Autonomous mobile body elevator system and method

Abstract

The application discloses a kind of the autonomous mobile body lift, comprising: receiving unit: receiving the lift information of first autonomous mobile body located in landing, the lift information at least includes the identification of first autonomous mobile body and departure floor and destination floor;Determination unit: determine the unoccupied area in elevator car is not occupied by second autonomous mobile body;Planning unit: when the unoccupied area exists at least one first stop position that can be entered into car after first autonomous mobile body and stop, at least one first movement path connecting elevator door and the first stop position is planned according to the unoccupied area;Control unit: at least control first autonomous mobile body by landing along the first movement path reaches the first stop position by elevator door.The application enables elevator to realize the transport of as many autonomous mobile bodies as possible while minimizing the number and / or movement distance of autonomous mobile bodies that need to be moved.

Description

TECHNICAL FIELD

[0001] The present application relates to an elevator system, in particular to an autonomous mobile body elevator riding system and method for realizing autonomous mobile body riding an elevator. BACKGROUND

[0002] Currently, autonomous mobile body riding an elevator, especially robot riding an elevator, has become an important research field in the elevator field. A large number of research results of autonomous mobile body riding an elevator are disclosed in the relevant literature. However, the main concern of the existing literature is how to select a target elevator for a robot, such as CN115159289A, CN114955757A, etc. Documents CN201680089621.9 and CN202110293411.4 give relevant solutions for the robot in the elevator car to adjust the position appropriately in order to get off the elevator.

[0003] In addition, although CN202110293411.4 mentions a scheme for making the AMR to be transported to enter the elevator according to the transportation order or the reverse order of the transportation order and to be parked in the corresponding parking space in the elevator in turn, this scheme can only cope with the scenario that all the AMRs to be transported enter the car at the same floor at the same time, and cannot be applied to the scenario that the AMRs to be transported enter the car at different floors. SUMMARY

[0004] The technical problem to be solved by the present application is: for autonomous mobile bodies that need to take the elevator from different floors, how to select appropriate parking positions and movement paths for them.

[0005] In order to solve the above technical problems, the present application discloses an autonomous mobile body elevator riding system, which comprises:

[0006] A receiving unit: receiving the call information of a first autonomous mobile body located in the landing, the call information at least comprising the identification, the departure floor and the destination floor of the first autonomous mobile body;

[0007] A determination unit: determining an unoccupied area in the elevator car that is not occupied by a second autonomous mobile body;

[0008] A planning unit: when the unoccupied area has at least one first parking position available for the first autonomous mobile body to enter the car and park, planning at least one first movement path connecting the elevator door and the first parking position according to the unoccupied area;

[0009] A control unit: controlling at least the first autonomous mobile body to reach the first parking position from the landing along the first movement path through the elevator door.

[0010] Preferably, the planning unit selects a first stop position in the unoccupied area, and plans at least one first movement path connecting the elevator door and the first stop position according to the rest of the unoccupied area except the first stop position.

[0011] Preferably, the planning unit selects the first stop position according to the following steps:

[0012] Step S1, enumerating all possible first stop positions in the unoccupied area; Step S2, selecting an unselected first stop position from all possible first stop positions as a selected first stop position; Step S3, enumerating all possible first movement paths of the selected first stop position; Step S4, judging whether there is at least one feasible first movement path in all possible first movement paths, if yes, determining that the stop position is a feasible stop position, the feasible stop position refers to a first stop position with at least one feasible first movement path, the feasible first movement path refers to a first movement path connecting the elevator door and the first stop position without moving the second autonomous mobile body, turning to Step S7, otherwise, turning to the next step; Step S5, judging whether there is still an unselected first stop position, if yes, returning to Step S2, otherwise, turning to the next step; Step S6, judging whether there is at least one feasible stop position, if yes, selecting one from all feasible stop positions and outputting, otherwise, determining that there is no feasible stop position in the unoccupied area; Step S7, ending.

[0013] Preferably, when there are multiple first stop positions in the unoccupied area, the step S6 preferentially selects a feasible stop position.

[0014] Preferably, when there are multiple feasible stop positions, the step S6 preferentially selects a feasible stop position corresponding to the shortest feasible first movement path, or farthest from the elevator door, or farthest from the second autonomous mobile body getting off earliest.

[0015] Preferably, when there is no feasible stop position in the unoccupied area, the planning unit plans a second movement path of at least one second autonomous mobile body, so that at least one feasible first movement path can be planned simultaneously under the condition that the at least one second autonomous mobile body moves along the second movement path under the control of the control unit.

[0016] Preferably, the planning unit plans the second movement path and the feasible first movement path in any of the following ways: Way 1, the planning unit plans the second movement path of the second autonomous mobile body according to the current situation of the unoccupied area, updates the unoccupied area, and plans the feasible first movement path based on the updated unoccupied area, and outputs the feasible first movement path and the second movement path; Way 2, the planning unit plans the movement of the first autonomous mobile body and / or the second autonomous mobile body to at least one stopping position, updates the unoccupied area after the movement, and plans the movement of the first autonomous mobile body and / or the second autonomous mobile body to at least one stopping position again, so that the first autonomous mobile body gradually approaches and finally moves to the first stopping position, and the set of movement paths of the first autonomous mobile body and the second autonomous mobile body each time forms the second movement path and the feasible first movement path, and is outputted; Way 3, the planning unit plans a candidate feasible first movement path between the car door and the stopping position, finds out the second autonomous mobile bodies involved in the candidate path, and then plans the second movement path for the second autonomous mobile bodies involved in the candidate path so that they move away from the candidate feasible first movement path.

