Method and system for controlling actions of robot entering and exiting elevator

Abstract

According to the method for controlling the action of the robot entering and exiting the elevator, if the position reference gravity imbalance detection device detects whether the local gravity in the elevator car is unbalanced or not, the control robot for reducing the opening and closing speed of the door is performed only when the gravity near the door is unbalanced; the robot is controlled to be located at the bottom and the top of an elevator car, and the robot at the bottom and the robot at the top obtain the gravity distribution position in the personnel; the robot is controlled to carry out gravity adsorption and gravity pressing at the position distribution of personnel gravity position imbalance missing, then the robot adjusts the gravity adsorption and pressing positions based on the entering and exiting conditions of the personnel, in the process that the personnel take the elevator, entering and exiting control over the position of the robot is achieved along with position changes caused by people getting on and off the elevator in the space, and meanwhile the position of the robot is controlled. And extrusion caused by overlarge action is avoided.

Description

Technical Field

[0001] The present invention relates to a method and system for controlling the movement of a robot entering or exiting an elevator, which can identify the gravity imbalance of people in the elevator car. Background Art

[0002] With the continuous development of high-rise buildings, elevators have become an indispensable vertical transportation tool for people. At the same time, people have higher and higher requirements for the operating efficiency and comfort of elevators. For the optimization of elevator operating efficiency, whether the elevator is fully loaded is a key indicator. At present, many users will place large objects in a limited space. In this way, a large part of the limited space will be occupied. When other objects already exist in the limited space or other objects want to exist in the limited space, it may cause the limited space to be relatively unbalanced in gravity, or even insufficient to accommodate other objects, causing inconvenience to other objects. For example, when the limited space is an elevator car and the large object is an electric car, when there is an electric car in the elevator car, the electric car will occupy more space in the elevator car. In this way, when other people are in the elevator car or want to take the elevator, it will cause the elevator car to be relatively unbalanced in gravity, and may even cause other people to be unable to take the elevator, causing inconvenience to people.

[0003] Existing elevators collect gravity sensing data inside the elevator car through a camera installed on the top of the car, and detect the ratio of the space occupied by the passengers to the floor of the car by processing the gravity sensing data, so as to obtain the gravity imbalance of the elevator. However, this detection method that only relies on the camera is too simple, and after the detection, no effective braking measures can be taken to balance the balance problem inside the elevator, which reduces the service life of the elevator. Summary of the invention

[0004] According to the above, the purpose of the present invention is to provide a robot entry and exit elevator motion control system, which can use the position information of the people in the elevator car to detect whether there is gravity imbalance in the car, and further use the detected gravity imbalance information to appropriately control the robot's spatial entry and exit control of the elevator car.

[0005] The present invention first seeks protection for a method for controlling a robot's movement in and out of an elevator, comprising the steps of:

[0006] Obtaining gravity sensing information including the position of a person in a car of an elevator;

[0007] Extracting at least the position of the person in the car from the gravity sensing information of the person gravity detection device;

[0008] Detecting whether there is gravity imbalance in the elevator car according to the information of the position of the person extracted by the person feature extraction unit;

[0009] The robot is controlled to perform stage-by-stage control of the in-and-out motion according to whether the gravity imbalance is detected by the position reference gravity imbalance detection device.

[0010] Furthermore, the personnel gravity detection device is arranged in the elevator car, and the personnel feature extraction unit transforms the gravity sensing information of the personnel gravity detection device into the overhead gravity sensing when looking down from the infinitely far virtual viewpoint vertically above the car, and extracts the position of the personnel in the car from the overhead gravity sensing;

[0011] The personnel gravity detection device is a high gravity sensing gravity detection device, and the gravity sensing information obtained by the device includes information on the height of an object within the gravity sensing range;

[0012] The personnel gravity detection device is a gravity sensor, and the personnel feature extraction unit detects the outline of the personnel's feet measured by the gravity sensor through pattern recognition, and represents the height position of the feet as an average height to extract the position of the personnel in the car.

