An elevator scheduling method, apparatus, equipment, and storage medium

Abstract

This invention discloses an elevator scheduling method, apparatus, device, and storage medium, belonging to the field of autonomous mobile devices. The method includes: in response to receiving a cross-floor task, sending an elevator access permission acquisition request to an elevator control device; upon receiving a permission grant message from the elevator control device in response to the elevator access permission acquisition request, making an elevator call; and upon receiving a permission occupancy message from the elevator control device in response to the elevator access permission acquisition request, moving to the current floor's elevator queuing point to wait for elevator access permission. The technical solution of this invention can achieve orderly scheduling when multiple autonomous mobile devices are using elevators.

Description

Technical Field

[0001] This invention relates to the field of autonomous mobile devices, and more particularly to an elevator scheduling method, apparatus, device, and storage medium. Background Technology

[0002] With the rapid development of science and technology, robotics has made great progress, and robots are being widely used in more and more scenarios, such as delivery robots, disinfection robots, reception robots, food delivery robots, and sweeping robots.

[0003] In some scenarios, robots need to provide services across multiple floors, which requires them to be able to autonomously use elevators. For example, a disinfection robot needs to disinfect rooms on multiple floors, or a food delivery robot needs to pick up food on the first floor and deliver it to other floors according to the user's needs.

[0004] In general, office buildings or hotels where robots work have limited elevator resources. When there are many robots, how to schedule multiple robots to use the elevator is an important factor in whether the robots can complete their tasks on time. Summary of the Invention

[0005] This invention provides an elevator scheduling method, device, equipment, and storage medium, which can perform orderly scheduling when multiple autonomous mobile devices need to take the elevator, thus avoiding congestion.

[0006] According to one aspect of the present invention, a method for elevator scheduling is provided, applied to autonomous mobile devices; the method includes:

[0007] In response to receiving a cross-floor task, a request to obtain elevator access permission is sent to the elevator control device;

[0008] Upon receiving a permission grant message from the elevator control device in response to the request for elevator access, an elevator call is initiated.

[0009] Upon receiving a permission occupancy message from the elevator control device regarding the request to obtain elevator access, the user moves to the current floor's elevator queuing point to wait for the permission to ride the elevator.

[0010] According to another aspect of the present invention, an elevator scheduling method is provided, applied to elevator control equipment; the method includes:

[0011] In response to a request for elevator access permission sent by an autonomous mobile device, determine whether the autonomous mobile device meets the permission granting conditions;

[0012] If the permission granting conditions are met, a permission granting message is sent to the autonomous mobile device to instruct the autonomous mobile device to call the elevator.

[0013] If the permission granting conditions are not met, a permission occupancy message is sent to the autonomous mobile device to instruct it to move to the elevator queuing point and wait to obtain elevator access.

[0014] According to another aspect of the present invention, an elevator dispatching device is provided, comprising:

[0015] The permission acquisition request sending module is used to send an elevator access permission acquisition request to the elevator control device in response to receiving a cross-floor task;

[0016] The elevator call module is used to make an elevator call when it receives a permission grant message from the elevator control device in response to the request for elevator access permission.

[0017] The elevator access permission waiting module is used to move to the elevator queuing point on the current floor to wait for elevator access permission when it receives a permission occupancy message from the elevator control device regarding the request to obtain elevator access permission.

[0018] According to another aspect of the present invention, an elevator dispatching device is provided, comprising:

[0019] The permission granting condition judgment module is used to respond to the elevator access permission acquisition request sent by the autonomous mobile device and determine whether the autonomous mobile device meets the permission granting conditions.

[0020] The permission granting message feedback module is used to send a permission granting message to the autonomous mobile device when the permission granting conditions are met, so as to instruct the autonomous mobile device to call the elevator.

[0021] The permission occupancy message feedback module is used to send a permission occupancy message to the autonomous mobile device when the permission granting conditions are not met. This message instructs the autonomous mobile device to move to the elevator queuing point and wait to obtain elevator access.

[0022] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0023] At least one processor; and

[0024] A memory communicatively connected to the at least one processor; wherein,

[0025] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the elevator scheduling method according to any embodiment of the present invention.

[0026] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the elevator scheduling method according to any embodiment of the present invention.

[0027] In the technical solution of this invention, when an autonomous mobile device receives a cross-floor task, it sends a request to the elevator control device to obtain elevator access permission. Upon receiving a permission grant message from the elevator control device in response to the request, the autonomous mobile device makes an elevator call. Upon receiving a permission occupancy message from the elevator control device, it moves to the elevator queuing point on the current floor to wait for elevator access permission. When multiple autonomous mobile devices are using the elevator, orderly scheduling is achieved to avoid elevator congestion and damage to the autonomous mobile devices.

[0028] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of an elevator scheduling method provided in Embodiment 1 of the present invention;

[0031] Figure 2a This is a flowchart of an elevator scheduling method provided in Embodiment 2 of the present invention;

[0032] Figure 2b This is a schematic diagram of obstacle avoidance for an autonomous mobile device according to Embodiment 2 of the present invention;

[0033] Figure 2c This is a schematic diagram of the obstacle avoidance point location provided in Embodiment 2 of the present invention;

[0034] Figure 2d This is a schematic diagram of the obstacle avoidance point location provided in Embodiment 2 of the present invention;

[0035] Figure 2e This is a schematic diagram illustrating the acquisition of elevator access permissions by autonomous mobile devices on different floors, according to Embodiment 2 of the present invention.

