CN114906688A

CN114906688A - Method for controlling riding lifting device of elevator taking object and product

Info

Publication number: CN114906688A
Application number: CN202210430756.4A
Authority: CN
Inventors: 宋永利
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-08-16

Abstract

The embodiment of the application provides a method and a product for controlling an elevator riding object to take a lifting device, which are applied to a dispatching server, wherein the method comprises the following steps: sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task; generating heartbeat information and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining the elevator taking state of the target elevator taking object. According to some embodiments of the present application, the dispatching server further sends heartbeat information to the target elevator taking object after sending the dispatching instruction of the elevator taking task to the target elevator taking object, so that at least the target elevator taking object completes the elevator taking task in a state that the dispatching server is normally working, and the safety of the target elevator taking object in executing the elevator taking task is ensured.

Description

Method for controlling riding lifting device of elevator taking object and product

Technical Field

The present application relates to the field of safety control, and in particular, embodiments of the present application relate to a method and product for controlling a riding elevator for an elevator riding object.

Background

Along with the development of industrial intelligence, more and more intelligent agents (intelligent conveying devices or robots and the like) enter places such as warehouses or hotels to cooperate to realize tasks. For example, with the development of the warehouse logistics industry and the continuous change of the logistics operation scene, the requirement of each enterprise on the intelligent conveying device is higher and higher. Therefore, the intelligent conveying device has high working efficiency, can fully utilize space, can drive in multiple directions across roadways, is flexibly configured (such as a shuttle vehicle and the like), and is attracted by more and more enterprises.

The intelligent conveying device in the related art needs to be matched with a lifting device to realize cross-layer warehousing and ex-warehouse tasks in a stereoscopic shelf warehouse, for example, a four-way shuttle needs to be matched with a lifter to realize cross-layer warehousing or ex-warehouse operation.

Therefore, how to realize the safe docking between the intelligent elevator taking object (for example, a robot in the occasions of an intelligent conveying device or a hotel) and the lifting device becomes a technical problem to be solved urgently.

Disclosure of Invention

The embodiment of the application aims to provide a method and a product for controlling an elevator taking object to take a lifting device.

In a first aspect, some embodiments of the present application provide a method for controlling a riding elevator of an elevator riding object, which is applied to a dispatching server, and the method includes: sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task; generating heartbeat information and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining the elevator taking state of the target elevator taking object.

According to some embodiments of the present application, after sending the dispatching instruction of the elevator taking task to the target elevator taking object, the dispatching server also sends heartbeat information to the target elevator taking object, so that the target elevator taking object can complete the elevator taking task in a state that the dispatching server is working normally, and the safety of the target elevator taking object in executing the elevator taking task is ensured.

In some embodiments, the generating and sending heartbeat information to the target boarding object includes: generating first frame heartbeat information; and sending the first frame heartbeat information to the target elevator taking object, wherein the first frame heartbeat information is used for triggering the target elevator taking object to start executing the elevator taking task together with the dispatching instruction.

Some embodiments of the present application further require that the target elevator taking object receive one frame of heartbeat information from the dispatch server before the target elevator taking object starts to execute the elevator taking task, that is, the embodiments of the present application trigger the start of elevator taking of the target elevator taking object together with the first frame of heartbeat information and the dispatch instruction, so that the safety of elevator taking of the target elevator taking object can be ensured to the greatest extent.

In some embodiments, the generating and sending heartbeat information to the target boarding object includes: and sending non-first frame heartbeat information to the target elevator taking object according to a certain frequency, wherein the non-first frame heartbeat information is used for the target elevator taking object to determine whether to continuously execute the elevator taking task.

Some embodiments of the present application further need to send non-first frame heartbeat information according to a certain frequency in the process that the target elevator taking object has already started to execute the elevator taking task, so as to ensure that the traveling state of the target elevator taking object can be immediately adjusted (for example, the traveling state is adjusted to the brake state) when the dispatch server fails or the lifting device is in a state that is not favorable for taking, thereby ensuring the safety of the elevator taking process.

In some embodiments, before the generating heartbeat information and sending the heartbeat information to the target elevator riding subject, the method further comprises: receiving attribute information from the target lifting device, wherein the attribute information is used for representing at least one of a floor and an operation state of the target lifting device; wherein the generating heartbeat information comprises: generating the heartbeat information according to the attribute information, wherein the heartbeat information can carry at least one of the floor and the running state, the attribute information is used for information verification of the target elevator taking object, and the target elevator taking object starts to execute the elevator taking task or continues to execute the elevator taking task when the verification passes.

In some embodiments of the application, the heartbeat information is adopted to carry attribute information used for representing the state of the target lifting device in real time, and the attribute information is verified by the target elevator taking object, so that the target elevator taking object can be ensured to start to execute the elevator taking task or continue to execute the elevator taking task when the target lifting device is in a safe state, and risks such as falling caused by the fact that the target elevator taking object continues to execute the elevator taking due to the fact that the target lifting device is in an unsafe state are prevented.

When the heartbeat information of some embodiments of the application carries the floor information of the target lifting device, the risk that the target object falls due to the fact that the target lifting device leaves the floor where the target object is waiting to take the elevator continues to carry out taking the elevator can be avoided, and if the heartbeat information carries the running state information of the target lifting device, the risk that the target object takes the elevator continues to carry out taking the elevator when the target lifting device is in the running state can be avoided.

In some embodiments, the heartbeat information may further carry a task identification number, where the task identification number is used for information verification of the target elevator-taking object.

In some embodiments of the application, the heartbeat information carries a task identification number, and if the target elevator taking object terminates execution of the elevator taking task (that is, terminates execution of the elevator taking task and sends alarm information if the execution of the elevator taking task is not started) or terminates execution of the elevator taking task (that is, temporarily stops execution if the execution of the elevator taking task is started) when the verification of the task identification number fails, the risk of falling of the target elevator taking object caused by continuous execution of elevator taking when a scheduling server is in scheduling failure can be avoided.

In some embodiments, during the process that the target elevator-taking subject enters the target lifting device, the method further comprises: and when the target elevator taking object is confirmed to have a fault, sending an operation state control instruction to the target lifting device, wherein the operation state control instruction is used for instructing the target lifting device to continuously keep a stop state.

According to some embodiments of the application, when a fault occurs in the process that the target elevator taking object enters the target lifting device, the target lifting device is controlled to be kept in a stop state in real time, so that the risk that the fault target elevator taking object falls or is damaged due to the fact that the target lifting device runs upwards or downwards can be avoided.

In some embodiments, the method further comprises: and receiving fault alarm information from the target elevator taking object, wherein the fault alarm information is generated when the target elevator taking object does not receive at least one frame of heartbeat information or the heartbeat information is not verified.

According to some embodiments of the application, the efficiency of executing the elevator taking task or other tasks by the target elevator taking object can be improved by instantly acquiring the fault information.

In a second aspect, some embodiments of the present application provide a method for controlling a riding elevator of an elevator object, which is applied to a target elevator object, the method including: receiving a dispatching instruction for executing the elevator taking task from a dispatching server; monitoring whether heartbeat information from the scheduling server is received; and determining the elevator taking state according to the monitoring result.

Some embodiments of the application determine the elevator taking state of the target elevator taking object by monitoring whether heartbeat information is received in real time, so that the safety of the elevator taking process is improved to the greatest extent.

In some embodiments of the present application, the determining the elevator riding state according to the monitoring result includes: if at least one frame of heartbeat information from the dispatching server is not received according to the monitoring result, controlling the target elevator taking object to be in a stop state; or if the heartbeat information from the dispatching server is confirmed to be received according to the monitoring result, controlling the target elevator taking object to execute the elevator taking task according to the heartbeat information.

In some embodiments of the present application, the state of the target elevator taking object for performing the elevator taking task is adjusted by whether heartbeat information from the dispatch server is received, so that the safety of the target elevator taking object for taking the elevator can be ensured.