[0013] Further, the position reference gravity imbalance detection device uses the position of a person in the elevator car and an occupied area set around the position of the person to detect whether there is gravity imbalance in the elevator car;

[0014] The position reference gravity imbalance detection device adjusts the occupied area around the position of the person in accordance with at least one of the installation location, time period, and date of the elevator car;

[0015] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, it detects whether there is gravity imbalance in all areas in the car, or detects whether there is gravity imbalance in a local area near a door set in the elevator car.

[0016] Furthermore, there is a second gravity detection device capable of inferring whether the elevator has gravity imbalance.

[0017] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, whether there is final gravity imbalance is detected based on the gravity imbalance detection in the elevator car obtained using the information of the position of the person and the gravity imbalance detection performed by the second gravity detection device;

[0018] The information about the items carried by the person is extracted from the gravity sensing information detected by the person gravity detection device, and the information about the items carried by the person is considered based on the information about the position of the person to detect whether the gravity is unbalanced.

[0019] Furthermore, the control robot performs stage-by-stage control of the entry and exit actions, and performs at least one of full-load straight driving, door opening time adjustment, and door opening and closing speed adjustment for the operation of the elevator car using the information of whether the gravity is unbalanced;

[0020] The second gravity detection device is a load cell capable of acquiring the weight of a person in the elevator car.

[0021] The present invention also seeks protection for a robot entering and exiting an elevator motion control system, characterized in that it comprises:

[0022] A personnel gravity detection device capable of acquiring gravity sensing information of the position of a person in a car including an elevator;

[0023] A personnel feature extraction unit, which extracts at least the position of the personnel in the car from the gravity sensing information of the personnel gravity detection device;

[0024] a position reference gravity imbalance detection device for detecting whether there is gravity imbalance in the elevator car based on the information of the position of the person extracted by the person feature extraction unit; and

[0025] The robot is controlled to perform stage-by-stage control on the in-and-out action, and the robot is controlled to perform stage-by-stage control on the in-and-out action corresponding to whether the gravity imbalance is detected by the position reference gravity imbalance detection device.

[0026] Furthermore, the personnel gravity detection device is arranged in the elevator car, and the personnel feature extraction unit transforms the gravity sensing information of the personnel gravity detection device into the overhead gravity sensing when looking down from the infinitely far virtual viewpoint vertically above the car, and extracts the position of the personnel in the car from the overhead gravity sensing;

[0027] The personnel gravity detection device is a high gravity sensing gravity detection device, and the gravity sensing information obtained by the device includes information on the height of an object within the gravity sensing range;

[0028] The personnel gravity detection device is a gravity sensor, and the personnel feature extraction unit detects the outline of the personnel's feet measured by the gravity sensor through pattern recognition, and represents the height position of the feet as an average height to extract the position of the personnel in the car.

[0029] Further, the position reference gravity imbalance detection device uses the position of a person in the elevator car and an occupied area set around the position of the person to detect whether there is gravity imbalance in the elevator car;

[0030] The position reference gravity imbalance detection device adjusts the occupied area around the position of the person in accordance with at least one of the installation location, time period, and date of the elevator car;

[0031] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, it detects whether there is gravity imbalance in all areas in the car, or detects whether there is gravity imbalance in a local area near a door set in the elevator car.

[0032] A second gravity detection device is provided which can infer whether the elevator has gravity imbalance.

[0033] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, whether there is final gravity imbalance is detected based on the gravity imbalance detection in the elevator car obtained using the information of the position of the person and the gravity imbalance detection performed by the second gravity detection device;

[0034] The information about the items carried by the person is extracted from the gravity sensing information detected by the person gravity detection device, and the information about the items carried by the person is considered based on the information about the position of the person to detect whether the gravity is unbalanced.

[0035] Furthermore, the control robot performs stage-by-stage control of the entry and exit actions, and performs at least one of full-load straight driving, door opening time adjustment, and door opening and closing speed adjustment for the operation of the elevator car using the information of whether the gravity is unbalanced;

[0036] The second gravity detection device is a load cell capable of acquiring the weight of a person in the elevator car.

