述的根据本发明的用于控制电梯的方法的服务器、处理器等。
图6示出了根据本发明的一个示例性实施的用于控制AMR的方法中发送呼梯信息的步骤S22的第一实施例的流程图。
参照图6，在步骤S22-11，可在AMR行驶到距电梯第一预定距离后，向所述电梯控制装置发送用于查询电梯附近是否存在空余等待位的查询请求。
这里的第一预定距离可大于电梯附近的各个等待位距离电梯的距离。
在步骤S22-12，从所述电梯控制装置接收所述电梯控制装置响应于查询请求而发送的等待位信息并确定等待位信息是否指示电梯附近存在空余等待位。
在步骤S22-12确定存在空余等待位的情况下(图6中的“Y”)，可执行步骤S22-14，使AMR向空余等待位行驶以停在空余等待位，并在行驶到距电梯第二预定距离后，向所述电梯控制装置发送呼梯信息，其中，空余等待位距电梯的距离小于或等于第二预定距离。
也就是说，在步骤S22-14中AMR可在向等待位行驶的过程中或行驶到等待位之后发送呼梯信息。
在步骤S22-12确定不存在空余等待位的情况下(图6中的“N”)，可执行步骤S22-13，使AMR按预定方式停止并继续接收等待位信息，直至接收的等待位信息指示存在空余等待位为止。
例如，在步骤S22-13中可使AMR停在图2所示的等待位和通道之外的预定位置或随机位置，并接续接收等待位信息。
图7示出了根据本发明的一个示例性实施的用于控制AMR的方法中发送呼梯信息的步骤S22的第二实施例的流程图。
图7所示的步骤S22的第二实施例为在存在多个电梯的情况下步骤S22的实施例。
参照图7，在步骤S22-21，可在AMR行驶到距离任意电梯第一预定距离后，向所述电梯控制装置发送呼梯信息和用于查询电梯附近是否存在空余等待位的查询请求。
在步骤S22-22，可从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息和查询请求而发送的电梯分配信息和相应的等待位信息，其中，电梯分配信息指示AMR被分配的电梯，相应的等待位信息指示被分配的电梯附近是否存在空余等待位。并且，在此步骤S22-22中，还可根据相应的等待位信息确定AMR被分配的电梯附近是否存在空余等待位。
之后可使AMR向被分配的电梯行驶，并在步骤S22-22确定AMR被分配的电梯附近存在空余等待位的情况下(图7中的“Y”)，执行步骤S22-24，使AMR行驶到被分配的电梯的空余等待位。
在步骤S22-22确定AMR被分配的电梯附近不存在空余等待位的情况下(图7中的“N”)，可执行步骤S22-23，使AMR按照预定方式停止并继续接收相应的等待位信息，直至接收的相应的等待位信息指示被分配的电梯附近存在空余等待位为止。
例如，在步骤S22-23中可使AMR停在被分配的电梯的等待位和通道之外的预定位置或随机位置，并接续接收相应的等待位信息。
此外，在图6和图7示出的两个实施例中，在步骤S22中，为了提高AMR进入电梯的效率，作为示例，可在AMR行驶到空余等待位之后，根 据电梯的开门方式，使AMR以面对电梯门或背对电梯门的方式停放在空余等待位。
例如，在电梯的开门方式为单侧开门方式时(即，同进同出)，可使AMR以背对电梯门的方式停放在等待位。在电梯的开门方式为双侧开门方式时(即，不同进同出)，可使AMR以面对电梯门的方式停放在等待位。
这里，AMR可通过从用于控制电梯的电梯控制装置接收相应的信号的方式来确定电梯的开门方式，或者AMR可根据电梯附近的等待位的布置方式(单侧、双侧)等来确定电梯的开门方式，或者AMR可预先存储电梯的开门方式等。
返回参照图1，在AMR发送呼梯信息之后，在步骤S23，从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发送的用于使AMR进入电梯并停放在电梯内的相应停车位的输送信息。
在步骤S24，响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层。
例如，在AMR以背对电梯门的方式停放在空余等待位的情况下，在步骤S24中，AMR可以以倒车行驶的方式进入电梯并停放在电梯内的相应停车位；在AMR以面对电梯门的方式停放在空余等待位的情况下，在步骤S24中，AMR可以以正常行驶的方式进入电梯并停放在电梯内的相应停车位。
在AMR进入电梯并停放在相应停车位之后，当电梯到达AMR的目的楼层时，AMR可通过自主定位和/或接收相应的信号的方式来确定其到达了目的楼层，从而驶出电梯。作为示例，根据本发明的用于控制AMR的方法还可包括：在AMR进入电梯之后，根据自主定位信息和/或从所述电梯控制装置接收的信息确定是否到达目的楼层；在确定到达目的楼层后，驶出电梯。
根据本发明的用于控制AMR的方法，能够通过使AMR与用于控制电梯的电梯控制装置进行交互的方式，来确定AMR进入电梯的时序以及在电梯内的停车位，从而使得多个AMR可共用电梯能，提高了AMR通过电梯被输送的灵活性和高效性。
