Elevator for transporting robot

Abstract

The invention discloses an elevator used for conveying a robot. The elevator comprises a lift car used for containing the robot and a first control device used for controlling the elevator according to a stopping instruction. A first floor located on the lowermost portion, at least one second floor located on the upper portion of the first floor and a first car door corresponding to the first floor are arranged in the car. The first floor, the second floor adjacent to the first floor and the lift car wall form a first space located at the lowermost portion, and the second floor, other second floors adjacent to the second floor or the lift car top and the lift car wall form a second space located on the upper portion of the first space. The height of the first space and the height of the second space are both larger than the height of the robot. And when the stopping instruction needs that the first space of the lift car communicates with the elevator waiting hall, the first control device controls the elevator to run, so that the first floor of the lift car is flush with the landing ground of the elevator waiting hall, and the robot located in the first space leaves the lift car or the robot located in the elevator waiting hall enters the first space in the lift car. According to the elevator for transporting the robot, the transport capacity of the elevator to the robot can be improved under the conditions that the number of elevators is not increased, the running speed of the elevator is not increased and the cross section area of a shaft is not increased.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to an elevator capable of improving the transportation capability of a robot. Background Art

[0002] At present, robots have been widely used to move between different floors of buildings to transport goods. If robots take the elevator together with passengers, the passengers' elevator experience may be reduced. The research focus of existing technologies is mostly on how to reduce the impact of robots on passengers. In fact, the biggest impact of robots on passengers' elevator experience is that they share the elevator capacity originally used to transport passengers (especially the increasing demand for robots to transport goods, such as delivery robots in hotels). Therefore, how to improve the elevator's transportation capacity for robots and reduce the elevator capacity shared by robots has become extremely urgent and critical. The main ways to improve the elevator capacity include: increasing the car area, increasing the number of elevators, increasing the elevator speed and improving the deployment performance of the elevator group control system. The improvement space of the deployment performance of the elevator group control system is usually very small. Increasing the elevator speed will involve issues such as elevator safety protection that require special design and configuration; increasing the car area and increasing the number of elevators involve increasing the number of shafts and increasing the cross-sectional area of ​​the shafts, which has an adverse effect on the effective utilization area of ​​the building, especially for existing buildings. It is also impossible to achieve.

[0003] Therefore, how to improve the elevator's carrying capacity for robots without increasing the number of elevators, increasing the elevator's operating speed, and increasing the shaft cross-sectional area becomes an unsolved technical problem. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to improve the carrying capacity of elevators for robots without increasing the number of elevators, the running speed of elevators and the cross-sectional area of ​​the shaft.

[0005] In order to solve the above technical problems, the present invention discloses an elevator for transporting a robot, comprising a car for accommodating the robot and a first control device for controlling the elevator according to a parking instruction;

[0006] The car is provided with a first floor located at the lowest part, at least one second floor located above the first floor, and a first car door corresponding to the first floor;

[0007] The first floor and the second floor adjacent thereto and the car wall form a first space located at the lowest part, the second floor and other second floors adjacent thereto or the car top and the car wall form a second space located above the first space, and the heights of the first space and the second space are both greater than the height of the robot;

[0008] When the docking instruction requires that the first space of the car be connected to the elevator lobby, the first control device controls the elevator operation so that the first floor of the car is flush with the floor of the elevator lobby, so that the robot located in the first space leaves the car or the robot located in the elevator lobby enters the first space in the car.

[0009] Preferably, the car is also provided with a second car door corresponding to the second floor; when the docking instruction requires the second space of the car to be connected to the elevator lobby, the first control device controls the elevator operation so that the second floor of the car is flush with the floor of the elevator lobby, so that the robot located in the second space can leave the car or the robot located in the elevator lobby can enter the second space in the car.

[0010] Preferably, a passage is also configured in the car, and the second floor includes at least one opening; the passage connects the openings of the first floor and the second floor respectively or connects the openings of two adjacent second floors respectively, and the robot can move between different spaces along the passage.

[0011] Preferably, the car is further provided with a lifting device; the second floor comprises at least one opening; the lifting device is used to move the robot between different spaces through the opening of the second floor.

[0012] Preferably, the second floor is parallel to the first floor.

[0013] Preferably, the height of the first space is substantially equal to the height of the second space.

[0014] Preferably, the first floor can accommodate at least two robots, and the unit number of second floors can accommodate at least one robot.