In some embodiments, the heartbeat information includes first frame heartbeat information and non-first frame heartbeat information, where the first frame heartbeat information is used to trigger whether the target elevator taking object starts to execute the elevator taking task, and the non-first frame heartbeat information is used to control whether the target elevator taking object continues to execute the elevator taking task.

In some embodiments, the monitoring whether heartbeat information is received from the dispatch server includes: before starting to execute the elevator taking task, confirming that the first frame heartbeat information from the dispatching server is not received in the target time length; the step of determining the elevator taking state according to the monitoring result comprises the following steps: controlling the target elevator taking object to keep a stop state; wherein after the confirming does not receive the first frame heartbeat information from the scheduling server within the target duration, the method further comprises: and generating and providing alarm information.

In some embodiments, the monitoring whether heartbeat information is received from the dispatch server includes: in the process of executing the elevator taking task, confirming that one frame of non-first frame heartbeat information from the dispatching server is not received in a target time length or confirming that continuous multi-frame non-first frame heartbeat information from the dispatching server is not received; the step of determining the elevator taking state according to the monitoring result comprises the following steps: and controlling the target elevator-taking object to be adjusted from a motion state to a stop state.

Some embodiments of the application brake when confirming that the target elevator taking object does not receive heartbeat information in continuous multiframes, and can also avoid the problem of low efficiency of executing elevator taking tasks caused by frequent braking while improving the safety of elevator taking.

In some embodiments, after the target boarding object is in a stopped state, the method further comprises: and if the heartbeat information is received again after the set time length, the stop state is adjusted to be the advancing state so as to continuously execute the elevator taking task.

Some embodiments of the present application also disclose a method for resuming an interrupted elevator-taking task, which improves elevator-taking efficiency.

In some embodiments, the heartbeat information may carry attribute information of the target lifting device, where the attribute information includes at least one of a floor where the target lifting device is located and an operating state of the target lifting device, where the monitoring whether the heartbeat information is received from the dispatch server includes: confirming receipt of the heartbeat information; the step of determining the elevator taking state according to the monitoring result comprises the following steps: and if the verification result of the attribute information is confirmed to be passed, controlling the target elevator taking object to start executing the elevator taking task or continue executing the elevator taking task.

In some embodiments, the attribute information includes: the floor where the target lifting device is located and the running state of the target lifting device; wherein, the confirming that the verification result of the attribute information is passed comprises: confirming that the floor where the target lifting device is located is the same as the floor where the target elevator riding object is located, and confirming that the target lifting device is in a stop state.

In some embodiments, the scheduling instruction may carry a number corresponding to the elevator-taking task, and the heartbeat information may carry a task identification number, where the monitoring whether the heartbeat information from the scheduling server is received includes: confirming receipt of the heartbeat information; the step of determining the elevator taking state according to the monitoring result comprises the following steps: and when the number is not matched with the task identification number, controlling the target elevator taking object to stop executing the elevator taking task or stopping executing the elevator taking task.

In some embodiments, the method further comprises: and if the distance between the target elevator taking object and the target lifting device is confirmed to be smaller than a target threshold value, slowing down the traveling speed of the target elevator taking object.

According to some embodiments of the application, the target elevator-taking object can be ensured to enter the target lifting device at a lower speed by adjusting the traveling speed of the target elevator-taking object, so that the elevator-taking safety is improved, and the falling risk caused by too high traveling speed of the target elevator-taking object is prevented.

In a third aspect, some embodiments of the present application provide a method for controlling a riding elevator of an elevator object, which is applied to an elevator, the method including: and sending attribute information to a scheduling server, wherein the attribute information is used for the scheduling server to generate heartbeat information.

In some embodiments, the method further comprises: and receiving an operation control instruction from the dispatching server in the process that the target elevator taking object enters the lifting device, wherein the operation state control instruction is used for instructing the target lifting device to continuously keep a stop state.

In a fourth aspect, some embodiments of the present application provide a dispatch server, comprising: a scheduling instruction sending module configured to: sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task; the heartbeat generating and sending module is configured to generate heartbeat information and send the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining an elevator taking state of the target elevator taking object.

In a fifth aspect, some embodiments of the present application provide a smart transporter that includes: the dispatching instruction receiving module is configured to receive a dispatching instruction for executing the elevator taking task from the dispatching server; a monitoring module configured to monitor whether heartbeat information is received from the scheduling server; and the control module is configured to determine the elevator taking state according to the monitoring result.

In a sixth aspect, some embodiments of the present application provide a lifting device comprising: the attribute information sending module is configured to send attribute information to a scheduling server, wherein the attribute information is used for the scheduling server to generate heartbeat information; a state control module configured to: and receiving an operation control instruction from the dispatching server in the process that the target elevator taking object enters the lifting device, wherein the operation state control instruction is used for instructing the target lifting device to continuously keep a stop state.

In a seventh aspect, some embodiments of the present application provide a system for protecting an elevator-taking subject, the system comprising: a dispatch server, and the dispatch server is configured to: sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task; generating heartbeat information in response to the received attribute information, and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining an elevator taking state of the target elevator taking object; a target ride object, and the target ride object is configured to: receiving a dispatching instruction for executing the elevator taking task from a dispatching server; monitoring heartbeat information from the scheduling server to obtain a monitoring result; determining the elevator taking state according to the monitoring result; a lifting device, and the lifting device is configured to: and sending the attribute information to the scheduling server, wherein the attribute information is used for the scheduling server to generate heartbeat information.

In an eighth aspect, some embodiments of the present application provide a warehousing system comprising: the dispatch server according to the fourth aspect, the intelligent transportation device according to the fifth aspect, and the lifting device according to the sixth aspect, wherein the dispatch server controls the intelligent transportation device to ride on the lifting device.

Ninth aspect, some embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, may implement a method as described in any of the embodiments of the first, second or third aspects above.

In a tenth aspect, some embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, may implement the method according to any of the embodiments of the first, second, or third aspects.

In an eleventh aspect, some embodiments of the present application provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, is operable to implement the method according to any of the embodiments of the first, second or third aspect.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic view of a working scene of a four-way vehicle shuttle system provided in the related art;

fig. 2 is a schematic diagram of an interaction process of taking a hoist for a four-way shuttle provided by the related art;

fig. 3 is a schematic flow chart of a method for controlling an elevator riding object to ride an elevator, which is executed by a dispatch server according to an embodiment of the present disclosure;

fig. 4 is a schematic flow chart of a method for controlling a riding elevator of a target riding object, which is executed by the target riding object according to an embodiment of the present application;

fig. 5 is a flowchart illustrating a method for controlling a riding object to ride a lift device, which is performed by a target lift device according to an embodiment of the present disclosure;

fig. 6 is one of schematic interaction processes of riding an elevator of a four-way shuttle according to an embodiment of the present application;

fig. 7 is a second schematic view of an interaction process for providing a four-way shuttle ride elevator according to an embodiment of the present application;

fig. 8 is a third schematic view of an interaction process of riding an elevator on a four-way shuttle according to an embodiment of the present application;

fig. 9 is a fourth schematic view illustrating an interaction process of riding an elevator on a four-way shuttle according to an embodiment of the present application;

fig. 10 is a fifth schematic view illustrating an interaction process of riding an elevator on a four-way shuttle according to an embodiment of the present application;

fig. 11 is a schematic flow chart of a vehicle ride lift provided in an embodiment of the present application;

fig. 12 is a block diagram of a scheduling server according to an embodiment of the present disclosure;

fig. 13 is a block diagram illustrating an intelligent transportation device according to an embodiment of the present disclosure;

fig. 14 is a block diagram of a lifting device according to an embodiment of the present disclosure;

fig. 15 is a schematic composition diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, Global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) the AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of labor; 2) the manual efficiency is improved through a software system such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation and research optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.

