Method for dispatching a robot to take an elevator

Abstract

The application discloses a kind of for robot lift allocation method comprising: step S1, obtain current registration from the lift request signal of robot;Step S2, determine the lift vector of robot according to the lift request signal;Step S3, according to the principle that the uncovered interval length of the lift request signal of each lift request signal is not covered by the lift vector of the lift request signal is least, combination is obtained with the lift request signal group of uncovered interval length least;Step S4, the lift request signal included in lift request signal group is output as allocation result;Step S5, according to the allocation result control lift and robot, so that lift implements the transport of robot, until the transport of all robots in allocation result is completed;Step S6, end.The robot lift allocation method of the application can maximize the efficiency of lift transporting robot by minimizing the interval length between lift vectors.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevators, in particular to a method for dispatching a robot to take an elevator. BACKGROUND

[0002] In recent years, robots (autonomous mobile bodies) taking elevators to achieve cross-floor movement have gradually become a research hotspot in the field of elevators.

[0003] Robot taking an elevator includes robot interaction with an elevator, position planning of the robot after entering a car, mixed taking an elevator of the robot and passengers, etc.

[0004] CN202110480588.5 proposes a communication method, device and system for a robot and an elevator, wherein the method comprises: a first communication base station receives a control instruction sent by a robot, the first communication base station judges whether an elevator is located within the radiation range of the first communication base station, if the elevator is located within the radiation range of the first communication base station, the first communication base station sends the control instruction to the elevator, if the elevator is not located within the radiation range of the first communication base station, the first communication base station forwards the control instruction to a second communication base station adjacent to the first communication base station. The present application realizes forwarding the control instruction sent by the robot to the elevator by setting a communication base station at a corresponding floor, since no information flow is consumed and no background server needs to be set during the forwarding process, the communication cost is reduced and the reliability is improved.

[0005] CN202180020588.5 proposes that in an elevator installation having an elevator control system and an elevator car controlled by the elevator control system, the elevator control system is configured to receive an elevator call from a person via a call terminal and to receive an elevator call from a robot via a radio transceiver for communication with the elevator control system. A current transport capacity of the elevator installation is determined by the elevator control system, wherein the transport capacity is indicative of a current usage of the elevator installation. An elevator call initiated from the robot via the radio transceiver is recognized by the elevator control system, wherein the elevator call from the robot comprises a priority level (PL) set by a dispatcher of the robot, wherein the priority level (PL) is one of a high priority range, a medium priority range and a low priority range, wherein the elevator call is indicative of a landing floor. In case the priority level is set to the medium priority range and the current transport capacity is below a first threshold value, or in case the priority level is set to the low priority range and the current transport capacity is below a second threshold value, the elevator call assigned to the elevator car from the robot is delayed.

[0006] CN201680089621.9 provides an elevator system capable of rearranging multiple autonomous mobile bodies in a car according to a descending order, which has: an operation control section that moves and stops a car according to information indicating a destination floor sent from an autonomous mobile body, the autonomous mobile body having a moving mechanism and a moving control section, and capable of boarding and alighting the car; an object selection section that selects autonomous mobile bodies in the car and autonomous mobile bodies that will board the car immediately thereafter as rearrangement objects; a descending order determination section that determines a descending order of the autonomous mobile bodies as the rearrangement objects according to destination floors of the autonomous mobile bodies as the rearrangement objects selected by the object selection section; and a rearrangement instruction section that sends information indicating the descending order determined by the descending order determination section to each of the autonomous mobile bodies as the rearrangement objects.

[0007] The prior art relates to the arrangement of robots when taking an elevator, and usually considers the order of multiple robots entering the car (aiming at convenience when descending) and other problems, and has not yet considered the arrangement of robots taking an elevator from the perspective of the transport efficiency of the elevator transporting robots. SUMMARY

[0008] The technical problem to be solved by the present application is how to properly arrange robots so that the elevator can efficiently implement the transport of the robots.