[0015] Preferably, when there are a plurality of second floor panels, projections of the openings of the respective second floor panels on the first floor panel overlap.

[0016] Preferably, the lifting device is equipped with a lifting platform and a driving device for driving the lifting platform to lift and lower in a direction perpendicular to the first floor, and the lifting device realizes the movement of the robot located on the lifting platform between different spaces by lifting or lowering the lifting platform.

[0017] Preferably, the first floor is provided with a recess for accommodating the lifting platform at the projection of the opening of the second floor, and the depth of the recess in the lifting direction of the lifting platform is such that when the lifting platform is located in the recess, the upper surface of the lifting platform can be aligned with the upper surface of the first floor.

[0018] Preferably, the first floor is provided with a recess for accommodating the lifting platform at the projection of the opening of the second floor; the depth of the recess in the lifting direction of the lifting platform and the thickness of the lifting platform in the lifting direction of the lifting platform are such that, when the lifting platform is located at the lowest position and the upper surface of the lifting platform protrudes from the first floor, the height difference between the upper surface of the lifting platform and the first floor does not exceed the maximum height difference that the robot can cross.

[0019] Preferably, when the lifting platform is at the lowest position, the distance between the upper surface of the lifting platform and the first floor does not exceed the maximum height difference that the robot can cross.

[0020] Preferably, when the lifting platform is in the lowest position, the lower surface of the lifting platform is higher than the first floor and the gap between the lower surface and the first floor is smaller than a first threshold, and the sum of the first threshold and the thickness of the lifting platform in the lifting direction of the lifting platform does not exceed the maximum height difference that the robot can cross.

[0021] Preferably, the elevator further comprises: a second control device for controlling the movement of the robot in the car and the robot entering or leaving the car.

[0022] Preferably, the second control device determines, based on the robot's elevator request signal and the elevator operation information, a descending robot that needs to leave the car at the stopping floor where the car is about to stop, and a taking-elevator robot that needs to get on the car at the stopping floor where the car is about to stop; and further determines, for the descending robot, the descending conditions and corresponding descending control instructions for leaving the car from a descending point located in the car after the car door opens, and determines, for the taking-elevator robot, the taking-elevator conditions and corresponding elevator control instructions for moving from a boarding point located on the floor station to a first position in the car after the car door opens; the first position is the first stopping position reached by the taking-elevator robot after entering the elevator car.

[0023] Preferably, the second control device determines the waiting floor and destination floor of the robot according to the elevator request signal, and determines the current position of the car according to the elevator operation information; determines the elevator-taking robot that needs to get into the car at the stopping floor where the car is about to stop according to the robot's waiting floor and the current position of the car, and determines the elevator-getting robot that needs to leave the car at the stopping floor where the car is about to stop according to the robot's destination floor and the current position of the car.

[0024] Preferably, the condition for getting off the elevator is that the stopping floor where the car is about to stop is the destination floor, and the second control device controls the getting off the elevator robot to execute the getting off the elevator control instruction when determining the condition for getting off the elevator; the condition for taking the elevator is that the stopping floor where the car is about to stop is its waiting floor, and the running direction of the car after starting again is consistent with its expected taking the elevator direction; the second control device controls the taking the elevator robot to execute the taking the elevator control instruction when determining the condition for taking the elevator.

[0025] Preferably, the second control device determines the order in which the descending elevator robot leaves the car and the boarding elevator robot enters the car based on the remaining unoccupied elevator waiting resources in the car or in the first space, or based on the number of elevator waiting robots or their remaining unoccupied elevator waiting resources at the stopping floor where the car is about to stop and the remaining unoccupied elevator waiting resources in the car or in the first space.

[0026] Preferably, when the remaining unoccupied elevator waiting resources in the car or in the first space are less than a first threshold value, under the control of the second control device, the elevator-riding robot gets into the car after the descending robot leaves the car; when the remaining unoccupied elevator waiting resources in the car or in the first space are greater than the second threshold value, or the remaining unoccupied elevator waiting resources in the car or in the first space are greater than the second threshold value and the number of elevator waiting robots or their remaining unoccupied elevator waiting resources at the stopping floor where the car is about to stop is greater than a third threshold value, under the control of the second control device, the elevator-riding robot gets into the car after the descending robot leaves the car.