[0036] Figure 3 This is a flowchart of an elevator scheduling method provided in Embodiment 3 of the present invention;

[0037] Figure 4 This is a flowchart of an elevator scheduling method provided in Embodiment 4 of the present invention;

[0038] Figure 5 This is a flowchart of an elevator scheduling method provided in Embodiment 5 of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of an elevator dispatching device according to Embodiment Six of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of an elevator dispatching device according to Embodiment 7 of the present invention;

[0041] Figure 8 This is a schematic diagram of the structure of an electronic device that implements the elevator scheduling method of this invention. Detailed Implementation

[0042] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0044] Example 1

[0045] Figure 1This document provides a flowchart of an elevator scheduling method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where multiple autonomous mobile devices are using an elevator. The method can be applied to autonomous mobile devices, such as mobile robots. The method can be executed by an elevator scheduling device, which can be implemented in hardware and / or software and can be configured in various general-purpose computing devices. Figure 1 As shown, the method includes:

[0046] S110. In response to receiving a cross-floor task, send a request to the elevator control device to obtain elevator access permission.

[0047] A cross-floor task refers to a task that requires an autonomous mobile device to take an elevator to complete, or a task where the task execution location is on a different floor than the current floor of the autonomous mobile device. A cross-floor task can include the target floor where the task execution location is located, as well as the specific location information of the task execution location on the target floor. For example, if the autonomous mobile device is currently on the 1st floor, the cross-floor task is a task where the task execution location is on the 3rd floor.

[0048] The elevator control device is used to respond to elevator access requests initiated by passengers or autonomous mobile devices, and to determine whether to execute the request based on elevator access rules. In this embodiment, the elevator control device is also used to determine whether to grant elevator access permissions to the autonomous mobile device based on the elevator access permission acquisition request sent by the autonomous mobile device.

[0049] In this embodiment of the invention, the autonomous mobile device can only call for an elevator and ride it after obtaining elevator access permission. If the robot calls for the elevator without obtaining elevator access permission, the elevator will not respond to the call request. Therefore, after receiving a cross-floor task, the autonomous mobile device first sends an elevator access permission acquisition request to the elevator control device to obtain elevator access permission. The elevator access permission acquisition request may include the identifier of the autonomous mobile device.

[0050] S120. Upon receiving a permission grant message from the elevator control device in response to a request for elevator access, initiate an elevator call.

[0051] After sending a request for elevator access permission, the autonomous mobile device needs to wait for feedback from the elevator control device. Specifically, the elevator control device determines, according to preset rules, whether the autonomous mobile device that sent the request can be granted elevator access permission. If so, it sends a permission grant message to the autonomous mobile device; otherwise, it sends a permission occupancy message. Only after receiving the permission grant message from the elevator control device can the autonomous mobile device proceed with the elevator call operation. In summary, the permission grant message is a message sent by the elevator control device to the autonomous mobile device when it determines that the autonomous mobile device can obtain elevator access permission, used to notify the autonomous mobile device to make an elevator call.

[0052] In this embodiment of the invention, the autonomous mobile device initiates an elevator call after receiving a permission grant message from the elevator control device in response to a request for elevator access. Specifically, the autonomous mobile device can send a call request to the elevator control device for the target floor (i.e., the floor where the task is executed) included in a cross-floor task. The call request includes the departure floor (i.e., the floor where the robot is currently located) and the target floor. The call request can be sent either upon receiving the permission grant message or when the autonomous mobile device arrives at the elevator waiting point located near the elevator.

[0053] In a specific example, to prevent one autonomous mobile device from occupying elevator access for too long and affecting other autonomous mobile devices' elevator use, elevator calling can be performed as follows: After receiving the permission grant message, the autonomous mobile device begins moving towards the elevator waiting point on its floor. If it arrives at the waiting point within a pre-set first time period, it can call the elevator normally; otherwise, it is considered that the current autonomous mobile device has relinquished its elevator access. In this case, the autonomous mobile device will change its route and go to the elevator queuing point to wait in line. During the queuing process, it needs to continuously send elevator access acquisition requests to the elevator control device according to the set time period until it regains elevator access.

[0054] S130. Upon receiving a permission occupancy message from the elevator control device regarding a request to obtain elevator access, move to the elevator queuing point on the current floor to wait for the elevator access permission to be obtained.

[0055] The permission occupancy message is a message sent by the elevator control device to the autonomous mobile device when it determines that the autonomous mobile device cannot obtain elevator access (the elevator access is occupied by another autonomous mobile device). It is used to notify the autonomous mobile device that it has not obtained elevator access at present.

[0056] In this embodiment of the invention, when the autonomous mobile device receives a permission occupancy message from the elevator control device, it indicates that the elevator usage permission has already been occupied, and the autonomous mobile device cannot obtain elevator access permission or make an elevator call. Therefore, the autonomous mobile device moves to the elevator queuing point on the current floor to wait for elevator access permission, which can avoid congestion and collisions caused by multiple autonomous mobile devices simultaneously heading to the elevator queuing point when they need to take the elevator.

[0057] Optionally, the elevator queuing point can be set at a distance from the elevator entry waiting point, so that autonomous mobile devices waiting to board the elevator can quickly reach the elevator entry waiting point after obtaining elevator access, thus avoiding failure to board the elevator again.