[0017] Preferably, the Way 1 is implemented according to the following steps: Step S1, selecting an unselected second autonomous mobile body from all the second autonomous mobile bodies as a selected second autonomous mobile body; Step S2, enumerating all the possible second movement paths of the selected second autonomous mobile body; Step S3, selecting an unselected possible second movement path from all the possible second movement paths as a selected possible second movement path; Step S4, updating the unoccupied area; Step S5, determining whether there is at least one movement path from the elevator door to the stopping position without passing through the second autonomous mobile bodies in between, if yes, taking the selected possible second movement path as the second movement path of the selected second autonomous mobile body, taking the movement path from the elevator door to the stopping position without passing through the second autonomous mobile bodies in between as the feasible first movement path of the first autonomous mobile body, and outputting, and ending, if not, going to the next step; Step S6, determining whether there is still an unselected possible second movement path, if yes, returning to Step S3, if not, going to the next step; Step S7, determining whether there is still an unselected second autonomous mobile body, if yes, returning to Step S1, if not, going to the next step; Step S8, using all the feasible first movement paths to form a feasible first movement path list, and using the second autonomous mobile bodies and their second movement paths corresponding to each feasible first movement path to form a second autonomous mobile body-second movement path list; Step S9, selecting a feasible first movement path from the feasible first movement path list and outputting, and selecting the second autonomous mobile bodies and their second movement paths corresponding to the selected feasible first movement path from the second autonomous mobile body-second movement path list and outputting.

[0018] Preferably, the step S9 prioritizes the feasible first movement path and the second autonomous mobile body and its second movement path with the optimal evaluation index, which is the movement distance, the number of second autonomous mobile bodies that need to be moved, and the weighted sum of the movement distance and the number of second autonomous mobile bodies that need to be moved.

[0019] Preferably, the planning unit selects a first parking position in the occupied area occupied by the second autonomous mobile body, which satisfies that there is at least one feasible first movement path between the first parking position and the elevator car door, or there is at least one feasible first movement path after moving one or more second autonomous mobile bodies.

[0020] Preferably, when there is at least one feasible first movement path between the first parking position and the elevator car door, the planning unit plans and outputs the feasible first movement path between the first parking position and the elevator car door and the second movement path of the second autonomous mobile body currently located at the first parking position; when there is at least one feasible first movement path between the first parking position and the elevator car door after moving one or more second autonomous mobile bodies, the planning unit plans and outputs the feasible first movement path between the first parking position and the elevator car door and the second movement path of the second autonomous mobile body that needs to be moved, and the second movement path should make the feasible first movement path exist.

[0021] Preferably, when there is at least one feasible first movement path between the first parking position and the elevator car door, if there is an unoccupied area that can accommodate at least one second autonomous mobile body in the remaining adjacent positions of the first parking position except for the feasible first movement path, the planning unit connects the first parking position with any position in the unoccupied area as the second movement path of the second autonomous mobile body currently located at the first parking position; if there is no unoccupied area that can accommodate at least one second autonomous mobile body in the remaining adjacent positions of the first parking position except for the feasible first movement path, the planning unit selects a target point from any point in the remaining part of the unoccupied area except for the feasible first movement path, plans a connection line between the first parking position and the target point, and moves the second autonomous mobile body on the connection line at least one position towards the target point according to its distance from the target point from far to near.

[0022] Preferably, when there is at least one feasible first movement path between the first stop position and the elevator car door after moving one or more second autonomous mobile bodies, if there are at least two unoccupied areas that can accommodate second autonomous mobile bodies in the remaining adjacent positions of the first stop position except for the feasible first movement path, the planning unit takes the line between the current position of the second autonomous mobile body on the feasible first movement path and any position in the unoccupied area as the second movement path of the second autonomous mobile body; and the planning unit takes the line between the first stop position and any remaining position in the unoccupied area as the second movement path of the second autonomous mobile body currently located at the first stop position.

[0023] Preferably, when there is at least one feasible first movement path between the first stop position and the elevator car door after moving one or more second autonomous mobile bodies, if there are no unoccupied areas that can accommodate second autonomous mobile bodies in the remaining adjacent positions of the first stop position except for the feasible first movement path, the planning unit plans at least one shortest second movement path from the first movement path to the unoccupied area, and the second autonomous mobile bodies on the second movement path move to the unoccupied area along the second movement path in sequence, so that there are two unoccupied areas that can accommodate second autonomous mobile bodies in the remaining adjacent positions of the first stop position except for the feasible first movement path.

[0024] Preferably, when the elevator car door width can only accommodate one first autonomous mobile body at the same time, and the unoccupied area determined by the determination unit can only accommodate one stop position and is adjacent to the elevator door, the planning unit determines whether there is at least one destination layer of a second autonomous mobile body that is earlier than the destination layer of the first autonomous mobile body, and if so, outputs a control instruction to prohibit the first autonomous mobile body from entering the car, otherwise, the only stop position in the unoccupied area is taken as a feasible stop position of the first autonomous mobile body, and the control unit controls the first autonomous mobile body to enter the car and stop at the feasible stop position, while shielding all call signals with the current floor of the elevator car and the floor of the destination layer of the first autonomous mobile body as the departure floor.

[0025] Preferably, when the elevator car door width can only accommodate multiple first autonomous mobile bodies at the same time, and the unoccupied area determined by the determination unit can only accommodate two stop positions and is adjacent to the elevator door, the planning unit moves the autonomous mobile body that gets off the elevator earliest among the second autonomous mobile bodies to one of the two stop positions in the unoccupied area, and takes the other of the two stop positions in the unoccupied area as a feasible stop position of the first autonomous mobile body.

[0026] Preferably, the planning unit plans the movement of the earliest one of the second autonomous mobile bodies to one of the two stopping positions in the unoccupied area only when the destination floor of the earliest one of the second autonomous mobile bodies is later than the destination floor of the first autonomous mobile body.

[0027] The application also provides an autonomous mobile body taking an elevator, comprising the following steps:

[0028] Step S1, griding the floor of the elevator car according to its shape, so that each grid corresponds to a stopping position for a landing autonomous mobile body located in the landing;

[0029] Step S2, determining a partition scheme for deciding the position of the feasible stopping positions in the floor of the elevator car according to the result of the griding in step S1, the feasible stopping position refers to a position with at least one path connecting the elevator car door and the stopping position, and the path does not contain other feasible stopping positions;

[0030] Step S3, receiving the call information from the landing autonomous mobile body, the call information at least includes the ID information, the departure floor and the destination floor of the landing autonomous mobile body;

[0031] Step S4, judging whether there is still a free feasible stopping position for the landing autonomous mobile body which has not been stopped, if yes, performing the first selection, otherwise, performing the second selection, the first selection refers to selecting the free feasible stopping position as the target stopping position of the landing autonomous mobile body corresponding to the call information, the second selection refers to selecting the free feasible stopping position and the non-free feasible stopping position as the target stopping position of the landing autonomous mobile body corresponding to the call information;

[0032] Step S5, planning a movement path for the landing autonomous mobile body to move from the elevator car door to the target stopping position according to the target stopping position obtained in step S4 and the position partition scheme obtained in step S2;

[0033] Step S6, after the elevator car arrives at the departure floor, controlling the landing autonomous mobile body to move to the target stopping position along the movement path through the elevator car door.

