A method and system for taking multiple elevators at the same time

Abstract

The present invention proposes a method and system for taking an elevator with multiple machines at the same time, the method comprising: sending a first-level task instruction to a mobile terminal according to an acquired task to be processed, the first-level task instruction being used to control the mobile terminal to plan a target path based on site information, so that the mobile terminal moves to the elevator site according to the target path; receiving an elevator request sent by the mobile terminal, and sending a second-level task instruction to the mobile terminal and the elevator control platform, the second-level task instruction comprising generating an elevator distribution step for controlling an elevator group according to the elevator logic, and generating an elevator step for controlling one or more mobile terminals; receiving status information sent by the mobile terminal, and adjusting the elevator status of the mobile terminal executing the elevator step based on the status information; receiving an elevator exit request sent by the mobile terminal, updating the site status to release the control of the mobile terminal and the elevator control platform by the second-level task instruction, returning the elevator exit instruction to the mobile terminal and restoring the first-level task instruction.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method and system for taking multiple elevators at the same time. Background Art

[0002] In recent years, with the rapid development of artificial intelligence technology, many intelligent mobile terminals have emerged, among which the most commonly used are intelligent mobile robots. Robots are often used in fields such as cargo delivery and cleaning services within buildings. Elevators, as an indispensable vertical transportation tool between high-rise buildings, can help robots complete cross-floor operations, and the utilization rate of elevators will directly affect the operating efficiency of elevators in buildings.

[0003] However, existing multi-robot elevator ride methods generally assign multiple tasks to different robots. Each robot rides an elevator independently, analyzing the task content and completing the elevator route planning. The elevator dispatch platform needs to coordinate the path planning of different robots to dispatch multiple elevators to complete different elevator ride tasks. This method has the following drawbacks:

[0004] (1) Over-integration of functions to allow robots to autonomously complete task path planning will increase the complexity of operating robots. More functions will lead to more resource consumption and increased costs, which is not conducive to later maintenance.

[0005] (2) Allowing only one robot to ride the elevator at a time will result in low elevator space utilization, thus affecting the operating efficiency of the elevator in the building;

[0006] (3) When faced with scenarios where humans and machines share elevators, the robot’s autonomous path planning and dispatching platform’s single-machine elevator allocation method not only has low operational efficiency but also lacks emergency response capabilities.

[0007] Therefore, there is an urgent need for a method for taking a multi-machine elevator to solve the problem that the rationality of the multi-machine elevator is poor and the operating efficiency of the elevator in the room is low. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the present invention proposes a method and system for taking multiple elevators at the same time.

[0009] The first aspect of the present invention discloses a method for taking a multi-machine elevator, which is executed by a dispatching platform and includes:

[0010] Sending a first-level task instruction to the mobile terminal according to the acquired pending task, wherein the first-level task instruction is used to control the mobile terminal to move to the elevator station by planning a target path based on the station information;

[0011] Receive an elevator boarding request sent by a mobile terminal, and send a secondary task instruction to the mobile terminal and the elevator control platform, wherein the secondary task instruction includes generating an elevator allocation step for controlling the elevator group according to the elevator boarding logic, and generating an elevator boarding step for controlling one or more mobile terminals;

[0012] receiving status information sent by the mobile terminal, and adjusting the elevator state of the mobile terminal in executing the elevator step based on the status information;

[0013] Receive the exit request sent by the mobile terminal, update the site status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, return the exit instruction to the mobile terminal and restore the primary task instruction.

[0014] As an optional embodiment, in the first aspect of the present invention, the controlling mobile terminal to plan a target path based on the station information so that the mobile terminal moves to the elevator station according to the target path includes:

[0015] Generate a site collection, configure a site location and site control attributes for each site in the site collection to generate site information;

[0016] Split the primary task of the mobile terminal into several mobile tasks, and match the sites with corresponding control attributes according to the task attributes of the mobile tasks;

[0017] Adding target sites with the same mobility task attributes to the target site set of the first-level task, and generating an initial path for the first-level task based on the starting point, end point, and target site set of the first-level task, where the target site set includes both the boarding site and the exiting site;

[0018] Using environmental data, sensory data, and historical site data collected by mobile terminals, the target path is generated by optimizing the sub-paths between sites in the initial path based on the site path planning that meets the shortest time requirements.

[0019] The mobile terminal moves through each station in sequence according to the target path, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0020] As an optional embodiment, in the first aspect of the present invention, the receiving of the elevator boarding request sent by the mobile terminal and the sending of the secondary task instruction to the mobile terminal and the elevator control platform include:

[0021] In response to an elevator request, obtaining the operating status information of the current elevator and generating a selectable elevator group;

[0022] Selecting a target elevator in the elevator group based on the boarding station reported by the mobile terminal, the target elevator including a first candidate elevator and a second candidate elevator;

[0023] A stop is set for the target elevator according to the elevator usage status information, and the secondary task instruction will release the control status of the mobile terminal by the primary task instruction, and instead execute the elevator boarding step of the elevator boarding station-stopping station-elevator exit station.

[0024] As an optional embodiment, in the first aspect of the present invention, the ladder arrangement step includes:

[0025] The dispatching platform initiates an elevator boarding task to the elevator control platform based on the elevator boarding request. The elevator boarding task includes the starting floor, the target floor, and the elevator group ID.

[0026] The elevator control platform returns the elevator allocation information to the dispatching platform. The elevator allocation information includes the elevator group ID, elevator ID, elevator operation status and associated floor information;

[0027] Returning an elevator number of an assignable target elevator to the mobile terminal based on the elevator ID, and determining a target elevator boarding strategy based on the elevator number returned to the mobile terminal, wherein the boarding strategy includes assigning one target elevator to one mobile terminal and assigning one target elevator to multiple mobile terminals;

[0028] If a mobile terminal is used to configure a target elevator boarding strategy, it is determined whether the target elevator meets the requirement of the shortest time to reach the boarding station. If so, the target elevator is marked as the first candidate elevator and configured on the mobile terminal. Other target elevators that meet the requirement of the shortest time to reach the boarding station are marked as the second candidate elevators for alternative selection.

[0029] If a strategy for selecting a target elevator is configured by multiple mobile terminals, when determining the target elevator for the first mobile terminal, the elevator requests of the second mobile terminals are collected, and the second mobile terminals are identified as the same mobile terminals as the first mobile terminal based on the elevator numbers assigned to the elevator tasks.

[0030] Determine whether the time taken by the shared mobile terminal to reach the target elevator exceeds a timeout threshold for the elevator to wait for the shared mobile terminal. If not, assign the target elevator to the first mobile terminal and the shared mobile terminal as a first candidate elevator. If timeout occurs, recollect elevator requests to search for other first mobile terminals with the same elevator number. If such other first mobile terminals exist, use the target elevator corresponding to the other first mobile terminals as a second candidate elevator for the shared elevator. If such other first mobile terminals do not exist, add the elevator request of the shared mobile terminal to a waiting queue.