[0058] Optionally, while an autonomous mobile device holds elevator access rights, the elevator access rights can be released based on the actual task execution status. For example, if the task is canceled after the autonomous mobile device receives the elevator access rights grant message, it can send an elevator access rights release message to the elevator control device to release the elevator access rights, thereby improving the flexibility of elevator access rights adjustment.

[0059] In the technical solution of this invention, when an autonomous mobile device receives a cross-floor task, it sends a request to the elevator control device to obtain elevator access permission. Upon receiving a permission grant message from the elevator control device in response to the request, the autonomous mobile device makes an elevator call. Upon receiving a permission occupancy message from the elevator control device, it moves to the elevator queuing point on the current floor to wait for elevator access permission. When multiple autonomous mobile devices are using the elevator, orderly scheduling is achieved to avoid elevator congestion and damage to the autonomous mobile devices.

[0060] Example 2

[0061] Figure 2a This is a flowchart of an elevator scheduling method provided in Embodiment 2 of the present invention. Based on the above embodiment, it further refines the process by providing specific steps for making an elevator call upon receiving a permission grant message from the elevator control device in response to the elevator access permission request, and specific steps following the elevator call. For example... Figure 2a As shown, the method includes:

[0062] S210, In response to receiving a cross-floor task, send a request to the elevator control device to obtain elevator access permission.

[0063] S220. Upon receiving a permission grant message from the elevator control device in response to the request for elevator access permission, move to the elevator waiting point on the current floor.

[0064] In this embodiment of the invention, when the autonomous mobile device receives a permission grant message from the elevator control device in response to the request for elevator access permission, it first moves to the elevator waiting point on the current floor so that it can take the elevator in time when it arrives.

[0065] S230. When arriving at the elevator waiting point within the first time period starting from the receipt of the permission grant message, send an elevator call request to the elevator control equipment to call the elevator; the elevator call request includes the current floor and the target floor.

[0066] In this embodiment of the invention, if the autonomous mobile device arrives at the elevator waiting point within a first time interval after receiving the permission grant message, it sends an elevator call request to the elevator control device to make an elevator call. By having the autonomous mobile device make the elevator call upon arriving at the waiting point, it ensures that the device can quickly enter the elevator after reaching the current floor, avoiding excessively long elevator waiting times that could affect passengers or other autonomous mobile devices using the elevator. The elevator call request includes both the current floor and the target floor.

[0067] S240. If the elevator does not reach the exit waiting point of the target floor within the second time period starting from the arrival of the elevator entry waiting point, the elevator fails to take the elevator in response to the permission abandonment message fed back by the elevator control equipment.

[0068] The exit waiting point on the target floor is a waiting point within a set range of the elevator door on the target floor. On the same floor, the entry waiting point and the exit waiting point can be set to the same point or different points.

[0069] In this embodiment of the invention, when the autonomous mobile device arrives at the elevator entrance waiting point, the elevator control device restarts the timing from the time of arrival at the elevator entrance waiting point. If the device does not arrive at the exit waiting point of the target floor within a second time period, it sends a permission relinquishment message to the autonomous mobile device. The autonomous mobile device responds to this permission relinquishment message by sending an elevator access failure message to the control terminal.

[0070] Specifically, elevator failure can include the following situations:

[0071] 1. The autonomous mobile device malfunctions or gets stuck during the process of entering the elevator at the departure floor, causing the autonomous mobile device to fail to reach the exit waiting point of the target floor within the second time period;

[0072] 2. The autonomous mobile device malfunctions or gets stuck during the exit process on the target floor, causing the autonomous mobile device to fail to reach the exit waiting point on the target floor within the second time period;

[0073] 3. The autonomous mobile device did not wait for the elevator within the second time period.

[0074] If the aforementioned elevator access failure occurs, the autonomous mobile device will still occupy elevator access rights, preventing other autonomous mobile devices from obtaining elevator control permissions to call the elevator, thus affecting the normal operation of the elevator. Therefore, a second duration is set as a threshold to prevent the same autonomous mobile device from occupying elevator access rights for an extended period.

[0075] Optionally, after making an elevator call, the following may also be included:

[0076] If the target floor's exit waiting point is reached within the second time interval starting from the arrival at the elevator entry waiting point, the task point for the cross-floor task will move.

[0077] If the device encounters other autonomous mobile devices while moving towards the task point, it acquires the task level of those other autonomous mobile devices.

[0078] When the task level of a cross-floor task is lower than the task level of other autonomous mobile devices, move to the obstacle avoidance point on the target floor to avoid obstacles.

[0079] Among them, such as Figure 2b As shown, the obstacle avoidance point is the position where an autonomous mobile device avoids dynamic obstacles encountered in an elevator. For example, if the entrance and exit waiting points on the target floor are at the same location, autonomous mobile device A needs to move from the elevator queue point to the entrance waiting point, while autonomous mobile device B needs to exit the elevator to reach the exit waiting point. To avoid a collision when both arrive at the entrance / exit waiting point at the same time, autonomous mobile device A or B needs to move to the obstacle avoidance point and then move again only after the other autonomous mobile device has moved away from the entrance / exit waiting point.