图8示出了根据本发明的一个示例性实施例的用于控制电梯的电梯控 制装置的框图。
根据本发明的用于控制电梯的电梯控制装置包括：接收单元11、AMR确定单元12、顺序确定单元13和发送单元14。
接收单元1被配置为用于从AMR接收呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息。
AMR确定单元2被配置为用于根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR。
顺序确定单元3被配置为用于根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序。
发送单元4被配置为用于根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。
以上已经参照图1至图4对呼梯信息、待输送AMR的确定、输送顺序的确定以及输送信息进行了详细描述，这里不再赘述。
根据本发明的用于控制电梯的电梯控制装置，能够通过根据正在等待的至少一个AMR的呼梯信息来确定将被电梯输送的AMR及其在电梯内的停车位并确定输送顺序，使得电梯能够按照输送顺序同时输送多个AMR，提高了电梯输送AMR的灵活性和高效性。
图9示出了根据本发明的一个示例性实施例的用于控制AMR的AMR控制装置的框图。
参照图9，根据本发明的用于控制AMR的AMR控制装置可包括：响应单元21、信息发送单元22、信息接收单元23和行驶控制单元24。
响应单元21被配置为用于接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息。
信息发送单元22被配置为用于使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息。
信息接收单元23被配置为用于从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发送的用于使AMR进入电梯并停放在电梯内的相 应停车位的输送信息。
行驶控制单元24被配置为用于响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层。
以上已经参照图5至图7对呼梯信息、呼梯信息的发送、输送信息以及AMR进入电梯的方式进行了详细描述，这里不再赘述。
根据本发明的用于控制AMR的AMR控制装置，能够通过使AMR与用于控制电梯的电梯控制装置进行交互的方式，来确定AMR进入电梯的时序以及在电梯内的停车位，从而使得多个AMR可共用电梯能，提高了AMR通过电梯被输送的灵活性和高效性。
应该理解，以上用于控制电梯的电梯控制装置和用于控制AMR的AMR控制装置可至少部分地集成在相同的服务器、处理器中。
根据本发明的示例性实施例还提供一种计算机程序产品，其中，所述计算机程序产品包括计算机程序，所述计算机程序在被处理器执行时，使得处理器实施根据本发明的用于控制电梯的方法和/或用于控制AMR的方法。计算机程序产品可包括用于独立地或共同地命令或配置硬件装置以按照需要进行操作的计算机程序、程序代码、指令或它们的一些组合。计算机程序和/或程序代码可包括可由一个或多个硬件装置实施的程序或计算机可读指令、软件组件、软件模块、数据文件、数据结构等。程序代码的示例可包括由编译器产生的机器代码和使用解释器执行的更高级程序代码。
此外，根据本发明的示例性实施例的上述装置和设备中的各个单元可被实现为硬件组件或软件模块。此外，本领域技术人员可根据限定的各个单元所执行的处理，通过例如使用现场可编程门阵列(FPGA)、专用集成电路(ASIC)或处理器来实现各个单元。
尽管这里参考特定实施例说明和描述了本发明，但是本发明并不限于所示的细节。而是，可以在本发明的范围内对这些细节进行各种修改。
附图标记列表
S11从AMR接收呼梯信息
S12根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR
S13根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序
S14根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层
S12-11确定电梯是否为空梯状态
Y是
N否
S12-12根据所述呼梯序列，确定预定层AMR数量是否大于停车位数量
S12-13根据位于所述预定楼层的各个AMR的呼梯信息和/或电梯的输送效率，将位于所述预定楼层的AMR中等于停车位数量的AMR确定为等待AMR
S12-14将位于所述预定楼层的所有AMR确定为待输送AMR
