Autonomous mobile body stair descent control method

Abstract

The autonomous mobile body ladder control method comprises the following steps: S1, enumerating all possible first moving paths from the current stop position of the earliest ladder leaver to the elevator car door; S2, establishing a performance index for evaluating the moving path; S3, calculating the performance index corresponding to each first moving path; S4, judging whether the optimal moving path stops at a second autonomous mobile body, if yes, entering the next step, otherwise, returning to step S7; S5, determining and outputting the avoidance moving path of the second autonomous mobile body; S6, controlling the second autonomous mobile body to move along the avoidance moving path to implement avoidance moving; S7, controlling the earliest ladder leaver to move along the optimal moving path to the elevator car door and leave the car; and S8, ending. The autonomous mobile body ladder control method can make the ladder leaver smoothly get off the ladder by planning the moving path of the ladder leaver.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot taking elevator method, in particular to a control method for controlling a robot in a car to leave the elevator car. BACKGROUND

[0002] At present, autonomous mobile body taking elevator, especially robot taking elevator has become an important research field in the elevator field, and a large number of research results of autonomous mobile body taking elevator are disclosed in the relevant literature. However, the main concern of the existing literature is how to select a target elevator for the robot (CN115159289A, CN114955757A, etc.). Documents CN201680089621.9 and CN202110293411.4 give relevant solutions for the robot in the elevator car to adjust the position appropriately to facilitate getting off the elevator, but do not give how to plan the moving path of the robot in the elevator car to achieve the best adjustment of its position. SUMMARY

[0003] The technical problem to be solved by the present application is how to appropriately plan the moving path of the robot in the elevator car to facilitate the robot getting off the elevator smoothly.

[0004] In order to solve the above technical problem, the present application discloses an autonomous mobile body getting-off control method, comprising the following steps:

[0005] Step S1, enumerating all possible moving paths of the earliest getting-off person from the current stop position to the elevator car door and taking it as the first moving path, wherein the earliest getting-off person refers to the autonomous mobile body corresponding to the destination floor reached earliest by the elevator in the current running direction;

[0006] Step S2, establishing a performance index for evaluating the moving path, which is used to describe the cost paid for moving the earliest getting-off person from the current stop position to the elevator car door;

[0007] Step S3, calculating the performance index corresponding to each first moving path, outputting the moving path corresponding to the best performance index and taking it as the best moving path;

[0008] Step S4, judging whether the best moving path is stopped with a second autonomous mobile body, wherein the second autonomous mobile body refers to other autonomous mobile body in the car except the earliest getting-off person, if yes, then entering the next step, otherwise, turning to step S7;

[0009] Step S5, determining the avoidance scheme of the second autonomous mobile body, and outputting the avoidance moving path of the second autonomous mobile body;

[0010] Step S6, controlling the second autonomous mobile body to move along the avoidance moving path to implement avoidance movement;

[0011] Step S7, controlling the earliest leaver to move along the optimal moving path to the elevator car door and leave the car;

[0012] Step S8, ending.

[0013] Preferably, the step S1 determines the earliest leaver according to the following steps:

[0014] Step A1, obtaining the call information of the autonomous mobile body on the landing, the call information including the ID information, the departure floor and the destination floor of the autonomous mobile body; Step A2, determining the earliest leaver in the current running direction of the elevator according to the destination floor of the autonomous mobile body in the car; Step A3, determining the earliest arrival at the departure floor in the current running direction of the elevator according to the call information; Step A4, judging whether the destination floor of the earliest leaver is not later than the earliest arrival at the departure floor, if yes, entering the next step, otherwise waiting until the elevator car arrives at the earliest arrival at the departure floor, and returning to step A1 when the autonomous mobile body at the earliest arrival at the departure floor enters the elevator car; Step A5, outputting the earliest leaver.

[0015] Preferably, the performance index includes the length of the moving path and the weighted sum of the avoidance difficulty of the second autonomous mobile body.

