CN115246606B

CN115246606B - Elevator control method and device and elevator

Info

Publication number: CN115246606B
Application number: CN202211013506.7A
Authority: CN
Inventors: 刘志胜; 罗锦浩
Original assignee: Winone Elevator Co Ltd
Current assignee: Winone Elevator Co Ltd
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2024-01-26
Anticipated expiration: 2042-08-23
Also published as: CN115246606A

Abstract

The application is applicable to the technical field of elevators, and provides an elevator control method, an elevator control device and an elevator, and the elevator control method comprises the following steps: when the elevator meets the carrying conditions, feedback information is sent to the target robot; receiving a first call request sent by the target robot; recording target floor information of the target robot in a control box of the elevator; controlling the elevator to open an elevator door after reaching the floor where the target robot is currently located; if the target robot is detected to enter the elevator car, controlling the elevator to close the elevator door; and according to the destination floor information recorded by the control box, the corresponding floor is reached, and the elevator door is opened after the corresponding floor is reached. By the method, the service efficiency of the elevator can be improved.

Description

Elevator control method and device and elevator

Technical Field

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

Background

Today, the situation in which robots share elevators with people is increasing.

In the prior art, a robot is usually separated from a person to reduce the collision problem caused when the robot and the person share an elevator, namely, when the robot uses the elevator, the person cannot use the elevator, and when the person uses the elevator, the robot cannot use the elevator. But the use of the elevator with the robot separately from the person will make the use of the elevator less efficient.

Disclosure of Invention

The embodiment of the application provides an elevator control method and device and an elevator, which can solve the problem of lower service efficiency of the elevator.

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

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

receiving a first call request sent by the target robot, wherein the first call request carries floor information of the current target robot and target floor information of the target robot;

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

controlling the elevator to open an elevator door after reaching the floor where the target robot is currently located;

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

and according to the destination floor information recorded by the control box, the corresponding floor is reached, and the elevator door is opened after the corresponding floor is reached.

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

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

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

a target floor information recording module for recording target floor information of the target robot in an operation box of the elevator;

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

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

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

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

In a fifth aspect, embodiments of the present application provide a computer program product for causing an elevator to perform the method of the first aspect described above when the computer program product is run on the elevator.

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

in the embodiment of the application, since the feedback information includes information about agreeing to take, after the robot desiring to take the elevator (i.e., the target robot) receives the feedback information sent by the elevator, the first call request can be timely sent to the elevator, so that the elevator can know the floor information of the current location of the target robot and the target floor information of the target robot from the first call request, and the target robot can be timely sent to the target floor from the current floor of the target robot. Meanwhile, the elevator sends feedback information to the target robot only when the elevator meets the carrying conditions, and the elevator indicates that the current elevator can carry the target robot when the elevator meets the carrying conditions, so that the probability of collision between the target robot and other target robots (or passengers) can be reduced. In addition, since the target robot and the person can simultaneously mount the elevator, the use ratio of the elevator can be greatly improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a schematic flow chart of an elevator control method according to an embodiment of the present application;

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

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

fig. 4 is a schematic structural view of an elevator according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Furthermore, the terms first, second and the like in the description and in the claims, are used for distinguishing between the descriptions and not necessarily for indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise.

Embodiment one:

when the robot and the person share the elevator, if the robot and the person can only separately use the elevator, the use efficiency of the elevator is low. If the robot and the person can use the elevator at the same time, the good experience of the elevator riding personnel may be affected.

In order to improve the use efficiency of an elevator and improve the good experience of passengers, the embodiment of the application provides an elevator control method. In this elevator control method, the elevator-mounted robot is intended only when the elevator satisfies the mounting conditions.