[0080] For example, such as Figure 2c As shown, the target floor's elevator entry / exit waiting point is fixed directly in front of the elevator door, while the obstacle avoidance point and the elevator queuing point can be located on either side of the elevator entry waiting point; another example is... Figure 2d As shown, the target floor's elevator entry / exit waiting point is fixed directly in front of the elevator door, while the obstacle avoidance point and the elevator queuing point can be located on the same side as the elevator entry waiting point.

[0081] In this optional embodiment, after making an elevator call, if the autonomous mobile device arrives at the exit waiting point on the target floor within a second time period, it can move towards the task point of the cross-floor task. During this movement, if it encounters other autonomous mobile devices on the target floor, it can exchange information with the encountered autonomous mobile devices to obtain their corresponding task levels, and then activate an obstacle avoidance strategy based on those task levels. Specifically, if the task level of the cross-floor task is lower than the task level of the encountered autonomous mobile devices, the current autonomous mobile device needs to move to the obstacle avoidance point on the target floor to avoid obstacles.

[0082] S250: Upon receiving a permission occupancy message from the elevator control device regarding a request for elevator access, move to the elevator queuing point on the current floor to wait for elevator access to be obtained.

[0083] Optional, such as Figure 2e As shown, if two autonomous mobile devices on different floors initiate requests to obtain elevator access, the autonomous mobile device that receives the elevator access grant message will move to the elevator waiting point on its floor, while the autonomous mobile device that receives the access occupancy message will move to the elevator queuing point on its floor, without needing to move across floors.

[0084] In the technical solution of this invention, when an autonomous mobile device receives a permission grant message from the elevator control device regarding a request to acquire elevator access, it moves towards the elevator entrance waiting point on the current floor. Upon reaching the elevator entrance waiting point within a first time period starting from the receipt of the permission grant message, it sends an elevator call request to the elevator control device. If it fails to reach the exit waiting point on the target floor within a second time period starting from the arrival at the elevator entrance waiting point, it responds to a permission relinquishment message from the elevator control device and sends an elevator access failure message. On the one hand, this enables orderly elevator access for multiple autonomous mobile devices; on the other hand, by imposing time limits on autonomous mobile devices acquiring elevator access, it avoids continuous occupation of elevator access due to robot malfunction, thus preventing disruption to normal elevator operation.

[0085] Example 3

[0086] Figure 3 This is a flowchart of an elevator scheduling method provided in Embodiment 3 of the present invention. Based on the above embodiments, it further refines the process by providing specific steps for making an elevator call upon receiving a permission grant message from the elevator control device regarding the request to obtain elevator access, and specific steps for moving to the current floor's queue point to wait for elevator access permission upon receiving a permission occupancy message from the elevator control device regarding the request to obtain elevator access permission. Figure 3 As shown, the method includes:

[0087] S310: In response to receiving a cross-floor task, send a request to the elevator control device to obtain elevator access permission.

[0088] S320. Upon receiving a permission grant message from the elevator control device in response to a request for elevator access permission, move to the elevator waiting point on the current floor.

[0089] S330. If the elevator waiting point is not reached within the first time period starting from the receipt of the permission grant message, the elevator moves to the elevator queuing point on the current floor in response to the permission relinquishment message fed back by the elevator control equipment.

[0090] In this embodiment of the invention, upon receiving a permission grant message from the elevator control device in response to a request for elevator access, the device moves to the elevator waiting point on the current floor. The elevator control device starts timing from the moment the autonomous mobile device begins moving towards the waiting point. If it fails to reach the waiting point within a first time period, it sends a permission relinquishment message to the autonomous mobile device, instructing it to change its target, move from its current location to the waiting point, and then continue sending elevator access requests from the waiting point to obtain elevator access. This method prevents a single autonomous mobile device from occupying elevator usage rights for an extended period.

[0091] S340. Upon receiving a permission occupancy message from the elevator control device regarding a request for elevator access, move to the elevator queuing point on the current floor.

[0092] S350. Send a request to the elevator control device to obtain elevator access permission according to the set time period until the permission granting message is received from the elevator control device.

[0093] In this embodiment of the invention, if the autonomous mobile device receives a permission occupancy message from the elevator control device, it indicates that the elevator usage permission is occupied and the user needs to move to the current floor's elevator queuing point. While waiting to obtain elevator access permission at the queuing point, the elevator control device sends an elevator access permission acquisition request at a set time interval until it receives a permission grant message from the elevator control device. For example, at the elevator queuing point, the autonomous mobile device sends an elevator access permission acquisition request every 10 seconds via both Long Range Radio (LoRa) and 4G technology until it receives a permission grant message from the elevator control device, at which point it begins to proceed to the elevator queuing point.

[0094] In the technical solution of this invention, the autonomous mobile device, upon receiving a cross-floor task, sends a request to the elevator control device to obtain elevator access permission. Upon receiving a permission grant message from the elevator control device in response to the request, it moves to the elevator waiting point on the current floor. If it does not reach the elevator waiting point within a first time period starting from the receipt of the permission grant message, it moves to the elevator queuing point on the current floor in response to a permission relinquishment message from the elevator control device. This can prevent one autonomous mobile device from occupying elevator access permission for a long time, affecting the normal elevator use of other autonomous mobile devices.

[0095] Example 4

[0096] Figure 4 The flowchart of an elevator scheduling method is provided in Embodiment 4 of the present invention. This embodiment is applicable to situations where multiple autonomous mobile devices are using an elevator, and the method can be applied to elevator control equipment.