The following will exemplarily illustrate the defects of the prior art by taking the docking process of a four-way shuttle (as an example of a target elevator taking object) and a hoist (as an example of a target lifting device) in a warehouse as an example with reference to fig. 1 and 2. It should be understood that the embodiments of the present application may be applied to a scenario in which a shuttle car takes a hoist safely in the warehousing field, and may also be applied to a scenario in which a robot in a hotel takes an elevator to get on or off a floor, and the embodiments of the present application do not limit a specific elevator riding object (for example, the elevator riding object may be a shuttle car in a warehouse or an elevator riding robot in a hotel) nor a specific type of lifting device (for example, the lifting device may be a hoist in a warehouse or an elevator or the like having a lifting function in a hotel or the like).

Referring to fig. 1, fig. 1 is a schematic view of a working scenario of a four-way shuttle system provided in the related art, in which the four-way shuttle system of fig. 1 adopts a shelf structure with a single deep position, and each cargo position can only accommodate one cargo. It should be understood that the four-way shuttle system may also be used with a multi-deep shelf configuration, which is not limited in this application.

There is the tunnel between the goods shelves of the system of figure 1, and there is a row of goods shelves respectively in tunnel both sides, wherein has two tunnel front ends to dispose the lifting machine. In the initial state, the four-way shuttle is at the bottom layer of the goods shelf. The four-way shuttle vehicle carries out warehouse-in or warehouse-out operation (Y direction) before arriving at a goods space along a guide rail on a roadway; each layer of goods shelf in the system is provided with 3 lanes vertical to the Y direction, and the four-way shuttle can realize lane operation (X direction) crossing the Y direction on the lanes; the four-way shuttle car and the elevator are matched with each other to realize cross-floor operation (Z direction). The four-way shuttle vehicle runs to the goods space through the guide rail on the roadway to complete the operation task. For the ex-warehouse operation task, the four-way shuttle vehicle unloads ex-warehouse goods at the position of the elevator, and the ex-warehouse goods reach the annular conveying line through the conveying mechanism and then reach the sorting table corresponding to the task through the annular conveying line. The flow of executing the warehousing job task is opposite to the flow of executing the ex-warehouse task.

The safe butt joint of the four-way shuttle and the hoister can be found to be important for hoisting the warehousing and ex-warehouse tasks of the whole warehouse easily in combination with the working scene of fig. 1. The process of riding the elevator on a four-way shuttle car in the related art is exemplified below with reference to fig. 2.

As shown in fig. 2, the process of riding an elevator on a four-way shuttle in the related art includes:

and S101, selecting a target elevator capable of taking for the target four-way shuttle (namely an execution object selected by a specific outbound or inbound task) by the dispatching server, and generating a dispatching instruction and an elevator taking task number of an elevator taking task entering the target elevator when the target elevator is confirmed to reach the floor where the four-way shuttle is located and stop.

And S102, the dispatching server sends a software locking instruction to the target hoister.

And S103, the target hoister is in a software locking state.

And S104, the dispatching server sends dispatching instructions of the elevator taking tasks to the target four-way shuttle cars, and the dispatching instructions comprise target elevator numbers and elevator taking task numbers which are distributed to the target four-way shuttle cars.

And S105, the target four-way shuttle starts to move to the target hoisting machine according to the self-generated map and the target hoisting machine number, and enters the target hoisting machine to complete the elevator taking task when reaching the target hoisting machine.

And S106, confirming that the elevator taking task is completed, and unlocking the target hoisting machine.

In combination with the elevator taking process, it is not easy to find that the docking of the four-way shuttle car and the elevator is completed by the dispatching server in the related technology, so that the docking risk is possibly caused under the conditions that the dispatching server has a defect fault bug, or the network is down and broken. In addition, in order to ensure the safety of the four-way shuttle riding on the elevator, the related art performs software locking on the target elevator, and after the software locking, the software can ensure that the target elevator is not dispatched by other four-way shuttle, but if the related personnel manually presses the up-down button of the target elevator, the target elevator is in a running state and leaves a waiting floor, and at the moment, if the four-way shuttle continues to travel to the target elevator for taking an elevator, a great falling risk exists. In some embodiments, the software locking state may be manually switched to the manual control mode by others, so that the target hoist is moved away, and therefore, the four-way shuttle vehicle also faces a great risk of falling. Therefore, it is understood that the safety of taking the four-way shuttle car into the elevator cannot be effectively ensured by the software locking mode, and in reality, the four-way shuttle car falls off when taking the elevator.

The four-way shuttle car according to the embodiment of the present invention may be replaced with a trackless car or the like, and the embodiment of the present invention is not limited to a specific target elevator boarding target. The hoisting machine according to the embodiment of the present application may be a device having a lifting function such as an elevator, and the embodiment of the present application is not limited to a specific type of the target lifting device.

At least to solve the above problems, some embodiments of the present disclosure provide a method for controlling a target elevator apparatus to safely ride a target elevator object, in which a scheduling server generates and sends heartbeat information to the target elevator object after sending a scheduling instruction of an elevator riding task to the target elevator object, and in some embodiments, the heartbeat information may ensure that the scheduling server and the target elevator object are always in a connected state, so as to minimally improve the safety of the target elevator object, and in other embodiments of the present disclosure, the heartbeat information may carry some safety parameters, and the safety of the target elevator apparatus may be further improved by using the parameters.

A method of controlling the riding elevator of the riding object performed by the dispatch server is exemplarily described below with reference to fig. 3.

As shown in fig. 3, some embodiments of the present application provide a method of controlling a riding lift of an escalator ride, the method including: s210, sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task; and S220, generating heartbeat information and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining the elevator taking state of the target elevator taking object.

It should be noted that, in some embodiments of the present application, the heartbeat information related to S220 does not carry meaningful information, and is only used to confirm that the connection between the target elevator taking object and the dispatch server is normal, so that the dispatch server generates and sends control information to the target elevator taking object to improve the elevator taking safety in case of an emergency. In some embodiments of the present application, the heartbeat information may carry identification numbers that can continue to perform the elevator taking task or brake identification numbers that suspend elevator taking, for example, the identification numbers are determined by the dispatch server according to the attribute information of the target lifting device. In some embodiments of the application, the heartbeat information may carry attribute information of the target lifting device, and then the target elevator taking object determines whether to continue to perform elevator taking tasks or brake according to the attribute information.

The implementation of the steps of fig. 3 is exemplarily set forth below.

The target elevator-taking object in S210 may be an intelligent transportation unit in a warehouse, for example, the intelligent transportation unit may be an automatic guided vehicle agv (automatic guided vehicle), an autonomous Mobile robot amr (automatic Mobile robot), a rail vehicle (such as a four-way shuttle vehicle) or a trackless vehicle, and the target elevator-taking object in S210 may also be a service robot in a scene such as a hotel or a restaurant, and the embodiment of the present invention does not limit the specific type of the target elevator-taking object.

The target boarding object, which is the start of the boarding task in S210, starts traveling to the target lifter to complete the boarding task. It is understood that, in some embodiments, if there are a plurality of elevator riding objects riding on the target elevator, these elevator riding objects may wait in line for riding in a designated area, and at this time, after the dispatching server sends a dispatching command for executing an elevator riding task to the target elevator, the target elevator riding object may leave the designated area and travel to the target elevator to execute the elevator riding task. If the target elevator taking object is a four-way shuttle in the warehouse, the elevator taking task at the target elevator taking object can be a subtask divided from one of the warehouse-out tasks or the warehouse-in tasks, and a number (namely an elevator taking task number) is also generated for the subtask scheduling server. That is, in some embodiments of the present application, the performing of the boarding task refers to a process in which the target boarding object travels from a current position (e.g., the above-described specified area) toward the target lifter and enters the target lifter, and the starting of the performing of the boarding task specifically refers to a process in which the target boarding object begins traveling from the current position toward the target lifter.

The following exemplifies an implementation of S220.

The elevator taking state in S220 includes whether to start executing an elevator taking task or whether to continue the elevator taking task. For example, in some embodiments of the present application, if the taking-elevator task is not started to be executed, the target taking-elevator object determines whether to start to execute the taking-elevator task according to whether the first heartbeat message is received. And if the target elevator taking object starts to execute the elevator taking task, the target elevator taking object determines whether to continuously execute the elevator taking task according to whether the heartbeat information is received or not.