[0027] Preferably, the movement of the robot in the car includes at least one of the following movement modes: movement mode 1, the robot for getting off the elevator moves from its current first position to the getting off the elevator point; movement mode 2, the robot for taking the elevator moves from the second position to the final stopping position; movement mode 3, the robot for continuing to take the elevator in the car, which will not leave the car at the stopping floor where the car is about to stop and continue to take the elevator, moves from its current third position to the fourth position.

[0028] Preferably, when the current first position of the descending robot is different from the descending point, the second control device identifies the descending robot as the first robot that needs to execute movement mode 1; when the second position of the riding robot is different from the final parking position, the second control device identifies the riding robot as the second robot that needs to execute movement mode 2; the second control device determines whether there is a third robot that needs to execute movement mode 3 among the mobile continuing robots based on the position distribution of the robots in the car or in each space.

[0029] Preferably, the second control device distributes and plans the positions of the robots in the car or in each space, and the first moving path for the first robot to complete the moving mode 1 and the second moving path for the second robot to complete the moving mode 2, and determines whether there are both the first moving path and the second moving path that do not require the movement of the continuing robot. If so, the second control device determines that there is no third robot, otherwise the set of continuing robots that need to be moved and involve the first moving path and the second moving path is regarded as the third robot.

[0030] Preferably, the second control device determines the selected first moving path and the selected second moving path from all combinations of the first moving paths that need to be moved and the second moving paths that need to be moved of the continuing robot according to a preset principle, and uses the set of the continuing robots that need to be moved involved in the selected first moving path and the continuing robots that need to be moved involved in the selected second moving path as the third robot.

[0031] Preferably, the preset principles include at least one of the following principles: Principle 1, the sum of the first number of continuing robots that need to move involved in the first moving path and the second number of continuing robots that need to move involved in the second moving path is minimized; Principle 2, the number of continuing robots in the set of continuing robots that need to move involved in the first moving path and continuing robots that need to move involved in the second moving path is minimized; Principle 3, the total moving path length of the continuing robots that need to move is the shortest; Principle 4, the number of continuing robots that need to move across space among the continuing robots that need to move is the smallest; Principle 5, the number of times the continuing robots that need to move across space need to be minimized.

[0032] Preferably, the second control device realizes the position distribution of the robot in each space in the car by adjusting the final parking position of the elevator robot in the moving mode 2 and / or the fourth position of the continuing robot in the moving mode 3.

[0033] Preferably, the second control device makes the density of robots in the space meet any of the following conditions through the adjustment: Condition 1, the robot density in each space is approximately equal; Condition 2, the difference between the robot density in the first space and the robot density in the second space is less than a fourth threshold, and the robot density in each second space is approximately equal; Condition 3, the difference between the robot density in the first space and the robot density in the adjacent second space is less than a fifth threshold, and the robot density in each second space decreases according to the maximum distance between it and the first space.

[0034] Preferably, the second control device selects the elevator robot and / or continuing-riding robot that needs to be adjusted according to the following principles, and implements the adjustment: Principle A, the number of robots that need to be moved is the smallest; Principle B, the total moving path length of the number of robots that need to be moved is the shortest; Principle C, the number of robots that need to move across space is the smallest; Principle D, the number of times the robots that need to be moved move across space is the smallest.

[0035] Preferably, the second control device determines the robots and their destination floors in each sub-stroke of the car according to the robots' boarding floors and destination floors, wherein the sub-stroke is a car movement stroke between two adjacent stop floors; and further determines within the sub-stroke the movement modes of the first robot, the second robot and the third robot within the sub-stroke, wherein the movement modes include the movement paths and the movement times.

[0036] Preferably, the moving timing of the robot for descending the staircase is such that the moment when the robot for descending the staircase completes its moving path is no later than the moment when the door of the elevator car opens at the stopping floor at which it is about to stop.