[0037] By applying the robot entry and exit elevator motion control method of the present invention, if the position reference gravity imbalance detection device is used to detect whether there is local gravity imbalance in the elevator car, and the control robot is only used to reduce the door opening and closing speed when the gravity is unbalanced near the door, the safety of the personnel can be guaranteed and the door opening and closing speed can be increased as much as possible, and the operation efficiency of the elevator can be increased as much as possible. The control robots are located at the bottom and top of the elevator car, and the robots at the bottom and top obtain the gravity distribution position inside the personnel, and control the robots to perform gravity adsorption and gravity depression at the position distribution where the gravity position of the personnel is unbalanced. After that, based on the entry and exit situation of the personnel, the robot adjusts the gravity adsorption and depression positions. During the process of people riding the elevator, the robot's position entry and exit control is realized as the position changes caused by the upper and lower people in the space, and at the same time, squeezing caused by excessive movements is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 It is a specific workflow diagram showing the method for controlling the robot's entering and exiting an elevator according to the first embodiment.

[0040] Figure 2 This is a diagram showing a specific configuration example of the robot entry and exit elevator motion control system of the first embodiment. DETAILED DESCRIPTION

[0041] The illustrative embodiments of the present application include, but are not limited to, a workflow-based archive scheduling method.

[0042] It will be understood that, as used herein, the terms "module", "unit" may refer to or include an application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and / or memory that executes one or more software or firmware programs, a combinational logic circuit, and / or other appropriate hardware components that provide the described functionality, or may be part of these hardware components.

[0043] It is understood that in each embodiment of the present application, the processor may be a microprocessor, a digital signal processor, a microcontroller, etc., and / or any combination thereof. According to another aspect, the processor may be a single-core processor, a multi-core processor, etc., and / or any combination thereof.

[0044] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

[0045] See attached Figure 1 The present invention firstly claims protection for a method for controlling a robot's movement in and out of an elevator, comprising the steps of:

[0046] Obtaining gravity sensing information including the position of a person in a car of an elevator;

[0047] Extracting at least the position of the person in the car from the gravity sensing information of the person gravity detection device;

[0048] Detecting whether there is gravity imbalance in the elevator car according to the information of the position of the person extracted by the person feature extraction unit;

[0049] The robot is controlled to perform stage-by-stage control of the in-and-out motion according to whether the gravity imbalance is detected by the position reference gravity imbalance detection device.

[0050] Furthermore, the personnel gravity detection device is arranged in the elevator car, and the personnel feature extraction unit transforms the gravity sensing information of the personnel gravity detection device into the overhead gravity sensing when looking down from the infinitely far virtual viewpoint vertically above the car, and extracts the position of the personnel in the car from the overhead gravity sensing;

[0051] The personnel gravity detection device is a high gravity sensing gravity detection device, and the gravity sensing information obtained by the device includes information on the height of an object within the gravity sensing range;

[0052] The personnel gravity detection device is a gravity sensor, and the personnel feature extraction unit detects the outline of the personnel's feet measured by the gravity sensor through pattern recognition, and represents the height position of the feet as an average height to extract the position of the personnel in the car.

[0053] Further, the position reference gravity imbalance detection device uses the position of a person in the elevator car and an occupied area set around the position of the person to detect whether there is gravity imbalance in the elevator car;

[0054] The position reference gravity imbalance detection device adjusts the occupied area around the position of the person in accordance with at least one of the installation location, time period, and date of the elevator car;

[0055] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, it detects whether there is gravity imbalance in all areas in the car, or detects whether there is gravity imbalance in a local area near a door set in the elevator car.

[0056] Furthermore, there is a second gravity detection device capable of inferring whether the elevator has gravity imbalance.

[0057] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, whether there is final gravity imbalance is detected based on the gravity imbalance detection in the elevator car obtained using the information of the position of the person and the gravity imbalance detection performed by the second gravity detection device;

[0058] The information about the items carried by the person is extracted from the gravity sensing information detected by the person gravity detection device, and the information about the items carried by the person is considered based on the information about the position of the person to detect whether the gravity is unbalanced.

[0059] Furthermore, the control robot performs stage-by-stage control of the entry and exit actions, and performs at least one of full-load straight driving, door opening time adjustment, and door opening and closing speed adjustment for the operation of the elevator car using the information of whether the gravity is unbalanced;

[0060] The second gravity detection device is a load cell capable of acquiring the weight of a person in the elevator car.

