Elevator for transporting a robot

Abstract

The application discloses an elevator for transporting robots, which comprises a car for accommodating robots and a first control device for controlling the elevator according to a stop instruction; the car is internally provided with a first floor located at the lowermost part, at least one second floor located at the upper part of the first floor, and a first car door corresponding to the first floor; the first floor and the second floor adjacent to the first floor and the car wall form a first space located at the lowermost part, the second floor and the other second floor adjacent to the second floor or the car top and the car wall form a second space located at the upper part of the first space, and the height of the first space and the second space is greater than the height of the robot; when the stop instruction requires the first space of the car to be communicated with a hall, the first control device controls the elevator to run so that the first floor of the car is flush with the landing floor of the hall, so that the robot located in the first space leaves the car or the robot located in the hall enters the first space in the car. The elevator for transporting robots can improve the carrying capacity of the elevator for robots without increasing the number of elevators, improving the running speed of the elevator and increasing the cross-sectional area of the shaft.

Description

TECHNICAL FIELD

[0001] The present application relates to the elevator technical field, and in particular to an elevator capable of improving the carrying capacity for robots. BACKGROUND

[0002] Currently, robots have been widely used to move between different floors of a building to carry goods. Robot taking the elevator, if mixed with passengers, may reduce the passenger's elevator experience, and the research focus of the prior art is mainly how to reduce the impact of robots on passengers taking the elevator. In fact, the greatest impact of robots on passenger elevator experience is to share the elevator carrying capacity originally used to transport passengers (especially the increasing demand for robot delivery, such as delivery robots in hotels). Therefore, how to improve the carrying capacity of the elevator for robots and reduce the elevator carrying capacity shared by robots becomes extremely urgent and critical. The main ways to improve the carrying capacity of the elevator include: increasing the car area, increasing the number of elevators, improving the running speed of the elevator 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, and increasing the running speed of the elevator will involve problems such as special design and configuration of the safety protection of the elevator; increasing the car area and increasing the number of elevators involve increasing the number of shafts and increasing the cross-sectional area of the shaft, which has an adverse effect on the effective use area of the building, especially for existing buildings, which is also impossible to achieve.

[0003] Therefore, how to improve the carrying capacity of the elevator for robots without increasing the number of elevators, improving the running speed of the elevator and increasing the cross-sectional area of the shaft becomes a technical problem to be solved. SUMMARY

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

[0005] In order to solve the above technical problem, the present application discloses an elevator for carrying robots, comprising a car for accommodating robots and a first control device for controlling the elevator according to a stop instruction;

[0006] The car is configured with a first floor located at the lowermost 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 lowermost part, the second floor and the second floor adjacent thereto or the car top and the car wall form a second space located above the first space, and the height of the first space and the second space is greater than the height of the robot;

[0008] When the stop instruction requires the first space of the car to be communicated with the hall, the first control device controls the elevator to operate such that the first floor of the car is level with the landing floor of the hall, so that the robot located in the first space exits the car or the robot located in the hall enters the first space in the car.

[0009] Preferably, the car is further provided with a second car door corresponding to the second floor; when the stop instruction requires the second space of the car to be communicated with the hall, the first control device controls the elevator to operate such that the second floor of the car is level with the landing floor of the hall, so that the robot located in the second space exits the car or the robot located in the hall enters the second space in the car.

[0010] Preferably, the car is further provided with a passage, and the second floor comprises at least one opening; the passage connects the openings of the first floor and the second floor respectively or 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 a unit of the second floor can accommodate at least one robot.

[0015] Preferably, when there are multiple second floors, the projection of the opening of each second floor on the first floor is coincident.

[0016] Preferably, the lifting device is provided with a lifting platform and a driving device for driving the lifting platform to lift 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 capable of 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 the upper surface of the lifting platform can be aligned with the upper surface of the first floor when the lifting platform is located in the recess.