[0097] This method can be executed by an elevator dispatching device, which can be implemented in hardware and / or software and can be configured in various general-purpose computing devices. For example... Figure 4 As shown, the method includes:

[0098] S410. In response to the elevator access permission request sent by the autonomous mobile device, determine whether the autonomous mobile device meets the permission granting conditions.

[0099] An autonomous mobile device is a device that can move autonomously according to a pre-set route or target location. For example, an autonomous mobile device is a mobile robot.

[0100] In this embodiment of the invention, after receiving a request for elevator access from an autonomous mobile device, the elevator control device needs to determine whether the autonomous mobile device meets the access granting conditions. Specifically, it can determine whether the access granting conditions are met based on the time when the autonomous mobile device sends the request; that is, when multiple autonomous mobile devices initiate elevator access requests, access is granted sequentially according to the time the request was sent. Alternatively, it can determine whether the access granting conditions are met based on the task priority associated with the autonomous mobile device, with the autonomous mobile device with the higher task priority obtaining access first. Of course, if other autonomous mobile devices are occupying access when the current autonomous mobile device sends its elevator access request, the current autonomous mobile device cannot obtain access.

[0101] In a specific example, both autonomous mobile devices A and B send requests for elevator access permission to the elevator control device. The elevator control device receives the request from autonomous mobile device A first. Based on the time sequence, it can be determined that autonomous mobile device A meets the permission granting conditions. Correspondingly, autonomous mobile device B does not currently meet the permission granting conditions and needs to continue waiting.

[0102] S420. If the permission granting conditions are met, send a permission granting message to the autonomous mobile device to instruct the autonomous mobile device to call the elevator.

[0103] In this embodiment of the invention, when the autonomous mobile device meets the permission granting conditions, the elevator control device will send a permission granting message to the autonomous mobile device, instructing the autonomous mobile device to make an elevator call. Specifically, after receiving the permission granting message, the autonomous mobile device can directly call the elevator and move towards the elevator waiting point; alternatively, after receiving the permission granting message, it can move towards the elevator waiting point and then make the elevator call upon reaching the waiting point, thus avoiding increasing the elevator waiting time.

[0104] S430. If the permission granting conditions are not met, a permission occupancy message is sent to the autonomous mobile device to instruct it to move to the elevator queuing point to wait for the elevator access permission.

[0105] In this embodiment of the invention, if the autonomous mobile device does not meet the permission granting conditions, the elevator control device will send a permission occupancy message to the autonomous mobile device, which is used to instruct the autonomous mobile device to move to the elevator queuing point to wait for the elevator access permission.

[0106] In the technical solution of this invention, after the elevator control device receives the elevator access permission request sent by the autonomous mobile device, it determines whether the autonomous mobile device meets the permission granting conditions. If the permission granting conditions are met, the device sends a permission granting message to the autonomous mobile device to instruct it to make an elevator call. If the permission granting conditions are not met, the device sends a permission occupancy message to the autonomous mobile device to instruct it to move to the elevator queuing point to wait for elevator access permission. This can achieve orderly elevator access when multiple robots need to ride the elevator, avoiding elevator congestion.

[0107] Example 5

[0108] Figure 5 This is a flowchart of an elevator scheduling method provided in Embodiment 5 of the present invention. Based on the above embodiments, it further refines the process and provides specific steps after sending a permission grant message to the autonomous mobile device. For example... Figure 5 As shown, the method includes:

[0109] S510. In response to the elevator access permission request sent by the autonomous mobile device, determine whether the autonomous mobile device meets the permission granting conditions.

[0110] S520. If the permission granting conditions are met, send a permission granting message to the autonomous mobile device to instruct the autonomous mobile device to call the elevator.

[0111] S530. The timing starts from the point where the autonomous mobile device receives the permission grant message. If the autonomous mobile device does not reach the elevator waiting point within the first time period, a permission relinquishment message is sent to the autonomous mobile device to instruct it to move to the elevator queuing point.

[0112] In this embodiment of the invention, after the autonomous mobile device receives the permission grant message, the elevator control device starts timing to determine whether the autonomous mobile device reaches the elevator waiting point within a first time period. If not, it sends a permission relinquishment message to the autonomous mobile device, instructing the autonomous mobile device to change its route and move to the elevator queuing point, thus preventing one autonomous mobile device from occupying the elevator's usage permission for an extended period and affecting the normal elevator use of other autonomous mobile devices.

[0113] In a specific example, a first time limit of 5 minutes is set. If the autonomous mobile device does not reach the elevator waiting point within 5 minutes of receiving the permission grant message, a permission relinquishment message is sent to the autonomous mobile device. After receiving the permission relinquishment message, the autonomous mobile device changes its destination from the elevator waiting point to the elevator queuing point, and resends the elevator access permission acquisition request upon reaching the elevator queuing point to obtain elevator access.

[0114] Optionally, after sending the permission grant message to the autonomous mobile device, the following may also be included:

[0115] The timing starts from the moment the autonomous mobile device receives the permission grant message. If the autonomous mobile device arrives at the elevator waiting point within the first time period, the timing restarts.

[0116] If the autonomous mobile device fails to reach the exit waiting point of the target floor within the second time period starting from the arrival of the elevator entry waiting point, a permission relinquishment message is sent to the autonomous mobile device.