[0016] Preferably, the avoidance difficulty refers to the ratio of the area of a circle with the center at the stop position of the autonomous mobile body in the car and the radius R to the number of idle stop positions in the circle, which is needed to move to achieve the avoidance of the second autonomous mobile body.

[0017] Preferably, the avoidance difficulty includes the number and / or moving distance of the second autonomous mobile body needed to move to avoid the earliest leaver.

[0018] Preferably, the step S5 determines the avoidance moving path of the second autonomous mobile body according to the idle stop positions in the area which is not more than the distance threshold from the second autonomous mobile body and does not belong to the optimal moving path.

[0019] Preferably, the step S5 further includes:

[0020] Step S5-1, selecting an unselected second autonomous mobile body from all second autonomous mobile bodies as a selected second autonomous mobile body; Step S5-2, determining a region consisting of all stop positions within a distance threshold from the selected second autonomous mobile body and not belonging to the optimal moving path; Step S5-3, judging whether there is an idle stop position in the region which is not occupied by an autonomous mobile body, if yes, going to the next step, otherwise, increasing the distance threshold and returning to Step S5-2; Step S5-4, judging whether the idle stop position is adjacent to the selected second autonomous mobile body, if yes, taking the connection line between the selected second autonomous mobile body and the idle stop position as the avoidance moving path of the selected second autonomous mobile body, otherwise, going to the next step; Step S5-5, taking the connection line between the selected second autonomous mobile body and an idle stop position as the avoidance moving path of the selected second autonomous mobile body, and controlling the autonomous mobile bodies on the connection line to move from near to far according to the distance from the idle stop position; Step S5-6, judging whether there is still an unselected second autonomous mobile body, if yes, returning to Step S5-1, otherwise, ending.

[0021] Preferably, the idle stop position in Step S5-3 should not belong to the moving path of other unselected second autonomous mobile bodies.

[0022] Preferably, Step S5-5 preferentially selects the avoidance moving path of the selected second autonomous mobile body which does not intersect with other avoidance moving paths.

[0023] Preferably, in Step S5-5, when there are multiple idle stop positions, Step S5-5 selects the idle stop position closest to the selected second autonomous mobile body to generate the avoidance moving path.

[0024] Preferably, the autonomous mobile body elevator control method simultaneously considers m earliest elevator leavers, preferentially selects the optimal moving path which does not intersect with other optimal moving paths as the optimal moving path of each earliest elevator leaver, and makes the avoidance moving path of the second autonomous mobile body not intersect with the optimal moving path of other earliest elevator leavers when planning the avoidance moving path of the second autonomous mobile body.

[0025] Preferably, the autonomous mobile body elevator control method simultaneously considers m earliest elevator leavers, preferentially selects the optimal moving path which has the same second autonomous mobile body, and makes the avoidance moving path of the second autonomous mobile body not intersect with the optimal moving path of any earliest elevator leaver when planning the avoidance moving path of the second autonomous mobile body.

[0026] Preferably, the autonomous mobile body elevator control method simultaneously considers m earliest elevator leavers, and makes the optimal moving paths of at least two autonomous mobile bodies partially overlap.

[0027] Preferably, the autonomous mobile body landing control method simultaneously considers m earliest landing persons, and when a certain idle landing position belongs to the region of a selected second autonomous mobile body of a different earliest landing person, the step S5-4 determines the attribution of the idle landing position according to the distance between the different selected second autonomous mobile body and the idle landing position.

[0028] The application also provides an autonomous mobile body landing control method, comprising the following steps:

[0029] Step 1, defining a rolling optimization length parameter γ, which is smaller than the distance between the landing position of the earliest landing person and the elevator car door, the earliest landing person refers to the autonomous mobile body corresponding to the destination floor that is earliest reached by the elevator in the current running direction;

[0030] Step 2, setting the landing position of the earliest landing person as the first point, and defining the distance between the landing position of the earliest landing person and the elevator car door as the first distance;

[0031] Step 3, enumerating all possible moving paths with the first point as the starting point and the rolling optimization length parameter γ as the length, and the angle between the connecting line between the starting point and the end point of the possible moving path and the direction along the car depth and from the car back plate to the car door is less than 90° or the distance between the end point and the elevator car door is less than the first distance.