[0034] Preferably, step S2 enumerates all possible position partition schemes, and selects one of them as the position partition scheme according to a predetermined principle and outputs.

[0035] Preferably, the predetermined principle is at least one of the following principles: principle 1, the maximum number of feasible stopping positions; principle 2, at least one of the movement paths of at least one of the feasible stopping positions is the shortest or the sum of the shortest movement paths of all the feasible stopping positions is the shortest under the condition that all the non-feasible stopping positions are not stopped by autonomous mobile bodies.

[0036] Preferably, the step S2 determines the maximum number M of autonomous mobile bodies in the elevator car according to the existing call information or based on an estimation of the call information to be generated in the future within a certain time, and then selects one of the position division schemes in which the number of feasible stopping positions is not less than M.

[0037] Preferably, the principle for the step S2 to select the position division scheme in which the number of feasible stopping positions is not less than M is that the average of the shortest movements of each feasible stopping position is the smallest under the condition that no autonomous mobile body is stopped at all non-feasible stopping positions.

[0038] Preferably, the first selection further comprises:

[0039] Step A1, determining all the landing autonomous mobile bodies to be entered into the car; Step A2, ordering each landing autonomous mobile body according to the order of arrival of the elevator car at the destination floor; Step A3, determining all the idle feasible stopping positions in the elevator car; Step A4, ordering the idle feasible stopping positions according to the order of the shortest movement paths of the idle feasible stopping positions from short to long; Step A5, taking the idle feasible stopping position of the corresponding number in the idle feasible stopping position queue as the target stopping position of the landing autonomous mobile body according to the number of the landing autonomous mobile body in its queue.

[0040] Preferably, the second selection selects k non-feasible stopping positions from the non-feasible stopping positions, and takes the selected k non-feasible stopping positions and m feasible stopping positions as the target stopping positions of the landing autonomous mobile bodies, so that the destination floor of a first autonomous mobile body is later than the destination floor of a second autonomous mobile body, and the movement path of the first autonomous mobile body contains the target stopping position of the second autonomous mobile body, wherein k = n - m, n is the number of landing autonomous mobile bodies, and m is the number of feasible stopping positions.

[0041] Preferably, the second selection ensures that the destination floor of a first autonomous mobile body is later than the destination floor of a second autonomous mobile body by arranging that the destination floor of the autonomous mobile body whose movement path contains the selected non-feasible stopping position is later than the destination floor of the autonomous mobile body whose target stopping position is the non-feasible stopping position.

[0042] Preferably, the second selection further comprises:

[0043] Step B1, determining a range, which is a region around the door of the elevator car, and the number of non-feasible stopping positions in the region is equal to k; Step B2, taking the k non-feasible stopping positions in the range as the target stopping positions of the k autonomous mobile bodies that arrive earliest, and the earlier the autonomous mobile body arrives, the shorter the length of its movement path is; Step B3, taking all the feasible stopping positions as the target stopping positions of the remaining autonomous mobile bodies.

[0044] Preferably, at least one path connecting the elevator door and the landing outside the range exists.

[0045] Beneficial technical effects

[0046] By reasonably planning the moving path and landing of the first autonomous mobile body after entering the car, or also planning the moving path and landing of the second autonomous mobile body at the same time, the elevator can minimize the number and / or moving distance of autonomous mobile bodies that need to be moved while realizing the transportation of as many autonomous mobile bodies as possible. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is a schematic diagram of the system configuration of the autonomous mobile body elevator system of the present application;

[0048] Figure 2 and Figure 3 is a landing selection schematic diagram of embodiment 2. DETAILED DESCRIPTION

[0049] The present application will be described in detail below through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present application from the disclosure of the present application. The present application can also be implemented or applied through 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 following 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. The terms "first", "second", etc. in the DETAILED DESCRIPTION section are only used for distinction and do not represent order, importance, etc.

[0050] The present application will be described in detail below through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present application from the disclosure of the present application. The present application can also be implemented or applied through 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 following 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. The terms "first", "second", etc. in the DETAILED DESCRIPTION section are only used for distinction and do not represent order, importance, etc.

[0051] Embodiment 1

[0052] As shown in Figure 1 , the autonomous mobile body elevator system of the present embodiment includes:

[0053] The receiving unit receives the call information of the first autonomous mobile body located in the landing, and the call information at least includes the identification, departure floor and destination floor of the first autonomous mobile body;

[0054] The determining unit determines an unoccupied area in the elevator car that is not occupied by the second autonomous mobile body;

[0055] planning unit: planning at least one first moving path connecting the elevator door and a first stop position in the unoccupied area according to the unoccupied area when the unoccupied area has at least one first stop position available for the first autonomous mobile body to stop after entering the car;

[0056] control unit: controlling the first autonomous mobile body to reach the first stop position along the first moving path from the landing via the elevator door.

[0057] The first autonomous mobile body refers to an autonomous mobile body located at the landing and sending a call information, and the second autonomous mobile body refers to an autonomous mobile body located in the car.

[0058] Embodiment 2

[0059] The embodiment further illustrates the determining unit and the planning unit.

[0060] In the embodiment, the planning unit selects a first stop position in the unoccupied area, and plans at least one first moving path connecting the elevator door and the first stop position according to the remaining area in the unoccupied area except the first stop position fixedly unchanged.