[0031] As an optional embodiment, in the first aspect of the present invention, the step of taking the elevator includes:

[0032] The dispatching platform sends elevator allocation information and stop information to the mobile terminal, wherein the stop information includes stop site information and elevator operation information;

[0033] Determine the target elevator and the elevator boarding strategy of the mobile terminal according to the elevator matching information, and determine the moving state and the docking position of the mobile terminal according to the docking information;

[0034] If a mobile terminal is used to configure a target elevator boarding strategy, an elevator entry request sent by the mobile terminal is received, and a confirmation instruction is returned to control the mobile terminal to enter the parking position;

[0035] If multiple mobile terminals are used to jointly configure a target elevator's boarding strategy, the elevator entry request sent by the first mobile terminal is received, and a confirmation instruction is returned to control the first mobile terminal to enter the first docking position. Then, the elevator entry request sent by the second mobile terminal is received, and a confirmation instruction is returned to control the second mobile terminal to enter the second docking position.

[0036] As an optional embodiment, in the first aspect of the present invention, the receiving status information sent by the mobile terminal and adjusting the elevator state of the mobile terminal in executing the elevator step based on the status information includes:

[0037] Performing feature fusion of the spatial and temporal domains of the state information to generate elevator obstacle avoidance data, wherein the state information includes image data, perception data, and mobile terminal state data of the elevator environment;

[0038] Generate a docking influence factor based on the elevator entry sequence, elevator exit sequence, and passenger status, and adjust the elevator status of the mobile terminal based on the elevator obstacle avoidance data and the docking influence factor, the elevator status including the docking position and the load balance of the elevator;

[0039] When a safety hazard is detected, the elevator tasks are traversed. If there is an executed elevator task, a stop instruction is sent to the mobile terminal and the elevator control platform. According to the stop instruction, the current floor of the target elevator is set as the stop floor so that the target elevator stops at the stop floor. According to the stop instruction, the target floor of the mobile terminal is set as the stop floor. Based on the stop instruction, the mobile terminal is controlled to move to the exit station of the stop floor and enter a waiting state.

[0040] If there is an elevator task to be executed, a cancellation instruction is sent to the mobile terminal and the elevator control platform, and the mobile terminal and the elevator are controlled to enter a waiting state according to the cancellation instruction.

[0041] As an optional embodiment, in the first aspect of the present invention, receiving the exit request sent by the mobile terminal, updating the station status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, returning the exit instruction to the mobile terminal and restoring the primary task instruction, includes:

[0042] When the target floor is reached, the mobile terminal receives an exit request sent by the mobile terminal, and returns a confirmation instruction in sequence to control the mobile terminal to move to the exit station;

[0043] Receive the report information of the mobile terminal arriving at the elevator exit station, update the association between the elevator exit station, the mobile terminal and the target elevator, and return the confirmation instruction of releasing the secondary task to the mobile terminal;

[0044] The target path generated according to the first-level task instructions moves from the exit station to the end point, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0045] The second aspect of the present invention discloses a multi-machine elevator system, the system comprising:

[0046] A first-level instruction module is used to send a first-level task instruction to the mobile terminal according to the acquired pending task, wherein the first-level task instruction is used to control the mobile terminal to move to the elevator station according to the target path planned based on the station information;

[0047] A secondary instruction module is configured to receive a boarding request from a mobile terminal and send a secondary task instruction to the mobile terminal and the elevator control platform. The secondary task instruction includes generating an elevator allocation step for controlling the elevator group according to the boarding logic and generating an elevator boarding step for controlling one or more mobile terminals.

[0048] An elevator riding module is configured to receive status information sent by a mobile terminal and adjust the elevator riding status of the mobile terminal in executing the elevator riding step based on the status information;

[0049] The elevator exit module is used to receive the elevator exit request sent by the mobile terminal, update the site status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, return the elevator exit instruction to the mobile terminal and restore the primary task instruction.

[0050] As an optional embodiment, in the second aspect of the present invention, the first-level instruction module controls the mobile terminal to move to the elevator station based on the station information planning target path, including:

[0051] Generate a site collection, configure a site location and site control attributes for each site in the site collection to generate site information;

[0052] Split the primary task of the mobile terminal into several mobile tasks, and match the sites with corresponding control attributes according to the task attributes of the mobile tasks;

[0053] Adding target sites with the same mobility task attributes to the target site set of the first-level task, and generating an initial path for the first-level task based on the starting point, end point, and target site set of the first-level task, where the target site set includes both the boarding site and the exiting site;

[0054] Using environmental data, sensory data, and historical site data collected by mobile terminals, the target path is generated by optimizing the sub-paths between sites in the initial path based on the site path planning that meets the shortest time requirements.

[0055] The mobile terminal moves through each station in sequence according to the target path, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0056] As an optional embodiment, in the second aspect of the present invention, the secondary instruction module receives an elevator boarding request sent by a mobile terminal and sends a secondary task instruction to the mobile terminal and the elevator control platform, including:

[0057] In response to an elevator request, obtaining the operating status information of the current elevator and generating a selectable elevator group;

[0058] Selecting a target elevator in the elevator group based on the boarding station reported by the mobile terminal, the target elevator including a first candidate elevator and a second candidate elevator;

[0059] A stop is set for the target elevator according to the elevator usage status information, and the secondary task instruction will release the control status of the mobile terminal by the primary task instruction, and instead execute the elevator boarding step of the elevator boarding station-stopping station-elevator exit station.

[0060] As an optional embodiment, in the second aspect of the present invention, the elevator allocation step in the secondary instruction module includes:

[0061] The dispatching platform initiates an elevator boarding task to the elevator control platform based on the elevator boarding request. The elevator boarding task includes the starting floor, the target floor, and the elevator group ID.

[0062] The elevator control platform returns the elevator allocation information to the dispatching platform. The elevator allocation information includes the elevator group ID, elevator ID, elevator operation status and associated floor information;

[0063] Returning an elevator number of an assignable target elevator to the mobile terminal based on the elevator ID, and determining a target elevator boarding strategy based on the elevator number returned to the mobile terminal, wherein the boarding strategy includes assigning one target elevator to one mobile terminal and assigning one target elevator to multiple mobile terminals;

[0064] If a mobile terminal is used to configure a target elevator boarding strategy, it is determined whether the target elevator meets the requirement of the shortest time to reach the boarding station. If so, the target elevator is marked as the first candidate elevator and configured on the mobile terminal. Other target elevators that meet the requirement of the shortest time to reach the boarding station are marked as the second candidate elevators for alternative selection.

[0065] If a strategy for selecting a target elevator is configured by multiple mobile terminals, when determining the target elevator for the first mobile terminal, the elevator requests of the second mobile terminals are collected, and the second mobile terminals are identified as the same mobile terminals as the first mobile terminal based on the elevator numbers assigned to the elevator tasks.

[0066] Determine whether the time taken by the shared mobile terminal to reach the target elevator exceeds a timeout threshold for the elevator to wait for the shared mobile terminal. If not, assign the target elevator to the first mobile terminal and the shared mobile terminal as a first candidate elevator. If timeout occurs, recollect elevator requests to search for other first mobile terminals with the same elevator number. If such other first mobile terminals exist, use the target elevator corresponding to the other first mobile terminals as a second candidate elevator for the shared elevator. If such other first mobile terminals do not exist, add the elevator request of the shared mobile terminal to a waiting queue.