[0032] Step 4, establishing a performance index for evaluating the possible moving paths, and selecting a selected moving path from all possible moving paths according to the performance index.

[0033] Step 5, updating the first point to the end point of the selected moving path, and updating the first distance to the distance between the end point of the selected moving path and the elevator car door;

[0034] Step 6, judging whether the updated first distance exceeds the rolling optimization length parameter γ, if yes, returning to step 3, otherwise, executing steps 3 and 4 again to obtain the last selected moving path;

[0035] Step 7, connecting the selected moving paths in sequence as the best moving path of the earliest landing person;

[0036] Step 8, judging whether the best moving path stops at a second autonomous mobile body, the second autonomous mobile body refers to the other autonomous mobile body in the car except the earliest landing person, if yes, entering the next step, otherwise, turning to step S11;

[0037] Step 9, determining the avoidance scheme of the second autonomous mobile body, and outputting the avoidance moving path of the second autonomous mobile body;

[0038] Step 10, controlling the second autonomous mobile body to move along the avoidance moving path to implement avoidance moving;

[0039] Step 11, controlling the earliest leaver to move along the optimal moving path to the elevator car door and leave the car;

[0040] Step 12, end.

[0041] Beneficial technical effects

[0042] The present application makes the leaver robot smoothly leave the elevator by properly planning the moving path of the leaver robot. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a flowchart of the autonomous mobile body leaver control method of the present application. DETAILED DESCRIPTION

[0044] The present application can be implemented or applied in different specific embodiments, and each detail in the present application can be applied based on different viewpoints, and various modifications or changes can be made without departing from the general design idea of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. The exemplary embodiments of the present application can be implemented in various forms, and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application complete and complete, and to fully convey the technical solutions of these exemplary embodiments to those skilled in the art.

[0045] The present application will be further described in detail below in combination with the accompanying drawings and specific embodiments.

[0046] Embodiment 1

[0047] As shown in the figure, the autonomous mobile body leaver control method of the present embodiment includes: Figure 1

[0048] Step S1, enumerating all possible moving paths of the earliest leaver from the current stop position to the elevator car door and taking it as the first moving path, the earliest leaver refers to the autonomous mobile body corresponding to the destination floor that the elevator reaches earliest in the current running direction;

[0049] Step S2, establishing a performance index for evaluating the moving path, the performance index is used to describe the cost paid for moving the earliest leaver from the current stop position to the elevator car door;

[0050] ​Step S3, calculating the performance index corresponding to each first moving path, outputting the moving path corresponding to the best performance index as the best moving path;

[0051] Step S4, judging whether the best moving path stops at a second autonomous mobile body, the second autonomous mobile body being an autonomous mobile body in the car other than the earliest leaver, if yes, entering the next step, otherwise, turning to step S7;

[0052] Step S5, determining an avoidance scheme of the second autonomous mobile body, outputting an avoidance moving path of the second autonomous mobile body;

[0053] Step S6, controlling the second autonomous mobile body to move along the avoidance moving path to implement avoidance moving;

[0054] Step S7, controlling the earliest leaver to move along the best moving path to the elevator car door and leave the car;

[0055] Step S8, ending.

[0056] In the step S1, the earliest leaver is determined according to the following steps:

[0057] Step A1, acquiring call information of autonomous mobile bodies on the landing, the call information including ID information, departure floor and destination floor of the autonomous mobile bodies;

[0058] Step A2, determining the earliest leaver in the current running direction of the elevator according to the destination floor of the autonomous mobile body in the car;

[0059] Step A3, determining the earliest arrival at the departure floor in the current running direction of the elevator according to the call information;

[0060] Step A4, judging whether the destination floor of the earliest leaver is not later than the earliest arrival at the departure floor, if yes, entering the next step, otherwise, waiting until the elevator car arrives at the earliest arrival at the departure floor, and returning to step A1 after the autonomous mobile body at the earliest arrival at the departure floor enters the elevator car;

[0061] Step A5, outputting the earliest leaver.