[0061] Specifically, the control robot is located at the bottom and top of the elevator car. The robots at the bottom and top obtain the gravity distribution position inside the personnel, and control the robots to perform gravity adsorption and gravity pressure at the position where the gravity position of the personnel is unbalanced and missing. Then, based on the entry and exit of the personnel, the robots adjust the gravity adsorption and pressure positions.

[0062] The staged control of the entry and exit action includes lifting control of the dispersed gravity of the elevator in the entry stage and pressing down operation of the dispersed gravity of the elevator in the exit stage.

[0063] See attached Figure 2 The present invention also seeks to protect a robot entering and exiting an elevator motion control system, which is characterized by comprising:

[0064] A personnel gravity detection device capable of acquiring gravity sensing information of the position of a person in a car including an elevator;

[0065] A personnel feature extraction unit, which extracts at least the position of the personnel in the car from the gravity sensing information of the personnel gravity detection device;

[0066] a position reference gravity imbalance detection device for detecting whether there is gravity imbalance in the elevator car based on the information of the position of the person extracted by the person feature extraction unit; and

[0067] The robot is controlled to perform stage-by-stage control on the in-and-out action, and the robot is controlled to perform stage-by-stage control on the in-and-out action corresponding to whether the gravity imbalance is detected by the position reference gravity imbalance detection device.

[0068] Furthermore, the personnel gravity detection device is arranged in the elevator car, and the personnel feature extraction unit transforms the gravity sensing information of the personnel gravity detection device into the overhead gravity sensing when looking down from the infinitely far virtual viewpoint vertically above the car, and extracts the position of the personnel in the car from the overhead gravity sensing;

[0069] The personnel gravity detection device is a high gravity sensing gravity detection device, and the gravity sensing information obtained by the device includes information on the height of an object within the gravity sensing range;

[0070] The personnel gravity detection device is a gravity sensor, and the personnel feature extraction unit detects the outline of the personnel's feet measured by the gravity sensor through pattern recognition, and represents the height position of the feet as an average height to extract the position of the personnel in the car.

[0071] Further, the position reference gravity imbalance detection device uses the position of a person in the elevator car and an occupied area set around the position of the person to detect whether there is gravity imbalance in the elevator car;

[0072] The position reference gravity imbalance detection device adjusts the occupied area around the position of the person in accordance with at least one of the installation location, time period, and date of the elevator car;

[0073] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, it detects whether there is gravity imbalance in all areas in the car, or detects whether there is gravity imbalance in a local area near a door set in the elevator car.

[0074] A second gravity detection device is provided which can infer whether the elevator has gravity imbalance.

[0075] When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, whether there is final gravity imbalance is detected based on the gravity imbalance detection in the elevator car obtained using the information of the position of the person and the gravity imbalance detection performed by the second gravity detection device;

[0076] The information about the items carried by the person is extracted from the gravity sensing information detected by the person gravity detection device, and the information about the items carried by the person is considered based on the information about the position of the person to detect whether the gravity is unbalanced.

[0077] Furthermore, the control robot performs stage-by-stage control of the entry and exit actions, and performs at least one of full-load straight driving, door opening time adjustment, and door opening and closing speed adjustment for the operation of the elevator car using the information of whether the gravity is unbalanced;

[0078] The second gravity detection device is a load cell capable of acquiring the weight of a person in the elevator car.

[0079] Specifically, the control robot is located at the bottom and top of the elevator car. The robots at the bottom and top obtain the gravity distribution position inside the personnel, and control the robots to perform gravity adsorption and gravity pressure at the position where the gravity position of the personnel is unbalanced and missing. Then, based on the entry and exit of the personnel, the robots adjust the gravity adsorption and pressure positions.

[0080] Those skilled in the art will appreciate that the contents disclosed in this disclosure may be subject to various modifications and improvements. For example, the various devices or components described above may be implemented by hardware, or by software, firmware, or a combination of some or all of the three.

[0081] Flowcharts are used in this disclosure to illustrate the steps of the method according to the embodiments of the present disclosure. It should be understood that the preceding or following steps are not necessarily performed precisely in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes.