[0018] Preferably, the first floor is provided with a recess capable of 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 in 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 in 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 of the lifting platform and the first floor is less 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 entry or exit of the robot into or out of the car.

[0022] Preferably, the second control device determines, according to the elevator call request signal of the robot and the elevator operation information, the robot that needs to get off the car at the stop floor where the car is about to stop and the robot that needs to get on the car at the stop floor where the car is about to stop; and further determines, for the robot getting off, the getting-off condition and the corresponding getting-off control instruction for the robot to get off the car from the getting-off point located in the car after the car door is opened, and determines, for the robot getting on, the getting-on condition and the corresponding getting-on control instruction for the robot to move to the first position in the car after the car door is opened; the first position is the first stop position reached by the robot after entering the elevator car.

[0023] Preferably, the second control device determines, according to the elevator call request signal of the robot, the waiting floor and the destination floor of the robot, and determines, according to the elevator operation information, the current position of the car; determines, according to the waiting floor of the robot and the current position of the car, the robot that needs to get on the car at the stop floor where the car is about to stop, and determines, according to the destination floor of the robot and the current position of the car, the robot that needs to get off the car at the stop floor where the car is about to stop.

[0024] Preferably, the alighting condition is that the stop floor where the car is about to stop is the destination floor, and the second control device controls the alighting robot to execute the alighting control instruction when determining the alighting condition; the boarding condition is that the stop floor where the car is about to stop is the waiting floor of the car, and the running direction of the car after restarting is consistent with the expected boarding direction; the second control device controls the boarding robot to execute the boarding control instruction when determining the boarding condition.

[0025] Preferably, the second control device determines the sequence of the alighting robot leaving the car and the boarding robot entering the car according to the remaining unoccupied waiting resources in the car or the first space, or according to the number of waiting robots at the stop floor where the car is about to stop or the remaining unoccupied waiting resources thereof and the remaining unoccupied waiting resources in the car or the first space.

[0026] Preferably, when the remaining unoccupied waiting resources in the car or the first space are less than a first threshold, the boarding robot enters the car after the alighting robot leaves the car under the control of the second control device; when the remaining unoccupied waiting resources in the car or the first space are greater than a second threshold, or the remaining unoccupied waiting resources in the car or the first space are greater than the second threshold and the number of waiting robots at the stop floor where the car is about to stop or the remaining unoccupied waiting resources thereof are greater than a third threshold, the alighting robot leaves the car after the boarding robot enters the car under the control of the second control device.

[0027] Preferably, the movement of the robot in the car includes at least one of the following movement modes: movement mode 1, the alighting robot moves from a first position where it is currently located to an alighting point; movement mode 2, the boarding robot moves from a second position to a final stop position; movement mode 3, a continuing boarding robot in the car that does not leave the car at the stop floor where the car is about to stop and continues to board, moves from a third position where it is currently located to a fourth position.

[0028] Preferably, when the first position where the alighting robot is currently located is different from the alighting point, the second control device identifies the alighting robot as a first robot that needs to execute movement mode 1; when the second position of the boarding robot is different from the final stop position, the second control device identifies the boarding robot as a second robot that needs to execute movement mode 2; and the second control device determines whether there is a third robot that needs to execute movement mode 3 among the continuing boarding robots according to the position distribution of the robots in the car or in each space.

[0029] Preferably, the second control device determines the first movement path of the first robot completing the movement mode 1 and the second movement path of the second robot completing the movement mode 2 based on the positions of the robots in the car or in the spaces, determines whether the first movement path of the continuing robot not needing to move and the second movement path of the continuing robot not needing to move exist at the same time, and when they exist, determines that the third robot does not exist, and otherwise, determines the set of the continuing robots needing to move involved in the first movement path and the second movement path as the third robot.