In order to avoid that the target elevator taking object does not find that the dispatch server fails or other security risks exist after the target elevator taking object starts to perform the elevator taking task, in some embodiments of the present application, the process of generating heartbeat information and sending the heartbeat information to the target elevator taking object, which is referred to in S220, exemplarily includes: generating first frame heartbeat information; and sending the first frame heartbeat information to the target elevator taking object, wherein the first frame heartbeat information is used for triggering the target elevator taking object to start executing the elevator taking task together with the scheduling instruction. That is, in some embodiments of the present application, the first frame of heartbeat information and the dispatching instruction together trigger the target elevator taking object to start executing the elevator taking task.

That is, unlike the prior art that the target elevator taking object is triggered to start executing the elevator taking task only by executing the dispatching command of the elevator taking task, some embodiments of the present application trigger the target elevator taking object to start executing the elevator taking task together according to the dispatching command of executing the elevator taking task and the first frame heartbeat information. For example, if the target boarding object receives only the scheduling command of the boarding task from the scheduling server, the target boarding object may continue to wait for boarding in the designated area. If the target elevator taking object receives one frame of heartbeat information after receiving the dispatching command for executing the elevator taking task, the target elevator taking object starts to execute the elevator taking task, namely, the target elevator taking object leaves the area appointed to wait for taking the elevator and travels towards the target elevator taking object.

It is understood that, in some embodiments of the present application, if only a target boarding object takes the target elevator, and the target boarding object first arrives at the boarding location and the target elevator does not arrive at the boarding floor, the target boarding object will wait for boarding in a designated area, and at this time, the corresponding starting of the boarding task is to leave the designated area and travel to the target elevator. In some embodiments of the present application, if the target elevator arrives before the target elevator taking object, the target elevator waits for the target elevator taking object, and sends a scheduling command for executing an elevator taking task when the target elevator taking object arrives at a designated waiting area, and the target elevator taking object starts to travel to the target elevator and completes the elevator taking after receiving the scheduling command for the elevator taking task.

In order to avoid increasing the elevator taking risk due to a failure of the dispatch server in the process of executing the elevator taking task, in some embodiments of the present application, in the process of executing the elevator taking task by the target elevator taking object, the step S220 of generating heartbeat information and sending the heartbeat information to the target elevator taking object exemplarily includes: generating non-first frame heartbeat information; and sending the non-first frame heartbeat information to the target elevator taking object, wherein the non-first frame heartbeat information is used for the target elevator taking object to determine whether to continuously execute the elevator taking task. The scheduling server may generate and transmit non-first frame heartbeat information according to a certain frequency.

That is, in some embodiments of the present application, the target elevator taking object determines whether to adjust the traveling state according to the ith frame heartbeat information (belonging to any frame of heartbeat information other than the first frame heartbeat information). For example, if the target elevator taking object starts to execute the elevator taking task and does not finish the elevator taking task, the dispatch server also generates heartbeat information, and the target elevator taking object determines whether to adjust the traveling state according to the heartbeat information. For example, in some embodiments of the present application, the target elevator-taking object does not receive the i-th frame heartbeat information and does not receive the i + 1-th frame heartbeat information (the heartbeat information frames are numbered in the order of generation), the target elevator-taking object is adjusted from the motion state to the stop state, i.e., the braking operation is performed.

As noted above, in some embodiments of the present application, the heartbeat information may carry values of parameters related to lifting the safety ride. For example, in some embodiments of the present application, before performing S220 the generating heartbeat information and sending the heartbeat information to the target elevator riding object, the method further includes: attribute information from the target lifting device is received, and the corresponding process of generating heartbeat information S220 exemplarily includes: and generating the heartbeat information according to the attribute information, wherein the attribute information is used for information verification of the target elevator taking object, and when the verification is passed, the target elevator taking object starts to execute the elevator taking task or continues to execute the elevator taking task. That is, in some embodiments of the present application, when it is determined that the attribute information carried in the heartbeat information satisfies a condition, the target boarding object starts to perform the boarding task or continues to travel to the target elevator, and it is understood that if the verification of the information fails, the execution of the boarding task is terminated (i.e., the boarding task is not started, the boarding task is not performed, and warning information is generated), or the execution of the boarding task is suspended (i.e., the boarding task is suspended if the execution of the boarding task is started). For example, the attribute information is used to represent at least one of a floor and an operating state of the target lifting device, and the heartbeat information obtained according to the attribute information may carry at least one of the floor information and the operating state information.

For example, in some embodiments of the present application, the target lifting device may periodically (or in real time) report its attribute information to the scheduling server, and the scheduling server generates corresponding heartbeat information after receiving the attribute information. In some embodiments of the present application, if the attribute information only includes the floor where the target elevator device is located and the target elevator taking object is not yet in a state of starting to perform the elevator taking task, the target elevator taking object, after receiving the heartbeat information, compares the floor stored on its own map (i.e., the floor where the target elevator taking object is currently located) with the floor of the attribute information, and if the two are identical, the verification is passed, and at this time, the target elevator taking object may start to perform the elevator taking task (assuming that a dispatching instruction for performing the elevator taking task has been received). In some embodiments of the present application, if the attribute information only includes the floor where the target elevator apparatus is located and the target elevator taking object is already in the process of performing the elevator taking task, the target elevator taking object, after receiving the heartbeat information, compares the floor stored on its own map (i.e., the floor where the target elevator taking object is currently located) with the floor of the attribute information, and if the two are identical, the verification is passed, and at this time, the target elevator taking object continues to perform the elevator taking task (i.e., continues to travel to the target elevator apparatus). It can be understood that, if the attribute information includes both the floor information and the operating state information, the elevator taking task can be continuously executed or the elevator taking task can be started to be executed only when both types of information are verified to pass (i.e., the floor information is consistent and the operating state is static).

In order to avoid an increased risk caused by an error in scheduling a task by the scheduling server, in some embodiments of the present application, the heartbeat information may further carry a task identification number, where the task identification number is used for the target elevator taking object to perform information verification, and when the verification fails, the target elevator taking object terminates executing the elevator taking task (i.e., terminates executing the elevator taking task and sends alarm information if the execution of the elevator taking task is not started) or terminates executing the elevator taking task (i.e., temporarily stops executing if the execution of the elevator taking task is started). For example, the target boarding object determines whether to start executing the boarding task or continue executing the boarding task (i.e., continue traveling to the target elevator) based at least on the task identification number.

That is, in some embodiments of the present application, the heartbeat information of S220 carries only the task identification number. In some embodiments of the present application, the heartbeat information of S220 carries both the task identification number and the above-mentioned attribute information. It can be understood that, if the heartbeat information only carries the task identification number, when the target elevator-taking object confirms that the task identification number matches with the already stored elevator-taking task number (for example, when the scheduling server sends a scheduling instruction for starting to execute the elevator-taking task, the task number is carried), the target elevator-taking object considers that the verification is passed, and the elevator-taking task can be started to be executed or the already executed elevator-taking task can be continuously executed. If the heartbeat information carries both the task identification number and the attribute information, the target elevator taking object considers that the final verification is passed when the target elevator taking object confirms that the task identification number is matched with the already-stored elevator taking task number (for example, the task number is carried when the dispatching server sends a dispatching instruction for starting to execute the elevator taking task) and confirms that the attribute information is also verified to be passed, and the elevator taking task can be started to be executed or the elevator taking task which is started to be executed can be continuously executed.

It should be noted that, in the present application, the first frame heartbeat information refers to first frame heartbeat information sent to the target elevator taking object by the dispatch server after sending the dispatch instruction for executing the elevator taking task to the target elevator taking object, and the non-first frame heartbeat information refers to other frame heartbeat information sent to the target elevator taking object after sending the first frame heartbeat information. In some embodiments of the present application, the first heartbeat information may carry a task identification number and attribute information, and the non-first heartbeat information may only carry attribute information. In some embodiments of the present application, the first heartbeat information may carry attribute information, and the non-first heartbeat information may also only carry attribute information. In some embodiments of the present application, the first heartbeat information may only carry a task identification number, and the non-first heartbeat information may only carry attribute information. In some embodiments of the present application, the first heartbeat information may carry a task identification number and attribute information, and the non-first heartbeat information may carry a task identification number and attribute information. That is to say, the content carried by the first frame heartbeat information and the content carried by the non-first frame heartbeat information may be the same or different, and each frame heartbeat information may only carry the task identification number or the attribute information, or may also carry both types of information.