[0009] In order to solve the above technical problem, the present application discloses an arrangement method for robots taking an elevator, the elevator transporting at most one robot at the same time, characterized in that the arrangement method comprises the following steps:

[0010] Step S1, obtaining a taking elevator request signal from a robot that has been registered at present, the taking elevator request signal comprising at least an identification of the robot, a departure floor and a destination floor;

[0011] Step S2, determining a taking elevator vector of the robot according to the taking elevator request signal, the taking elevator vector being a directed line segment from the departure floor to the destination floor of the robot;

[0012] Step S3, combining each taking elevator request signal according to the principle of minimizing the length of an uncovered interval in the journey of the elevator transporting the robot that is not covered by the taking elevator vector, to obtain a taking elevator request signal group with the minimum length of an uncovered interval;

[0013] Step S4, outputting the taking elevator request signals contained in the taking elevator request signal group as an arrangement result;

[0014] Step S5, controlling the elevator and the robots according to the arrangement result, so that the elevator implements the transport of the robots until the transport of all the robots in the arrangement result is completed;

[0015] Step S6, end.

[0016] Preferably, the step S3 further comprises: sub-step S3-1, determining the trip of the elevator for this time according to the elevator call signals; and sub-step S3-2, combining each elevator call signal according to the principle of minimum length of uncovered interval in the range of the trip which is not covered by the elevator call vector, to obtain a group of elevator call signals with minimum length of uncovered interval.

[0017] Preferably, the sub-step S3-1 defines the elevator call signal satisfying the first condition as a specific elevator call signal, and determines the trip of the elevator for this time according to the specific elevator call signal, wherein the first condition comprises: condition 1, the elevator call vector of the elevator call signal is consistent with the running direction of the elevator; and condition 2, the departure floor of the elevator call signal is located in front of the current floor of the elevator car relative to the running direction of the elevator.

[0018] Preferably, the sub-step S3-1 determines the starting point of the trip in any of the following ways:

[0019] Way 1, when the elevator car stops at the destination floor of the robot in the car, taking the destination floor of the robot in the car as the starting point of the trip;

[0020] Way 2, when the elevator stops at a certain floor without moving after completing the robot transportation of the last time, taking the current stop floor as the starting point of the trip;

[0021] Way 3, when the elevator is woken up at a certain floor, taking the woken-up floor as the starting point of the trip;

[0022] Way 4, when the elevator completes a trip and reverses the direction, taking the floor of the reversed direction as the starting point of the trip;

[0023] Way 5, taking the departure floor of the specific elevator call signal which is closest to the starting point determined by ways 1-4 as the starting point of the trip;

[0024] Way 6, when there is a robot in the elevator car and the robot is in a moving state, taking the destination floor of the robot in the car as the starting point of the trip.

[0025] Preferably, the step S3-1 selects the destination floor which is farthest from the current floor of the elevator car or the starting point of the trip from each destination floor of the specific elevator call signal as the ending point of the trip.

[0026] Preferably, when the starting point of the trip is determined by way 5, the step S3-1 determines the ending point of the trip according to the following steps:

[0027] Step A1, determining the elevator taking vector with the starting point as the departure floor according to the starting point and taking it as the first elevator taking vector, and adding the elevator taking request signal corresponding to the first elevator taking vector to the elevator taking request signal group;

[0028] Step A2, selecting the elevator taking vector with the minimum distance between the departure floor and the destination of the first elevator taking vector from the elevator taking request signals of all the elevator taking vectors not added to the elevator taking request signal group and taking it as the second elevator taking vector;

[0029] Step A3, judging whether the direction of the second elevator taking vector is consistent with the direction of the first elevator taking vector, if yes, going to the next step, otherwise, taking the destination of the first elevator taking vector as the destination of the trip and ending;

[0030] Step A4, adding the elevator taking request signal corresponding to the second elevator taking vector to the elevator taking request signal group;

[0031] Step A5, updating the first elevator taking vector to the second elevator taking vector and returning to Step A2.

[0032] Preferably, when the starting point of the trip is determined by way 5, the step S3-1 determines the destination of the trip according to the following steps: selecting the destination floor farthest from the current floor of the elevator car or the starting point of the trip among the destination floors of the elevator taking request signals with the elevator taking vector opposite to the current running direction of the elevator as the intermediate point of the trip, dividing the trip into the first sub-trip consistent with the current running direction of the elevator and the second sub-trip opposite to the current running direction of the elevator by using the intermediate point of the trip, then assigning the specific elevator taking request making the uncovered interval of the first sub-trip minimum to the first sub-trip from the elevator taking request signals satisfying the first condition and taking it as the allocation result of the first sub-trip, then assigning the specific elevator taking request making the uncovered interval of the second sub-trip minimum to the second sub-trip from the elevator taking request signals satisfying the second condition and taking it as the allocation result of the second sub-trip, and finally combining the allocation result of the first sub-trip and the allocation result of the second sub-trip to obtain the complete allocation result of the entire trip, the second condition being that the elevator taking vector of the elevator taking request signal is opposite to the current running direction of the elevator.