[0030] Preferably, the second control device determines the selected first movement path and the selected second movement path from all combinations of the first movement paths of the continuing robots needing to move and the second movement paths of the continuing robots needing to move according to a preset principle, and determines the set of the continuing robots needing to move involved in the selected first movement path and the continuing robots needing to move involved in the selected second movement path as the third robot.

[0031] Preferably, the preset principle includes at least one of the following principles: principle 1, the sum of the first number of the continuing robots needing to move involved in the first movement path and the second number of the continuing robots needing to move involved in the second movement path is minimum; principle 2, the number of the continuing robots in the set of the continuing robots needing to move involved in the first movement path and the continuing robots needing to move involved in the second movement path is minimum; principle 3, the total movement path length of the continuing robots needing to move involved is minimum; principle 4, the number of the continuing robots needing to move across the spaces among the continuing robots needing to move involved is minimum; principle 5, the number of times of the continuing robots needing to move across the spaces among the continuing robots needing to move involved is minimum.

[0032] Preferably, the second control device adjusts the final stop position of the boarding robot in the movement mode 2 and / or the fourth position of the continuing robot in the movement mode 3 to realize the distribution of the positions of the robots in the car in the spaces.

[0033] Preferably, the second control device adjusts the density of the robots in the spaces to satisfy any one of the following conditions: condition 1, the densities of the robots in the spaces are substantially equal; condition 2, the difference between the density of the robots in the first space and the density of the robots in the second space is less than a fourth threshold value, and the densities of the robots in the second spaces are substantially equal; condition 3, the difference between the density of the robots in the first space and the density of the robots in the second space adjacent to the first space is less than a fifth threshold value, and the densities of the robots in the second spaces decrease according to the maximum distance between the first space and the second space.

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

[0035] Preferably, the second control device determines the robot and its destination floor in each sub-journey of the car according to the boarding floor and the destination floor of the robot, the sub-journey being the moving journey of the car between two adjacent stop floors; and further determines the moving mode of the first robot, the second robot and the third robot in the sub-journey in the sub-journey, the moving mode including the moving path and the moving time.

[0036] Preferably, the moving time of the alighting robot is such that the time when the alighting robot completes its moving path is not later than the opening time of the elevator car at the stop floor to be stopped.

[0037] Beneficial technical effects

[0038] The elevator for transporting robots of the present application can improve the carrying capacity of the elevator for robots without increasing the number of elevators, improving the running speed of the elevator and increasing the cross-sectional area of the shaft. BRIEF DESCRIPTION OF DRAWINGS

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

[0040] Figure 2 is a schematic diagram of the elevator structure for transporting robots of Example 2. DETAILED DESCRIPTION

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

[0042] Example 1

[0043] As shown in Figure 1 , the present embodiment provides an elevator for transporting robots, including a car for accommodating robots and a first control device for controlling the elevator according to stop instructions;

[0044] The car is configured with a first floor at the lowermost part, at least one second floor 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 lowermost portion, the second floor and the other second floor adjacent thereto or the car top and the car wall form a second space located at the upper portion of the first space, and the height of the first space and the height of the second space are both greater than the height of the robot;

[0046] When the stop instruction requires the first space of the car to be communicated with the hall, the first control device controls the elevator to run so that the first floor of the car is flush with the landing floor of the hall, so that the robot located in the first space exits the car or the robot located in the hall enters the first space in the car.

[0047] Embodiment 2

[0048] This embodiment is further supplemented on the basis of Embodiment 1.

[0049] As shown in Figure 2 In this embodiment, the car is further provided with a second car door corresponding to the second floor; when the stop instruction requires the second space of the car to be communicated with the hall, the first control device controls the elevator to run so that the second floor of the car is flush with the landing floor of the hall, so that the robot located in the second space exits the car or the robot located in the hall enters the second space in the car.

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

[0051] Embodiment 3

[0052] This embodiment is further supplemented on the basis of Embodiment 1.

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

[0054] Embodiment 4

[0055] This embodiment is further supplemented on the basis of Embodiment 1.