[0067] As an optional embodiment, in the second aspect of the present invention, the elevator riding step in the secondary instruction module includes:

[0068] The dispatching platform sends elevator allocation information and stop information to the mobile terminal, wherein the stop information includes stop site information and elevator operation information;

[0069] Determine the target elevator and the elevator boarding strategy of the mobile terminal according to the elevator matching information, and determine the moving state and the docking position of the mobile terminal according to the docking information;

[0070] If a mobile terminal is used to configure a target elevator boarding strategy, an elevator entry request sent by the mobile terminal is received, and a confirmation instruction is returned to control the mobile terminal to enter the parking position;

[0071] If multiple mobile terminals are used to jointly configure a target elevator's boarding strategy, the elevator entry request sent by the first mobile terminal is received, and a confirmation instruction is returned to control the first mobile terminal to enter the first docking position. Then, the elevator entry request sent by the second mobile terminal is received, and a confirmation instruction is returned to control the second mobile terminal to enter the second docking position.

[0072] As an optional embodiment, in the second aspect of the present invention, the elevator boarding module receives status information sent by the mobile terminal, and adjusts the elevator boarding state of the mobile terminal in executing the elevator boarding step based on the status information, including:

[0073] Performing feature fusion of the spatial and temporal domains of the state information to generate elevator obstacle avoidance data, wherein the state information includes image data, perception data, and mobile terminal state data of the elevator environment;

[0074] Generate a docking influence factor based on the elevator entry sequence, elevator exit sequence, and passenger status, and adjust the elevator status of the mobile terminal based on the elevator obstacle avoidance data and the docking influence factor, the elevator status including the docking position and the load balance of the elevator;

[0075] When a safety hazard is detected, the elevator tasks are traversed. If there is an executed elevator task, a stop instruction is sent to the mobile terminal and the elevator control platform. According to the stop instruction, the current floor of the target elevator is set as the stop floor so that the target elevator stops at the stop floor. According to the stop instruction, the target floor of the mobile terminal is set as the stop floor. Based on the stop instruction, the mobile terminal is controlled to move to the exit station of the stop floor and enter a waiting state.

[0076] If there is an elevator task to be executed, a cancellation instruction is sent to the mobile terminal and the elevator control platform, and the mobile terminal and the elevator are controlled to enter a waiting state according to the cancellation instruction.

[0077] As an optional embodiment, in the second aspect of the present invention, the elevator exit module receives an elevator exit request sent by a mobile terminal, updates the station status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, returns the elevator exit instruction to the mobile terminal, and restores the primary task instruction, including:

[0078] When the target floor is reached, the mobile terminal receives an exit request sent by the mobile terminal, and returns a confirmation instruction in sequence to control the mobile terminal to move to the exit station;

[0079] Receive the report information of the mobile terminal arriving at the elevator exit station, update the association between the elevator exit station, the mobile terminal and the target elevator, and return the confirmation instruction of releasing the secondary task to the mobile terminal;

[0080] The target path generated according to the first-level task instructions moves from the exit station to the end point, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0081] The third aspect of the present invention discloses a multi-machine elevator device, comprising:

[0082] at least one processor, and

[0083] a memory communicatively connected to the at least one processor; wherein,

[0084] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for taking an elevator with multiple machines as described in any one of the items disclosed in the first aspect of the present invention.

[0085] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the elevator riding method for multiple machines as described in any one of the items disclosed in the first aspect of the present invention.

[0086] Compared with the prior art, the present invention has the following advantages:

[0087] The present invention plans the target path to move to the elevator station by sending a first-level task instruction to the mobile terminal according to the acquired task to be processed, sends a second-level task instruction to the mobile terminal and the elevator control platform to generate elevator distribution steps and elevator riding steps, adjusts the elevator riding state of the mobile terminal based on status information, receives the elevator exit request sent by the mobile terminal, updates the station state to release the control of the second-level task instruction, returns the elevator exit instruction and restores the first-level task instruction to move to the end point, which can significantly reduce the functional integration of the mobile terminal, decouple the correlation between the mobile terminal and the scheduling platform, and convert the multi-machine and multi-task elevator riding problem into a one-elevator multi-boarding problem. The scheduling platform can quickly respond to elevator riding tasks and can flexibly handle different elevator riding scenarios, increase the rationality of elevator space utilization, and effectively improve the operating efficiency of elevators in buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0089] Figure 1 This is a flow chart of the method for taking multiple elevators at the same time according to the present invention;

[0090] Figure 2 Schematic diagram of the multi-machine elevator system of the present invention. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is described and illustrated below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without making any creative efforts are within the scope of protection of this application.

[0092] Obviously, the drawings described below are merely examples or embodiments of the present application. Those skilled in the art can, without inventive effort, apply the present application to other similar scenarios based on these drawings. Furthermore, it is also understood that, although the effort involved in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, changes in design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as an insufficiency of the content disclosed in this application.

[0093] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments unless there is a conflict.

[0094] Unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the technical field to which this application belongs. The words "one", "a", "the" and the like used in this application do not indicate a limit on quantity and may indicate the singular or plural. The terms "include", "comprise", "have" and any variations thereof used in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units that are inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The word "multiple" used in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0095] Example 1

[0096] See also Figure 1The embodiment of the present invention discloses a method for taking a multi-machine elevator, which is executed by a dispatching platform and includes:

[0097] 101. Send a first-level task instruction to the mobile terminal based on the acquired pending task, wherein the first-level task instruction is used to control the mobile terminal to move to the elevator station by planning a target path based on the station information.

[0098] It should be noted that mobile terminals are intelligent devices with control systems and mobility capabilities. They can be remotely controlled via wireless communication or other data transmission methods, replacing human operators in performing tasks. Examples include intelligent mobile robots, intelligent drones, or other intelligent devices. Specifically, the robot itself consists of a human-machine interaction system, a navigation control system, and a driver control unit (DCU). Furthermore, the robot's exterior may include infrared cameras, standard cameras, sensors, and ultrasonic radar to assist in its operation. Internally, the robot includes a router and 4G / 5G communication module. Under the planning of the dispatching system, this componentry enables intelligent delivery services.

[0099] The usage scenario of this embodiment may be that when a robot replaces human labor to perform delivery tasks, it is unable to effectively use the elevator to perform cross-floor operations, thereby affecting the operating efficiency of the elevator in the building.

[0100] Based on the above scenario, it can be understood that the executor of this application can be a dispatching platform, or it can be a whole composed of a dispatching platform, a robot, an elevator and an elevator control platform, with the robot, the elevator control platform and the elevator working together.