[0033] Preferably, when the starting point of the trip is determined by way 5, the step S3-1 determines the destination of the trip according to the following steps:

[0034] Step B1, determining the elevator taking vector with the starting point as the departure floor according to the starting point and taking it as the first elevator taking vector, and adding the elevator taking request signal corresponding to the first elevator taking vector to the elevator taking request signal group;

[0035] Step B2, selecting a lift vector with the shortest distance between the departure floor and the end point of the first lift vector from all lift request signals of lift vectors which are not added to the group of lift request signals, and taking the lift vector as a second lift vector;

[0036] Step B3, judging whether the direction of the second lift vector is consistent with the direction of the first lift vector, if yes, entering the next step, otherwise entering step B6;

[0037] Step B4, adding the lift request signal corresponding to the second lift vector to the group of lift request signals;

[0038] Step B5, updating the first lift vector to the second lift vector, and returning to step B2;

[0039] Step B6, increasing the counter by 1, and judging whether the current value of the counter is equal to 2, if yes, taking the end point of the second lift vector as the end point of the trip, and ending, otherwise returning to step B4, the initial value of the counter being 0.

[0040] Preferably, the step S3-2 obtains the group of lift request signals according to the following steps:

[0041] Step C1, determining the current floor of the elevator car;

[0042] Step C2, selecting a lift vector with the closest departure floor to the current floor of the elevator car from all lift vectors, and taking the lift vector as a first lift vector, and adding the lift request signal of the first lift vector to the group of lift request signals;

[0043] Step C3, selecting a lift vector with the closest departure floor to the end point of the first vector from all unselected lift vectors, and taking the lift vector as a second lift vector, and adding the lift request signal of the second lift vector to the group of lift request signals;

[0044] Step C4, judging whether there is still an unselected lift vector, if yes, returning to step C2, otherwise entering step C4;

[0045] Step C5, outputting the group of lift request signals.

[0046] Preferably, the group of lift request signals comprises the lift request signals and the adding order thereof, and the step S5 controls the robot and the elevator according to the adding order.

[0047] Preferably, the method further comprises the following steps after step S5:

[0048] Step S6, judging whether a new elevator-riding request signal is received, if yes, going to next step, otherwise, continuing to execute step S5;

[0049] Step S7, re-dispatching the elevator according to the destination floor of the robot in the current elevator car as the elevator floor, and executing step S5 again according to the re-dispatching result after the elevator arrives at the destination floor of the robot in the current elevator car and the robot gets off the elevator.

[0050] Preferably, the dispatching method further comprises, after step S5:

[0051] Step S8, when a new elevator-riding request signal is received during the execution of step S5, continuing to execute step S5 until all the robots in the last dispatching result are transported, then updating the elevator-riding request signal in step S1 to all the received but not yet transported elevator-riding request signals, and then going to step S2.

[0052] Preferably, when the waiting time of the robot needs to be considered, different weights are given to the elevator-riding vectors of the robots according to the waiting time of the robots, and the length or distance of the uncovered interval is replaced by the product of the interval length and the weight or the product of the distance and the weight.

[0053] Beneficial technical effects

[0054] The robot elevator-riding dispatching method of the present application can maximize the efficiency of the elevator transporting robots by minimizing the interval length between the elevator-riding vectors. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a flowchart of the dispatching method for robot elevator-riding of the present application.

[0056] Figure 2 is a schematic diagram of elevator-riding vectors in embodiment 2. DETAILED DESCRIPTION

[0057] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0058] The robot in the present application refers to all autonomous mobile bodies capable of entering and exiting the elevator car by autonomous movement, and the autonomous mobile body can communicate with the elevator directly or with the help of a third party to inform the elevator control system of its departure floor and destination floor; the dispatching method of the present application only involves the elevator transporting one robot at the same time, and does not involve the scenario of multiple robots riding the elevator at the same time.

[0059] Under the above premise, all the call signals of the elevator control system are destination floor call signals, i.e. the control system can obtain the departure floor and the destination floor of each call signal; since it is limited that there is at most only one robot in the car, this provides a basis for the dispatching algorithm of the present application. The present application recognizes that all the call signals of the elevator are destination floor call signals, which can only be met in the robot boarding scenario (in other scenarios, it is impossible to configure a destination floor registration device at each floor, and all the elevator users will provide their departure floor and destination floor information by using the destination floor registration device or the mobile terminal), and then makes full use of this feature to propose the dispatching method provided in the subsequent embodiments.