A1、A2、A3、A4停车位
B1、B2、B3、B4、B5、B6等待位
S12-21确定电梯内是否存在空余停车位
S12-22根据空余停车位的位置、所述呼梯序列以及电梯内已经存在的AMR的现有输送顺序，确定是否存在备选AMR
S12-23确定备选AMR的数量是否大于空余停车位的数量
S12-24根据备选AMR的优先级和/或电梯的输送效率，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR
S12-25将所有备选AMR确定为待输送AMR
S21接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息
S22使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息
S23从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发 送的用于使AMR进入电梯并停放在电梯内的相应停车位的输送信息
S24响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层
S22-11在AMR行驶到距电梯第一预定距离后，向所述电梯控制装置发送用于查询电梯附近是否存在空余等待位的查询请求
S22-12接收等待位信息并确定等待位信息是否指示电梯附近存在空余等待位
S22-13使AMR按预定方式停止并继续接收等待位信息
S22-14使AMR向空余等待位行驶以停在空余等待位，并在行驶到距电梯第二预定距离后，向所述电梯控制装置发送呼梯信息
S22-21在AMR行驶到距离任意电梯第一预定距离后，向所述电梯控制装置发送呼梯信息和用于查询电梯附近是否存在空余等待位的查询请求
S22-22接收电梯分配信息和相应的等位信息并根据相应的等待位信息确定被分配的电梯附近是否存在空余等待位
S22-23使AMR按照预定方式停止并继续接收等待位信息
S22-24使AMR行驶到空余等待位
11接收单元
12AMR确定单元
13顺序确定单元
14发送单元
21响应单元
22信息发送单元
23信息接收单元
24行驶控制单元

Claims (20)

  1. 一种用于控制电梯的方法，所述方法包括：
    从AMR接收呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息；
    根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR；
    根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序；
    根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。
  2. 根据权利要求1所述的方法，其中，所述方法还包括：
    从AMR接收用于查询电梯附近是否存在空余等待位的查询请求；
    响应于查询请求，向AMR发送等待位信息，其中，等待位信息指示电梯附近是否存在空余等待位，并在存在空余等待位的情况下使AMR行驶到空余等待位；
    其中，从AMR接收呼梯信息的步骤包括：从位于等待位或向等待位行驶的AMR接收呼梯信息。
  3. 根据权利要求1所述的方法，其中，根据包括所述至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR的步骤包括：
    确定电梯是否为空梯状态；
    在确定电梯为空梯状态的情况下，根据所述呼梯序列，确定预定层AMR数量是否大于停车位数量，其中，所述预定层AMR数量为所述至少一个AMR中位于预定楼层的AMR的数量，停车位数量为电梯内用于停放AMR的停车位的数量；
    在确定所述预定层AMR数量不大于停车位数量的情况下，将位于所 述预定楼层的所有AMR确定为待输送AMR；
    在确定所述预定层AMR数量大于停车位数量的情况下，根据位于所述预定楼层的各个AMR的呼梯信息和/或电梯的输送效率，将位于所述预定楼层的AMR中等于停车位数量的AMR确定为等待AMR。
  4. 根据权利要求3所述的方法，其中，根据位于所述预定楼层的各个AMR的呼梯信息/或电梯的输送效率，将位于所述预定楼层的AMR中等于停车位数量的AMR确定为等待AMR的步骤包括：
    根据位于所述预定楼层的各个AMR的优先级，将位于所述预定楼层的AMR中的等于停车位数量的AMR确定为等待AMR，其中，对于相同优先级的AMR，首先根据相同目的楼层的AMR的数量，其次根据电梯总共需要跨越的楼层的数量，来确定等待AMR。