[0101] Specifically, a scheduling platform can be a system that schedules and manages the execution of tasks. The calculation, analysis, and processing of big data are generally completed by many independent processes, each of which performs specific data processing logic. However, in the actual processing process, there are sequential dependencies between data. For example, to process data A, data B must be processed first because A depends on the results of B. Due to the associations and dependencies between data, the corresponding data processing tasks also have corresponding associations and dependencies. To ensure the correct results of data processing, these processing tasks must be executed in an orderly and efficient manner according to these dependencies. Therefore, in order for tasks to be executed in an orderly manner according to rules, a scheduling system is required to plan them. In this solution, the scheduling system is deployed on a cloud server, operates through a B / S architecture, and interacts with the robot using the websocket protocol to schedule tasks.

[0102] In actual processing, data often has sequential dependencies. For example, to process data A, data B must be processed first, as A depends on the results of B. Because data are interconnected and dependent, corresponding data processing tasks also have dependencies and connections. To ensure accurate data processing results, these tasks must be executed in an orderly and efficient manner according to these dependencies.

[0103] Furthermore, the task to be processed may be a material distribution task in a hospital scenario. The scheduling platform receives the queued distribution tasks on the cloud server, and assigns a preferred robot to perform the task based on the distribution task information (such as distribution item information, distribution starting point information, distribution end point information, and delivery time information, etc.). The scheduling platform then sends a first-level task instruction to the corresponding robot. It can be understood that in the scenario of this embodiment, there are multiple material distribution tasks, so multiple robots will be involved in performing the distribution tasks. The robot will split the distribution task into several subtasks for execution by parsing the first-level task instruction. The subtasks mainly involve path planning, and the robot is composed of a human-computer interaction system, a navigation control system, sensors, and a DCU (Domain Control Unit). Under the guidance of each station, it can autonomously complete the path movement from the starting point-elevator station-elevator station-end point.

[0104] As an optional embodiment, in the first aspect of the present invention, the controlling mobile terminal to plan a target path based on the station information so that the mobile terminal moves to the elevator station according to the target path includes:

[0105] Generate a site collection, configure a site location and site control attributes for each site in the site collection to generate site information;

[0106] Split the primary task of the mobile terminal into several mobile tasks, and match the sites with corresponding control attributes according to the task attributes of the mobile tasks;

[0107] Adding target sites with the same mobility task attributes to the target site set of the first-level task, and generating an initial path for the first-level task based on the starting point, end point, and target site set of the first-level task, where the target site set includes both the boarding site and the exiting site;

[0108] Using environmental data, sensory data, and historical site data collected by mobile terminals, the target path is generated by optimizing the sub-paths between sites in the initial path based on the site path planning that meets the shortest time requirements.

[0109] The mobile terminal moves through each station in sequence according to the target path, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0110] Specifically, a first-level task includes path station information and station action information. Path station information can be the path planning information from the dispatching system. Specifically, the robot's path from the starting point to the end point is planned. Map data can be collected through robot movement, and the map is deployed using relevant deployment tools. Stations are set up at regular intervals, and stations in congested areas are assigned control attributes. Control attributes can indicate that the station area is congested, requiring approval from the dispatching system before passing through it. Station action information can be information about the actions the robot can perform at that station. Specifically, station action information is information about the corresponding actions that the dispatching system sets for the robot to perform when passing through the relevant station. For example, station A can have a photo-taking attribute set, requiring the robot to take a photo when passing through it; station B can have a shouting action set, requiring the robot to shout when passing through it. Specific station action information is specified based on actual usage needs and is not otherwise specified.

[0111] Furthermore, as the robot passes through each station, it reports its status to the dispatch platform, such as whether it is executing the delivery task along the station's planned route and whether it has executed the corresponding action when arriving at a controlled station. When the dispatch platform receives the robot's reported arrival information, if the next station has a controlled attribute, the dispatch platform will receive a query from the robot. The query may include information such as the robot number and station number, asking the dispatch platform whether the robot can pass. After analysis, the dispatch system will respond with a response indicating whether the robot can pass, assisting the robot in moving along the various stations to perform its delivery tasks.

[0112] Furthermore, in order to continuously optimize the robot walking on the planned route and monitor the robot's motion status on a daily basis, the delivery robot can deploy various sensors. For example, in addition to radar sensors, the delivery robot can also be equipped with positioning sensors (such as GPS, Beidou and other satellite positioning sensors or other positioning sensors) and motion sensors (such as gyroscopes, odometers, speedometers, accelerometers, etc.). The sensors can obtain the robot's position and motion status in real time. The motion status can be measured by measuring the delivery robot's moving speed, moving direction, moving acceleration, moving angular velocity and posture data. By monitoring the robot's motion status, the robot's path planning can be better and continuously optimized and controlled. For example, the sensor collects image data and radar data of the surrounding environment for feature extraction, and then unifies the spatial domain and time domain. Feature fusion is performed in the spatial domain. Since image data and radar data come from different sensors and have different sampling rates and timestamps, time synchronization is required, which can be achieved through interpolation, resampling or timestamp alignment. Image data and radar data also have different coordinate systems and resolutions. They need to be converted to the same coordinate system and properly spatially aligned to ensure that the image data and radar environment data are in the same time and space, so that the fused obstacle avoidance data can more accurately express the obstacle distribution and obstacle movement trend in the current environment of the delivery robot, thereby providing strong data support for path planning. The motion state of the delivery robot can be adjusted in real time to cope with the congestion of the current environment, and the optimization of sub-paths can be completed one by one to ensure that the target path is the shortest path to reach the elevator station.

[0113] 102. Receive an elevator boarding request sent by a mobile terminal, and send a secondary task instruction to the mobile terminal and the elevator control platform. The secondary task instruction includes generating an elevator allocation step for controlling the elevator group according to the elevator boarding logic, and generating an elevator boarding step for controlling one or more mobile terminals.

[0114] Specifically, in this embodiment, the elevator is used to carry a robot to perform elevator riding tasks, wherein the information of each elevator is entered into the cloud through the elevator control platform, and the 4G / 5G communication module of the elevator control board in the elevator uses the TCP protocol to establish a connection with the elevator control platform to perform the elevator matching task. The Internet of Things technology can monitor and collect the status and operation information of the elevator in real time, and at the same time provide external elevator calling and elevator door opening control interfaces to realize the elevator access needs of the business platform.

[0115] As an optional embodiment, in the first aspect of the present invention, the receiving of the elevator boarding request sent by the mobile terminal and the sending of the secondary task instruction to the mobile terminal and the elevator control platform include:

[0116] In response to an elevator request, obtaining the operating status information of the current elevator and generating a selectable elevator group;

[0117] Selecting a target elevator in the elevator group based on the boarding station reported by the mobile terminal, the target elevator including a first candidate elevator and a second candidate elevator;

[0118] A stop is set for the target elevator according to the elevator usage status information, and the secondary task instruction will release the control status of the mobile terminal by the primary task instruction, and instead execute the elevator boarding step of the elevator boarding station-stopping station-elevator exit station.

[0119] As an optional embodiment, in the first aspect of the present invention, the ladder arrangement step includes:

[0120] The dispatching platform initiates an elevator boarding task to the elevator control platform based on the elevator boarding request. The elevator boarding task includes the starting floor, the target floor, and the elevator group ID.