[0117] In this optional embodiment, after sending a permission grant message to the autonomous mobile device, a timer begins. If the autonomous mobile device reaches the elevator entrance waiting point within the first time interval after receiving the permission grant message, the timer restarts. That is, the timer restarts after the autonomous mobile device reaches the elevator entrance waiting point. If the autonomous mobile device does not reach the exit waiting point of the target floor within the second time interval, it indicates that the autonomous mobile device may be experiencing a lag or elevator malfunction. To prevent the autonomous mobile device from occupying elevator usage rights for an extended period and to avoid delays in its tasks, a permission relinquishment request can be sent to the autonomous mobile device. After receiving the permission relinquishment request, the autonomous mobile device can reacquire usage rights for that elevator or another elevator.

[0118] S540. If the permission granting conditions are not met, a permission occupancy message is sent to the autonomous mobile device to instruct it to move to the elevator queuing point to wait for the elevator access permission.

[0119] Optionally, this embodiment also includes:

[0120] In response to elevator access permission requests sent by at least two autonomous mobile devices, the request acquisition time for the elevator access permission acquisition request is obtained;

[0121] Based on the request time, identify the target autonomous mobile device that meets the permission granting conditions among at least two autonomous mobile devices, and send a permission granting message back to the target autonomous mobile device;

[0122] Send permission request messages to at least two autonomous mobile devices, excluding the target autonomous mobile device.

[0123] In this optional embodiment, after receiving elevator access permission requests from at least two autonomous mobile devices, the elevator control device obtains the request acquisition time. Further, based on the request acquisition time, it identifies a target autonomous mobile device among the at least two autonomous mobile devices that meets the permission granting conditions, and the target autonomous mobile device sends a permission granting message to instruct it to make an elevator call. Correspondingly, the elevator control device also sends permission occupancy messages to other autonomous mobile devices that sent elevator access permission requests, instructing them to queue and wait for elevator access permission, thus achieving orderly elevator use and avoiding congestion.

[0124] In the technical solution of this invention, the elevator control device responds to the elevator access permission request sent by the autonomous mobile device, determines whether the autonomous mobile device meets the permission granting conditions, and if the permission granting conditions are met, sends a permission granting message back to the autonomous mobile device. The timing starts from the moment the autonomous mobile device receives the permission granting message. If the autonomous mobile device does not reach the elevator waiting point within the first time period, a permission relinquishment message is sent to the autonomous mobile device. This can prevent one autonomous mobile device from occupying the elevator access permission for a long time, affecting the normal elevator use of other autonomous mobile devices.

[0125] Example 6

[0126] Figure 6 This is a schematic diagram of the structure of an elevator dispatching device provided in Embodiment Six of the present invention. Figure 6 As shown, the device includes:

[0127] The permission acquisition request sending module 610 is used to send an elevator access permission acquisition request to the elevator control device in response to receiving a cross-floor task;

[0128] The elevator call module 620 is used to make an elevator call when it receives a permission grant message from the elevator control device in response to the request for elevator access permission.

[0129] The elevator access permission waiting module 630 is used to move to the elevator queuing point on the current floor to wait for elevator access permission when it receives a permission occupancy message from the elevator control device regarding the request to obtain elevator access permission.

[0130] In the technical solution of this invention, when an autonomous mobile device receives a cross-floor task, it sends a request to the elevator control device to obtain elevator access permission. Upon receiving a permission grant message from the elevator control device in response to the request, the autonomous mobile device makes an elevator call. Upon receiving a permission occupancy message from the elevator control device, it moves to the elevator queuing point on the current floor to wait for elevator access permission. When multiple autonomous mobile devices are using the elevator, orderly scheduling is achieved to avoid elevator congestion and damage to the autonomous mobile devices.

[0131] Optional, elevator call module 620, specifically used for:

[0132] Upon receiving a permission grant message from the elevator control device in response to the request for elevator access, the device moves to the elevator entry waiting point on the current floor.

[0133] When the elevator arrives at the elevator waiting point within the first time period starting from the receipt of the permission grant message, an elevator call request is sent to the elevator control equipment to call the elevator; the elevator call request includes the current floor and the target floor.

[0134] Optionally, the elevator call module 620 is also specifically used for:

[0135] Upon receiving a permission grant message from the elevator control device in response to the request for elevator access, the device moves to the elevator entry waiting point on the current floor.

[0136] If the passenger does not reach the elevator waiting point within the first time period starting from the time the permission grant message is received, the passenger will move to the elevator queuing point on the current floor in response to the permission relinquishment message fed back by the elevator control equipment.

[0137] Optional, the elevator access permission waiting module 630 is specifically used for:

[0138] Upon receiving a permission occupancy message from the elevator control device regarding the request to acquire elevator access, the user moves to the elevator queuing point on the current floor.

[0139] According to the set time period, a request to obtain elevator access permission is sent to the elevator control device until the permission is granted in response from the elevator control device.

[0140] Optionally, the elevator dispatching device also includes:

[0141] The elevator failure message sending module is used to send an elevator failure message in response to the permission relinquishment message fed back by the elevator control device when the exit waiting point of the target floor is not reached within a second time period starting from the arrival of the elevator entry waiting point.

[0142] Optionally, the elevator dispatching device also includes:

[0143] The moving module is used to move towards the task point of the cross-floor task when it reaches the exit waiting point of the target floor within a second time period starting from the arrival of the elevator entry waiting point;

[0144] The task level acquisition module is used to acquire the task level of other autonomous mobile devices if they encounter each other during the movement to the task point.