In order to improve the safety of the target boarding object during entering into the target lifting device, in some embodiments of the present application, during the entering of the target boarding object into the target lifting device, the method further comprises: and when the fault of the target elevator taking object is confirmed, sending an operation state control instruction to the target lifting device, wherein the operation state control instruction is used for indicating the target lifting device to continuously keep a stop state. That is, in some embodiments of the present application, the target elevating device maintains a stopped state according to the operation state control command.

For example, in some embodiments of the present application, the target elevator-taking object is a trackless trolley, and in the process of entering the hoisting machine, the trackless trolley (i.e., when a part of the body of the trackless trolley enters the hoisting machine and another part of the trackless trolley is still outside the hoisting machine), because the motor is overheated or the trolley fails due to data non-transmission, the scheduling server needs to lock the target lifting device to keep the target lifting device in a stationary state, so as to avoid the trolley falling or being damaged due to the upward or downward movement of the target lifting device.

It is understood that, in order to immediately eliminate the factor interfering with the taking of the target elevator-taking object, in some embodiments of the present application, the method further includes: and receiving fault alarm information from the target elevator taking object, wherein the fault alarm information is generated when the target elevator taking object does not receive at least one frame of heartbeat information or the heartbeat information is checked wrongly.

For example, in some embodiments of the present application, if the target elevator-taking object does not receive the first frame of heartbeat information within a preset time period, the target elevator-taking object sends alarm information. In some embodiments of the present application, if the target elevator taking object does not receive heartbeat information of consecutive multiple frames, the target elevator taking object also generates alarm information and sends the alarm information to the dispatch server. It can be understood that, in the warehouse, if the dispatching server receives the alarm information, the related personnel can arrange to deal with the problems, so that the terminated elevator taking process can be recovered as soon as possible, and the execution efficiency of the warehousing and ex-warehousing tasks is ensured to the maximum extent.

A method of controlling the riding of the elevator by the target riding object, which is performed by the target riding object, is exemplarily described below with reference to fig. 4. In view of the above description of the scheduling server working process also correspondingly explaining the operation performed by the target elevator taking object, in order to avoid repetition, the following contents are described briefly.

As shown in fig. 4, some embodiments of the present application provide a method of controlling a riding lift of an escalator ride object, the method including:

and S310, receiving a dispatching command for executing the elevator taking task from the dispatching server.

The dispatch command as described above is generated by the dispatch server when it is confirmed that the target elevator apparatus has reached the boarding floor and stopped. And the scheduling instruction for executing the elevator taking task is used for triggering the target elevator taking object to start executing the elevator taking task.

And S320, monitoring whether heartbeat information from the dispatching server is received or not, and determining the elevator taking state according to the monitoring result. For example, in some embodiments of the present application, S320 includes determining the boarding status according to whether heartbeat information is received from the dispatch server.

Various embodiments encompassed by S320 are exemplarily set forth below.

In some embodiments of the present application, S320 includes: and controlling the target elevator taking object to be in a stop state if at least one frame of heartbeat information from the dispatching server is not received.

For example, the heartbeat information includes first frame heartbeat information and non-first frame heartbeat information, where the first frame heartbeat information is used to trigger whether the target elevator taking object starts to execute the elevator taking task, and the non-first frame heartbeat information is used to control whether the target elevator taking object continues to execute the elevator taking task.

In some embodiments of the present application, S320 includes: before starting to execute the elevator taking task, confirming that the first frame heartbeat information from the dispatching server is not received, and controlling the target elevator taking object to keep the stop state; wherein after the confirming does not receive the first frame heartbeat information from the scheduling server within the target duration, the method further comprises: and generating and providing alarm information.

In some embodiments of the present application, S320 includes: and in the process of executing the elevator taking task, if confirming that one-frame non-first-frame heartbeat information from the dispatching server is not received in the target time length or confirming that continuous multi-frame non-first-frame heartbeat information from the dispatching server is not received, controlling the target elevator taking object to be adjusted from a motion state to a stop state. It should be noted that, in some embodiments of the present application, if the target elevator taking object in the braking state receives the heartbeat information again, the elevator taking task whose execution is suspended is continuously executed, and if the heartbeat information is not received within the target time length, an alarm message is generated and provided. It can be understood that the interrupted elevator taking task is automatically recovered after a period of time and heartbeat information is received again, so that the efficiency of executing the elevator taking task can be improved.

In other embodiments of the present application, S320 includes: and confirming that heartbeat information from the dispatching server is received according to the monitoring result, and controlling the target elevator taking object to execute the elevator taking task according to the heartbeat information.

The heartbeat information may carry attribute information of the target lifting device (that is, attribute information of the target lifting device at the current time, which is sent by the target lifting device to the dispatch server), where the attribute information includes at least one of a floor where the target lifting device is located and an operating state of the target lifting device, where S320 includes: and if the verification result of the attribute information is confirmed to be passed, controlling the target elevator taking object to start executing the elevator taking task or continue executing the elevator taking task. For example, the attribute information includes: the floor where the target lifting device is located and the running state of the target lifting device; wherein, the confirming that the verification result of the attribute information is passed comprises: confirming that the floor where the target lifting device is located is the same as the floor where the target elevator riding object is located, and confirming that the target lifting device is in a stop state.

The heartbeat information includes: the task identification number, and the scheduling instruction may carry a number corresponding to the elevator taking task, where S320 includes: and if the number is not matched with the task identification number, controlling the target elevator taking object to terminate executing the elevator taking task (namely terminating executing the elevator taking task and sending alarm information if the elevator taking task is not started) or stopping executing the elevator taking task (namely temporarily stopping executing if the elevator taking task is started). It can be understood that the problem of increased elevator taking risk of the target elevator taking object caused by scheduling errors of the scheduling server can be avoided by judging whether the task identification number is the same as the serial number.

As noted above, in some embodiments of the present application, the heartbeat information carries: the task identification number, the floor where the target lifting device is located and the running state of the target lifting device, whether the verification is passed or not needs to be judged when the target elevator taking object receives the latest heartbeat information, and if the verification is passed, the elevator taking task is started or is continuously executed. And the verification is passed, namely the task identification number is judged to be matched with the number of the stored elevator taking task, the current floor of the target lifting device is the same as the floor of the target elevator taking object waiting for elevator taking, and the target lifting device is in a stop state. The verification is not passed, namely the task identification number is not matched with the serial number, or the floor where the target lifting device is located at present is different from the floor where the target elevator taking object waits for elevator taking, or the target lifting device is in a running state.

In order to avoid the target elevator-taking object from entering the target lifting device at a fast speed to cause loss, the method further comprises the following steps: and confirming and adjusting the traveling speed of the target elevator taking object according to the distance between the target elevator taking object and the target lifting device. For example, if it is confirmed that the distance between the target boarding object and the target elevating device is smaller than a target threshold, the traveling speed of the target boarding object is slowed down.

For example, the target elevator-taking object is a four-way shuttle car in a warehouse, and the four-way shuttle car disassembles a path to the hoisting machine according to a map stored by the four-way shuttle car and decelerates and crawls when confirming that the four-way shuttle car is close to the hoisting machine, so that the safety risk can be effectively reduced.

It is understood that, if the heartbeat information needs to carry the attribute information of the target lifting device, in some embodiments of the present application, the target lifting device is further configured to perform the following method for controlling the riding object to ride the lifting device, as shown in fig. 5, the method includes: s410, sending attribute information to a scheduling server, wherein the attribute information is used for the scheduling server to generate heartbeat information. And S420, receiving an operation control command from the dispatch server in a process that the target boarding object enters the elevator apparatus.