[0121] The elevator control platform returns the elevator allocation information to the dispatching platform. The elevator allocation information includes the elevator group ID, elevator ID, elevator operation status and associated floor information;

[0122] Returning an elevator number of an assignable target elevator to the mobile terminal based on the elevator ID, and determining a target elevator boarding strategy based on the elevator number returned to the mobile terminal, wherein the boarding strategy includes assigning one target elevator to one mobile terminal and assigning one target elevator to multiple mobile terminals;

[0123] If a mobile terminal is used to configure a target elevator boarding strategy, it is determined whether the target elevator meets the requirement of the shortest time to reach the boarding station. If so, the target elevator is marked as the first candidate elevator and configured on the mobile terminal. Other target elevators that meet the requirement of the shortest time to reach the boarding station are marked as the second candidate elevators for alternative selection.

[0124] If a strategy for selecting a target elevator is configured by multiple mobile terminals, when determining the target elevator for the first mobile terminal, the elevator requests of the second mobile terminals are collected, and the second mobile terminals are identified as the same mobile terminals as the first mobile terminal based on the elevator numbers assigned to the elevator tasks.

[0125] Determine whether the time taken by the shared mobile terminal to reach the target elevator exceeds a timeout threshold for the elevator to wait for the shared mobile terminal. If not, assign the target elevator to the first mobile terminal and the shared mobile terminal as a first candidate elevator. If timeout occurs, recollect elevator requests to search for other first mobile terminals with the same elevator number. If such other first mobile terminals exist, use the target elevator corresponding to the other first mobile terminals as a second candidate elevator for the shared elevator. If such other first mobile terminals do not exist, add the elevator request of the shared mobile terminal to a waiting queue.

[0126] As an optional embodiment, in the first aspect of the present invention, the step of taking the elevator includes:

[0127] The dispatching platform sends elevator allocation information and stop information to the mobile terminal, wherein the stop information includes stop site information and elevator operation information;

[0128] Determine the target elevator and the elevator boarding strategy of the mobile terminal according to the elevator matching information, and determine the moving state and the docking position of the mobile terminal according to the docking information;

[0129] If a mobile terminal is used to configure a target elevator boarding strategy, an elevator entry request sent by the mobile terminal is received, and a confirmation instruction is returned to control the mobile terminal to enter the parking position;

[0130] If multiple mobile terminals are used to jointly configure a target elevator's boarding strategy, the elevator entry request sent by the first mobile terminal is received, and a confirmation instruction is returned to control the first mobile terminal to enter the first docking position. Then, the elevator entry request sent by the second mobile terminal is received, and a confirmation instruction is returned to control the second mobile terminal to enter the second docking position.

[0131] As an example, robot No. 1 arrives at the elevator hall and starts to request the dispatcher to call the elevator. The dispatcher requests the elevator control platform to initiate the elevator riding task (parameters: starting floor, target floor, elevator group ID). The elevator control platform returns the elevator assigned by the dispatcher, including the elevator group ID, elevator ID, current floor and status. The dispatcher platform assigns the elevator number corresponding to the assigned elevator ID to the robot, so that the robot can determine the elevator to take and the location to stop after entering the elevator. The dispatcher determines whether the same elevator supports multiple robots sharing the same floor based on the returned elevator ID. If the elevator to which the robot is assigned is moving towards the starting floor of the robot's elevator, it is determined that multiple robots can share an elevator. If the elevator to which the robot is assigned has already stopped at the starting floor of the robot's elevator or the elevator is moving away from the starting floor of the robot's elevator, the robot will consume more energy to maintain its operation when the elevator arrives at the starting floor too early or too late. In addition, if the elevator arrives too early and the robot needs to wait for the elevator to prepare to enter, or if the elevator arrives too late and the robot needs to wait for the elevator, both of these will affect the efficiency of the elevator. Therefore, it can be understood that the judgment standard for the elevator strategy is that the time required for the elevator to move to the starting floor of the robot's elevator during the elevator matching process is close to the time required for the first robot to call the elevator to arrive at the elevator location. An error threshold can be set to determine whether the time required for the elevator and the time required for the robot are within the error range. If not, it is determined that multiple robots cannot share an elevator. If it is supported, the dispatcher determines whether there are other target floors in the elevator hall with the same direction robots calling the elevator before the elevator arrives at the starting floor. If not, it is determined The dispatcher will determine whether there is a timeout for waiting for the same elevator. At this time, the dispatcher will determine whether there is a robot task and has elevator logic, and calculate the estimated time to arrive at the elevator hall within the elevator timeout. If the conditions are met, the robot No. 1 will be notified to enter the elevator first and the timing will be started. If the robot No. 2 arrives at the elevator hall within the timeout, the repeated elevator request will be canceled, and the dispatcher will directly notify the robot No. 2 to enter the elevator. If the robot No. 2 does not arrive at the elevator hall in time, the dispatcher will notify the elevator control platform to stop controlling the door and start the elevator task of the robot No. 1. After the robot No. 2 arrives at the elevator hall, it will continue to initiate the elevator request. If the ride is shared, the dispatcher will notify the robot No. 1 to enter the elevator after receiving the notification that the elevator has reached the starting floor. At the same time, the dispatcher platform will receive the elevator request of the robot No. 2 and reply with the confirmation command ack. After notifying the robot of the elevator information (elevator number and position number), the dispatcher will notify the robot No. 2 to enter the elevator after receiving the notification that the robot has successfully entered the elevator (no longer requesting the elevator control platform). The elevator control platform will report that it has reached the target floor of the robot No. 1, and the dispatcher will notify the robot No. 1 to exit the elevator. The elevator continues to run and reaches the target floor of the robot No. 2, and the dispatcher will notify the robot No. 2 to exit the elevator.It should be noted that if robots No. 1 and No. 2 have the same target floor, after reaching the target floor, the dispatcher will first notify robot No. 1 to exit the elevator. After robot No. 1 reports that it has successfully exited the elevator, the dispatcher will then notify robot No. 2 to exit the elevator. After the elevator control platform detects that the task of reaching the target floor is completed and the door is closed, the elevator is released, the status is updated, and it can be reallocated.

[0132] 103. Receive status information sent by the mobile terminal, and adjust the elevator state of the mobile terminal for executing the elevator step based on the status information;

[0133] As an optional embodiment, in the first aspect of the present invention, the receiving status information sent by the mobile terminal and adjusting the elevator state of the mobile terminal in executing the elevator step based on the status information includes:

[0134] Performing feature fusion of the spatial and temporal domains of the state information to generate elevator obstacle avoidance data, wherein the state information includes image data, perception data, and mobile terminal state data of the elevator environment;

[0135] Generate a docking influence factor based on the elevator entry sequence, elevator exit sequence, and passenger status, and adjust the elevator status of the mobile terminal based on the elevator obstacle avoidance data and the docking influence factor, the elevator status including the docking position and the load balance of the elevator;

[0136] When a safety hazard is detected, the elevator tasks are traversed. If there is an executed elevator task, a stop instruction is sent to the mobile terminal and the elevator control platform. According to the stop instruction, the current floor of the target elevator is set as the stop floor so that the target elevator stops at the stop floor. According to the stop instruction, the target floor of the mobile terminal is set as the stop floor. Based on the stop instruction, the mobile terminal is controlled to move to the exit station of the stop floor and enter a waiting state.