[0062] For example, the elevator car is currently located at the 1st floor and is going up, the destination floors of the autonomous mobile bodies in the car are the 3rd floor, the 4th floor, the 6th floor and the 10th floor respectively, the departure floors in the call information from the autonomous mobile bodies on the landing are the 2nd floor, the 4th floor and the 8th floor respectively, and the corresponding destination floors are the 4th floor, the 6th floor and the 9th floor respectively. At this time, since the car is located at the 1st floor, the destination floor of the earliest person to get off is the 3rd floor, and the earliest arrival departure floor is the 2nd floor. Considering that the autonomous mobile bodies on the landing may enter the car during the stop of the car at the 2nd floor, which may cause the change of the parking position of the autonomous mobile bodies in the car, if the path of the earliest person to get off at the 3rd floor is planned based on the parking position of the autonomous mobile bodies in the car at this time, the path may be invalid due to the change of the parking position caused by the autonomous mobile bodies entering the car at the 2nd floor. Therefore, the planning of the moving path of the earliest person to get off at the 3rd floor should be suspended until the autonomous mobile bodies on the landing at the 2nd floor enter the car and stop at the parking position without moving, and then the moving path of the earliest person to get off at the 3rd floor is planned.

[0063] Of course, before the car arrives at the 2nd floor, the moving path of the autonomous mobile body arriving at the 2nd floor first and entering the car and its parking position can be planned first, then the parking position distribution of the autonomous mobile bodies in the car after the autonomous mobile body arriving at the 2nd floor enters the car is determined, and finally the moving path of the earliest person to get off at the 3rd floor is planned according to the parking position distribution. However, this method has a disadvantage: since the autonomous mobile body arriving at the 2nd floor has not entered the elevator car when these plans are made, the moving path of the autonomous mobile body arriving at the 2nd floor needs to be avoided when planning the moving path of the earliest person to get off at the 3rd floor, which reduces the degree of freedom when planning the moving path of the earliest person to get off at the 3rd floor, which may result in a decrease in the performance of the planning result compared to the performance of the planning result of the foregoing method.

[0064] The performance index includes the length of the moving path and the weighted sum of the avoidance difficulty (i.e. leaving the best moving path and parking at an idle parking position other than the best moving path) of the second autonomous mobile body.

[0065] The avoidance difficulty refers to the difficulty of the second autonomous mobile body leaving the best moving path and parking at an idle parking position other than the best moving path, which can be implemented in any one of the following two ways or by combining the two ways (such as also being a weighted sum):

[0066] The ratio of the area of the circle with the center at the stop position of the autonomous mobile body in the car which needs to move to avoid the second autonomous mobile body and the radius R to the number of idle stop positions in the circle. When the avoidance movement of the second autonomous mobile body is implemented, the more the idle stop positions around the second autonomous mobile body, the greater the freedom of avoidance movement, the closer the idle stop position to the second autonomous mobile body, the fewer the autonomous mobile bodies between the idle stop position and the second autonomous mobile body which need to move, and thus the easier the avoidance movement. Obviously, this mode is considered from the perspective of the difficulty of avoidance planning of the second autonomous mobile body. Therefore, the avoidance difficulty index constructed by mode 1 is reasonable.

[0067] The avoidance difficulty includes the number of second autonomous mobile bodies which need to move to avoid the earliest passenger getting off and / or the moving distance of the second autonomous mobile bodies which need to move to avoid the earliest passenger getting off. The specific physical meaning of this mode is obvious and does not need to be explained. This mode is considered from the perspective of the cost paid by the second autonomous mobile body to implement the avoidance movement.