  5. 根据权利要求3或4所述的方法，其中，所述预定楼层是在确定电梯为空梯时电梯所位于的楼层、所述至少一个AMR中优先级最高的AMR所位于的楼层、或者所述至少一个AMR中最多的AMR所位于的楼层。
  6. 根据权利要求3所述的方法，其中，根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序的步骤包括：
    根据待输送AMR的优先级、目的楼层、相同目的楼层的AMR的数量以及电梯总共需要跨越的楼层的数量中的至少一个，确定电梯输送待输送AMR的输送顺序。
  7. 根据权利要求6所述的方法，其中，根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息的步骤包括：
    根据电梯的开门方式，向各个待输送AMR发送输送信息，其中，输送信息用于使待输送AMR按照输送顺序或输送顺序的逆序进入电梯并依次停放在电梯内的相应停车位；
    在确定全部的待输送AMR进入电梯后，使电梯按照输送顺序将各个 待输送AMR输送到相应的目的楼层。
  8. 根据权利要求1所述的方法，其中，根据包括所述至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR的步骤包括：
    确定电梯内是否存在空余停车位；
    在确定电梯内存在空余停车位的情况下，根据空余停车位的位置、所述呼梯序列以及电梯内已经存在的AMR的现有输送顺序，确定是否存在备选AMR，其中，备选AMR为所述至少一个AMR中满足以下条件的AMR：当前楼层是位于电梯运行方向上的楼层、在将当前楼层和目的楼层插入到现有输送顺序之后不会打乱现有输送顺序并且在停放在空余停车位的情况下不会影响电梯内已经存在的AMR按现有输送顺序出梯；
    在确定存在备选AMR的情况下，确定备选AMR的数量是否大于空余停车位的数量；
    在确定备选AMR的数量大于空余停车位的数量的情况下，根据备选AMR的优先级和/或电梯的输送效率，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR；
    在备选AMR的数量不大于空余停车位的数量的情况下，将所有备选AMR确定为待输送AMR。
  9. 根据权利要求8所述的方法，其中，根据备选AMR的优先级和/或电梯的输送效率，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR的步骤包括：
    根据备选AMR的优先级，将备选AMR中等于空余停车位的数量的AMR确定为待输送AMR，其中，对于相同优先级的备选AMR，根据以下项中的至少一个确定待输送AMR：AMR的目的楼层、相同目的楼层的AMR的数量以及电梯总共需要跨越的楼层的数量。
  10. 根据权利要求8所述的方法，其中，根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序的步骤包括：
    根据待输送AMR的当前楼层、目的楼层和现有输送顺序，将待输送AMR的当前楼层和目的楼层插入到现有输送顺序中，来确定电梯输送电梯内已存在的AMR和备选AMR的输送顺序。
  11. 根据权利要求10所述的方法，其中，根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息的步骤包括：
    在电梯到达待输送AMR的当前楼层时，根据电梯的开门方式，向各个待输送AMR发送输送信息，其中，输送信息用于使待输送AMR按照输送顺序或输送顺序的逆序进入电梯并依次停放在电梯内的相应空余停车位；
    在确定当前楼层的所有待输送AMR进入电梯后，使电梯按照输送顺序将电梯内的各个AMR输送到相应的目的层。
  12. 根据权利要求1-10中的任一项所述的方法，其中，在存在多个电梯的情况下，所述方法还包括：
    根据所述呼梯序列和所述多个电梯的运输效率，为所述至少一个AMR分配各自的电梯，并向各个AMR发送相应的电梯分配信息，以使相应AMR向被分配的电梯行驶，
    其中，每个电梯根据相应呼梯序列，确定被分配到所述电梯的所有AMR中将进入所述电梯以被输送的待输送AMR，其中，所述相应呼梯序列包括被分配到所述电梯的所有AMR的呼梯信息。
  13. 一种用于控制AMR的方法，所述方法包括：
    接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息，其中，呼梯信息包括关于AMR的标识、目的楼层、当前楼层和优先级的信息；
    使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息；
    从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发送的 用于使AMR进入电梯并停放在电梯内的相应停车位的输送信息；