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

Fig. 1 shows a schematic flow chart of an elevator control method provided in an embodiment of the present application, and is described in detail below:

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

The loading conditions are conditions under which the elevator can load the robot, and include: the load ratio of the elevator is smaller than a preset threshold value, and/or the ratio of the area of the elevator occupied by the elevator taking object (elevator taking personnel and robots) in the elevator to the area of the elevator is smaller than a preset area ratio. When the elevator satisfies the loading condition, the elevator is not crowded in the elevator car, and at this time, the elevator agrees to take the target robot, so that the probability of collision between the target robot and the elevator taking person in the elevator car or other robots in the elevator car can be reduced.

In some embodiments, when the piggyback condition includes: when the load ratio of the elevator is smaller than the preset threshold value, the load ratio of the elevator can be calculated by the following modes: the current weight value in the elevator car is obtained, and the load ratio of the elevator is determined according to the current weight value and the maximum load of the elevator. Comparing the calculated load ratio with a preset threshold value, and if the load ratio is smaller than the preset threshold value, considering that the elevator can carry the robot. For example, when a boarding person exists in the car of an elevator, a robot exists, or both a robot and a boarding person exist, if it is determined that the load ratio of the elevator is smaller than a preset threshold value, feedback information including information for agreeing to take the elevator is transmitted to a robot desiring to take the elevator (i.e., a target robot). In this embodiment of the present application, the robot may be an AGV cart having an electromagnetic or optical automatic navigation device, etc. capable of traveling along a predetermined navigation path.

In some embodiments, the identity of the robot desiring to pick up the elevator may be registered in the elevator in advance, and the registered robot is the target robot. Alternatively, after the elevator receives a call request from the robot, the elevator takes the robot as a target robot.

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

Specifically, the destination robot issues a first call request to the elevator via a communication link established with the elevator to inform the elevator of the floor it is currently on and the floor it wishes to reach (i.e., the destination floor). For example, the floor where the target robot is currently located is 3 floors, the floor which the target robot wants to reach is 5 floors, and the first call request sent to the elevator by the target robot includes information for indicating that the floor where the target robot is currently located is 3 floors, and information for indicating that the floor which the target robot wants to reach is 5 floors.

And step S13, recording the destination floor information of the destination robot in the control box of the elevator.

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

In some embodiments, considering that the illuminated floor numbers on the display panel of some of the manipulation boxes can be canceled by pressing the corresponding buttons again, the floor canceling instruction issued by the display panel of the manipulation box for canceling the recorded target floor information of the target robot is shielded in order to avoid that the target floor information of the target robot recorded by the manipulation box is canceled artificially and erroneously, since the target robot does not need to cancel the target floor information recorded by the manipulation box by pressing the corresponding buttons again. For example, assuming that the floor number corresponding to the destination floor information of the destination robot is "5", the floor number corresponding to one destination floor information of the elevator occupant is "4", when the elevator occupant presses the button corresponding to "4" again after "4" and "5" of the display panel of the control box are lit, the lit "4" is extinguished, that is, the destination floor information of the floor 4 recorded by the control box is canceled. When the elevator riding person presses the button corresponding to the '5' again, the lighted '5' is not extinguished, namely, the elevator is shielded from the floor cancel instruction sent by the elevator riding person through the control box, so that the elevator riding person cannot cancel the target floor information of the target robot recorded by the control box.

Of course, in the embodiment of the present application, only the destination floor information may be recorded, and the floor number corresponding to the destination floor information may not be lit on the display panel.

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

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

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

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

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

Specifically, when the control box records the destination floor information of the elevator taking person and/or the destination robot, the elevator will reach the corresponding floors according to the sequence of the floors corresponding to the destination floor information recorded by the control box in combination with the current running direction of the elevator, and after reaching the floors, the elevator door is opened so that the elevator taking person and/or the destination robot leaves the elevator car. For example, if the floor numbers corresponding to the destination floor information recorded by the control box are "3", "5" and "7", respectively, the current floor of the elevator is 4 floors, and the running direction of the elevator is upward, the elevator will first run to "5" floors, stop and open the elevator door, and then will continue to run to "7" floors, stop and open the elevator door.