[0061] The planning unit selects the first stop position according to the following steps:

[0062] Step S1, enumerating all possible first stop positions in the unoccupied area;

[0063] Step S2, selecting an unselected first stop position from all possible first stop positions as a selected first stop position;

[0064] Step S3, enumerating all possible first moving paths of the selected first stop position;

[0065] Step S4, judging whether there is at least one feasible first moving path in all possible first moving paths, if yes, determining that the stop position is a feasible stop position, and turning to step S7, otherwise, turning to the next step, wherein the feasible stop position refers to a first stop position having at least one feasible first moving path, and the feasible first moving path refers to a first moving path connecting the elevator door and the first stop position without moving the second autonomous mobile body.

[0066] Step S5, judging whether there is still an unselected first stop position, if yes, returning to step S2, otherwise, turning to the next step;

[0067] Step S6, judging whether there is at least one feasible stop position, if yes, selecting one from all feasible stop positions and outputting, otherwise, determining that there is no feasible stop position in the unoccupied area.

[0068] Step S7, End.

[0069] When there are multiple first parking spaces in the unoccupied area, step S6 prioritizes selecting a feasible parking space.

[0070] When there are multiple feasible stopping positions, step S6 prioritizes selecting the feasible stopping position corresponding to the shortest feasible first moving path, or the one furthest from the elevator door (which is beneficial for making full use of the occupied area and simplifying the movement of the second autonomous moving body caused by the subsequent entry of the first autonomous moving body into the car), or the one furthest from the earliest descending second autonomous moving body (which is beneficial for simplifying the movement of each autonomous moving body caused by the descending of the second autonomous moving body).

[0071] for Figure 2 As shown, the planning unit can choose any one of the five positions not occupied by the white pentagram as the docking position for the black pentagram. Obviously, except for the leftmost position, the rest are feasible docking positions. Considering the distance to the elevator door, the position of the black pentagram in the current figure can be preferred.

[0072] like Figure 3 As shown, when there is no feasible parking space in the unoccupied area, the planning unit plans a second movement path for at least one second autonomous mobile body, such that when the at least one second autonomous mobile body moves along the second movement path under the control of the control unit, at least one feasible first movement path can be planned simultaneously.

[0073] The planning unit plans the second movement path and the feasible first movement path using any of the following methods:

[0074] Method 1: The planning unit plans the second movement path of the second autonomous mobile body based on the current situation of the unoccupied area, updates the unoccupied area, and plans a feasible first movement path based on the updated unoccupied area, and outputs the feasible first movement path and the second movement path;

[0075] Updating unoccupied areas assumes that all second autonomous mobile bodies have completed their movements along their respective second mobile paths and have stopped at their destinations. The key feature is that the second autonomous mobile bodies will not pass through or will eventually stop on the first mobile path that the first autonomous mobile body has already traveled. At this time, the planning unit outputs the feasible first mobile path and the second mobile path.

[0076] When the first mobile path cannot be directly planned by the way 1, a dynamic planning way, i.e. the way 2, can be used to plan the first and / or second mobile body to move at least one stop position, update the unoccupied area after the movement, and then plan the first and / or second mobile body to move at least one stop position again, so that the first mobile body gradually approaches and finally moves to the first stop position. The set of movement paths of the first and second mobile bodies each time forms the second movement path and the feasible first movement path, and is outputted.

[0077] The way 3 plans a selected feasible first movement path between the car door and the stop position (the optimal path involves the least number of second mobile bodies or has the shortest length); finds the second mobile bodies involved in the selected path; and then plans the movement path for the second mobile bodies involved in the selected path to move away from the selected feasible first movement path (i.e. directly opens a path for the first mobile body, which is different from the above-mentioned way in that the above-mentioned way moves the second mobile body first and then checks whether there is a feasible first movement path, while the present way first determines the feasible first movement path and then moves the second mobile body to clear the obstacle for the feasible first movement path.

[0078] The way 1 is implemented according to the following steps:

[0079] Step S1: selects an unselected second mobile body from all second mobile bodies as a selected second mobile body;

[0080] Step S2: enumerates all possible second movement paths of the selected second mobile body;

[0081] Step S3: selects an unselected possible second movement path from all possible second movement paths as a selected possible second movement path;

[0082] Step S4: updates the unoccupied area;

[0083] Step S5: determines whether there is at least one movement path from the elevator door to the stop position without passing through the second mobile body in between. If yes, the selected possible second movement path is taken as the second movement path of the selected second mobile body, the movement path from the elevator door to the stop position without passing through the second mobile body in between is taken as the feasible first movement path of the first mobile body and is outputted, and the process ends. If no, the process proceeds to the next step;

[0084] Step S6: determines whether there is still an unselected possible second movement path. If yes, the process returns to step S3. If no, the process proceeds to the next step;

[0085] Step S7, judging whether there is still a second autonomous mobile body not selected, if yes, returning to step S1, if no, going to the next step;

[0086] Step S8, using all the feasible first moving paths to form a feasible first moving path list, and using the second autonomous mobile bodies and their second moving paths corresponding to each feasible first moving path to form a second autonomous mobile body-second moving path list;

[0087] Step S9, selecting a feasible first moving path from the feasible first moving path list and outputting, and selecting a second autonomous mobile body and its second moving path corresponding to the selected feasible first moving path from the second autonomous mobile body-second moving path list and outputting.

[0088] In step S9, the feasible first moving path and the second autonomous mobile body and its second moving path with the optimal evaluation index are selected preferentially, and the evaluation index is the moving distance, the number of second autonomous mobile bodies needing to be moved, and the weighted sum of the moving distance and the number of second autonomous mobile bodies needing to be moved.

[0089] When there is only one idle parking position, to move a certain autonomous mobile body to the idle parking position, actually, two paths need to be planned: one is the path from the autonomous mobile body to the idle parking position, and the other is the path from the idle parking position to the autonomous mobile body, so that the autonomous mobile body and the idle parking position move along the two paths respectively, forming a circular moving effect.

[0090] Embodiment 3

[0091] In this embodiment, the planning unit selects a first parking position in the occupied area occupied by the second autonomous mobile body, and the first parking position satisfies that there is at least one feasible first moving path between the first parking position and the elevator car door, or there is at least one feasible first moving path after moving one or more second autonomous mobile bodies.