That is, in order to further ensure the safety of the target elevator-taking object when entering the target elevator, the control method performed by the target elevator further includes: and receiving an operation control instruction from the dispatching server in the process that the target elevator taking object enters the lifting device, wherein the operation control instruction is used for enabling the target lifting device to be in a stop state.

The above-described method of controlling the riding elevator for the riding elevator is exemplified by a four-way shuttle (as one specific example of the target riding elevator) and a hoist (as one specific example of the target elevator) in conjunction with fig. 6 to 10.

As shown in fig. 6, some embodiments of the present application provide a method of controlling a four-way shuttle ride elevator, the method comprising:

And S103, the target hoister is in a software locking state.

And S104, the dispatching server sends dispatching instructions of the elevator taking tasks to the target four-way shuttle cars, wherein the dispatching instructions of the elevator taking tasks comprise target elevator numbers and elevator taking task numbers which are distributed to the target four-way shuttle cars.

It can be seen that the above four steps are the same as those of fig. 2.

And S105, the target four-way shuttle stores the target elevator number and the elevator taking task number.

As can be seen from the above description, in some embodiments of the present application, the target four-way shuttle car may subsequently compare the elevator-taking task number stored in this step with the task identifier number carried by the heartbeat information from the dispatch server (i.e., check the task identifier number carried by the heartbeat information according to the elevator-taking task number there), and only when the two numbers are consistent, may start to execute the elevator-taking task or continue to execute the already started elevator-taking task.

In some embodiments of the present application, the target four-way shuttle confirms the boarding location from its own map and the target hoist number assigned to it, and confirms when to slow down.

S106, the target hoisting machine sends the attribute information of the target hoisting machine to the scheduling server, wherein the attribute information comprises: the floor and the operating state.

And S107, the dispatching server generates first frame heartbeat information according to the elevator taking task number and the received attribute information of the target elevator.

And S108, the dispatching server sends the first frame of heartbeat information to the target four-way shuttle.

And S109, the target four-way shuttle vehicle confirms that the first frame of heartbeat information is received and confirms that the verification result of the first frame of heartbeat information is accurate (or the verification result is passed), and then the target four-way shuttle vehicle starts to move to the target elevator (namely the elevator taking task is started to be executed).

It should be noted that, if the task identification number carried by the heartbeat information of the target four-way shuttle vehicle is matched with the number of the elevator-taking task stored by the four-way shuttle vehicle, it is determined that the floor where the target elevator carried by the heartbeat information is located is consistent with the floor where the four-way shuttle vehicle is located, and it is determined that the attribute information carried by the heartbeat information shows that the target elevator is in a static state, the result of checking the first frame information by the four-way shuttle vehicle is accurate.

S110, the target hoisting machine sends the attribute information of the target hoisting machine at the current time to a scheduling server, wherein the attribute information comprises: the floor and the operating state.

And S111, the dispatching server generates next frame of heartbeat information according to the elevator taking task number and the received attribute information of the target elevator.

And S112, the dispatching server sends the next frame of heartbeat information to the target four-way shuttle.

And S113, the target four-way shuttle vehicle confirms that the heartbeat information is received and confirms that the verification result of the heartbeat information is accurate (specifically referring to the description of the first frame of heartbeat information), and then the target four-way shuttle vehicle continues to move towards the target elevator (namely, the elevator taking task is continuously executed).

And repeatedly executing the processes of generating one frame of heartbeat information, sending the frame of heartbeat information and verifying the frame of heartbeat information.

And S114, if the target four-way shuttle vehicle confirms that the distance between the target four-way shuttle vehicle and the target hoisting machine is smaller than the set threshold value (namely the distance between the target four-way shuttle vehicle and the target hoisting machine is close enough) according to the map and the number of the target hoisting machine, decelerating and slowing, namely reducing the running speed, so that the target four-way shuttle vehicle enters the target hoisting machine at a slower speed.

S116, the scheduling server determines that the target four-way shuttle has a failure (for example, a failure due to overheating of the motor), and generates a stop state holding command for holding the target hoist in a stop state.

S117, the scheduling server transmits a stop hold command to the target hoist.

And S118, the target hoisting machine keeps a stop state after receiving the instruction.

It should be noted that after S118, the target four-way shuttle generates and sends alarm information.

Fig. 7 is a processing method when the first heartbeat message is not received, and unlike fig. 6, the target four-way shuttle in fig. 7 does not receive the first heartbeat message.

Fig. 7 includes steps S101, S102, S103, S104, S105 which are the same as those of fig. 6, and unlike fig. 6, the method of fig. 7 includes, after these steps: and S211, if the target four-way shuttle vehicle confirms that the first frame of heartbeat information is not received, braking and generating alarm information. S212, the target four-way shuttle sends alarm information to a dispatching server. S213, the dispatching server receives the alarm information and confirms a further processing strategy. To avoid repetition, this paragraph only describes the steps of fig. 7 that differ from fig. 6.

It should be noted that, in some embodiments of the present application, the failure of the first frame heartbeat information received by the target four-way shuttle of fig. 7 may be due to a failure of the dispatch server, and thus, the first frame heartbeat information is not generated by the target four-way shuttle. In some embodiments of the present application, the failure of the target four-way shuttle to receive the first heartbeat message may be due to a communication link failure. It can be understood that, according to some embodiments of the present application, when it is confirmed that the first heartbeat message is not received, the elevator taking task is not started to be executed, so that the safety of taking the elevator by the target four-way shuttle car can be ensured to the greatest extent.

Fig. 8 is a processing method when the received first heartbeat message fails to be verified, and different from fig. 6, the verification result of the received first heartbeat message in fig. 8 fails.

Fig. 8 includes steps S101, S102, S103, S104, S105, S106, S107, and S108 which are the same as those of fig. 6, and unlike fig. 6, the method of fig. 8 includes, after the steps: and S231, if the received first frame of heartbeat information is determined to have an error in the check result, braking and generating alarm information. And S232, the target four-way shuttle sends alarm information to the dispatching server. S233, the dispatch server receives the alarm information and confirms a further processing strategy. To avoid repetition, this paragraph only describes the steps of fig. 8 that differ from fig. 6.

It should be noted that, as can be seen from the above description, the error in the check result of S231 may be that the task identification number carried in the heartbeat information is not the elevator boarding task number corresponding to the elevator boarding task, or the floor information of the target elevator carried in the heartbeat information is not consistent with the floor where the target four-way shuttle is located, or the target elevator carried in the heartbeat information is in an operating state. That is, if at least one item of information carried by at least heartbeat information fails to be verified, the verification result is considered to be wrong.

Fig. 9 is a processing method for not receiving continuous multi-frame heartbeat information, and unlike fig. 6, the continuous multi-frame heartbeat information is not received in fig. 9.

Fig. 9 includes steps S101, S102, S103, S104, S105, S106, S107, S108, S109, S110, S111, S112, and S113 that are the same as those of fig. 6, and unlike fig. 6, the method of fig. 9 includes, after the steps: and S141, if the heartbeat information is continuously received for multiple times (namely the continuous multi-frame heartbeat information is not received), braking and generating alarm information. And S142, sending alarm information if the target four-way shuttle vehicle does not receive new heartbeat information within a set time length. It can be understood that the elevator taking task is continuously executed if new heartbeat information is received again within the set time length. S143, the dispatching server receives the alarm information and confirms a further processing strategy. To avoid repetition, this paragraph only describes the steps of fig. 9 that differ from fig. 6.

Fig. 10 is a processing method when the received non-first-frame heartbeat message fails to be verified, and unlike fig. 6, a certain frame of non-first-frame heartbeat message received in fig. 10 does not pass the verification result of the received frame of heartbeat message.