[0056] In this embodiment, the car is further provided with a lifting device; the second floor comprises 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 floors, the projections of the openings of each second floor on the first floor coincide.

[0058] Embodiment 5

[0059] This embodiment is further supplementary to the foregoing 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 the second floor can accommodate at least one robot.

[0063] Embodiment 6

[0064] This embodiment is further supplementary to 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 lift in a direction perpendicular to the first floor, and the lifting device realizes the movement of the robot on the lifting platform between different spaces by lifting or lowering the lifting platform.

[0066] The first floor is provided with a recess capable of 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 capable of 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 in 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 in 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 in the lowest position, the lower surface of the lifting platform is higher than the first floor and the gap between them is less 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] Embodiment 7

[0070] This embodiment is further supplemented based on the embodiments 3, 4 or 6.

[0071] In this embodiment, 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.

[0072] For the robot entering / leaving the car, the second control device determines, according to the robot's elevator request signal and the elevator operation information, the robot that needs to get off the car at the stop floor where the car is about to stop and the robot that needs to get into the car at the stop floor where the car is about to stop; and further determines, for the robot getting off the car, the getting-off condition and the corresponding getting-off control instruction for the robot to get off the car at a getting-off point located in the car after the car door is opened, and determines, for the robot getting into the car, the getting-on condition and the corresponding getting-on control instruction for the robot to move to a first position in the car after the car door is opened; the first position is the first stop position reached by the robot after entering the elevator car.

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

[0074] The getting-off condition is that the stop floor where the car is about to stop is the destination floor, and the second control device controls the robot getting off the car to execute the getting-off control instruction when the getting-off condition is determined; the getting-on condition is that the stop floor where the car is about to stop is the waiting floor of the robot, and the running direction of the car after restarting is consistent with the expected getting-on direction of the robot; the second control device controls the robot getting into the car to execute the getting-on control instruction when the getting-on condition is determined.

[0075] The second control device determines the sequence of the robot getting off the car and the robot getting into the car according to the remaining waiting resources in the car or the first space that are not occupied, or according to the number of waiting robots at the stop floor where the car is about to stop or the remaining waiting resources (mainly referring to the area of the waiting area in front of the elevator landing door that can be used for robot waiting) that are not occupied at the stop floor where the car is about to stop, and the remaining waiting resources in the car or the first space that are not occupied.

[0076] When the remaining waiting resources in the car or the first space that are not occupied are less than a first threshold, under the control of the second control device, the robot getting into the car after the robot getting off the car;

[0077] When the remaining waiting resource in the car or the first space is greater than a second threshold (the first threshold is greater than the second threshold), or the remaining waiting resource in the car or the first space is greater than the second threshold and the number of waiting robots or the remaining waiting resource of the waiting robots at the stop floor where the car is about to stop is greater than a third threshold, under the control of the second control device, the robot in the car moves to the second position.

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

[0079] Movement mode 1: the robot moves from the first position where it is currently located to the stop point;

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

[0081] Movement mode 3: the robot that does not leave the car at the stop floor where the car is about to stop and continues to take the car moves from the third position where it is currently located to the fourth position.

[0082] When the first position where the robot is currently located is different from the stop point, the second control device identifies the robot as a first robot that needs to perform movement mode 1; when the second position of the robot is different from the final stop position, the second control device identifies the robot as a second robot that needs to perform movement mode 2.

[0083] The second control device determines whether there is a third robot that needs to perform movement mode 3 among the robots that continue to take the car according to the position distribution of the robots in the car or in each space.

[0084] The second control device plans a first movement path for the first robot to complete movement mode 1 and a second movement path for the second robot to complete movement mode 2 according to the position distribution of the robots in the car or in each space, determines whether there is a first movement path and a second movement path that do not require the movement of the robots that continue to take the car at the same time, and when there is, the second control device determines that there is no third robot, otherwise, the second control device determines a set of robots that continue to take the car involved in the first movement path and the second movement path as the third robot.