[0060] Embodiment 1: The dispatching method for robot boarding of the present embodiment includes the following steps:

[0061] Step S1: Obtain the currently registered boarding request signals from the robots, which at least include the identification, the departure floor and the destination floor of the robots;

[0062] Step S2: Determine the boarding vector of the robots according to the boarding request signals, the boarding vector being a directed line segment from the departure floor to the destination floor of the robots;

[0063] Step S3: Combine the boarding request signals according to the principle of minimizing the length of the uncovered interval in the travel of the elevator carrying the robots which is not covered by the boarding vector, to obtain a boarding request signal group with the minimum length of the uncovered interval;

[0064] Step S4: Output the boarding request signals contained in the boarding request signal group as the dispatching result;

[0065] Step S5: Control the elevator and the robots according to the dispatching result, so that the elevator implements the transportation of the robots until the transportation of all the robots in the dispatching result is completed;

[0066] Step S6: End.

[0067] Embodiment 2: The dispatching method for robot boarding in Embodiment 1 is further described below.

[0068] In the present embodiment, Step S3 further includes:

[0069] Sub-step S3-1: Determine the travel of the elevator carrying the robots this time according to the boarding request signals;

[0070] Sub-step S3-2: Combine the boarding request signals according to the principle of minimizing the length of the uncovered interval in the travel range which is not covered by the boarding vector, to obtain a boarding request signal group with the minimum length of the uncovered interval.

[0071] The sub-step S3-1 defines the lift request signal meeting the first condition as a specific lift request signal, and determines the travel of the elevator for this time according to the specific lift request signal, the first condition including:

[0072] Condition 1, the lift vector of the lift request signal is consistent with the running direction of the elevator;

[0073] Condition 2, the departure floor of the lift request signal is located in front of the current floor of the elevator car relative to the running direction of the elevator.

[0074] Step S3-1 determines the starting point of the travel in any of the following ways:

[0075] Way 1, when the elevator car stops at the destination floor of the robot in the car, the destination floor of the robot in the car is taken as the starting point of the travel;

[0076] Way 2, when the elevator stops at a certain floor without moving after completing the last robot transportation, the current stop floor is taken as the starting point of the travel;

[0077] Way 3, when the elevator is woken up at a certain floor, the woken-up floor is taken as the starting point of the travel;

[0078] Way 4, when the elevator completes a travel and reverses the direction, the floor of the reversed direction is taken as the starting point of the travel;

[0079] Way 5, the departure floor of the specific lift request signal closest to the starting point determined by ways 1-4 is taken as the starting point of the travel;

[0080] Way 6, when there is a robot in the elevator car and it is in a moving state, the destination floor of the robot in the car is taken as the starting point of the travel.

[0081] Step S3-1 selects the destination floor farthest from the current floor of the elevator car or the starting point of the travel from each destination floor of the specific lift request signal as the end point of the travel.

[0082] The above method is described in detail below with an example, as shown in Figure 2 .

[0083] Suppose a robot transportation elevator in a building can stop at a total of 10 floors. At a certain time, the elevator stops at the lowest 1st floor waiting for upward travel, and the robot lift signals waiting to take the elevator at this time include:

[0084] Ride request signal number Departure floor Destination floor Number #1 1 4 2 #2 3 5 1 #3 6 7 2 #4 7 9 1 #5 10 7 2 #6 5 1 1

[0085] As shown in Figure 2As shown, at this time, the determined specific elevator call signals satisfying the first condition are #1, #2, #3 and #4, and the corresponding elevator vectors are 1→4, 3→5, 6→7 and 7→9, respectively. The starting point of the determined trip is floor 1 and the ending point is floor 9. According to the combination of the elevator vectors of the elevator car carrying only one robot to execute the specific elevator call signals at any time, the combination is not overlapped, and according to the principle of the minimum length of the uncovered interval in the trip range which is not covered by the elevator vector of the elevator call signal, the combination corresponding to the minimum length of the uncovered interval is #1→#3→#4.

[0086] Embodiment 3: This embodiment further illustrates the method for robot elevator call in embodiment 1.