[0068] Step S5 determines the avoidance movement path of the second autonomous mobile body according to the idle stop positions in the area composed of the stop positions which are not more than the distance threshold from the second autonomous mobile body and do not belong to the optimal movement path, and specifically includes the following sub-steps:

[0069] Step S5-1 selects an unselected second autonomous mobile body from all second autonomous mobile bodies and takes it as a selected second autonomous mobile body;

[0070] Step S5-2 determines the area composed of all stop positions which are not more than the distance threshold from the selected second autonomous mobile body and do not belong to the optimal movement path;

[0071] Step S5-3 judges whether there is an idle stop position which is not stopped by an autonomous mobile body in the area, if yes, the next step is entered, otherwise the distance threshold is increased and the step S5-2 is returned;

[0072] Step S5-4 judges whether the idle stop position is adjacent to the selected second autonomous mobile body, if yes, the line connecting the selected second autonomous mobile body and the idle stop position is taken as the avoidance movement path of the selected second autonomous mobile body, otherwise the next step is entered;

[0073] Step S5-5 takes the line connecting the selected second autonomous mobile body and the nearest idle stop position as the avoidance movement path of the selected second autonomous mobile body, and controls the autonomous mobile bodies on the line (including the selected second autonomous mobile body and other autonomous mobile bodies on the line) to move from near to far according to the distance from the nearest idle stop position;

[0074] Step S5-6, judging whether there are still second autonomous mobile bodies not selected, if yes, returning to step S5-1, otherwise ending.

[0075] In the above, the connecting line is not necessarily a straight line, but can also be a broken line; the idle stop position in step S5-3 should not belong to the moving path of other selected second autonomous mobile bodies (to avoid the situation that the same idle stop position cannot satisfy the stop of two second autonomous mobile bodies when both of them need to use the idle stop position); in step S5-5, the avoidance moving path of the selected second autonomous mobile body is preferentially selected to be not intersected with other avoidance moving paths (to avoid mutual interference between different second autonomous mobile bodies, such as not needing to consider the time when different second autonomous mobile bodies arrive at the intersection point).

[0076] Embodiment 2

[0077] In this embodiment, the autonomous mobile body control method simultaneously considers m earliest alighting persons. In this case, the following two aspects are mainly considered:

[0078] The first aspect is the interference problem between the optimal moving paths of two earliest alighting persons alighting at different times and the interference problem between the avoidance moving paths of the respective second autonomous mobile bodies. Both of the two problems are only needed to be considered when the elevator car arrives at the destination floor of the first alighting earliest alighting person before the two earliest alighting persons move to the front of the elevator car door in advance.

[0079] The former problem mainly needs to avoid that the last stop position of the second alighting earliest alighting person in the car should not be located in the part between the last stop position of the first alighting earliest alighting person in the car and the elevator car door in the optimal moving path of the first alighting earliest alighting person, so as to ensure that the second alighting earliest alighting person will not block the first alighting earliest alighting person from alighting. In order to achieve this goal, the simplest way is to preferentially select the optimal moving path that is not intersected as the optimal moving path of each earliest alighting person.

[0080] The latter problem mainly needs to avoid that the avoidance moving path of the second autonomous mobile body of the second alighting earliest alighting person destroys the avoidance moving result of the second autonomous mobile body of the first alighting earliest alighting person, i.e., the final stop position of the second autonomous mobile body of the second alighting earliest alighting person is located on the moving path of the second autonomous mobile body of the first alighting earliest alighting person, when planning the avoidance moving path of the second autonomous mobile body of the second alighting earliest alighting person. In order to achieve this goal, the simplest way is to make the avoidance moving path of the second autonomous mobile body not intersected with the optimal moving path of other earliest alighting persons (to avoid mutual interference) when planning the avoidance moving path of the second autonomous mobile body.

[0081] The second aspect is to minimize the number of second autonomous mobile bodies that need to move by taking into account the avoidance movement paths of the second autonomous mobile bodies.

[0082] Method 1: When the distance between two earliest departers is less than a threshold, the optimal movement path of one of the earliest departers can be made part of the optimal movement path of the other earliest departer by proper planning (even if the optimal movement paths of the at least two autonomous mobile bodies partially overlap), so that for the common part of the optimal movement path, the avoidance movement of the corresponding second autonomous mobile body can be applied to both earliest departers, thereby maximizing the benefit of the avoidance movement; when the distance between two earliest departers exceeds the threshold, the two can be made to have as many common parts as possible by proper planning while taking into account the movement cost (such as the length of the movement path) of the earliest departers.