[0092] When there is at least one feasible first moving path between the first parking position and the elevator car door, the planning unit plans and outputs the feasible first moving path between the first parking position and the elevator car door and the second moving path of the second autonomous mobile body currently located on the first parking position;

[0093] When there is at least one feasible first moving path between the first parking position and the elevator car door after moving one or more second autonomous mobile bodies, the planning unit plans and outputs the feasible first moving path between the first parking position and the elevator car door and the second moving path of the second autonomous mobile body needing to be moved, and the second moving path should make the feasible first moving path exist.

[0094] when there is at least one feasible first movement path between the first stop position and the elevator car door,

[0095] if there is at least one unoccupied area that can accommodate a second autonomous mobile body in the remaining adjacent positions of the first stop position other than the feasible first movement path, the planning unit connects any position in the unoccupied area to the first stop position as a second movement path for the second autonomous mobile body currently located at the first stop position;

[0096] if there is no unoccupied area that can accommodate a second autonomous mobile body in the remaining adjacent positions of the first stop position other than the feasible first movement path, the planning unit plans a connection between the first stop position and a target point in the remaining part of the unoccupied area other than the feasible first movement path, and moves the second autonomous mobile body on the connection toward the target point by at least one position according to the distance from the target point.

[0097] when there is at least one feasible first movement path between the first stop position and the elevator car door after moving one or more second autonomous mobile bodies,

[0098] if there are at least two unoccupied areas that can accommodate a second autonomous mobile body in the remaining adjacent positions of the first stop position other than the feasible first movement path, the planning unit connects the current position of the second autonomous mobile body on the feasible first movement path to any position in the unoccupied area as a second movement path for the second autonomous mobile body; and the planning unit connects the first stop position to any remaining position in the unoccupied area as a second movement path for the second autonomous mobile body currently located at the first stop position;

[0099] if there is no unoccupied area that can accommodate a second autonomous mobile body in the remaining adjacent positions of the first stop position other than the feasible first movement path, the planning unit plans at least one shortest second movement path from the first movement path to the unoccupied area, and moves the second autonomous mobile body on the second movement path toward the unoccupied area along the second movement path so that there are two unoccupied areas that can accommodate a second autonomous mobile body in the remaining adjacent positions of the first stop position other than the feasible first movement path.

[0100] When the elevator car door width can only accommodate one first autonomous mobile body at the same time and the unoccupied area determined by the determination unit can only accommodate one stopping position and is adjacent to the elevator door, the planning unit determines whether there is at least one second autonomous mobile body whose destination floor is earlier than the destination floor of the first autonomous mobile body, and if so, outputs a control instruction to prohibit the first autonomous mobile body from entering the car, otherwise, the only stopping position in the unoccupied area is regarded as a feasible stopping position for the first autonomous mobile body, and the control unit controls the first autonomous mobile body to enter the car and stop at the feasible stopping position, while shielding all call signals whose departure floor is located at the current floor of the elevator car and the destination floor of the first autonomous mobile body.

[0101] Embodiment 4

[0102] This embodiment is two special cases of the above embodiments.

[0103] When the elevator car door width can only accommodate multiple first autonomous mobile bodies at the same time and the unoccupied area determined by the determination unit can only accommodate two stopping positions and is adjacent to the elevator door, the planning unit plans to move the earliest one of the second autonomous mobile bodies to one of the two stopping positions in the unoccupied area, and the other one of the two stopping positions in the unoccupied area is regarded as a feasible stopping position for the first autonomous mobile body.

[0104] The planning unit only plans to move the earliest one of the second autonomous mobile bodies to one of the two stopping positions in the unoccupied area when the destination floor of the earliest one of the second autonomous mobile bodies is later than the destination floor of the first autonomous mobile body.

[0105] Embodiment 5

[0106] The embodiment discloses an autonomous mobile body elevator riding method, comprising the following steps:

[0107] Step S1, grid processing is performed on the elevator car floor according to the shape of the elevator car floor, so that each grid corresponds to a stopping position for stopping a landing autonomous mobile body located on the landing;

[0108] Step S2, a division scheme for determining the position of a feasible stopping position in the elevator car floor is determined according to the grid processing result of step S1, the feasible stopping position refers to the existence of at least one path connecting the elevator car door and the stopping position, and the path does not contain other feasible stopping positions;

[0109] Step S3, receiving call information from the landing autonomous mobile body, the call information at least includes ID information, departure floor and destination floor of the landing autonomous mobile body;

[0110] Step S4, judging whether there is still an empty feasible stopping position for the autonomous mobile body, if yes, performing a first selection, otherwise performing a second selection, the first selection refers to selecting an empty feasible stopping position as the target stopping position of the landing autonomous mobile body corresponding to the call information, the second selection refers to selecting an empty feasible stopping position and a non-empty feasible stopping position as the target stopping position of the landing autonomous mobile body corresponding to the call information;

[0111] Step S5, planning a moving path for the landing autonomous mobile body to move from the elevator car door to the target stopping position according to the target stopping position obtained in the step S4 and the position division scheme obtained in the step S2;

[0112] Step S6, after the elevator car arrives at the departure floor, controlling the landing autonomous mobile body to move to the target stopping position along the moving path through the elevator car door.

[0113] The step S2 enumerates all possible position division schemes, and selects one of them as the position division scheme according to a predetermined principle and outputs.

[0114] The predetermined principle is at least one of the following principles:

[0115] Principle 1, the maximum number of feasible stopping positions;

[0116] Principle 2, in the case that there is no autonomous mobile body in all non-feasible stopping positions, the shortest moving path of at least one of the feasible stopping positions or the sum of the shortest moving paths of all feasible stopping positions is the shortest.

[0117] The step S2 determines the maximum value M of the number of autonomous mobile bodies in the elevator car according to the existing call information or based on the estimation of the call information to be generated in the future within a certain time, and then selects a position division scheme in which the number of feasible stopping positions is not less than M.

[0118] The principle for the step S2 to select a position division scheme in which the number of feasible stopping positions is not less than M is that, in the case that there is no autonomous mobile body in all non-feasible stopping positions, the average value of the shortest moving paths of each feasible stopping position is the smallest.