[0037] Beneficial technical effects

[0038] The elevator for transporting a robot of the present invention can improve the transportation capacity of the elevator for the robot without increasing the number of elevators, increasing the elevator running speed and increasing the cross-sectional area of ​​the shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic diagram of the structure of an elevator for transporting a robot in Example 1;

[0040] Figure 2 This is a schematic diagram of the structure of an elevator for transporting a robot in Example 2. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0042] Example 1

[0043] like Figure 1 As shown, this embodiment provides an elevator for transporting a robot, comprising a car for accommodating the robot and a first control device for controlling the elevator according to a parking instruction;

[0044] The car is provided with a first floor located at the lowest part, at least one second floor located above the first floor, and a first car door corresponding to the first floor;

[0045] The first floor and the second floor adjacent thereto and the car wall form a first space located at the lowest part, the second floor and other second floors adjacent thereto or the car top and the car wall form a second space located above the first space, and the heights of the first space and the second space are both greater than the height of the robot;

[0046] When the docking instruction requires that the first space of the car be connected to the elevator lobby, the first control device controls the elevator operation so that the first floor of the car is flush with the floor of the elevator lobby, so that the robot located in the first space leaves the car or the robot located in the elevator lobby enters the first space in the car.

[0047] Example 2

[0048] This embodiment provides further supplementary explanation based on the embodiment 1.

[0049] like Figure 2 As shown, in this embodiment, the car is also provided with a second car door corresponding to the second floor; when the docking instruction requires the second space of the car to be connected to the elevator lobby, the first control device controls the elevator operation so that the second floor of the car is flush with the floor of the elevator lobby, so that the robot located in the second space can leave the car or the robot located in the elevator lobby can enter the second space in the car.

[0050] The docking instruction is determined by the destination floor of the robot in the car, the boarding floor of the robot waiting for the elevator at the landing, and the current position and running direction of the elevator car.

[0051] Example 3

[0052] This embodiment provides further supplementary explanation based on the embodiment 1.

[0053] In this embodiment, a passage is further configured in the car, and the second floor includes at least one opening; the passage connects the openings of the first floor and the second floor respectively or connects the openings of two adjacent second floors respectively, and the robot can move between different spaces along the passage.

[0054] Example 4

[0055] This embodiment provides further supplementary explanation based on the embodiment 1.

[0056] In this embodiment, the elevator car is further configured with a lifting device; the second floor includes at least one opening; and the lifting device is used to move the robot between different spaces through the opening of the second floor.

[0057] When there are multiple second floor panels, the projections of the openings of the respective second floor panels on the first floor panel overlap.

[0058] Example 5

[0059] This embodiment provides further supplementary explanations based on the above-mentioned embodiments.

[0060] In this embodiment, the second floor is parallel to the first floor.

[0061] Preferably, the height of the first space is substantially equal to the height of the second space.

[0062] Preferably, the first floor can accommodate at least two robots, and the unit number of second floors can accommodate at least one robot.

[0063] Example 6

[0064] This embodiment provides further supplementary explanation based on Embodiment 4.

[0065] In this embodiment, the lifting device is configured with a lifting platform and a driving device for driving the lifting platform to rise and fall in a direction perpendicular to the first floor. The lifting device moves the robot located on the lifting platform between different spaces by lifting or lowering the lifting platform.

[0066] The first floor is provided with a recess for accommodating the lifting platform at the projection of the opening of the second floor, and the depth of the recess in the lifting direction of the lifting platform is such that when the lifting platform is located in the recess, the upper surface of the lifting platform can be aligned with the upper surface of the first floor.

[0067] The first floor is provided with a recess for accommodating the lifting platform at the projection of the opening of the second floor; the depth of the recess in the lifting direction of the lifting platform and the thickness of the lifting platform in the lifting direction of the lifting platform are such that, when the lifting platform is located at the lowest position and the upper surface of the lifting platform protrudes from the first floor, the height difference between the upper surface of the lifting platform and the first floor does not exceed the maximum height difference that the robot can cross.

[0068] When the lifting platform is at the lowest position, the distance between the upper surface of the lifting platform and the first floor does not exceed the maximum height difference that the robot can cross. When the lifting platform is at the lowest position, the lower surface of the lifting platform is higher than the first floor and the gap between the lower surface and the first floor is smaller than a first threshold, and the sum of the first threshold and the thickness of the lifting platform in the lifting direction of the lifting platform does not exceed the maximum height difference that the robot can cross.

[0069] Example 7

[0070] This embodiment provides further supplementary explanation based on Embodiment 3, Embodiment 4 or Embodiment 6.

[0071] In this embodiment, the elevator further includes: a second control device for controlling the movement of the robot in the car and the robot entering or leaving the car.