[0145] The obstacle avoidance module is used to move to the obstacle avoidance point of the target floor to avoid obstacles when the task level of the cross-floor task is lower than the task level of the other autonomous mobile devices.

[0146] The elevator scheduling device provided in this embodiment of the invention can execute the elevator scheduling method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0147] Example 7

[0148] Figure 7 This is a schematic diagram of the structure of an elevator dispatching device provided in Embodiment 7 of the present invention. Figure 7 As shown, the device includes:

[0149] The permission granting condition judgment module 710 is used to determine whether the autonomous mobile device meets the permission granting conditions in response to the elevator access permission acquisition request sent by the autonomous mobile device.

[0150] The permission granting message feedback module 720 is used to send a permission granting message to the autonomous mobile device when the permission granting conditions are met, so as to instruct the autonomous mobile device to call the elevator.

[0151] The permission occupancy message feedback module 730 is used to send a permission occupancy message to the autonomous mobile device when the permission granting conditions are not met, so as to instruct the autonomous mobile device to move to the elevator queuing point to wait for the elevator access permission.

[0152] In the technical solution of this invention, after the elevator control device receives the elevator access permission request sent by the autonomous mobile device, it determines whether the autonomous mobile device meets the permission granting conditions. If the permission granting conditions are met, the device sends a permission granting message to the autonomous mobile device to instruct it to make an elevator call. If the permission granting conditions are not met, the device sends a permission occupancy message to the autonomous mobile device to instruct it to move to the elevator queuing point to wait for elevator access permission. This can achieve orderly elevator access when multiple robots need to ride the elevator, avoiding elevator congestion.

[0153] Optionally, the elevator dispatching device also includes:

[0154] The first abandonment message sending module is used to start timing from the point when the autonomous mobile device receives the permission grant message. If the autonomous mobile device does not reach the elevator waiting point within the first time period, the module sends a permission abandonment message to the autonomous mobile device to instruct the autonomous mobile device to move to the elevator queuing point.

[0155] Optionally, the elevator dispatching device also includes:

[0156] The timing module is used to start timing from the point when the autonomous mobile device receives the permission grant message. If the autonomous mobile device arrives at the elevator waiting point within the first time period, the timing will restart.

[0157] The second abandonment message sending module is used to send an permission abandonment message to the autonomous mobile device when it fails to reach the exit waiting point of the target floor within a second time period starting from the arrival of the entry waiting point.

[0158] Optionally, the elevator dispatching device also includes:

[0159] The time acquisition module is used to acquire the request acquisition time of the elevator access permission acquisition request in response to elevator access permission acquisition requests sent by at least two autonomous mobile devices respectively.

[0160] The target device determination module is used to determine, based on the request acquisition time, a target autonomous mobile device that meets the permission granting conditions among the at least two autonomous mobile devices, and to send a permission granting message back to the target autonomous mobile device;

[0161] The message sending module is used to send permission occupancy messages to other autonomous mobile devices besides the target autonomous mobile device among the at least two autonomous mobile devices.

[0162] The elevator scheduling device provided in this embodiment of the invention can execute the elevator scheduling method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0163] Example 8

[0164] Figure 8A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0165] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0166] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0167] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the elevator scheduling method.

[0168] In some embodiments, the elevator scheduling method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the elevator scheduling method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the elevator scheduling method by any other suitable means (e.g., by means of firmware).

[0169] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0170] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0171] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0172] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0173] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0174] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0175] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0176] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of elevator dispatching, characterized by The method is applied to an autonomous mobile device, and comprises the following steps: In response to receiving a cross-floor task, a lift control device is sent a lift access request; In the case where the lift control device feeds back a permission granting message in response to the lift access request, the autonomous mobile device moves to a lift waiting point on the current floor; When the autonomous mobile device reaches the lift waiting point within a first time period starting from the reception of the permission granting message, the lift control device is sent an elevator call request to call an elevator; the elevator call request comprises a current floor and a target floor; When the autonomous mobile device does not reach a lift exit waiting point on the target floor within a second time period starting from the reaching of the lift waiting point, a lift failure message is sent in response to a permission abandonment message fed back by the lift control device; In the case where the lift control device feeds back a permission occupation message in response to the lift access request, the autonomous mobile device moves to a lift queue point on the current floor; The lift access request is sent to the lift control device at a set time period until a permission granting message fed back by the lift control device is obtained.

2. The method of claim 1, wherein, In the case where the lift control device feeds back a permission granting message in response to the lift access request, the elevator is called, and further comprises the following steps: In the case where the lift control device feeds back a permission granting message in response to the lift access request, the autonomous mobile device moves to a lift waiting point on the current floor; When the autonomous mobile device does not reach the lift waiting point within a first time period starting from the reception of the permission granting message, the autonomous mobile device moves to a lift queue point on the current floor in response to a permission abandonment message fed back by the lift control device.

3. The method of claim 1, wherein, After the elevator is called, further comprising the following steps: When the autonomous mobile device reaches a lift exit waiting point on the target floor within a second time period starting from the reaching of the lift waiting point, the autonomous mobile device moves to a task point of the cross-floor task; During the moving to the task point, if the autonomous mobile device meets another autonomous mobile device, the autonomous mobile device obtains a task level of the other autonomous mobile device; When the task level of the cross-floor task is lower than the task level of the other autonomous mobile device, the autonomous mobile device moves to an obstacle avoidance point on the target floor to avoid obstacles.