    响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层。
  14. 根据权利要求13所述的方法，其中，使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息的步骤包括：
    在AMR行驶到距电梯第一预定距离后，向所述电梯控制装置发送用于查询电梯附近是否存在空余等待位的查询请求；
    从所述电梯控制装置接收所述电梯控制装置响应于查询请求而发送的等待位信息，其中，等待位信息指示电梯附近是否存在空余等待位；
    在等待位信息指示存在空余等待位的情况下，使AMR向空余等待位行驶以停在空余等待位，并在行驶到距电梯第二预定距离后，向所述电梯控制装置发送呼梯信息，其中，空余等待位距电梯的距离小于或等于第二预定距离；
    在等待位信息指示不存在空余等待位的情况下，使AMR按预定方式停止并继续接收等待位信息，直至接收的等待位信息指示存在空余等待位为止。
  15. 根据权利要求13所述的方法，其中，在存在多个电梯的情况下，使AMR向当前楼层的电梯行驶并向用于控制电梯的电梯控制装置发送呼梯信息的步骤包括：
    在AMR行驶到距离任意电梯第一预定距离后，向所述电梯控制装置发送呼梯信息和用于查询电梯附近是否存在空余等待位的查询请求；
    从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息和查询请求而发送的电梯分配信息和相应的等待位信息，其中，电梯分配信息指示AMR被分配的电梯，相应的等待位信息指示被分配的电梯附近是否存在空余等待位；
    使AMR向被分配的电梯行驶，并在相应的等待位信息指示被分配的电梯附近存在空余等待位的情况下，使AMR行驶到空余等待位；
    在相应的等待位信息指示被分配的电梯附近不存在空余等待位的情况 下，使AMR按照预定方式停止并继续接收相应的等待位信息，直至接收的相应的等待位信息指示被分配的电梯附近存在空余等待位为止。
  16. 根据权利要求14或15所述的方法，其中，在AMR行驶到空余等待位之后，根据电梯的开门方式，使AMR以面对电梯门或背对电梯门的方式停放在空余等待位，
    其中，在接收到呼梯信息后，根据电梯的开门方式，使AMR以正常行驶或倒车行驶的方式进入电梯并停放在电梯内的相应停车位。
  17. 根据权利要求13-16中的任一项所述的方法，其中，所述方法还包括：
    在AMR进入电梯之后，根据自主定位信息和/或从所述电梯控制装置接收的信息确定是否到达目的楼层；
    在确定到达目的楼层后，驶出电梯。
  18. 一种用于控制电梯的电梯控制装置，所述电梯控制装置包括：
    接收单元，其被配置为用于从AMR接收呼梯信息，其中，呼梯信息包括关于AMR的目的标识、目的楼层、当前楼层和优先级的信息；
    AMR确定单元，其被配置为用于根据包括已经接收的至少一个AMR的呼梯信息的呼梯序列，确定所述至少一个AMR中待进入电梯以被输送的待输送AMR；
    顺序确定单元，其被配置为用于根据将存在于电梯内的所有AMR的呼梯信息，确定电梯输送各个AMR的输送顺序；
    发送单元，其被配置为用于根据输送顺序向待输送AMR发送用于使待输送AMR进入电梯并停放在电梯内的相应停车位的输送信息，以使电梯按照输送顺序将已存在于电梯内的所有AMR输送到相应的目的楼层。
  19. 一种用于控制AMR的AMR控制装置，所述AMR控制装置包括：
    响应单元，其被配置为用于接收用于使AMR运输货物的运输信息并响应于运输信息确定AMR的呼梯信息，其中，呼梯信息包括关于AMR的 标识、目的楼层、当前楼层和优先级的信息；
    信息发送单元，其被配置为用于使AMR向当前楼层的电梯行驶并用于控制电梯的电梯控制装置发送呼梯信息；
    信息接收单元，其被配置为用于从所述电梯控制装置接收所述电梯控制装置响应于呼梯信息而发送的用于使AMR进入电梯并停放在电梯内的相应停车位的输送信息；
    行驶控制单元，其被配置为用于响应于输送信息，使AMR进入电梯并停放在相应停车位以被输送到目的楼层。
  20. 一种计算机程序产品，其中，所述计算机程序产品包括计算机程序，所述计算机程序在被处理器执行时，使得处理器实施权利要求1至12中的任一项所述的方法和/或13-17中的任一项所述的方法。
PCT/CN2021/139579 2021-03-18 2021-12-20 用于控制电梯、控制amr的方法和装置 WO2022193761A1 (zh)

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