[0072] Regarding the robot entering / leaving the car, the second control device determines, based on the robot's elevator request signal and the elevator operation information, a descending robot that needs to leave the car at the stopping floor where the car is about to stop, and a taking-elevator robot that needs to board the car at the stopping floor where the car is about to stop; and further determines, for the descending robot, the descending conditions and corresponding descending control instructions for leaving the car from a descending point located in the car after the car door opens, and determines, for the taking-elevator robot, the taking-elevator conditions and corresponding elevator control instructions for moving from a boarding point located on the floor station to a first position in the car after the car door opens; the first position is the first stopping position reached by the taking-elevator robot after entering the elevator car.

[0073] The second control device determines the waiting floor and destination floor of the robot according to the elevator request signal, and determines the current position of the car according to the elevator operation information; determines the elevator-taking robot that needs to get into the car at the stopping floor where the car is about to stop according to the robot's waiting floor and the current position of the car, and determines the elevator-getting robot that needs to leave the car at the stopping floor where the car is about to stop according to the robot's destination floor and the current position of the car.

[0074] The condition for getting off the elevator is that the stopping floor where the car is about to stop is the destination floor, and the second control device controls the getting off the elevator robot to execute the getting off the elevator control instruction when determining the condition for getting off the elevator; the condition for taking the elevator is that the stopping floor where the car is about to stop is its waiting floor, and the running direction of the car after starting again is consistent with its expected taking the elevator direction; the second control device controls the taking the elevator robot to execute the taking the elevator control instruction when determining the condition for taking the elevator.

[0075] The second control device determines the order in which the descending elevator robot leaves the car and the boarding elevator robot enters the car based on the remaining unoccupied elevator waiting resources in the car or in the first space, or based on the number of elevator waiting robots at the stopping floor where the car is about to stop or its remaining unoccupied elevator waiting resources (mainly referring to the area of ​​the elevator waiting area in front of the elevator door that can be used for robots to wait for the elevator) and the remaining unoccupied elevator waiting resources in the car or in the first space.

[0076] When the remaining unoccupied waiting resources in the car or in the first space are less than a first threshold, under the control of the second control device, the elevator robot gets into the car after the elevator robot leaves the car;

[0077] When the remaining unoccupied elevator waiting resources in the car or in the first space are greater than the second threshold (the first threshold is greater than the second threshold), or the remaining unoccupied elevator waiting resources in the car or in the first space are greater than the second threshold and the number of elevator waiting robots at the stopping floor where the car is about to stop or its remaining unoccupied elevator waiting resources are greater than the third threshold, under the control of the second control device, the elevator riding robot gets into the car and then the elevator disembarking robot leaves the car.

[0078] The movement of the robot in the car includes at least one of the following movement modes:

[0079] Movement mode 1: The stair-descent robot moves from its current first position to the stair-descent point;

[0080] Movement mode 2: the elevator robot moves from the second position to the final stop position;

[0081] Movement mode 3: A continuing robot in the car that will not leave the car at the stopping floor where the car is about to stop and continue to ride the elevator moves from the current third position to the fourth position.

[0082] When the first position of the robot going down stairs is different from the step-down point, the second control device identifies the robot going down stairs as the first robot that needs to execute movement mode 1; when the second position of the robot going up stairs is different from the final stop position, the second control device identifies the robot going up stairs as the second robot that needs to execute movement mode 2;

[0083] The second control device determines whether there is a third robot that needs to execute movement mode 3 among the mobile continuing robots based on the position distribution of the robots in the car or in each space.

[0084] The second control device controls the position of the robot in the car or in each space, distributes and plans the first moving path for the first robot to complete the moving mode 1 and the second moving path for the second robot to complete the moving mode 2, and determines whether there are both the first moving path and the second moving path that do not require the movement of the continuing robot. If so, the second control device determines that there is no third robot, otherwise the set of continuing robots that need to be moved and involve the first moving path and the second moving path is regarded as the third robot.

[0085] The second control device determines the selected first moving path and the selected second moving path from all combinations of the first moving paths that need to be moved and the second moving paths that need to be moved of the continuing robot according to a preset principle, and uses the set of the continuing robots that need to be moved involving the selected first moving path and the continuing robots that need to be moved involving the selected second moving path as the third robot.