In some embodiments, in order to facilitate the elevator to know which robots need to take the elevator in time, the elevator control method provided by the embodiment of the application further includes:

a1, determining a target running direction of the target robot according to the floor information of the current target robot and the target floor information of the target robot.

Specifically, if the floor indicated by the floor information where the target robot is currently located is shorter than the floor indicated by the target floor information, the target running direction is determined to be downward. Otherwise, if the floor indicated by the floor information of the current destination robot is higher than the floor indicated by the destination floor information, the destination running direction is determined to be upward.

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

In this embodiment of the present application, the first call request further includes location information when the target robot issues the first call request, and at this time, a distance between the target robot and the car door may be determined according to the location information when the target robot issues the first call request and the pre-acquired location information of the elevator, and a duration required for the target robot to reach the car door may be determined by dividing the determined distance by an average speed of the target robot.

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

A3, calculating the time length and the door opening time length of the elevator reaching the current floor of the target robot according to the current floor of the target robot and the current floor of the elevator, and determining the total time length according to the time length and the door opening time length of the current floor of the target robot.

In this embodiment of the present application, the distance between the floor where the target robot is currently located and the floor where the elevator is currently located may be determined first, and according to the distance and the running speed of the elevator, the duration of the elevator reaching the floor where the target robot is currently located may be determined. And adding the time length to a preset door opening time length to obtain the total time length.

Correspondingly, the step S14 includes:

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

The preset difference threshold may be 2 seconds.

In this embodiment of the present application, when the absolute value of the difference between the time length required for the target robot to reach the elevator door and the total time length is smaller than a preset difference threshold, it indicates that the time length required for the target robot to reach the elevator door is close to the total time length, and at this time, the elevator can be controlled to open the elevator door after reaching the floor where the target robot is currently located, so that the target robot can timely load the elevator. In some embodiments, if the elevator determines that the length of time required for the target robot to reach the elevator door is less than the total length of time, the target robot is presented with

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

and if the absolute value of the difference between the time required by the target robot to reach the elevator door and the total time is not smaller than a preset difference threshold value, sending a nearby stopping instruction to the target robot, wherein the nearby stopping instruction is used for indicating the target robot to stop at a designated position, and the time required by the target robot to reach the elevator door from the designated position is shorter than the time required by the target robot to reach the elevator door from the current position.

Wherein the specified position is usually outside the door opening of the elevator door, and the specified position can be a position close to 0 from the elevator door. The current position of the target robot is usually a certain distance from the elevator door, for example, the position of the target robot, which is 10-20 meters away from the elevator door, is used as the position of the target robot, which sends out the first call request. In some embodiments, the designated location is an off-car nearby stop as shown in fig. 2 and the location where the target robot is currently located is the first call location of the target robot as shown in fig. 2.

In some embodiments, when the target robot waits for a preset time period threshold at a specified location, and no elevator can be taken, the elevator (or elevator system) receives a second call request sent by the target robot, where the second call request may include information about the current location of the target robot, information about the target floor it wishes to reach, and may also include information about the inquiry about the arrival time point of the elevator. Because the call request is sent to the elevator again, whether the target robot is still in a connection relation with the elevator or not can be timely confirmed, and the elevator is also beneficial to timely taking the target robot.

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

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

Specifically, at least one time period is preset, and the robot is refused to ride in the preset time period. For example, a time period is set according to the peak of work, and/or a time period is set according to the rest time of the morning, and/or a time period is set according to the rest time of the afternoon, and/or a time period is set according to the peak of work, etc., and in these set time periods, if robots desiring to take an elevator are monitored, feedback information including the taking refusal information is sent to these robots. The corresponding time period is set according to the daily use scene of the elevator taking personnel, so that the robot is refused to be carried when the elevator is in a larger passenger carrying capacity or is about to be in a larger passenger carrying capacity, and the elevator taking experience of the elevator taking personnel can be greatly improved.