[0087] In this embodiment, step S3 further comprises:

[0088] Sub-step S3-1: determining the trip of the elevator carrying the robot this time according to the elevator call signals;

[0089] Sub-step S3-2: combining each elevator call signal according to the principle of the minimum length of the uncovered interval in the trip range which is not covered by the elevator vector, to obtain an elevator call signal group with the minimum length of the uncovered interval.

[0090] When the starting point of the trip is determined by the method 5 of embodiment 2, the step S3-1 determines the ending point of the trip according to the following steps:

[0091] Step A1, determining the elevator vector with the starting point as the departure floor according to the starting point and taking it as the first elevator vector, and adding the elevator call signal corresponding to the first elevator vector to the elevator call signal group;

[0092] Step A2, selecting the elevator vector with the minimum distance between the departure floor and the ending point of the first elevator vector from the elevator call signals which are not added to the elevator call signal group, and taking it as the second elevator vector;

[0093] Step A3, judging whether the direction of the second elevator vector is consistent with the direction of the first elevator vector, if yes, going to the next step, otherwise, taking the ending point of the first elevator vector as the ending point of the trip and ending;

[0094] Step A4, adding the elevator call signal corresponding to the second elevator vector to the elevator call signal group;

[0095] Step A5, updating the first elevator vector to the second elevator vector and returning to step A2.

[0096] The above method is described in detail by taking the example in Embodiment 2.

[0097] At this time, the starting point of the trip is determined to be the first floor.

[0098] First loop:

[0099] Step A1, a first elevator vector #1 is obtained, and #1 is added to the elevator request signal group;

[0100] Step A2, the elevator vectors that do not overlap with #1 are #3 and #4, and #3 is the closest to the end point (the fourth floor) of #1, so a second elevator vector #3 is obtained;

[0101] Step A3, it is determined that #3 is consistent with the direction of #1;

[0102] Step A4, #3 is added to the elevator request signal group;

[0103] Step A5, the first elevator vector becomes #3;

[0104] Second loop:

[0105] Step A2, the second elevator vector is selected to be #4;

[0106] Step A3, it is determined that #4 is consistent with the direction of #3;

[0107] Step A4, #4 is added to the elevator request signal group;

[0108] Step A5, the first elevator vector becomes #4;

[0109] Third loop:

[0110] Step A2, the second elevator vector is selected to be #5;

[0111] Step A3, it is determined that #5 is opposite to the direction of #4, the end point (the ninth floor) of #4 is taken as the end point of the trip, and the process ends.

[0112] The obtained elevator request signal group is: #1→#3→#4.

[0113] Embodiment 4: The method for dispatching the robot elevator in Embodiment 1 is further described below.

[0114] In this embodiment, step S3 further comprises:

[0115] Sub-step S3-1: determining the trip of the elevator for carrying the robot this time according to the elevator request signal;

[0116] Sub-step S3-2: combine each elevator call signal according to the principle of minimum uncovered interval length in the range of the trip not covered by the elevator call vector, to obtain an elevator call signal group with minimum uncovered interval length.

[0117] Step S3-1 determines the starting point of the trip in the following manner: select the departure floor closest to the starting point determined in modes 1-4 from the departure floor of the specific elevator call signal as the starting point of the trip.

[0118] When the starting point of the trip is determined in mode 5, step S3-1 determines the ending point of the trip in the following manner: select the destination floor farthest from the elevator car's current floor or the starting point of the trip as the intermediate point of the trip from each destination floor of the elevator call signal whose elevator call vector is opposite to the current running direction of the elevator; divide the trip into a first sub-trip in the same direction as the current running direction of the elevator and a second sub-trip in the opposite direction using the intermediate point; assign the specific elevator call signal that minimizes the uncovered interval in the first sub-trip from the elevator call signals satisfying the first condition to the first sub-trip and take it as the allocation result of the first sub-trip; assign the specific elevator call signal that minimizes the uncovered interval in the second sub-trip from the elevator call signals satisfying the second condition to the second sub-trip and take it as the allocation result of the second sub-trip; and finally combine the allocation results of the first sub-trip and the second sub-trip to obtain the complete allocation result of the entire trip, wherein the second condition is that the elevator call vector of the elevator call signal is opposite to the current running direction of the elevator.

[0119] The above method is illustrated by the example in embodiment 2.

[0120] At this time, the first sub-trip is from floor 1 to floor 10, and the second sub-trip is from floor 10 to floor 1.