[0086] The preset principle includes at least one of the following principles:

[0087] Principle 1: The sum of the first number of continuing robots that need to be moved in the first moving path and the second number of continuing robots that need to be moved in the second moving path is the smallest;

[0088] Principle 2: Minimize the number of continuing robots in the set of the continuing robots that need to be moved involved in the first moving path and the continuing robots that need to be moved involved in the second moving path;

[0089] Principle 3: The total moving path length of the continuing robots involved in the process of moving is the shortest;

[0090] Principle 4: The number of the continuing robots that need to move across space is the smallest among the continuing robots that need to move;

[0091] Principle 5: The number of times the continuing robot needs to move across space is minimized.

[0092] The second control device realizes the position distribution of the robot in each space in the car by adjusting the final parking position of the elevator robot in the moving mode 2 and / or the fourth position of the continuing robot in the moving mode 3.

[0093] The second control device makes the density of robots in the space meet any of the following conditions through the adjustment:

[0094] Condition 1: The density of robots in each space is roughly equal;

[0095] Condition 2: the difference between the robot density in the first space and the robot density in the second space is less than a fourth threshold, and the robot density in each second space is approximately equal;

[0096] Condition 3: the difference between the robot density in the first space and the robot density in the adjacent second space is less than the fifth threshold, and the robot density in each second space decreases according to the maximum distance between the second space and the first space.

[0097] The second control device selects the elevator riding robot and / or the continuing riding robot that needs to be adjusted according to the following principles and implements the adjustment:

[0098] Principle A: The number of robots that need to be moved is minimal;

[0099] Principle B: The total moving path length of the number of robots that need to be moved is the shortest;

[0100] Principle C: The number of robots that need to move across space is minimized;

[0101] Principle D: The number of times a robot needs to move across space is minimized.

[0102] The second control device determines the robots and their destination floors in each sub-stroke of the car according to the robots' boarding floors and destination floors, wherein the sub-stroke is a car movement stroke between two adjacent stop floors; and further determines within the sub-stroke the movement modes of the first robot, the second robot and the third robot within the sub-stroke, wherein the movement modes include the movement paths and the movement times.

[0103] The moving time of the robot for descending the staircase is such that the time when the robot for descending the staircase completes its moving path is no later than the time when the door of the elevator car is opened at the stopping floor to be stopped.

[0104] The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. An elevator for transporting a robot, characterized in that: The device comprises a car for accommodating the robot and a first control device for controlling the elevator according to a parking instruction; The car is provided with a first floor located at the lowest part, at least one second floor located above the first floor, and a first car door corresponding to the first floor; The first floor and the second floor adjacent thereto and the car wall form a first space located at the lowest part, the second floor and other second floors adjacent thereto or the car top and the car wall form a second space located above the first space, and the heights of the first space and the second space are both greater than the height of the robot; When the docking instruction requires that the first space of the car be connected to the elevator lobby, the first control device controls the elevator operation so that the first floor of the car is flush with the floor of the elevator lobby, so that the robot located in the first space leaves the car or the robot located in the elevator lobby enters the first space in the car.

2. The elevator for transporting a robot according to claim 1, characterized in that: The car is also equipped with a second car door corresponding to the second floor; when the docking instruction requires the second space of the car to be connected to the elevator lobby, the first control device controls the elevator operation so that the second floor of the car is flush with the floor of the elevator lobby, so that the robot located in the second space leaves the car or the robot located in the elevator lobby enters the second space in the car.

3. The elevator for transporting a robot according to claim 1, characterized in that: The car is also provided with a passage, and the second floor includes at least one opening; the passage is respectively connected to the openings of the first floor and the second floor or respectively connected to the openings of two adjacent second floors, and the robot can move between different spaces along the passage.

4. The elevator for transporting a robot according to claim 1, characterized in that: The car is also equipped with a lifting device; the second floor includes at least one opening; the lifting device is used to move the robot between different spaces through the opening of the second floor.

5. The elevator for transporting a robot according to any one of claims 1 to 4, characterized in that: The second floor is parallel to the first floor.

6. The elevator for transporting a robot according to claim 5, characterized in that: The height of the first space is substantially equal to the height of the second space.

7. The elevator for transporting a robot according to any one of claims 1 to 4, characterized in that: The first floor can accommodate at least two robots, and the unit number of second floors can accommodate at least one robot.

8. The elevator for transporting a robot according to claim 4, characterized in that: When there are multiple second floor panels, the projections of the openings of the respective second floor panels on the first floor panel overlap.

9. The elevator for transporting a robot according to claim 4, characterized in that: The lifting device is equipped with a lifting platform and a driving device for driving the lifting platform to lift and lower in a direction perpendicular to the first floor. The lifting device moves the robot located on the lifting platform between different spaces by lifting or lowering the lifting platform.