[0083] Method 2: For the non-overlapping parts of the optimal movement paths of two different earliest departers, when planning the avoidance movement paths of the second autonomous mobile bodies for these parts, the final stop positions (or more strictly speaking, the avoidance movement paths) of the second autonomous mobile bodies do not intersect with the optimal movement paths of any other earliest departer and the avoidance movement paths of other second autonomous mobile bodies (to avoid the number of second autonomous mobile bodies that may need to move twice).

[0084] In addition, when considering m earliest departers at the same time, when a certain idle stop position belongs to the region of the selected second autonomous mobile body of a different earliest departer, the step S5-4 determines the ownership of the idle stop position according to the distance between the different selected second autonomous mobile body and the idle stop position (such as the shorter distance).

[0085] Embodiment 3

[0086] In embodiment 1, the enumeration in step S1 can be difficult, especially when the number of stop positions in the elevator car is large and the distribution of the stop positions of the autonomous mobile bodies in the car is complex. To solve this problem, this embodiment provides a rolling optimization enumeration autonomous mobile body departure control method, which is as follows:

[0087] It is defined that the direction along the car depth and directed by the car back plate to the car door is forward, and vice versa.

[0088] Step 1: Define a rolling optimization length parameter γ, which is less than the distance between the stop position of the earliest departer and the elevator car door, where the earliest departer refers to the autonomous mobile body corresponding to the destination floor that is reached earliest by the elevator in the current direction of movement.

[0089] Step 2, setting the stop position of the earliest person getting off as the first point, and defining the distance between the stop position of the earliest person getting off and the elevator car door as the first distance;

[0090] Step 3, enumerating all possible moving paths with the first point as the starting point and the length of the possible moving paths being the rolling optimization length parameter γ, and the angle between the line connecting the starting point and the end point of the possible moving path and the direction along the car depth and pointing to the car door direction from the car back plate being less than 90° or the distance between the end point and the elevator car door being less than the first distance.

[0091] Step 4, establishing a performance index for evaluating the possible moving paths, and selecting a selected moving path from all the possible moving paths according to the performance index. (For example, the performance index in Embodiment 1 can be selected)

[0092] Step 5, updating the first point to the end point of the selected moving path, and updating the first distance to the distance between the end point of the selected moving path and the elevator car door;

[0093] Step 6, judging whether the updated first distance exceeds the rolling optimization length parameter γ, if yes, returning to Step 3, otherwise, executing Step 3 and Step 4 again to obtain the last selected moving path;

[0094] Step 7, connecting the selected moving paths in sequence as the best moving path of the earliest person getting off;

[0095] Step 8, judging whether the best moving path stops at a second autonomous moving body, the second autonomous moving body being another autonomous moving body in the car other than the earliest person getting off, if yes, entering the next step, otherwise, turning to Step S11;

[0096] Step 9, determining an avoidance scheme of the second autonomous moving body, and outputting the avoidance moving path of the second autonomous moving body;

[0097] Step 10, controlling the second autonomous moving body to move along the avoidance moving path to implement avoidance movement;

[0098] Step 11, controlling the earliest person getting off to move along the best moving path to the elevator car door and leave the car;

[0099] Step 12, ending.

[0100] The present application has been described in detail through specific embodiments and examples, but these do not constitute a limitation on the present application. Those skilled in the art can also make many modifications and improvements without departing from the principles of the present application, and these should also be considered as falling within the scope of protection of the present application.