[0119] The first selection further includes:

[0120] Step A1, determining all landing autonomous mobile bodies to be entered into the car;

[0121] Step A2, sorting each landing autonomous mobile body according to the order of arrival of the elevator car at the destination floor;

[0122] Step A3, determining all idle feasible stopping positions in the elevator car;

[0123] Step A4, the idle feasible stopping positions are sorted in order of the shortest moving path from short to long;

[0124] Step A5, the idle feasible stopping position corresponding to the order number of the landing autonomous mobile body in its queue is selected as the target stopping position of the landing autonomous mobile body.

[0125] The second selection selects k (k = n - m, where n is the number of landing autonomous mobile bodies and m is the number of feasible stopping positions) non-feasible stopping positions from the non-feasible stopping positions and selects the k non-feasible stopping positions and the m feasible stopping positions as the target stopping positions of the landing autonomous mobile bodies, so that the destination floor of the first autonomous mobile body is later than the destination floor of the second autonomous mobile body, and the moving path of the first autonomous mobile body contains the target stopping position of the second autonomous mobile body.

[0126] The second selection ensures that the destination floor of the first autonomous mobile body is later than the destination floor of the second autonomous mobile body by arranging the destination floor of the autonomous mobile body whose moving path contains the selected non-feasible stopping position to be later than the destination floor of the autonomous mobile body whose target stopping position is the non-feasible stopping position.

[0127] The second selection further comprises:

[0128] Step B1, a range is determined, which is a region around the elevator car door, and the number of non-feasible stopping positions in the region is equal to k;

[0129] Step B2, the k non-feasible stopping positions in the range are selected as the target stopping positions of the k autonomous mobile bodies that arrive earliest, and the earlier they arrive, the shorter the length of their moving path;

[0130] Step B3, all feasible stopping positions are selected as the target stopping positions of the remaining autonomous mobile bodies.

[0131] There is at least one path connecting the elevator door and the stopping position outside the range.

Claims

1. An autonomous mobile body elevator system characterized by comprising: The autonomous mobile body elevator system comprises: a receiving unit configured to receive call information of a first autonomous mobile body located in a landing, the call information comprising at least an identification of the first autonomous mobile body, a departure floor and a destination floor; a determining unit configured to determine an unoccupied area in an elevator car that is not occupied by a second autonomous mobile body; a planning unit configured to plan at least one first movement path connecting an elevator door and a first stop position in the unoccupied area, when the unoccupied area has at least one first stop position where the first autonomous mobile body can enter the car and stop after; a control unit configured to control the first autonomous mobile body to reach the first stop position from the landing through the elevator door along the first movement path; the planning unit selects one first stop position in the unoccupied area and plans at least one first movement path connecting the elevator door and the first stop position according to the remaining area in the unoccupied area except the first stop position that is fixed; the planning unit selects the first stop position according to the following steps: Step S1, enumerating all possible first stop positions in the unoccupied area; Step S2, selecting an unselected first stop position from all possible first stop positions as the selected first stop position; Step S3, enumerating all possible first movement paths of the selected first stop position; Step S4, determining whether there is at least one feasible first movement path in all possible first movement paths, if yes, determining that the stop position is a feasible stop position, the feasible stop position refers to a first stop position having at least one feasible first movement path, the feasible first movement path refers to a first movement path connecting the elevator door and the first stop position without moving the second autonomous mobile body, and proceeding to Step S6, otherwise, proceeding to the next step; Step S5, determining whether there is still an unselected first stop position, if yes, returning to Step S2, otherwise, proceeding to the next step; Step S6, determining whether there is at least one feasible stop position, if yes, selecting one from all feasible stop positions and outputting, otherwise, determining that there is no feasible stop position in the unoccupied area; Step S7, ending.

2. The autonomous mobile body elevator system according to claim 1, characterized by When there are multiple first stop positions in the unoccupied area, the Step S6 preferentially selects a feasible stop position.

3. The autonomous mobile body elevator system according to claim 2, characterized by When there are multiple feasible stop positions, the Step S6 preferentially selects a feasible stop position corresponding to the shortest feasible first movement path or farthest from the elevator door or farthest from the second autonomous mobile body that gets off earliest.

4. The autonomous mobile body elevator system according to claim 1, characterized by When there is no feasible stop position in the unoccupied area, the planning unit plans a second movement path for at least one second autonomous mobile body, so that at least one feasible first movement path can be planned simultaneously when the at least one second autonomous mobile body moves along the second movement path under the control of the control unit.

5. The autonomous mobile body elevator system according to claim 4, characterized by The planning unit plans the second movement path and the feasible first movement path in any of the following ways: In a first mode, a planning unit plans a second movement path of the second autonomous mobile body according to a current situation of the unoccupied area, updates the unoccupied area, plans a feasible first movement path based on the updated unoccupied area, and outputs the feasible first movement path and the second movement path. In a second mode, the first autonomous mobile body and / or the second autonomous mobile body are planned to move at least one stopping position, the unoccupied area is updated after the movement, and the first autonomous mobile body and / or the second autonomous mobile body are planned to move at least one stopping position again, so that the first autonomous mobile body gradually approaches and finally moves to the first stopping position. The set of movement paths of the first autonomous mobile body and the second autonomous mobile body each time form the second movement path and the feasible first movement path, and are outputted. In a third mode, a candidate feasible first movement path between the car door and the stopping position is planned. The second autonomous mobile body involved in the candidate path is found, and then the second autonomous mobile body involved in the candidate path is planned to move away from the candidate feasible first movement path.