10. The elevator for transporting a robot according to claim 9, characterized in that: The first floor is provided with a recess for accommodating the lifting platform at the projection of the opening of the second floor, and the depth of the recess in the lifting direction of the lifting platform is such that when the lifting platform is located in the recess, the upper surface of the lifting platform can be aligned with the upper surface of the first floor.

11. The elevator for transporting a robot according to claim 9, characterized in that: The first floor is provided with a recess for accommodating the lifting platform at the projection of the opening of the second floor; the depth of the recess in the lifting direction of the lifting platform and the thickness of the lifting platform in the lifting direction of the lifting platform are such that, when the lifting platform is located at the lowest position and the upper surface of the lifting platform protrudes from the first floor, the height difference between the upper surface of the lifting platform and the first floor does not exceed the maximum height difference that the robot can cross.

12. The elevator for transporting a robot according to claim 9, characterized in that: When the lifting platform is at the lowest position, the distance between the upper surface of the lifting platform and the first floor does not exceed the maximum height difference that the robot can cross.

13. The elevator for transporting a robot according to claim 12, characterized in that: When the lifting platform is in the lowest position, the lower surface of the lifting platform is higher than the first floor and the gap between the lower surface and the first floor is smaller than a first threshold, and the sum of the first threshold and the thickness of the lifting platform in the lifting direction of the lifting platform does not exceed the maximum height difference that the robot can cross.

14. The elevator for transporting a robot according to any one of claims 2 to 4, characterized in that: The elevator further comprises: a second control device for controlling the movement of the robot in the car and the robot entering or leaving the car.

15. The elevator for transporting a robot according to claim 14, characterized in that: The second control device determines, based on the robot's elevator request signal and the elevator operation information, a descending robot that needs to leave the car at the stopping floor where the car is about to stop, and a taking-elevator robot that needs to board the car at the stopping floor where the car is about to stop; and further determines, for the descending robot, the descending conditions and corresponding descending control instructions for leaving the car from a descending point located in the car after the car door opens, and determines, for the taking-elevator robot, the taking-elevator conditions and corresponding elevator control instructions for moving from a boarding point located on the floor station to a first position in the car after the car door opens; the first position is the first stopping position reached by the taking-elevator robot after entering the elevator car.

16. The elevator for transporting a robot according to claim 15, characterized in that: The second control device determines the waiting floor and destination floor of the robot according to the elevator request signal, and determines the current position of the car according to the elevator operation information; determines the elevator-taking robot that needs to get into the car at the stopping floor where the car is about to stop according to the robot's waiting floor and the current position of the car, and determines the elevator-getting robot that needs to leave the car at the stopping floor where the car is about to stop according to the robot's destination floor and the current position of the car.

17. The elevator for transporting a robot according to claim 15, characterized in that: The condition for getting off the elevator is that the stopping floor where the car is about to stop is the destination floor, and the second control device controls the getting off the elevator robot to execute the getting off the elevator control instruction when determining the condition for getting off the elevator; the condition for taking the elevator is that the stopping floor where the car is about to stop is its waiting floor, and the running direction of the car after starting again is consistent with its expected taking the elevator direction; the second control device controls the taking the elevator robot to execute the taking the elevator control instruction when determining the condition for taking the elevator.

18. The elevator for transporting a robot according to claim 15, characterized in that: The second control device determines the order in which the descending elevator robot leaves the car and the boarding elevator robot enters the car based on the remaining unoccupied elevator waiting resources in the car or in the first space, or based on the number of elevator waiting robots or their remaining unoccupied elevator waiting resources at the stopping floor where the car is about to stop and the remaining unoccupied elevator waiting resources in the car or in the first space.

19. The elevator for transporting a robot according to claim 18, characterized in that: When the remaining unoccupied waiting resources in the car or in the first space are less than a first threshold, under the control of the second control device, the elevator robot gets into the car after the elevator robot leaves the car; When the remaining unoccupied elevator waiting resources in the car or in the first space are greater than the second threshold, or the remaining unoccupied elevator waiting resources in the car or in the first space are greater than the second threshold and the number of elevator waiting robots at the stopping floor where the car is about to stop or the remaining unoccupied elevator waiting resources are greater than the third threshold, under the control of the second control device, the elevator riding robot gets into the car and then the elevator disembarking robot leaves the car.