Claims

1. An autonomous mobile body stair descending control method characterized by comprising: The method comprises the following steps: Step S1, enumerating all possible moving paths of the earliest person getting off from the current stop position to the elevator car door and taking the moving path as the first moving path, wherein the earliest person getting off refers to the autonomous mobile body corresponding to the destination floor reached earliest by the elevator in the current running direction; Step S2, establishing a performance index for evaluating the moving path, wherein the performance index is used to describe the cost paid for moving the earliest person getting off from the current stop position to the elevator car door; Step S3, calculating the performance index corresponding to each first moving path, outputting the moving path corresponding to the best performance index and taking the moving path as the best moving path; Step S4, judging whether the best moving path has a second autonomous mobile body, wherein the second autonomous mobile body refers to the autonomous mobile body in the car other than the earliest person getting off, if yes, entering the next step, otherwise, turning to step S7; Step S5, determining the avoidance scheme of the second autonomous mobile body, and outputting the avoidance moving path of the second autonomous mobile body; Step S6, controlling the second autonomous mobile body to move along the avoidance moving path to implement avoidance moving; Step S7, controlling the earliest person getting off to move along the best moving path to the elevator car door and leave the car; Step S8, ending.

2. The autonomous mobile body stair descending control method according to claim 1, characterized by, The step S1 determines the earliest person getting off according to the following steps: Step A1, obtaining the call information of the autonomous mobile bodies on the landing, wherein the call information comprises the ID information, departure floor and destination floor of the autonomous mobile bodies; Step A2, determining the earliest person getting off in the current running direction of the elevator according to the destination floor of the autonomous mobile body in the car; Step A3, determining the earliest arrival at the departure floor in the current running direction of the elevator according to the call information; Step A4, judging whether the destination floor of the earliest person getting off is not later than the earliest arrival at the departure floor, if yes, entering the next step, otherwise, waiting until the elevator car arrives at the earliest arrival at the departure floor, and returning to step A1 after the autonomous mobile body located at the earliest arrival at the departure floor enters the elevator car; Step A5, outputting the earliest person getting off.

3. The autonomous mobile body stair descending control method according to claim 1, characterized by, The performance index comprises the length of the moving path and the weighted sum of the avoidance difficulty of the second autonomous mobile body.

4. The down-stairs control method of an autonomous mobile body according to claim 3, characterized by, The avoidance difficulty refers to the ratio of the area of the circle with the stop position of the autonomous mobile body in the car as the center and the radius R to the number of idle stop positions in the circle.

5. The down-stairs control method of an autonomous mobile body according to claim 3, characterized by, The avoidance difficulty comprises the number and / or moving distance of the second autonomous mobile body needed to be moved for avoiding the earliest person getting off.

6. The down-stairs control method of an autonomous mobile body according to claim 3, characterized by, The step S5 determines the avoidance moving path of the second autonomous mobile body according to the idle stop positions in the region composed of the stop positions not more than the distance threshold from the second autonomous mobile body and not belonging to the best moving path.

7. The down-stairs control method of an autonomous mobile body according to claim 6, characterized by, The step S5 further comprises: Step S5-1, selecting the second autonomous mobile body not selected from all second autonomous mobile bodies as the selected second autonomous mobile body; Step S5-2, determining a region consisting of all the parking spaces within a distance threshold from the selected second autonomous mobile body and not belonging to the optimal moving path of the selected second autonomous mobile body; Step S5-3, judging whether there is an idle parking space in the region which is not occupied by an autonomous mobile body, if yes, proceeding to the next step, otherwise, increasing the distance threshold and returning to step S5-2; Step S5-4, judging whether the idle parking space is adjacent to the selected second autonomous mobile body, if yes, taking the line connecting the selected second autonomous mobile body and the idle parking space as the avoidance moving path of the selected second autonomous mobile body, otherwise, proceeding to the next step; Step S5-5, taking the line connecting the selected second autonomous mobile body and an idle parking space as the avoidance moving path of the selected second autonomous mobile body, and controlling the autonomous mobile bodies on the line to move from the idle parking space to the selected second autonomous mobile body in sequence according to the distance between the idle parking space and the selected second autonomous mobile body; Step S5-6, judging whether there is still a second autonomous mobile body which has not been selected, if yes, returning to step S5-1, otherwise, ending.