In this embodiment of the present application, it is considered that there may be more passengers to take the elevator in a certain time period, so that the elevator only judges whether the load ratio of the elevator is less than a preset threshold value at a time point not belonging to the time period, and thus, it can be ensured that feedback information is sent to the target robot only when the current time point does not belong to the preset time period. That is, the elevator only considers riding the robot at a point in time that does not belong to the time period.

When the current time point is judged not to be in the preset time period, the elevator is not in or about to be in the time period with larger passenger capacity, so that whether the target robot can be carried currently is judged according to the load ratio, the carrying of the robot when the passenger capacity of the elevator is large can be avoided, the probability of collision between passengers on the elevator is reduced, and good elevator taking experience of passengers on the elevator is improved.

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

In some embodiments, at step S14 above, further comprising:

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

The elevator can shoot the elevator door through shooting equipment, and whether the target robot enters the car or not is judged through analyzing pictures obtained through shooting. Or after the elevator receives a safe stop signal actively reported by the target robot, the target robot is judged to enter the car. The method comprises the steps of dividing a robot stopping area (such as a stopping point in a car in fig. 2) in the car in advance, pasting information such as a two-dimensional code in the robot stopping area, scanning the pasted two-dimensional code after a target robot enters the robot stopping area, and reporting a safe stopping signal to an elevator according to a scanning result.

In the embodiment of the application, in order to avoid the linkage control interruption between the target robot and the elevator, the elevator door is kept in an open state in the process of the robot entering the elevator car. For example, when the door closing button of the control box is pressed by the elevator passenger during the process that the target robot moves from outside the elevator to inside the elevator car, the elevator does not respond to the door closing signal sent by the pressed door closing button until the elevator judges that the target robot enters the elevator car. Because the elevator shields the door closing signal sent by the button of the control box in the process that the target robot enters the elevator car, the target robot can smoothly enter the elevator car, and therefore accidents caused by the interruption of the joint control of the target robot and the elevator are avoided.

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

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

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

In this embodiment of the present application, after the elevator determines that the floor at which the elevator is currently stopped is the floor that the target robot wants to reach, the door closing signal sent by the elevator passenger by pressing the button of the control box is shielded, so that the situation that the target robot does not leave the car is avoided, and the elevator door is closed, thereby causing the linkage control interruption of the target robot and the elevator.

In some embodiments, the area in the car includes a robot stop area and a non-robot stop area, and further includes, at the step S14:

If the robot stopping area is detected to have a human body, a reminding voice is sent out, wherein the reminding voice comprises voice for reminding passengers not to occupy the robot stopping area.

In the embodiment of the application, whether a preset robot stopping area has a human body or not can be detected by analyzing an image shot by a camera of which the shooting range comprises the robot stopping area, whether the robot stopping area has a human body or not can also be detected by analyzing sensor data obtained by an infrared sensor of which the detection area is the robot stopping area, and if the robot stopping area in the lift car is detected to have the human body, a passenger is reminded of not occupying the area. The robot stopping area is defined in the car, so that the target robot can be separated from the elevator riding personnel after entering the car, and the probability of collision between the target robot in the car and the elevator riding personnel is reduced.

and feeding back information including a refusal to take a ride to the target robot when the load ratio of the elevator is not less than the preset threshold value.

In the embodiment of the application, when the load of the elevator is relatively large, the situation that the elevator is crowded in the elevator car is indicated, so that the information of refusing to take the elevator car is fed back to the target robot, and the phenomenon that the crowding is increased due to the fact that the target robot requests to take the elevator again can be avoided.

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

and B1, traversing the elevator of the elevator control system, and taking the elevator currently traversed as a candidate elevator.