[0085] The second control device determines a selected first movement path and a selected second movement path from all combinations of the first movement paths of the robots that need to move and the second movement paths of the robots that need to move according to a preset principle, and determines a set of robots that continue to take the car involved in the selected first movement path and the selected second movement path as the third robot.

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

[0087] Principle 1, the sum of the first number of the transfer robots involved in the first moving path and the second number of the transfer robots involved in the second moving path is minimum;

[0088] Principle 2, the number of the transfer robots in the set of the transfer robots involved in the first moving path and the transfer robots involved in the second moving path is minimum;

[0089] Principle 3, the total moving path length of the transfer robots involved is minimum;

[0090] Principle 4, the number of the transfer robots involved in the moving path that need to move across spaces is minimum;

[0091] Principle 5, the number of times of moving across spaces of the transfer robots involved is minimum.

[0092] The second control device adjusts the final stop position of the elevator robot in the moving mode 2 and / or the fourth position of the transfer robot in the moving mode 3 to realize the position distribution of the robots in each space.

[0093] The second control device adjusts the density of the robots in each space to satisfy any one of the following conditions:

[0094] Condition 1, the density of the robots in each space is approximately equal;

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

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

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

[0098] Principle A, the number of the robots to be moved is minimum;

[0099] Principle B, the total moving path length of the number of the robots to be moved is minimum;

[0100] Principle C, the number of the robots to be moved across spaces is minimum;

[0101] Principle D, the number of times the robots need to move across the space is minimized.

[0102] The second control device determines the robots and their destination floors for the car in each sub-trip between two adjacent stop floors according to the boarding floor and the destination floor of the robots, and further determines the movement mode of the first robot, the second robot and the third robot in the sub-trip, which includes the movement path and the movement time.

[0103] The movement time of the alighting robot is such that the time when the alighting robot completes its movement path is not later than the opening time of the elevator car at the stop floor where the car is about to stop.

[0104] The application has been described in detail by the specific embodiments and examples, but these do not constitute a limitation on the application. Those skilled in the art can make many modifications and improvements without departing from the principles of the application, and these should also be considered as within the protection scope of the application.

Claims

1. An elevator for transporting robots, characterized in that, Includes a car for housing the robot and a first control device for controlling the elevator according to stopping instructions; The car is equipped with a first floor at the bottom, at least one second floor above the first floor, and a first car door corresponding to the first floor; The first floor, the adjacent second floor, and the car wall form a first space at the bottom. The second floor, the adjacent other second floors, or the car top and the car wall form a second space above the first space. The height of both the first space and the second space is greater than the height of the robot. When the stop command requires the first space of the car to be connected to the waiting hall, the first control device controls the elevator to operate so that the first floor of the car is flush with the landing floor of the waiting hall, so that the robot in the first space can leave the car or the robot in the waiting hall can enter the first space in the car. The car is also equipped with a passageway, and the second floor includes at least one opening; the passageway 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 passageway.

2. The elevator for transporting robots according to claim 1, characterized in that, The car is also equipped with a second car door corresponding to the second floor; when the stop command requires the second space of the car to be connected to the waiting hall, the first control device controls the elevator to operate so that the second floor of the car is flush with the landing floor of the waiting hall, so that the robot in the second space can leave the car or the robot in the waiting hall can enter the second space in the car.

3. The elevator for transporting robots according to claim 1, characterized in that, The second floor is parallel to the first floor.

4. The elevator for transporting robots according to claim 3, characterized in that, The height of the first space is approximately equal to the height of the second space.

5. The elevator for transporting robots according to claim 1, characterized in that, The first floor can accommodate at least two robots, and a unit number of second floors can accommodate at least one robot.

6. The elevator for transporting robots according to claim 2, characterized in that, The elevator also includes a second control device for controlling the movement of the robot inside the car and the robot's entry into or exit from the car.