Fig. 10 includes steps S101, S102, S103, S104, S105, S106, S107, S108, S109, S110, S111, S112, and S113 which are the same as those of fig. 6, and unlike fig. 6, the method of fig. 10 includes, after the steps: and S151, if the received heartbeat information is not verified (meaning that the verification result is wrong in the same way as the verification result in the figure 8), braking is carried out, and alarm information is generated. And S152, sending alarm information to a dispatching server by the target four-way shuttle. S153, the dispatching server receives the alarm information and confirms a further processing strategy. To avoid repetition, this paragraph only describes the steps of fig. 10 that differ from fig. 6.

It should be noted that, as can be seen from the above description, the verification result in S151 may not be that the task identification number carried in the heartbeat information is not the elevator boarding task number corresponding to the elevator boarding task, or the floor information of the target elevator carried in the heartbeat information is not consistent with the floor where the target four-way shuttle car is located, or the target elevator carried in the heartbeat information is in an operating state. That is, if at least one item of information carried by at least heartbeat information fails to be verified, the verification result is considered to be wrong.

A procedure in which a vehicle (as one specific example of a target boarding object) performs a boarding task is exemplarily described below with reference to fig. 11. In the following example provided by the present application, in addition to the system lock (such as the software lock shown in fig. 2), a heartbeat check function is added during the process of the vehicle (for example, the vehicle may be a four-way shuttle or an AGV, etc.) performing the elevator taking task, so that an accidental drop can be effectively prevented. In the following examples provided by the present application, the vehicle actively disassembles the path to the elevator based on map attributes and pose, limiting the speed of the elevator.

In the process that the vehicle enters the elevator, the server sends heartbeat information in real time, wherein the heartbeat information comprises an ID (namely a task identification number) of a current move task of the elevator, an operation state (for example, the state of the elevator, wherein the state comprises stop, operation, abnormity and the like) of the elevator and a floor of the elevator, and the heartbeat information is sent to the server until the vehicle arrives at the elevator task successfully, namely, the vehicle finishes the elevator taking task.

It is understood that in order to implement the safe boarding task, in some embodiments of the present application, the boarding vehicle carries a map, and points of this map may carry attribute information of different points, such as: charging stations, elevators, docking points, etc., do different operational events for different points. For example, the charging task is accepted only at points of the charging station profile. In some embodiments of the application, the vehicle enters the last section of the elevator to split the road section, and the vehicle is prevented from entering the elevator at a high speed. It can be understood that the dispatching server sends a section of locked path to the vehicle, and such a section of locked path corresponds to a section of road, so as to ensure that the section of road is not used by other vehicles, and if the elevator-taking vehicle confirms that the target hoisting machine exists in the current running section, the section detection is carried out to confirm that the elevator is about to enter and the speed is reduced to run. That is, in some embodiments of the present application, a vehicle enters an elevator road segment to speed limit in order to stop at any time. For example, the heartbeat frequency is 10Hz, and the vehicle speed after deceleration is 0.3m/s, so that the vehicle runs for 100ms for 0.03 m.

It is assumed that the meaning of each field of each frame heartbeat (and the transmission interval of the adjacent frame heartbeat is 10s) corresponding to fig. 11 is as shown in table 1.

TABLE 1 heartbeat form parsing table

Fig. 11 shows an elevator taking process after the vehicle receives a scheduling instruction to perform an elevator taking task, the process including:

the method comprises the steps of firstly, judging whether first frame heartbeat information is received or not, if so, executing the next step, otherwise, judging whether the first frame heartbeat information is overtime or not, if the first frame heartbeat information is overtime (namely, the target time length is exceeded, and the specific numerical value of the target time length can be set according to the actual situation), confirming that the elevator taking task fails to be executed, and reporting a fault code. That is to say, before the elevator taking task is executed, the heartbeat packet is not received, and the task is not executed until the correct heartbeat is received. (timeout wait, failure to receive a report task for 10 s).

And the second step, judging whether the first frame of heartbeat information is successfully checked, if so, continuing to execute the next step, otherwise, reporting a fault code if the elevator taking task fails to be executed.

Thirdly, judging whether the heartbeat is continuously received, if so, executing the next step; if not, stopping immediately, judging whether the time is overtime or not, if so, judging that the task fails, reporting a fault code, and if not, continuously waiting for confirming whether the heartbeat information can be continuously received or not.

And step four, judging whether the received heartbeat information is successfully verified, if so, executing the next step, and if not, reporting a fault code if the execution of the elevator taking task fails.

And fifthly, normally running, namely, the vehicle continuously moves to the hoister to continuously carry out the elevator taking task.

And sixthly, judging whether the elevator taking task is finished, if so, finishing the elevator taking task, and otherwise, continuously repeating the steps started in the third step.

For example, in some embodiments of the present application, if the heartbeat is continuously lost 2 times during the vehicle entering the elevator task, the brake is immediately performed, the heartbeat is waited for recovering (waiting overtime, no alarm is received for 10s), and the heartbeat is recovered to continue running. In the process of entering the elevator task, the heartbeat is not lost, but the elevator state is changed into the running state, or the floor is changed into a non-current floor, and the brake is immediately carried out to report errors. When the vehicle enters the elevator, any fault occurs, and the elevator is not allowed to run. It can be understood that by adopting the technical scheme of the application, the server side can be ensured to have abnormal conditions, such as breakdown, sudden power failure and the like, and the safe stop of the vehicle can be ensured.

Referring to fig. 12, fig. 12 shows a scheduling server provided in an embodiment of the present application, and it should be understood that the scheduling server corresponds to the above-described method embodiment of fig. 3, and is capable of performing various steps related to the above-described method embodiment, and specific functions of the scheduling server may be referred to the above description, and a detailed description is appropriately omitted herein to avoid repetition. The dispatch server includes at least one software function module that can be stored in memory in the form of software or firmware or solidified in an operating system of the dispatch server, the dispatch server including: a scheduling command sending module 201 and a heartbeat generating and sending module 202.

A scheduling instruction sending module 201 configured to: sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task;

a heartbeat generating and transmitting module 202 configured to generate heartbeat information and transmit the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for the target elevator taking object to determine an elevator taking state.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the scheduling server described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.

Referring to fig. 13, fig. 13 shows an intelligent transportation device provided in an embodiment of the present application, it should be understood that the intelligent transportation device corresponds to the above-mentioned method embodiment of fig. 4, and can perform the steps related to the above-mentioned method embodiment, and the specific functions of the target elevator riding object may be referred to the above description, and detailed descriptions are appropriately omitted herein to avoid repetition. The intelligent transportation device comprises at least one software function module which can be stored in a memory in the form of software or firmware or solidified in an operating system of a target elevator object, and comprises: a scheduling instruction receiving module 301, a monitoring module 302 and a control module 303.

A monitoring module 302 configured to monitor whether heartbeat information is received from the dispatch server.

A control module 303 configured to determine an elevator riding state according to the monitoring result.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the target elevator-taking object described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.

Referring to fig. 14, fig. 14 shows a lifting device provided in an embodiment of the present application, and it should be understood that the target elevator riding object corresponds to the above-mentioned method embodiment of fig. 5, and can perform various steps related to the above-mentioned method embodiment, and specific functions of the lifting device can be referred to the above description, and detailed descriptions are appropriately omitted herein to avoid redundancy. The lifting device comprises at least one software functional module which can be stored in a memory in the form of software or firmware or solidified in an operating system of the lifting device, and the lifting device comprises: an attribute information transmission module 401 and a state control module 402.

An attribute information sending module 401 configured to send attribute information to a scheduling server, where the attribute information is used for the scheduling server to generate heartbeat information.

A state control module 402 configured to: and receiving an operation control instruction from the dispatching server in the process that the target elevator taking object enters the lifting device, wherein the operation control instruction is used for enabling the target lifting device to be in a stop state.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the lifting device described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.

Some embodiments of the present application provide a system for protecting an object riding a ladder, the system comprising: a dispatch server, and the dispatch server is configured to: sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task; generating heartbeat information in response to the received attribute information, and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining an elevator taking state of the target elevator taking object; a target ride object, and the target ride object is configured to: receiving a dispatching instruction for executing the elevator taking task from a dispatching server; monitoring heartbeat information from the scheduling server to obtain a monitoring result; determining the elevator taking state according to the monitoring result; a lifting device, and the lifting device is configured to: and sending the attribute information to the scheduling server, wherein the attribute information is used for the scheduling server to generate heartbeat information.