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

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

In this embodiment, when the elevator control system determines that the robot wishes to take an elevator, the elevator control system selects an elevator satisfying the loading condition from among the elevators included in the elevator control system, and then transmits the identification of the elevator satisfying the loading condition to the robot desiring to take an elevator. For example, assuming that the elevator control system includes 3 elevators, namely, elevator 1, elevator 2 and elevator 3, respectively, when the elevator control system determines at time 1 that the robot 1 is expected to pick up an elevator, the elevator control system determines whether the elevator 1 satisfies a loading condition (e.g., determines whether the loading ratio of the elevator 1 is smaller than a preset threshold), if not, determines whether the elevator 2 satisfies the loading condition, and if the loading condition is satisfied, sends feedback information to the robot 1, the feedback information including information of agreeing to pick up and an identification of the elevator 2, so that the robot 1 can send a first call request to the elevator 2. Since each elevator is traversed, an elevator satisfying the loading condition can be found out as much as possible, and timeliness of the target robot riding the elevator can be improved.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Embodiment two:

corresponding to the elevator control method of the first embodiment, fig. 3 shows a block diagram of an elevator control apparatus provided in the embodiment of the present application, and for convenience of explanation, only the portions related to the embodiment of the present application are shown.

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

and a feedback information transmitting module 31 for transmitting feedback information to the target robot when the elevator satisfies the loading condition, wherein the feedback information includes information of agreeing to take the elevator, and the target robot is a robot desiring to take the elevator.

A first call request receiving module 32, configured to receive a first call request sent by the target robot, where the first call request carries floor information of the target robot and target floor information of the target robot.

And a destination floor information recording module 33 for recording destination floor information of the destination robot in the control box of the elevator.

An elevator door opening module 34 for controlling the elevator to open an elevator door after reaching the floor where the target robot is currently located, and for opening the elevator door after reaching the corresponding floor according to the floor information recorded by the operating box.

And an elevator door closing module 35 for controlling the elevator to close the elevator door when the target robot is detected to enter the elevator car.

In some embodiments, in order to facilitate the elevator to know which robots need to take an elevator in time, the elevator control device 3 provided in the embodiments of the present application further includes:

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

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

In some embodiments, the target robot may be preset to issue the first call request while passing the fixed location, at which time the elevator can determine the current location of the target robot (i.e., the fixed location set when the first call request was issued) whenever it receives the first call request.

The total duration determining module is used for calculating the duration and the door opening duration of the elevator reaching the current floor of the target robot according to the current floor of the target robot and the current floor of the elevator, and determining the total duration according to the duration and the door opening duration of the current floor of the target robot.

Correspondingly, the above-mentioned elevator door opening module 34 is specifically for:

The preset difference threshold may be 2 seconds.

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

the near stop indication sending module is configured to send a near stop indication to the target robot if an absolute value of a difference between a time required for the target robot to reach the elevator door and a total time is not less than a preset difference threshold, where the near stop indication is used to indicate that the target robot stops at a specified position, and the time required for the target robot to reach the elevator door from the specified position is shorter than the time required for the target robot to reach the elevator door from a current position.

In some embodiments, when the target robot waits for the preset time period threshold at the designated location and no elevator can be taken, the elevator control device 2 provided in the embodiment of the present application further includes:

the second call request receiving module is configured to receive a second call request sent by the target robot, where the second call request may include location information of the target robot, information of a target floor that the target robot wants to reach, and may also include inquiry information of an arrival time point of the elevator. Because the call request is sent to the elevator again, whether the target robot is still in a connection relation with the elevator or not can be timely confirmed, and the elevator is also beneficial to timely taking the target robot.

In some embodiments, the loading conditions include that the load ratio of the elevator is smaller than a preset threshold value, and the elevator control device 2 provided in the embodiments of the present application further includes:

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

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

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

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

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

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

And the reminding module is used for sending reminding voice if detecting that the robot stopping area has a human body, wherein the reminding voice comprises voice for reminding passengers not to occupy the robot stopping area.