7. The elevator for transporting robots according to claim 6, characterized in that, The second control device determines, based on the robot's elevator request signal and elevator operation information, the disembarking robot that needs to leave the elevator car at the floor where the car is about to stop, and the riding robot that needs to enter the elevator car at the floor where the car is about to stop; and further determines, for the disembarking robot, the disembarking conditions and corresponding disembarking control commands for it to leave the elevator car from the disembarking point located inside the car after the car door opens, and determines, for the riding robot, the riding conditions and corresponding riding control commands for it to move from the riding point located on the floor to the first position inside the car after the car door opens; the first position is the first stopping position reached by the riding robot after entering the elevator car.

8. The elevator for transporting robots according to claim 7, characterized in that, The second control device determines the waiting floor and destination floor of the robot based on the robot's elevator request signal, and determines the current position of the car based on the elevator operation information; it determines the elevator-riding robot that needs to board the car at the floor where the car is about to stop based on the robot's waiting floor and the current position of the car, and determines the elevator-disembarking robot that needs to leave the car at the floor where the car is about to stop based on the robot's destination floor and the current position of the car.

9. The elevator for transporting robots according to claim 7, characterized in that, The conditions for disembarking are that the floor the car is about to stop at is the destination floor, and the second control device controls the disembarking robot to execute the disembarking control command when determining the disembarking conditions; the conditions for boarding are that the floor the car is about to stop at is the waiting floor, and the direction of the car after restarting is consistent with the desired boarding direction; the second control device controls the boarding robot to execute the boarding control command when determining the boarding conditions.

10. The elevator for transporting a robot according to claim 7, characterized in that, The second control device determines the order in which the disembarking robot leaves the car and the riding robot enters the car based on the remaining unoccupied waiting resources in the car or the first space, or based on the number of waiting robots on the floor where the car is about to stop, or the remaining unoccupied waiting resources in the car or the first space.

11. The elevator for transporting robots according to claim 10, characterized in that, When the remaining unoccupied waiting space in the car or the first space is less than the first threshold, under the control of the second control device, the elevator robot leaves the car and then the elevator robot enters the car. When the remaining unoccupied waiting elevator resources in the car or the first space are greater than the second threshold, or when the remaining unoccupied waiting elevator resources in the car or the first space are greater than the second threshold and the number of waiting elevator robots on the floor where the car is about to stop or the number of their remaining unoccupied waiting elevator resources are greater than the third threshold, under the control of the second control device, the elevator-riding robot enters the car and the elevator-disembarking robot leaves the car.

12. The elevator for transporting robots according to claim 6, characterized in that, The robot's movement within the elevator car includes at least one of the following movement methods: Movement method 1: The robot descending the ladder moves from its current first position to the descending point; Movement method 2: The elevator robot moves from the second position to the final stopping position; Movement method 3: The continuing robot inside the elevator car will not leave the car and continue riding on the floor where the car is about to stop. It will move from its current third position to the fourth position.

13. The elevator for transporting robots according to claim 12, characterized in that, When the 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 stopping 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 robot's position distribution in the car or in various spaces.

14. The elevator for transporting robots according to claim 13, characterized in that, The second control device determines whether there are both a first movement path for the robot that does not require moving a connecting robot, based on the robot's position in the car or various spaces. If there are, the second control device determines that there is no third robot. Otherwise, the set of connecting robots that need to be moved involved in the first and second movement paths is taken as the third robot.

15. The elevator for transporting robots according to claim 14, characterized in that, The second control device determines the selected first movement path and the selected second movement path from all combinations of the first movement paths and the second movement paths of the required mobility robots according to preset principles, and takes the set of mobility robots involved in the selected first movement path and the set of mobility robots involved in the selected second movement path as the third robot.