[0121] According to the mode of embodiment 2, the allocation result of the first sub-trip is #1→#3→#4, and the allocation result of the second sub-trip is #5→#6. Therefore, the final allocation result is #1→#3→#4→#5→#6.

[0122] Embodiment 5: When the starting point of the trip is determined in mode 5, step S3-1 determines the ending point of the trip in the following manner:

[0123] Step B1: determine the elevator call vector with the starting point as the departure floor based on the starting point, and take it as the first elevator call vector; and add the elevator call signal corresponding to the first elevator call vector to the elevator call signal group;

[0124] Step B2, selecting a lift request signal from all lift request signals not added to the group of lift request signals, whose departure floor is closest to the end point of the first lift vector, as a second lift vector;

[0125] Step B3, judging whether the direction of the second lift vector is consistent with the direction of the first lift vector, if yes, entering the next step, otherwise entering step B6;

[0126] Step B4, adding the lift request signal corresponding to the second lift vector to the group of lift request signals;

[0127] Step B5, updating the first lift vector to the second lift vector, and returning to step B2;

[0128] Step B6, adding 1 to the counter, and judging whether the current value of the counter is equal to 2, if yes, taking the end point of the second lift vector as the end point of the trip, and ending, otherwise returning to step B4, the initial value of the counter being 0.

[0129] By using the example in embodiment 2, according to embodiment 3, the final allocation result can be obtained as: #1→#3→#4→#5→#6.

[0130] Embodiment 6: This embodiment further refines step S3-2 on the basis of embodiment 1.

[0131] The step S3-2 obtains the group of lift request signals according to the following steps:

[0132] Step C1, determining the current floor of the elevator car;

[0133] Step C2, selecting a lift vector from all lift vectors whose departure floor is closest to the current floor of the elevator car as a first lift vector, and adding the lift request signal of the first lift vector to the group of lift request signals;

[0134] Step C3, selecting a lift vector from all unselected lift vectors whose departure floor is closest to the end point of the first vector as a second lift vector, and adding the lift request signal of the second lift vector to the group of lift request signals;

[0135] Step C4, judging whether there is still an unselected lift vector, if yes, returning to step C2, otherwise entering step C4;

[0136] Step C5, outputting the group of lift request signals.

[0137] Here, the above method is described in detail by using the example in embodiment 2.

[0138] At this time, the starting point of the trip is determined to be the 1st floor.

[0139] First loop:

[0140] Step C1, get the first elevator vector #1 and add #1 to the elevator request signal group;

[0141] Step C2, the elevator vectors that do not overlap with #1 are #3 and #4, and the one with the closest departure floor to the end point (4th floor) of #1 is #3, so get the second elevator vector #3;

[0142] Step C3, get the second elevator vector #6;

[0143] Step C4, determine that there are still unselected elevator vectors, return to step C2;

[0144] Second loop:

[0145] Refer to the first loop until there are no unselected elevator vectors.

[0146] Example 7: The elevator request signal group obtained in Examples 3, 5, and 6 includes the elevator request signals and their addition order, and the step S5 controls the robot and the elevator according to the addition order.

[0147] Example 8: In the process of performing deployment using the deployment method of the preceding examples and controlling the robot and the elevator to transport the robot according to the obtained deployment result, new elevator request signals may appear. For these new elevator request signals, the following two processing methods can be taken:

[0148] Method 1:

[0149] The deployment method further includes the following steps after step S5:

[0150] Step S6, determine whether a new elevator request signal is received, if yes, proceed to the next step, otherwise continue to execute step S5;

[0151] Step S7, redeploy with the destination floor of the robot in the current elevator car as the floor where the elevator is located, and after the elevator arrives at the destination floor of the robot in the current elevator car and the robot gets off, execute step S5 again according to the redeployed deployment result.

[0152] Method 2:

[0153] The deployment method further includes the following steps after step S5:

[0154] Step S8, when a new elevator request signal is received during the execution of step S5, continue to execute step S5 until all the robots in the last dispatching result are delivered, then update the elevator request signal in step S1 to all the currently received but not yet delivered elevator request signals, and then go to step S2.