Fig. 15 provides a schematic diagram of the components of an electronic device 500. It is understood that the corresponding devices in fig. 11, fig. 12 and fig. 13 in the embodiments of the present application may each include the memory 510, the processor 520 and a computer program stored on the memory 510 and executable on the processor 520 as shown in fig. 14, wherein the method shown in the corresponding figures may be implemented when the processor 520 executes the program (and reads the program from the memory 510 and executes the program through the bus 530), and may also be used to implement the method described in the above embodiments.

For example, the processor 520 of the embodiment of the present application executing the computer program may implement the following method: and acquiring the attribute characteristics of the user to be authenticated. And executing authentication operation on the user to be authenticated according to the attribute characteristics, and reading authentication result information.

Processor 520 may process digital signals and may include various computing structures. Such as a complex instruction set computer architecture, a structurally reduced instruction set computer architecture, or an architecture that implements a combination of instruction sets. In some examples, processor 520 may be a microprocessor.

Memory 510 may be used to store instructions that are executed by processor 520 or data related to the execution of the instructions. The instructions and/or data may include code for performing some or all of the functions of one or more of the modules described in embodiments of the application. The processor 520 of the disclosed embodiments may be used to execute instructions in the memory 510 to implement the method shown in fig. 2. Memory 510 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memory known to those skilled in the art.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A method for controlling an elevator riding object to ride a lifting device is applied to a dispatching server, and is characterized by comprising the following steps:

sending a scheduling instruction for executing an elevator taking task to a target elevator taking object, wherein the scheduling instruction is used for triggering the target elevator taking object to start executing the elevator taking task;

generating heartbeat information and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining the elevator taking state of the target elevator taking object.

2. The method of claim 1, wherein the generating and sending heartbeat information to the target ride object comprises:

generating first frame heartbeat information;

and sending the first frame heartbeat information to the target elevator taking object, wherein the first frame heartbeat information is used for triggering the target elevator taking object to start executing the elevator taking task together with the scheduling instruction.

3. The method of any of claims 1-2, wherein the generating and sending heartbeat information to the target ride object comprises:

and sending non-first frame heartbeat information to the target elevator taking object according to a certain frequency, wherein the non-first frame heartbeat information is used for the target elevator taking object to determine whether to continuously execute the elevator taking task.

4. The method of any one of claims 1-3, wherein prior to the generating and sending heartbeat information to the target ride object, the method further comprises:

receiving attribute information from the target lifting device, wherein the attribute information is used for representing at least one of a floor and an operation state of the target lifting device;

wherein,

the generating heartbeat information includes: generating heartbeat information according to the attribute information, wherein the heartbeat information carries at least one of the floor and the running state, the attribute information is used for information verification of the target elevator taking object, and the target elevator taking object starts to execute the elevator taking task or continues to execute the elevator taking task when the verification is passed.

5. The method of any one of claims 1-4, wherein the heartbeat information carries a task identification number, wherein the task identification number is used for information verification by the target elevator taking object.

6. The method of any one of claims 1-5, wherein during the target ride entry into the target lift device, the method further comprises:

when the fault of the target elevator taking object is confirmed, sending an operation state control instruction to a target lifting device, wherein the operation state control instruction is used for indicating the target lifting device to continuously keep a stop state;

or

And receiving fault alarm information from the target elevator taking object, wherein the fault alarm information is generated when the target elevator taking object does not receive at least one frame of heartbeat information or the heartbeat information is not verified.

7. A method for controlling an elevator riding object to ride a lifting device is applied to a target elevator riding object, and is characterized by comprising the following steps:

receiving a dispatching instruction for executing the elevator taking task from a dispatching server;

monitoring whether heartbeat information from the scheduling server is received;

and determining the elevator taking state according to the monitoring result.

8. The method of claim 7, wherein the heartbeat information includes first frame heartbeat information and non-first frame heartbeat information, wherein the first frame heartbeat information is used for triggering whether the target elevator taking object starts to execute the elevator taking task, and the non-first frame heartbeat information is used for controlling whether the target elevator taking object continues to execute the elevator taking task.

9. The method of any of claims 7-8, wherein the monitoring whether heartbeat information is received from the dispatch server comprises:

before starting to execute the elevator taking task, confirming that the first frame heartbeat information from the scheduling server is not received in the target time length;

the step of determining the elevator taking state according to the monitoring result comprises the following steps: controlling the target elevator taking object to keep a stop state;

wherein,

after the confirming does not receive the first frame heartbeat information from the scheduling server within the target duration, the method further comprises: and generating and providing alarm information.

10. The method of any of claims 7-8, wherein the monitoring whether heartbeat information is received from the dispatch server comprises:

in the process of executing the elevator taking task, confirming that one-frame non-first-frame heartbeat information from the dispatching server is not received in a target time length or confirming that continuous multi-frame non-first-frame heartbeat information from the dispatching server is not received;

the step of determining the elevator taking state according to the monitoring result comprises the following steps: and controlling the target elevator-taking object to be adjusted from a motion state to a stop state.

11. The method of any one of claims 7-10, wherein after the target ride object is in a stopped state, the method further comprises: and if the heartbeat information is received again after the set time length, the stop state is adjusted to be the running state so as to continuously execute the elevator taking task.

12. The method according to any one of claims 7-8, wherein the heartbeat message can carry attribute information of a target lifting device, the attribute information including at least one of a floor on which the target lifting device is located and an operational status of the target lifting device, wherein,

the monitoring whether heartbeat information from the scheduling server is received includes: confirming receipt of the heartbeat information;

the step of determining the elevator taking state according to the monitoring result comprises the following steps: and if the verification result of the attribute information is confirmed to be passed, controlling the target elevator taking object to start executing the elevator taking task or continue executing the elevator taking task.

13. The method of claim 12, wherein the attribute information comprises: the floor where the target lifting device is located and the running state of the target lifting device; wherein,

the confirming that the verification result of the attribute information is passed comprises:

confirming that the floor where the target lifting device is located is the same as the floor where the target elevator riding object is located, and confirming that the target lifting device is in a stop state.

14. The method according to any of claims 7-8 and claims 12-13, characterized in that the scheduling instructions carry a number corresponding to the boarding task, the heartbeat information may carry a task identification number, wherein,

the monitoring whether heartbeat information from the scheduling server is received includes: confirming that the heartbeat information is received;

the step of determining the elevator taking state according to the monitoring result comprises the following steps:

and when the number is not matched with the task identification number, controlling the target elevator taking object to stop executing the elevator taking task or stopping executing the elevator taking task.

15. The method of any one of claims 7-14, further comprising:

and if the distance between the target elevator taking object and the target lifting device is confirmed to be smaller than a target threshold value, slowing down the traveling speed of the target elevator taking object.

16. A system for protecting an object riding on a ladder, the system comprising:

a dispatch server, and the dispatch server is configured to:

generating heartbeat information in response to the received attribute information, and sending the heartbeat information to the target elevator taking object, wherein the heartbeat information is used for determining an elevator taking state of the target elevator taking object;

a target ride object, and the target ride object is configured to:

monitoring heartbeat information from the scheduling server to obtain a monitoring result;

determining the elevator taking state according to the monitoring result;

a lifting device, and the lifting device is configured to:

and sending the attribute information to the scheduling server, wherein the attribute information is used for the scheduling server to generate heartbeat information.

17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 6, or which, when being executed by a processor, is adapted to carry out the method of any one of claims 7 to 15.

18. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program is operable to perform the method of any of claims 1-6, or wherein the processor when executing the program is operable to perform the method of any of claims 7-15.

19. A computer program product, characterized in that the computer program product comprises a computer program, wherein the computer program when executed by a processor realizes the method according to any of claims 1-6 or wherein the computer program when executed by a processor realizes the method according to any of claims 7-15.