4. The method of claim 1, wherein, Further comprising the following steps: In the case where the lift control device feeds back a permission granting message in response to the lift access request, a lift access release message is sent to the lift control device in response to the cross-floor task being cancelled.

5. The method of claim 1, wherein, The lift waiting point and the lift exit waiting point on the same floor are different points.

6. The method of claim 1, wherein, The lift waiting point and the lift exit waiting point on the same floor are the same point; an obstacle avoidance point and a lift queue point are respectively arranged on two sides of the lift waiting point, or the obstacle avoidance point and the lift queue point are respectively arranged on the same side of the lift waiting point.

7. A method of elevator dispatching, characterized by The method is applied to a lift control device, and comprises the following steps: In response to a lift access request sent by an autonomous mobile device, it is determined whether the autonomous mobile device meets a permission granting condition; In the case where the autonomous mobile device meets the permission granting condition, a permission granting message is fed back to the autonomous mobile device, which is used to instruct the autonomous mobile device to call an elevator; A first time period is started from the reception of the permission granting message by the autonomous mobile device; if the autonomous mobile device reaches a lift waiting point within the first time period, an elevator call request sent by the autonomous mobile device is received, and the first time period is restarted; the elevator call request comprises a current floor and a target floor; sending a permission abandonment message to the autonomous mobile device when the autonomous mobile device does not reach the out-of-elevator waiting point of the target floor within a second time length starting from the autonomous mobile device reaching the in-elevator waiting point; sending a permission occupation message to the autonomous mobile device when the permission granting condition is not met, to instruct the autonomous mobile device to move to the elevator queuing point to wait for the elevator permission.

8. The method of claim 7, wherein, after sending the permission granting message to the autonomous mobile device, further comprising: starting timing from the autonomous mobile device receiving the permission granting message, and sending a permission abandonment message to the autonomous mobile device when the autonomous mobile device does not reach the in-elevator waiting point within a first time length, to instruct the autonomous mobile device to move to the elevator queuing point.

9. The method of claim 7, wherein, further comprising: obtaining task priorities associated with the at least two autonomous mobile devices in response to the at least two autonomous mobile devices respectively sending elevator permission acquisition requests; determining a target autonomous mobile device that meets the permission granting condition among the at least two autonomous mobile devices according to the task priorities, and sending a permission granting message to the target autonomous mobile device; sending a permission occupation message to the autonomous mobile devices other than the target autonomous mobile device among the at least two autonomous mobile devices.

10. The method of claim 7, wherein, further comprising: obtaining request acquisition times of the elevator permission acquisition requests in response to the at least two autonomous mobile devices respectively sending elevator permission acquisition requests; determining a target autonomous mobile device that meets the permission granting condition among the at least two autonomous mobile devices according to the request acquisition times, and sending a permission granting message to the target autonomous mobile device; sending a permission occupation message to the autonomous mobile devices other than the target autonomous mobile device among the at least two autonomous mobile devices.

11. An elevator dispatching device, characterized by comprising: a permission acquisition request sending module, configured to send an elevator permission acquisition request to the elevator control device in response to receiving a cross-floor task; an elevator call module, configured to move to an in-elevator waiting point of a current floor when receiving a permission granting message fed back by the elevator control device in response to the elevator permission acquisition request, and send an elevator call request to call an elevator when reaching the in-elevator waiting point within a first time length starting from receiving the permission granting message; the elevator call request comprises a current floor and a target floor; a failed elevator boarding message sending module, configured to send a failed elevator boarding message in response to a permission abandonment message fed back by the elevator control device when not reaching an out-of-elevator waiting point of the target floor within a second time length starting from reaching the in-elevator waiting point; an elevator permission waiting module, configured to move to an elevator queuing point of the current floor when receiving a permission occupation message fed back by the elevator control device in response to the elevator permission acquisition request, and send an elevator permission acquisition request to the elevator control device according to a set time period until obtaining the permission granting message fed back by the elevator control device.

12. An elevator dispatching device, characterized by comprising: a permission granting condition determining module, configured to determine whether an autonomous mobile device meets a permission granting condition in response to the autonomous mobile device sending an elevator permission acquisition request; The permission granting message feedback module is configured to feed back a permission granting message to the autonomous mobile device to instruct the autonomous mobile device to call the elevator if the permission granting condition is met. The timing module is configured to start timing from the point when the autonomous mobile device receives the permission granting message, and restart the timing if the autonomous mobile device reaches the entry waiting point within a first time length and receives an elevator call request sent by the autonomous mobile device, wherein the elevator call request comprises a current floor and a target floor. The second abandonment message sending module is configured to send a permission abandonment message to the autonomous mobile device if the autonomous mobile device does not reach the exit waiting point of the target floor within a second time length from the point when the autonomous mobile device reaches the entry waiting point. The permission occupation message feedback module is configured to feed back a permission occupation message to the autonomous mobile device to instruct the autonomous mobile device to move to a waiting queue point to obtain the boarding permission if the permission granting condition is not met.

13. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the boarding scheduling method according to any one of claims 1-10.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to execute the boarding scheduling method according to any one of claims 1-10 when executed.

Images