[0137] If there is an elevator task to be executed, a cancellation instruction is sent to the mobile terminal and the elevator control platform, and the mobile terminal and the elevator are controlled to enter a waiting state according to the cancellation instruction.

[0138] Specifically, especially when multiple robots ride an elevator together, not only do they need to be marked as obstacles, but the passengers' satisfaction with the elevator ride also needs to be considered. The robot's sensors can collect image data, perception data, and mobile terminal status data to analyze the current environmental status in the elevator, as well as the robot's movement trends and the movement trends of obstacles. Since image data and radar data come from different sensors and have different sampling rates and timestamps, time synchronization is required, which can be achieved through interpolation, resampling, or timestamp alignment. Image data and radar data also have different coordinate systems and resolutions. They need to be converted to the same coordinate system and properly spatially aligned to ensure that the image data and radar data are in the same time and space. This allows the fused elevator obstacle avoidance data to more accurately express the obstacle distribution and obstacle movement trends in the current environment of the delivery robot, thereby providing strong data support for path planning and adjusting the delivery robot's elevator status in real time to cope with congestion in the elevator.

[0139] Furthermore, the order of entering and exiting the elevator can be adjusted according to the elevator task and the actual motion state of the robot. The order of entering and exiting the elevator can be used as evaluation data and assigned corresponding weights. The passenger status can be identified by the robot's dynamic perception and recognition module, and can be automatically classified according to the robot's type, size and destination, as well as the passenger type, body shape, and purpose of the elevator as evaluation data and assigned corresponding weights. By weighted calculation of the evaluation value of each influencing factor, the evaluation score of the corresponding elevator status is output, and the elevator status with the highest evaluation score is determined as the elevator status that needs to be adjusted for the delivery robot, thereby ensuring the load balance of each elevator and avoiding excessive congestion.

[0140] Furthermore, in order to ensure the safety of passengers and robots riding together, a safety mechanism is also designed to detect safety hazards. In this embodiment, the safety hazard can be a fire. The robot itself is equipped with an emergency stop button, dynamic obstacle detection, obstacle avoidance algorithm and a safety communication module to interact with the dispatching platform and the fire alarm platform. After a fire alarm occurs, it is pushed to the cloud-based dispatching platform through the platform. The dispatching platform determines that if there is an ongoing elevator task, it requests the elevator control platform to change the target floor to the fire alarm stop floor. After arriving, the dispatching platform allows the robot to exit the elevator, and the robot automatically pulls over. If there is no ongoing elevator task but there is an elevator task to be executed, the dispatcher cancels the elevator tasks of all robots and pulls over.

[0141] 104. Receive the exit request sent by the mobile terminal, update the site status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, return the exit instruction to the mobile terminal, and restore the primary task instruction.

[0142] As an optional embodiment, in the first aspect of the present invention, receiving the exit request sent by the mobile terminal, updating the station status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, returning the exit instruction to the mobile terminal and restoring the primary task instruction, includes:

[0143] When the target floor is reached, the mobile terminal receives an exit request sent by the mobile terminal, and returns a confirmation instruction in sequence to control the mobile terminal to move to the exit station;

[0144] Receive the report information of the mobile terminal arriving at the elevator exit station, update the association between the elevator exit station, the mobile terminal and the target elevator, and return the confirmation instruction of releasing the secondary task to the mobile terminal;

[0145] The target path generated according to the first-level task instructions moves from the exit station to the end point, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0146] The present invention plans the target path to move to the elevator station by sending a first-level task instruction to the mobile terminal according to the acquired task to be processed, sends a second-level task instruction to the mobile terminal and the elevator control platform to generate elevator distribution steps and elevator riding steps, adjusts the elevator riding state of the mobile terminal based on status information, receives the elevator exit request sent by the mobile terminal, updates the station state to release the control of the second-level task instruction, returns the elevator exit instruction and restores the first-level task instruction to move to the end point, which can significantly reduce the functional integration of the mobile terminal, decouple the correlation between the mobile terminal and the scheduling platform, and convert the multi-machine and multi-task elevator riding problem into a one-elevator multi-boarding problem. The scheduling platform can quickly respond to elevator riding tasks and can flexibly handle different elevator riding scenarios, increase the rationality of elevator space utilization, and effectively improve the operating efficiency of elevators in buildings.

[0147] like Figure 2 As shown, the second aspect of the present invention discloses a multi-machine elevator system, the system comprising:

[0148] A first-level instruction module is used to send a first-level task instruction to the mobile terminal according to the acquired pending task, wherein the first-level task instruction is used to control the mobile terminal to move to the elevator station according to the target path planned based on the station information;

[0149] A secondary instruction module is configured to receive a boarding request from a mobile terminal and send a secondary task instruction to the mobile terminal and the elevator control platform. The secondary task instruction includes generating an elevator allocation step for controlling the elevator group according to the boarding logic and generating an elevator boarding step for controlling one or more mobile terminals.

[0150] An elevator riding module is configured to receive status information sent by a mobile terminal and adjust the elevator riding status of the mobile terminal in executing the elevator riding step based on the status information;

[0151] The elevator exit module is used to receive the elevator exit request sent by the mobile terminal, update the site status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, return the elevator exit instruction to the mobile terminal and restore the primary task instruction.

[0152] As an optional embodiment, in the second aspect of the present invention, the first-level instruction module controls the mobile terminal to move to the elevator station based on the station information planning target path, including:

[0153] Generate a site collection, configure a site location and site control attributes for each site in the site collection to generate site information;

[0154] Split the primary task of the mobile terminal into several mobile tasks, and match the sites with corresponding control attributes according to the task attributes of the mobile tasks;

[0155] Adding target sites with the same mobility task attributes to the target site set of the first-level task, and generating an initial path for the first-level task based on the starting point, end point, and target site set of the first-level task, where the target site set includes both the boarding site and the exiting site;

[0156] Using environmental data, sensory data, and historical site data collected by mobile terminals, the target path is generated by optimizing the sub-paths between sites in the initial path based on the site path planning that meets the shortest time requirements.

[0157] The mobile terminal moves through each station in sequence according to the target path, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0158] As an optional embodiment, in the second aspect of the present invention, the secondary instruction module receives an elevator boarding request sent by a mobile terminal and sends a secondary task instruction to the mobile terminal and the elevator control platform, including:

[0159] In response to an elevator request, obtaining the operating status information of the current elevator and generating a selectable elevator group;

[0160] Selecting a target elevator in the elevator group based on the boarding station reported by the mobile terminal, the target elevator including a first candidate elevator and a second candidate elevator;

[0161] A stop is set for the target elevator according to the elevator usage status information, and the secondary task instruction will release the control status of the mobile terminal by the primary task instruction, and instead execute the elevator boarding step of the elevator boarding station-stopping station-elevator exit station.