6. The autonomous mobile body elevator system according to claim 5, characterized by The first mode is implemented according to the following steps: Step S1: selecting an unselected second autonomous mobile body from all second autonomous mobile bodies as a selected second autonomous mobile body; Step S2: enumerating all possible second movement paths of the selected second autonomous mobile body; Step S3: selecting an unselected possible second movement path from all possible second movement paths as a selected possible second movement path; Step S4: updating the unoccupied area; Step S5: determining whether there is at least one movement path from the elevator door to the stopping position without passing through the second autonomous mobile body in between. If yes, the selected possible second movement path is taken as the second movement path of the selected second autonomous mobile body, the movement path from the elevator door to the stopping position without passing through the second autonomous mobile body in between is taken as the feasible first movement path of the first autonomous mobile body and is outputted, and the process ends. If no, the process proceeds to the next step; Step S6: determining whether there is still an unselected possible second movement path. If yes, the process returns to Step S3. If no, the process proceeds to the next step; Step S7: determining whether there is still an unselected second autonomous mobile body. If yes, the process returns to Step S1. If no, the process proceeds to the next step; Step S8: using all feasible first movement paths to form a feasible first movement path list, and using the second autonomous mobile bodies and their second movement paths corresponding to each feasible first movement path to form a second autonomous mobile body-second movement path list; Step S9: selecting a feasible first movement path from the feasible first movement path list and outputting it, and selecting the second autonomous mobile body and its second movement path corresponding to the selected feasible first movement path from the second autonomous mobile body-second movement path list and outputting them.

7. The autonomous mobile body elevator system according to claim 6, characterized by The step S9 preferentially selects the feasible first movement path, the second autonomous mobile body and its second movement path with the optimal evaluation index, and the evaluation index is the movement distance, the number of second autonomous mobile bodies that need to be moved, and the weighted sum of the movement distance and the number of second autonomous mobile bodies that need to be moved.

8. An autonomous mobile body elevator system characterized by comprising: The autonomous mobile body elevator system comprises: The receiving unit receives the call information of the first autonomous mobile body located in the landing, and the call information at least includes the identification of the first autonomous mobile body, the departure floor and the destination floor; The determining unit determines an unoccupied area in the elevator car which is not occupied by the second autonomous mobile body; The planning unit plans at least one first moving path connecting the elevator door and the first stop position according to the unoccupied area when the unoccupied area has at least one first stop position where the first autonomous mobile body can enter the car and stop; The control unit controls the first autonomous mobile body to reach the first stop position from the landing through the elevator door along the first moving path; the planning unit selects a first stop position in the occupied area occupied by the second autonomous mobile body, and the first stop position satisfies that there is at least one feasible first moving path between the first stop position and the elevator car door, or there is at least one feasible first moving path after moving one or more second autonomous mobile bodies; When there is at least one feasible first moving path between the first stop position and the elevator car door, the planning unit plans and outputs the feasible first moving path between the first stop position and the elevator car door and the second moving path of the second autonomous mobile body currently located on the first stop position; When there is at least one feasible first moving path between the first stop position and the elevator car door after moving one or more second autonomous mobile bodies, the planning unit plans and outputs the feasible first moving path between the first stop position and the elevator car door and the second moving path of the second autonomous mobile body which needs to be moved, and the second moving path should make the feasible first moving path exist.

9. The autonomous mobile body elevator system according to claim 8, characterized by, When there is at least one feasible first moving path between the first stop position and the elevator car door, If there is an unoccupied area which can accommodate at least one second autonomous mobile body in the remaining adjacent positions of the first stop position except the feasible first moving path, the planning unit takes the connection between the first stop position and any position in the unoccupied area as the second moving path of the second autonomous mobile body currently located on the first stop position; If there is no unoccupied area which can accommodate at least one second autonomous mobile body in the remaining adjacent positions of the first stop position except the feasible first moving path, the planning unit takes any point in the remaining part of the unoccupied area except the feasible first moving path as a target point, plans a connection between the first stop position and the target point, and moves the second autonomous mobile body on the connection at least one position towards the target point according to the distance between the second autonomous mobile body and the target point from far to near.

10. The autonomous mobile body elevator system according to claim 8, characterized by When there is at least one feasible first moving path between the first stop position and the elevator car door after moving one or more second autonomous mobile bodies, If there are at least two unoccupied areas that can accommodate the second autonomous mobile body in the rest of the adjacent positions of the first parking position except the feasible first moving path, the planning unit takes the line between the current position of the second autonomous mobile body on the feasible first moving path and any position in the unoccupied area as the second moving path of the second autonomous mobile body; and takes the line between the first parking position and any of the rest of the positions in the unoccupied area as the second moving path of the second autonomous mobile body currently located at the first parking position.

11. The autonomous mobile body elevator system according to claim 8, characterized by When there is at least one feasible first moving path between the first parking position and the elevator car door after moving one or more second autonomous mobile bodies, If there are no unoccupied areas that can accommodate the second autonomous mobile body in the rest of the adjacent positions of the first parking position except the feasible first moving path, the planning unit plans at least one second moving path from the first moving path to the unoccupied area, and makes the second autonomous mobile body on the second moving path move to the unoccupied area along the second moving path in turn, so that there are two unoccupied areas that can accommodate the second autonomous mobile body in the rest of the adjacent positions of the first parking position except the feasible first moving path.

12. An autonomous mobile body elevator system characterized by comprising: The autonomous mobile body elevator system comprises: a receiving unit configured to receive a call information of a first autonomous mobile body located at a landing, the call information comprising at least an identification of the first autonomous mobile body, a departure floor and a destination floor; a determining unit configured to determine an unoccupied area in an elevator car that is not occupied by a second autonomous mobile body; a planning unit configured to, when there is at least one first parking position in the unoccupied area that can be used by the first autonomous mobile body to enter the car for parking, plan at least one first moving path connecting an elevator door and the first parking position according to the unoccupied area; a control unit configured to control the first autonomous mobile body to reach the first parking position from the landing via the elevator door along the first moving path; When the width of the elevator car door can only accommodate one first autonomous mobile body to pass at the same time, and the unoccupied area determined by the determining unit is only one parking position and adjacent to the elevator door, the planning unit determines whether there is at least one second autonomous mobile body whose destination floor is earlier than the destination floor of the first autonomous mobile body, and if so, outputs a control instruction to prohibit the first autonomous mobile body from entering the car, otherwise, takes the only parking position in the unoccupied area as a feasible parking position of the first autonomous mobile body, and controls the first autonomous mobile body to enter the car and park at the feasible parking position, and at the same time, screens all call signals with the departure floor being the current floor of the elevator car and the destination floor of the first autonomous mobile body.