8. The down-stairs control method of an autonomous mobile body according to claim 7, characterized by, The idle parking space in step S5-3 should not belong to the moving path of other autonomous mobile bodies which have not been selected.

9. The down-stairs control method of an autonomous mobile body according to claim 7, characterized by, In step S5-5, the avoidance moving path of the selected second autonomous mobile body is preferentially selected to be non-intersecting with other avoidance moving paths.

10. The down-stairs control method of an autonomous mobile body according to claim 7, characterized by, In step S5-5, when there are multiple idle parking spaces, the avoidance moving path is generated by selecting the idle parking space closest to the selected second autonomous mobile body.

11. The down-stairs control method of an autonomous mobile body according to claim 1, characterized by, The autonomous mobile body control method for getting off the elevator simultaneously considers m earliest get-offers, and preferentially selects non-intersecting optimal moving paths as the optimal moving paths of the earliest get-offers; when planning the avoidance moving path of a second autonomous mobile body, the avoidance moving path of the second autonomous mobile body is made non-intersecting with the optimal moving paths of other earliest get-offers.

12. The down-stairs control method of an autonomous mobile body according to claim 1, characterized by, The autonomous mobile body control method for getting off the elevator simultaneously considers m earliest get-offers, preferentially selects optimal moving paths with the same second autonomous mobile body, and when planning the avoidance moving path of a second autonomous mobile body, the avoidance moving path of the second autonomous mobile body is made non-intersecting with the optimal moving paths of any earliest get-offers.

13. The down-stairs control method of an autonomous mobile body according to claim 1, characterized by, The autonomous mobile body control method for getting off the elevator simultaneously considers m earliest get-offers, and makes the optimal moving paths of at least two autonomous mobile bodies partially overlap.

14. The down-stairs control method of an autonomous mobile body according to claim 7, characterized by, The autonomous mobile body control method for getting off the elevator simultaneously considers m earliest get-offers, and when a certain idle parking space belongs to the regions of different selected second autonomous mobile bodies of different earliest get-offers, step S5-4 determines the ownership of the idle parking space according to the distances between the different selected second autonomous mobile bodies and the idle parking space.

15. An autonomous mobile body stair descending control method characterized by comprising: The method comprises the following steps: Step 1, defining a rolling optimization length parameter γ, the rolling optimization length parameter γ being smaller than the distance between the parking space where the earliest get-off is located and the door of the elevator car, the earliest get-off being the autonomous mobile body corresponding to the destination floor which is reached earliest in the current running direction of the elevator; Step 2, setting the parking space where the earliest get-off is located as the first point, and defining the distance between the parking space where the earliest get-off is located and the door of the elevator car as the first distance; Step 3, enumerate all possible moving paths with the first point as the starting point and the length of the possible moving paths being the rolling optimization length parameter γ, the connecting line between the starting point and the end point of the possible moving path being smaller than 90° with the angle between the car depth and the direction from the car back plate to the car door, or the distance between the end point and the elevator car door being smaller than the first distance; Step 4, establish a performance index for evaluating the possible moving paths, and select a selected moving path from all the possible moving paths according to the performance index; Step 5, update the first point to the end point of the selected moving path, and update the first distance to the distance between the end point of the selected moving path and the elevator car door; Step 6, determine whether the updated first distance exceeds the rolling optimization length parameter γ, if yes, return to step 3, otherwise, execute steps 3 and 4 again to obtain the last selected moving path; Step 7, connect the selected moving paths in sequence as the best moving path of the earliest person getting off; Step 8, determine whether the best moving path stops at a second autonomous moving body, the second autonomous moving body being the other autonomous moving body in the car except the earliest person getting off, if yes, enter the next step, otherwise, turn to step S11; Step 9, determine the avoidance scheme of the second autonomous moving body, and output the avoidance moving path of the second autonomous moving body; Step 10, control the second autonomous moving body to move along the avoidance moving path to implement avoidance movement; Step 11, control the earliest person getting off to move along the best moving path to the elevator car door and leave the car; Step 12, end.

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