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

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

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

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

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

And the load comparison module is used for returning to the step and the subsequent steps of traversing the elevator of the elevator control system when the candidate elevator does not meet the carrying condition, until the elevator of the elevator control system is traversed, or until the candidate elevator meets the carrying condition.

In this embodiment, when the elevator control system determines that the robot wishes to take an elevator, the elevator control system selects an elevator satisfying the loading condition from among the elevators included in the elevator control system, and then transmits the identification of the elevator satisfying the loading condition to the robot desiring to take an elevator. Since each elevator is traversed, an elevator satisfying the loading condition can be found out as much as possible, and timeliness of the target robot riding the elevator can be improved.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.

Embodiment III:

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

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

The processor 40 may be a central processing unit (Central Processing Unit, CPU), the processor 40 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 41 may in some embodiments be an internal storage unit of the elevator 4, such as a hard disk or a memory of the elevator 4. The memory 41 may in other embodiments also be an external storage device of the elevator 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the elevator 4. Further, the memory 41 may also comprise both the internal storage unit and the external storage device of the elevator 4. The memory 41 is used for storing an operating system, an application program, a boot loader (BootLoader), data, other programs, and the like, such as program codes of the computer programs. The above-described memory 41 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.

The present embodiments provide a computer program product enabling the implementation of the steps of the various method embodiments described above when the computer program product is run on an elevator, to be carried out when the elevator is executed.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an elevator, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. An elevator control method, comprising:

when an elevator meets a carrying condition, sending feedback information to a target robot, wherein the feedback information comprises information of agreeing to take the elevator, the target robot is a robot hoped to take the elevator and sending a call request to the elevator, the elevator registers the identification of the target robot in advance, and the elevator can take the elevator and the target robot;

recording the destination floor information of the destination robot in a control box of the elevator, and shielding a floor cancel instruction sent by a display panel of the control box for canceling the recorded destination floor information of the destination robot;

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

determining a target running direction of the target robot according to the floor information of the target robot and the target floor information of the target robot;

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

According to the current floor of the target robot and the current floor of the elevator, calculating the time length and the door opening time length of the elevator reaching the current floor of the target robot, and determining the total time length according to the time length and the door opening time length of the current floor of the target robot;

correspondingly, the controlling the elevator to open an elevator door after reaching the floor where the target robot is currently located comprises the following steps:

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

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

and if the absolute value of the difference between the time length of the elevator reaching the floor where the target robot is currently located and the total time length is not smaller than the preset difference threshold value, sending a nearby stopping instruction to the target robot, wherein the nearby stopping instruction is used for indicating the target robot to stop at a designated position, and the time length required by the target robot to reach the elevator door from the designated position is shorter than the time length required by the target robot to reach the elevator door from the current position.

4. The elevator control method according to claim 1, wherein the loading condition includes a loading ratio of the elevator being less than a preset threshold value, and before the feedback information is sent to the target robot when the elevator satisfies the loading condition, further comprising:

5. The elevator control method according to claim 1, wherein when an elevator door is opened after the elevator is controlled to reach a floor where the target robot is currently located, further comprising:

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

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

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

if the robot parking area is detected to have a human body, sending out reminding voice, wherein the reminding voice comprises voice for reminding passengers not to occupy the robot parking area.

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

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

determining whether the candidate elevator meets the loading condition;

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

9. An elevator control apparatus, comprising:

A feedback information transmitting module configured to transmit feedback information to a target robot when an elevator satisfies a loading condition, the feedback information including information agreeing to take a car, the target robot being a robot that wishes to take the elevator and transmits a call request to the elevator, the elevator registering in advance an identification of the target robot, the elevator being capable of taking a person and the target robot;

a destination floor information recording module for recording destination floor information of the destination robot in a control box of the elevator and shielding a floor canceling instruction sent out by a display panel of the control box for canceling the recorded destination floor information of the destination robot;

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

11. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 8.