13. An autonomous mobile body elevator system characterized by comprising: The autonomous mobile body elevator system comprises: a receiving unit configured to receive a call information of a first autonomous mobile body located at a landing, the call information comprising at least an identification of the first autonomous mobile body, a departure floor and a destination floor; a determining unit configured to determine an unoccupied area in an elevator car that is not occupied by a second autonomous mobile body; a planning unit configured to, when there is at least one first parking position in the unoccupied area that can be used by the first autonomous mobile body to enter the car for parking, plan at least one first moving path connecting an elevator door and the first parking position according to the unoccupied area; planning unit: planning at least one first moving path connecting the elevator door and a first stop position where the first autonomous mobile body can stop after entering the car when the unoccupied area exists at least one first stop position where the first autonomous mobile body can stop after entering the car; control unit: controlling the first autonomous mobile body to move from the landing through the elevator door along the first moving path to the first stop position; when the elevator car door width can only accommodate multiple first autonomous mobile bodies to pass at the same time and the unoccupied area determined by the determination unit can only accommodate two stop positions and is adjacent to the elevator door, the planning unit plans to move the earliest autonomous mobile body of the second autonomous mobile bodies to one of the two stop positions in the unoccupied area, and the other one of the two stop positions in the unoccupied area is a possible stop position for the first autonomous mobile body.

14. The autonomous mobile body elevator system according to claim 13, characterized by The planning unit only plans to move the earliest autonomous mobile body of the second autonomous mobile bodies to one of the two stop positions in the unoccupied area when the destination floor of the earliest autonomous mobile body of the second autonomous mobile bodies is later than the destination floor of the first autonomous mobile body.

15. An autonomous mobile body elevator riding method characterized by comprising: The autonomous mobile body boarding method comprises the following steps: Step S1: grid processing the elevator car floor shape so that each grid corresponds to a stop position for a landing autonomous mobile body located on the landing; Step S2: determining a division scheme for determining the position of a possible stop position in the elevator car floor according to the grid processing result of step S1, the possible stop position being a first stop position where there is at least one possible first moving path connecting the elevator door and the first stop position, the possible first moving path being a first moving path that does not require moving a second autonomous mobile body; Step S3: receiving call information from the landing autonomous mobile body, the call information at least including ID information, a departure floor and a destination floor of the landing autonomous mobile body; Step S4: determining whether there is a free possible stop position where no autonomous mobile body has stopped, and if so, performing a first selection, otherwise performing a second selection, the first selection being to select a free possible stop position as a target stop position for the landing autonomous mobile body corresponding to the call information, and the second selection being to select a non-possible stop position and a possible stop position as the target stop position for the landing autonomous mobile body corresponding to the call information; Step S5: planning a moving path for the landing autonomous mobile body to move from the elevator car door to the target stop position according to the target stop position obtained in step S4 and the position division scheme obtained in step S2; Step S6: after the elevator car arrives at the departure floor, controlling the landing autonomous mobile body to move from the elevator car door along the moving path to the target stop position.

16. The autonomous mobile body hall call method according to claim 15, characterized by, Step S2 enumerates all possible position division schemes and selects one of them as the position division scheme according to a predetermined principle and outputs it.

17. The autonomous mobile body elevator riding method according to claim 16, characterized by, The predetermined principle is at least one of the following principles: Principle 1: maximum possible stop positions; Principle 2: The shortest moving path of at least one of the feasible stopping positions or the sum of the shortest moving paths of all the feasible stopping positions is the shortest, provided that no autonomous mobile body is stopped at all the non-feasible stopping positions.

18. The autonomous mobile body hall call method according to claim 16, characterized by, The step S2 determines the maximum number M of autonomous mobile bodies in the elevator car according to the existing call information or based on an estimation of the call information to be generated in the future, and then selects a position division scheme in which the number of feasible stopping positions is not less than M.

19. The autonomous mobile body hall call method according to claim 18, characterized by, The principle for the step S2 to select the position division scheme in which the number of feasible stopping positions is not less than M is that the average of the shortest moving paths of the respective feasible stopping positions is the smallest, provided that no autonomous mobile body is stopped at all the non-feasible stopping positions.

20. The autonomous mobile body hall call method according to claim 15, characterized by, The first selection further includes: Step A1: determining all the landing autonomous mobile bodies to be entered into the car; Step A2: ordering the respective landing autonomous mobile bodies according to the order of arrival of the elevator car at the destination floors; Step A3: determining all the empty feasible stopping positions in the elevator car; Step A4: ordering the empty feasible stopping positions according to the order of the shortest moving paths of the empty feasible stopping positions from short to long; Step A5: taking the empty feasible stopping position of the corresponding number in the queue of the empty feasible stopping positions as the target stopping position of the landing autonomous mobile body according to the order number of the landing autonomous mobile body in its queue.

21. The autonomous mobile body hall call method according to claim 15, characterized by, The second selection selects k non-feasible stopping positions from the non-feasible stopping positions, and takes the selected k non-feasible stopping positions and m feasible stopping positions as the target stopping positions of the landing autonomous mobile bodies, so that the destination floor of a first autonomous mobile body is later than the destination floor of a second autonomous mobile body, and the moving path of the first autonomous mobile body contains the target stopping position of the second autonomous mobile body, wherein k = n - m, n is the number of landing autonomous mobile bodies, and m is the number of feasible stopping positions.

22. The autonomous mobile body hall call method according to claim 21, characterized by, The second selection ensures that the destination floor of a first autonomous mobile body is later than the destination floor of a second autonomous mobile body by arranging the destination floor of the autonomous mobile body whose moving path contains the selected non-feasible stopping position to be later than the destination floor of the autonomous mobile body whose target stopping position is the non-feasible stopping position.

23. The autonomous mobile body elevator riding method according to claim 22, characterized by, The second selection further includes: Step B1: determining a range, which is a region around the door of the elevator car, and the number of non-feasible stopping positions in the region is equal to k; Step B2: taking the k non-feasible stopping positions in the range as the target stopping positions of the k autonomous mobile bodies that arrive earliest, and the earlier the arrival, the shorter the length of the moving path; Step B3: taking all the feasible stopping positions as the target stopping positions of the remaining autonomous mobile bodies.

24. The autonomous mobile body hall call method according to claim 23, characterized by, There is at least one path connecting the elevator door and the stopping position outside the range.

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