[0162] As an optional embodiment, in the second aspect of the present invention, the elevator allocation step in the secondary instruction module includes:

[0163] The dispatching platform initiates an elevator boarding task to the elevator control platform based on the elevator boarding request. The elevator boarding task includes the starting floor, the target floor, and the elevator group ID.

[0164] The elevator control platform returns the elevator allocation information to the dispatching platform. The elevator allocation information includes the elevator group ID, elevator ID, elevator operation status and associated floor information;

[0165] Returning an elevator number of an assignable target elevator to the mobile terminal based on the elevator ID, and determining a target elevator boarding strategy based on the elevator number returned to the mobile terminal, wherein the boarding strategy includes assigning one target elevator to one mobile terminal and assigning one target elevator to multiple mobile terminals;

[0166] If a mobile terminal is used to configure a target elevator boarding strategy, it is determined whether the target elevator meets the requirement of the shortest time to reach the boarding station. If so, the target elevator is marked as the first candidate elevator and configured on the mobile terminal. Other target elevators that meet the requirement of the shortest time to reach the boarding station are marked as the second candidate elevators for alternative selection.

[0167] If a strategy for selecting a target elevator is configured by multiple mobile terminals, when determining the target elevator for the first mobile terminal, the elevator requests of the second mobile terminals are collected, and the second mobile terminals are identified as the same mobile terminals as the first mobile terminal based on the elevator numbers assigned to the elevator tasks.

[0168] Determine whether the time taken by the shared mobile terminal to reach the target elevator exceeds a timeout threshold for the elevator to wait for the shared mobile terminal. If not, assign the target elevator to the first mobile terminal and the shared mobile terminal as a first candidate elevator. If timeout occurs, recollect elevator requests to search for other first mobile terminals with the same elevator number. If such other first mobile terminals exist, use the target elevator corresponding to the other first mobile terminals as a second candidate elevator for the shared elevator. If such other first mobile terminals do not exist, add the elevator request of the shared mobile terminal to a waiting queue.

[0169] As an optional embodiment, in the second aspect of the present invention, the elevator riding step in the secondary instruction module includes:

[0170] The dispatching platform sends elevator allocation information and stop information to the mobile terminal, wherein the stop information includes stop site information and elevator operation information;

[0171] Determine the target elevator and the elevator boarding strategy of the mobile terminal according to the elevator matching information, and determine the moving state and the docking position of the mobile terminal according to the docking information;

[0172] If a mobile terminal is used to configure a target elevator boarding strategy, an elevator entry request sent by the mobile terminal is received, and a confirmation instruction is returned to control the mobile terminal to enter the parking position;

[0173] If multiple mobile terminals are used to jointly configure a target elevator's boarding strategy, the elevator entry request sent by the first mobile terminal is received, and a confirmation instruction is returned to control the first mobile terminal to enter the first docking position. Then, the elevator entry request sent by the second mobile terminal is received, and a confirmation instruction is returned to control the second mobile terminal to enter the second docking position.

[0174] As an optional embodiment, in the second aspect of the present invention, the elevator boarding module receives status information sent by the mobile terminal, and adjusts the elevator boarding state of the mobile terminal in executing the elevator boarding step based on the status information, including:

[0175] Performing feature fusion of the spatial and temporal domains of the state information to generate elevator obstacle avoidance data, wherein the state information includes image data, perception data, and mobile terminal state data of the elevator environment;

[0176] Generate a docking influence factor based on the elevator entry sequence, elevator exit sequence, and passenger status, and adjust the elevator status of the mobile terminal based on the elevator obstacle avoidance data and the docking influence factor, the elevator status including the docking position and the load balance of the elevator;

[0177] When a safety hazard is detected, the elevator tasks are traversed. If there is an executed elevator task, a stop instruction is sent to the mobile terminal and the elevator control platform. According to the stop instruction, the current floor of the target elevator is set as the stop floor so that the target elevator stops at the stop floor. According to the stop instruction, the target floor of the mobile terminal is set as the stop floor. Based on the stop instruction, the mobile terminal is controlled to move to the exit station of the stop floor and enter a waiting state.

[0178] If there is an elevator task to be executed, a cancellation instruction is sent to the mobile terminal and the elevator control platform, and the mobile terminal and the elevator are controlled to enter a waiting state according to the cancellation instruction.

[0179] As an optional embodiment, in the second aspect of the present invention, the elevator exit module receives an elevator exit request sent by a mobile terminal, updates the station status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, returns the elevator exit instruction to the mobile terminal, and restores the primary task instruction, including:

[0180] When the target floor is reached, the mobile terminal receives an exit request sent by the mobile terminal, and returns a confirmation instruction in sequence to control the mobile terminal to move to the exit station;

[0181] Receive the report information of the mobile terminal arriving at the elevator exit station, update the association between the elevator exit station, the mobile terminal and the target elevator, and return the confirmation instruction of releasing the secondary task to the mobile terminal;

[0182] The target path generated according to the first-level task instructions moves from the exit station to the end point, and reports the movement status and control status to the dispatching platform when arriving at each station.

[0183] The third aspect of the present invention discloses a multi-machine elevator device, comprising:

[0184] at least one processor, and

[0185] a memory communicatively connected to the at least one processor; wherein,

[0186] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for taking an elevator with multiple machines as described in any one of the items disclosed in the first aspect of the present invention.

[0187] The computer device may be a terminal, comprising a processor, memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is configured to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for boarding an elevator with multiple machines at the same time is implemented. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or may be a key, trackball, or touchpad provided on the housing of the computer device, or may be an external keyboard, touchpad, or mouse.

[0188] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the elevator riding method for multiple machines as described in any one of the items disclosed in the first aspect of the present invention.

[0189] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned method of taking an elevator by multiple machines. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0190] Alternatively, if the above-mentioned modules of the present invention are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present invention, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, RAM, ROM, magnetic disks or optical disks.