[0155] Embodiment 9: In the dispatching methods of the foregoing embodiments, the waiting time of the robot and the urgency of the robot to be delivered are not considered. When the waiting time of the robot (or the urgency of the robot to be delivered) and the efficiency of the elevator delivery need to be considered at the same time, different weights are given to the elevator vector of the elevator request signal according to the waiting time of the robot (or the urgency of the robot to be delivered), the length or distance of the interval in the foregoing embodiments is replaced by the product of the interval length and the weight or the product of the distance and the weight, and the dispatching is performed on this basis. For the weight, generally, the longer the waiting time (or the higher the urgency of the robot to be delivered), the higher the priority of the corresponding priority delivery. Since the length of the uncovered interval is minimized in the dispatching algorithm, the longer the waiting time (or the higher the urgency of the robot to be delivered), the smaller the corresponding weight. For example, the weight range can be set to 0-1. When there is no need for priority dispatching, the weight is set to 1. When the waiting time is too long or the urgent task needs to be delivered immediately, the weight can be set to 0.1 or even 0.

Claims

1. A method for dispatching robots in an elevator, wherein the elevator transports at most one robot at a time, characterized in that, The dispatching method comprises the following steps: Step S1, obtaining current registered elevator request signals from robots, the elevator request signals at least comprising robot identification, departure floor and destination floor; Step S2, determining the elevator request vector of the robot according to the elevator request signal, the elevator request vector being a directed line segment from the departure floor of the robot to the destination floor; Step S3, combining each elevator request signal according to the principle of minimum uncovered interval length of the elevator carrying the robot in the journey, to obtain an elevator request signal group with minimum uncovered interval length; Step S4, outputting the elevator request signal in the elevator request signal group as the dispatching result; Step S5, controlling the elevator and the robot according to the dispatching result, so that the elevator implements the carrying of the robot until the carrying of all robots in the dispatching result is completed; Step S6, ending.

2. The method of claim 1, wherein, The step S3 further comprises: Sub-step S3-1, determining the journey of the elevator carrying the robot this time according to the elevator request signal; Sub-step S3-2, combining each elevator request signal according to the principle of minimum uncovered interval length of the journey range not covered by the elevator request vector, to obtain an elevator request signal group with minimum uncovered interval length.

3. The method of claim 2, wherein, The sub-step S3-1 defines the elevator request signal satisfying the first condition as a specific elevator request signal, and determines the journey of the elevator carrying the robot this time according to the specific elevator request signal, the first condition comprising: Condition 1, the elevator request vector of the elevator request signal is consistent with the running direction of the elevator; Condition 2, the departure floor of the elevator request signal is located in front of the current floor of the elevator car relative to the running direction of the elevator.

4. The method of claim 3, wherein, The sub-step S3-1 determines the starting point of the journey in any of the following ways: Way 1, when the elevator car stops at the destination floor of the robot in the car, the destination floor of the robot in the car is taken as the starting point of the journey; Way 2, when the elevator stops at a certain floor without moving after completing the previous robot carrying, the current stop floor is taken as the starting point of the journey; Way 3, when the elevator is awakened at a certain floor, the awakened floor is taken as the starting point of the journey; Way 4, when the elevator completes a journey and reverses the direction, the floor of the reversed direction is taken as the starting point of the journey; Way 5, the departure floor of the specific elevator request signal closest to the starting point determined by way 1-way 4 is taken as the starting point of the journey; Way 6, when there is a robot in the elevator car and it is in a moving state, the destination floor of the robot in the car is taken as the starting point of the journey.

5. The method of claim 4, wherein, The step S3-1 selects the destination floor farthest from the current floor of the elevator car or the starting point of the journey from each destination floor of the specific elevator request signal as the ending point of the journey.

6. The method of claim 4, wherein, When the starting point of the journey is determined by way 5, the step S3-1 determines the ending point of the journey according to the following steps: Step A1, determining the elevator taking vector with the starting point as the departure floor according to the starting point and taking it as the first elevator taking vector, and adding the elevator taking request signal corresponding to the first elevator taking vector to the elevator taking request signal group; Step A2, selecting the elevator taking vector with the minimum distance between the departure floor and the destination of the first elevator taking vector from the elevator taking request signals of all the elevator taking vectors that have not been added to the elevator taking request signal group and taking it as the second elevator taking vector; Step A3, judging whether the direction of the second elevator taking vector is consistent with the direction of the first elevator taking vector, if yes, entering the next step, otherwise, taking the destination of the first elevator taking vector as the destination of the trip and ending; Step A4, adding the elevator taking request signal corresponding to the second elevator taking vector to the elevator taking request signal group; Step A5, updating the first elevator taking vector to the second elevator taking vector and returning to Step A2.