20. The elevator for transporting a robot according to claim 14, characterized in that: The movement of the robot in the car includes at least one of the following movement modes: Movement mode 1: The stair-descent robot moves from its current first position to the stair-descent point; Movement mode 2: the elevator robot moves from the second position to the final stop position; Movement mode 3: A continuing robot in the car that will not leave the car at the stopping floor where the car is about to stop and continue to ride the elevator moves from the current third position to the fourth position.

21. The elevator for transporting a robot according to claim 20, characterized in that: When the first position of the robot going down stairs is different from the step-down point, the second control device identifies the robot going down stairs as the first robot that needs to execute movement mode 1; when the second position of the robot going up stairs is different from the final stop position, the second control device identifies the robot going up stairs as the second robot that needs to execute movement mode 2; The second control device determines whether there is a third robot that needs to execute movement mode 3 among the mobile continuing robots based on the position distribution of the robots in the car or in each space.

22. The elevator for transporting a robot according to claim 21, characterized in that: The second control device controls the position of the robot in the car or in each space, distributes and plans the first moving path for the first robot to complete the moving mode 1 and the second moving path for the second robot to complete the moving mode 2, and determines whether there are both the first moving path and the second moving path that do not require the movement of the continuing robot. If so, the second control device determines that there is no third robot, otherwise the set of continuing robots that need to be moved and involve the first moving path and the second moving path is regarded as the third robot.

23. The elevator for transporting a robot according to claim 22, characterized in that: The second control device determines the selected first moving path and the selected second moving path from all combinations of the first moving paths that need to be moved and the second moving paths that need to be moved of the continuing robot according to a preset principle, and uses the set of the continuing robots that need to be moved involving the selected first moving path and the continuing robots that need to be moved involving the selected second moving path as the third robot.

24. The elevator for transporting a robot according to claim 23, characterized in that: The preset principle includes at least one of the following principles: Principle 1: The sum of the first number of continuing robots that need to be moved in the first moving path and the second number of continuing robots that need to be moved in the second moving path is the smallest; Principle 2: Minimize the number of continuing robots in the set of the continuing robots that need to be moved involved in the first moving path and the continuing robots that need to be moved involved in the second moving path; Principle 3: The total moving path length of the continuing robots involved in the process of moving is the shortest; Principle 4: The number of the continuing robots that need to move across space is the smallest among the continuing robots that need to move; Principle 5: The number of times the continuing robot needs to move across space is minimized.

25. The elevator for transporting a robot according to claim 20, characterized in that: The second control device realizes the position distribution of the robot in each space in the car by adjusting the final parking position of the elevator robot in the moving mode 2 and / or the fourth position of the continuing robot in the moving mode 3.

26. The elevator for transporting a robot according to claim 25, characterized in that: The second control device makes the density of robots in the space meet any of the following conditions through the adjustment: Condition 1: The density of robots in each space is roughly equal; Condition 2: the difference between the robot density in the first space and the robot density in the second space is less than a fourth threshold, and the robot density in each second space is approximately equal; Condition 3: the difference between the robot density in the first space and the robot density in the adjacent second space is less than the fifth threshold, and the robot density in each second space decreases according to the maximum distance between the second space and the first space.

27. The elevator for transporting a robot according to claim 25, characterized in that: The second control device selects the elevator riding robot and / or the continuing riding robot that needs to be adjusted according to the following principles and implements the adjustment: Principle A: The number of robots that need to be moved is minimal; Principle B: The total moving path length of the number of robots that need to be moved is the shortest; Principle C: The number of robots that need to move across space is minimized; Principle D: The number of times a robot needs to move across space is minimized.

28. The elevator for transporting a robot according to claim 22, characterized in that: The second control device determines the robots and their destination floors in each sub-stroke of the car according to the robots' boarding floors and destination floors, wherein the sub-stroke is a car movement stroke between two adjacent stop floors; and further determines within the sub-stroke the movement modes of the first robot, the second robot and the third robot within the sub-stroke, wherein the movement modes include the movement paths and the movement times.

29. The elevator for transporting a robot according to claim 28, characterized in that: The moving time of the robot for descending the staircase is such that the time when the robot for descending the staircase completes its moving path is no later than the time when the door of the elevator car is opened at the stopping floor to be stopped.

Images