[0191] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0192] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0193] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0194] Finally, it should be noted that the method and system for taking a multi-machine elevator disclosed in the embodiment of the present invention only discloses a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for taking multiple elevators at the same time, characterized in that: The method is executed by a scheduling platform, and includes: Sending a first-level task instruction to the mobile terminal according to the acquired pending task, wherein the first-level task instruction is used to control the mobile terminal to move to the elevator station by planning a target path based on the station information; Receive an elevator boarding request sent by a mobile terminal, and send a secondary task instruction to the mobile terminal and the elevator control platform, wherein the secondary task instruction includes generating an elevator allocation step for controlling the elevator group according to the elevator boarding logic, and generating an elevator boarding step for controlling one or more mobile terminals; receiving status information sent by the mobile terminal, and adjusting the elevator state of the mobile terminal in executing the elevator step based on the status information; Receive an exit request from a mobile terminal, update the station status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, return the exit instruction to the mobile terminal, and restore the primary task instruction; The ladder arrangement step includes: The dispatching platform initiates an elevator boarding task to the elevator control platform based on the elevator boarding request. The elevator boarding task includes the starting floor, the target floor, and the elevator group ID. The elevator control platform returns the elevator allocation information to the dispatching platform. The elevator allocation information includes the elevator group ID, elevator ID, elevator operation status and associated floor information; Returning an elevator number of an assignable target elevator to the mobile terminal based on the elevator ID, and determining a target elevator boarding strategy based on the elevator number returned to the mobile terminal, wherein the boarding strategy includes assigning one target elevator to one mobile terminal and assigning one target elevator to multiple mobile terminals; If a mobile terminal is used to configure a target elevator boarding strategy, it is determined whether the target elevator meets the requirement of the shortest time to reach the boarding station. If so, the target elevator is marked as the first candidate elevator and configured on the mobile terminal. Other target elevators that meet the requirement of the shortest time to reach the boarding station are marked as the second candidate elevators for alternative selection. If a strategy for selecting a target elevator is configured by multiple mobile terminals, when determining the target elevator for the first mobile terminal, the elevator requests of the second mobile terminals are collected, and the second mobile terminals are identified as the same mobile terminals as the first mobile terminal based on the elevator numbers assigned to the elevator tasks. Determine whether the time taken by the shared mobile terminal to reach the target elevator exceeds a timeout threshold for the elevator to wait for the shared mobile terminal. If not, assign the target elevator to the first mobile terminal and the shared mobile terminal as a first candidate elevator. If timeout occurs, recollect elevator requests and search for other first mobile terminals with the same elevator number. If such other first mobile terminals exist, use the target elevator corresponding to the other first mobile terminals as a second candidate elevator for the shared elevator. If such other first mobile terminals do not exist, add the elevator request of the shared mobile terminal to a waiting queue.

2. The method for taking multiple elevators according to claim 1, characterized in that: The controlling the mobile terminal to move to the elevator station by planning a target path based on the station information includes: Generate a site collection, configure a site location and site control attributes for each site in the site collection to generate site information; Split the primary task of the mobile terminal into several mobile tasks, and match the sites with corresponding control attributes according to the task attributes of the mobile tasks; Adding target sites with the same mobility task attributes to the target site set of the first-level task, and generating an initial path for the first-level task based on the starting point, end point, and target site set of the first-level task, where the target site set includes both the boarding site and the exiting site; Using environmental data, sensory data, and historical site data collected by mobile terminals, the target path is generated by optimizing the sub-paths between sites in the initial path based on the site path planning that meets the shortest time requirements. The mobile terminal moves through each station in sequence according to the target path, and reports the movement status and control status to the dispatching platform when arriving at each station.

3. The method for taking multiple elevators according to claim 2, characterized in that: The receiving of the elevator boarding request sent by the mobile terminal and sending the secondary task instruction to the mobile terminal and the elevator control platform include: In response to an elevator request, obtaining the operating status information of the current elevator and generating a selectable elevator group; Selecting a target elevator in the elevator group based on the boarding station reported by the mobile terminal, the target elevator including a first candidate elevator and a second candidate elevator; A stop is set for the target elevator according to the elevator usage status information, and the secondary task instruction will release the control status of the mobile terminal by the primary task instruction, and instead execute the elevator boarding step of the elevator boarding station-stopping station-elevator exit station.

4. The method for taking multiple elevators according to claim 3, characterized in that: The steps of taking the elevator include: The dispatching platform sends elevator allocation information and stop information to the mobile terminal, wherein the stop information includes stop site information and elevator operation information; Determine the target elevator and the elevator boarding strategy of the mobile terminal according to the elevator matching information, and determine the moving state and the docking position of the mobile terminal according to the docking information; If a mobile terminal is used to configure a target elevator boarding strategy, an elevator entry request sent by the mobile terminal is received, and a confirmation instruction is returned to control the mobile terminal to enter the parking position; If multiple mobile terminals are used to jointly configure a target elevator's boarding strategy, the elevator entry request sent by the first mobile terminal is received, and a confirmation instruction is returned to control the first mobile terminal to enter the first docking position. Then, the elevator entry request sent by the second mobile terminal is received, and a confirmation instruction is returned to control the second mobile terminal to enter the second docking position.

5. The method for taking multiple elevators according to claim 1, characterized in that: The receiving state information sent by the mobile terminal and adjusting the elevator riding state of the mobile terminal in executing the elevator riding step based on the state information includes: Performing feature fusion of the spatial and temporal domains of the state information to generate elevator obstacle avoidance data, wherein the state information includes image data, perception data, and mobile terminal state data of the elevator environment; Generate a docking influence factor based on the elevator entry sequence, elevator exit sequence, and passenger status, and adjust the elevator status of the mobile terminal based on the elevator obstacle avoidance data and the docking influence factor, the elevator status including the docking position and the load balance of the elevator; When a safety hazard is detected, the elevator tasks are traversed. If there is an executed elevator task, a stop instruction is sent to the mobile terminal and the elevator control platform. According to the stop instruction, the current floor of the target elevator is set as the stop floor so that the target elevator stops at the stop floor. According to the stop instruction, the target floor of the mobile terminal is set as the stop floor. Based on the stop instruction, the mobile terminal is controlled to move to the exit station of the stop floor and enter a waiting state. If there is an elevator task to be executed, a cancellation instruction is sent to the mobile terminal and the elevator control platform, and the mobile terminal and the elevator are controlled to enter a waiting state according to the cancellation instruction.

6. The method for taking multiple elevators according to claim 3, characterized in that: The receiving of the exit request sent by the mobile terminal, updating the station status to release the control of the mobile terminal and the elevator control platform by the secondary task instruction, returning the exit instruction to the mobile terminal and restoring the primary task instruction, includes: When the target floor is reached, the mobile terminal receives an exit request sent by the mobile terminal, and returns a confirmation instruction in sequence to control the mobile terminal to move to the exit station; Receive the report information of the mobile terminal arriving at the elevator exit station, update the association between the elevator exit station, the mobile terminal and the target elevator, and return the confirmation instruction of releasing the secondary task to the mobile terminal; The target path generated according to the first-level task instructions moves from the exit station to the end point, and reports the movement status and control status to the dispatching platform when arriving at each station.

7. A multi-machine co-riding elevator system for implementing the multi-machine co-riding elevator method according to any one of claims 1 to 6, characterized in that: The system comprises: A first-level instruction module is used to send a first-level task instruction to the mobile terminal according to the acquired pending task, wherein the first-level task instruction is used to control the mobile terminal to move to the elevator station according to the target path planned based on the station information; A secondary instruction module is configured to receive a boarding request from a mobile terminal and send a secondary task instruction to the mobile terminal and the elevator control platform. The secondary task instruction includes generating an elevator allocation step for controlling the elevator group according to the boarding logic and generating an elevator boarding step for controlling one or more mobile terminals. An elevator riding module is configured to receive status information sent by a mobile terminal and adjust the elevator riding status of the mobile terminal in executing the elevator riding step based on the status information; The elevator exit module is used to receive the elevator exit request sent by the mobile terminal, update the site status to release the secondary task instruction from controlling the mobile terminal and the elevator control platform, return the elevator exit instruction to the mobile terminal and restore the primary task instruction.

8. A multi-machine elevator ride device, characterized in that: include: at least one processor, and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the elevator riding method for multiple machines as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the elevator riding method for multiple machines as described in any one of claims 1 to 6.

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