7. The method of claim 4, wherein, When the starting point of the trip is determined by way 5, the step S3-1 determines the destination of the trip according to the following steps: selecting the destination floor as the intermediate point of the trip from the destination floors of the elevator taking request signals, the destination floor being the one with the opposite direction of the current running direction of the elevator and the farthest distance from the current floor of the elevator car or the starting point of the trip, dividing the trip into the first sub-trip with the same direction as the current running direction of the elevator and the second sub-trip with the opposite direction as the current running direction of the elevator by using the intermediate point of the trip, assigning the specific elevator taking request with the minimum uncovered interval in the first sub-trip from the elevator taking request signals satisfying the first condition to the first sub-trip and taking it as the allocation result of the first sub-trip, assigning the specific elevator taking request with the minimum uncovered interval in the second sub-trip from the elevator taking request signals satisfying the second condition to the second sub-trip and taking it as the allocation result of the second sub-trip, and finally combining the allocation result of the first sub-trip and the allocation result of the second sub-trip to obtain the complete allocation result of the entire trip, the second condition being that the elevator taking vector of the elevator taking request signal is opposite to the current running direction of the elevator.

8. The method of claim 4, wherein, When the starting point of the trip is determined by way 5, the step S3-1 determines the destination of the trip according to the following steps: Step B1, determining the elevator taking vector with the starting point as the departure floor according to the starting point and taking it as the first elevator taking vector, and adding the elevator taking request signal corresponding to the first elevator taking vector to the elevator taking request signal group; Step B2, selecting the elevator taking vector with the minimum distance between the departure floor and the destination of the first elevator taking vector from the elevator taking request signals of all the elevator taking vectors that have not been added to the elevator taking request signal group and taking it as the second elevator taking vector; Step B3, judging whether the direction of the second elevator taking vector is consistent with the direction of the first elevator taking vector, if yes, entering the next step, otherwise, entering Step B6; Step B4, adding the elevator taking request signal corresponding to the second elevator taking vector to the elevator taking request signal group; Step B5, updating the first elevator taking vector to the second elevator taking vector and returning to Step B2; Step B6, add 1 to the counter, and determine whether the current value of the counter is equal to 2, if yes, take the end point of the second elevator call vector as the end point of the trip, end, otherwise return to step B4, the initial value of the counter is 0.

9. The method of claim 2, wherein, The step S3-2 obtains the elevator call signal group according to the following steps: Step C1, determine the current floor of the elevator car; Step C2, select the elevator call vector with the closest departure floor to the current floor of the elevator car from all elevator call vectors and take it as the first elevator call vector, and add the elevator call request signal of the first elevator call vector to the elevator call signal group; Step C3, select the elevator call vector with the closest departure floor to the end point of the first elevator call vector from all unselected elevator call vectors and take it as the second elevator call vector, and add the elevator call request signal of the second elevator call vector to the elevator call signal group; Step C4, determine whether there are still unselected elevator call vectors, if yes, return to step C2, otherwise enter step C4; Step C5, output the elevator call signal group.

10. The method of formulating according to claim 6, 8 or 9, wherein, The elevator call signal group includes the elevator call request signals and the adding order thereof, and the step S5 controls the robot and the elevator according to the adding order.

11. The method of claim 1, wherein, The dispatching method further comprises the following steps after step S5: Step S6, determine whether a new elevator call request signal is received, if yes, enter the next step, otherwise continue to execute step S5; Step S7, re-dispatch the robot in the current elevator car according to the destination floor of the robot as the floor of the elevator, and execute step S5 again according to the re-dispatching result after the elevator arrives at the destination floor of the robot in the current elevator car and the robot gets off the elevator.

12. The method of claim 1, wherein, The dispatching method further comprises the following steps after step S5: Step S8, when a new elevator call request signal is received during the execution of step S5, continue to execute step S5 until all the robots in the previous dispatching result are transported, then update the elevator call request signals in step S1 to all the received but not yet transported elevator call request signals, and then enter step S2.

13. A method of formulation according to any one of the preceding claims characterised in that, When the waiting time of the robot needs to be considered, different weights are given to the elevator call vectors of the robots according to the waiting time of the robots, and the length or distance of the un-covered interval in the preceding any claim is replaced by the product of the interval length and the weight or the product of the distance and the weight.

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