16. The elevator for transporting robots according to claim 15, characterized in that, The preset principle includes at least one of the following principles: Principle 1: The sum of the first number of follow-up robots that need to be moved involved in the first movement path and the second number of follow-up robots that need to be moved involved in the second movement path should be minimized. Principle 2: Minimize the number of follow-up robots in the set of the first and second movement paths. Principle 3: The total movement path length of the connecting robots involved should be minimized; Principle 4: Minimize the number of connecting robots that need to move across space among all the connecting robots involved; Principle 5: Minimize the number of times the connecting robots need to move across space.

17. The elevator for transporting a robot according to claim 12, characterized in that, The second control device achieves the distribution of the robot's position in each space within the car by adjusting the final stopping position of the elevator robot in movement mode 2 and / or the fourth position of the continuing robot in movement mode 3.

18. The elevator for transporting a robot according to claim 17, characterized in that, The second control device adjusts the density of robots in the space to satisfy any of the following conditions: Condition 1: The robot density is approximately equal in each space; Condition 2: The difference between the robot density in the first space and the robot density in the second space is less than the 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 it and the first space.

19. The elevator for transporting a robot according to claim 17, characterized in that, The second control device selects the elevator-riding robot and / or the follow-up robot that need to be adjusted according to the following principles, and implements the adjustment: Principle A: Minimize the number of robots that need to be moved; Principle B: The total movement path length of the number of robots that need to be moved is minimized; Principle C: Minimize the number of robots that need to move across space; Principle D: Minimize the number of times the robot needs to move across space.

20. The elevator for transporting a robot according to claim 14, characterized in that, The second control device determines the robot and its destination floor in each sub-journey based on the robot's boarding floor and destination floor. The sub-journey is the car's movement between two adjacent stopping floors. Furthermore, it determines the movement mode of the first robot, the second robot, and the third robot in the sub-journey, which includes the movement path and the movement time.

21. The elevator for transporting a robot according to claim 20, characterized in that, The movement of the descending robot is scheduled such that the robot completes its movement path no later than the moment the elevator car opens its doors at the floor it is about to stop at.

22. An elevator for transporting robots, characterized in that, Includes a car for housing the robot and a first control device for controlling the elevator according to stopping instructions; The car is equipped with a first floor at the bottom, at least one second floor above the first floor, and a first car door corresponding to the first floor; The first floor, the adjacent second floor, and the car wall form a first space at the bottom. The second floor, the adjacent other second floors, or the car top and the car wall form a second space above the first space. The height of both the first space and the second space is greater than the height of the robot. When the stop command requires the first space of the car to be connected to the waiting hall, the first control device controls the elevator to operate so that the first floor of the car is flush with the landing floor of the waiting hall, so that the robot in the first space can leave the car or the robot in the waiting hall can enter the first space in the car. 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 in the second floor.

23. The elevator for transporting a robot according to claim 22, characterized in that, When there are multiple second floors, the projections of the openings of each second floor onto the first floor coincide.

24. The elevator for transporting robots according to claim 22, characterized in that, The lifting device is equipped with a lifting platform and a drive device for driving the lifting platform to move up and down in a direction perpendicular to the first floor. The lifting device enables the robot located on the lifting platform to move between different spaces by raising or lowering the lifting platform.

25. The elevator for transporting a robot according to claim 24, characterized in that, The first floor has a recess at the projection of the opening of the second floor to accommodate the lifting platform. 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.

26. The elevator for transporting a robot according to claim 24, characterized in that, The first floor has a recess at the projection of the opening of the second floor to accommodate the lifting platform; 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 at its 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.

27. The elevator for transporting a robot according to claim 24, characterized in that, When the lifting platform is at its 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.

28. The elevator for transporting a robot according to claim 27, characterized in that, When the lifting platform is at its lowest position, the lower surface of the lifting platform is higher than the first floor and the gap between the lifting platform and the first floor is less than a first threshold, and the sum of the first threshold and the thickness of the lifting platform in the lifting direction does not exceed the maximum height difference that the robot can cross.

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