[0082] Those skilled in the art will appreciate that all or part of the steps in the above method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. Optionally, all or part of the steps in the above embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiment can be implemented in the form of hardware or in the form of a software functional module. The present disclosure is not limited to any particular form of combination of hardware and software.

[0083] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0084] The above is an explanation of the present disclosure and should not be considered as a limitation thereof. Although several exemplary embodiments of the present disclosure are described, it will be readily understood by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. It should be understood that the above is an explanation of the present disclosure and should not be considered to be limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0086] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for controlling a robot's movement in and out of an elevator, characterized in that: Includes steps: Obtaining gravity sensing information including the position of a person in a car of an elevator; Extracting at least the position of the person in the car from the gravity sensing information of the person gravity detection device; According to the information of the position of the person extracted by the person feature extraction unit, it is detected whether there is gravity imbalance in the elevator car; and the robot is controlled to perform staged control of the entry and exit movements according to the gravity imbalance detected by the position reference gravity imbalance detection device.

2. A method for controlling a robot entering and exiting an elevator according to claim 1, characterized in that: The personnel gravity detection device is arranged in the elevator car, and the personnel feature extraction unit transforms the gravity sensing information of the personnel gravity detection device into the overhead gravity sensing when looking down from the infinitely far virtual viewpoint vertically above the car, and extracts the position of the personnel in the car from the overhead gravity sensing; The personnel gravity detection device is a high gravity sensing gravity detection device, and the gravity sensing information obtained by the device includes information on the height of an object within the gravity sensing range; The personnel gravity detection device is a gravity sensor, and the personnel feature extraction unit detects the outline of the personnel's feet measured by the gravity sensor through pattern recognition, and represents the height position of the feet as an average height to extract the position of the personnel in the car.

3. A method for controlling a robot entering and exiting an elevator according to claim 1, characterized in that: The position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car using the position of a person in the elevator car and an occupied area set around the position of the person; The position reference gravity imbalance detection device adjusts the occupied area around the position of the person in accordance with at least one of the installation location, time period, and date of the elevator car; When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, it detects whether there is gravity imbalance in all areas in the car, or detects whether there is gravity imbalance in a local area near a door set in the elevator car.

4. A method for controlling a robot entering and exiting an elevator according to claim 1, characterized in that: A second gravity detection device is provided which can infer whether the elevator has gravity imbalance. When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, whether there is final gravity imbalance is detected based on the gravity imbalance detection in the elevator car obtained using the information of the position of the person and the gravity imbalance detection performed by the second gravity detection device; The information about the items carried by the person is extracted from the gravity sensing information detected by the person gravity detection device, and the information about the items carried by the person is considered based on the information about the position of the person to detect whether the gravity is unbalanced.

5. A method for controlling a robot entering and exiting an elevator according to claim 1, characterized in that: The control robot controls the entry and exit actions in stages, and performs at least one of full-load straight driving, door opening time adjustment, and door opening and closing speed adjustment for the operation of the elevator car using the information on whether the gravity is unbalanced; The second gravity detection device is a load cell capable of obtaining the weight of a person in the elevator car; The step of controlling the robot to perform phased control of the in-and-out action according to whether the gravity imbalance detected by the position reference gravity imbalance detection device is balanced comprises: The control robot is located at the bottom and top of the elevator car. The robots at the bottom and top obtain the gravity distribution position inside the person, and control the robot to perform gravity adsorption and gravity pressure at the position distribution where the gravity position of the person is unbalanced and missing. Then, based on the entry and exit of the person, the robot adjusts the gravity adsorption and pressure position.

6. A robot entering and exiting an elevator motion control system, characterized in that: include: A personnel gravity detection device capable of acquiring gravity sensing information of the position of a person in a car including an elevator; A personnel feature extraction unit, which extracts at least the position of the personnel in the car from the gravity sensing information of the personnel gravity detection device; a position reference gravity imbalance detection device, which detects whether there is gravity imbalance in the elevator car based on the information of the position of the person extracted by the person feature extraction unit; and The robot is controlled to perform stage-by-stage control on the in-and-out action, and the robot is controlled to perform stage-by-stage control on the in-and-out action corresponding to whether the gravity imbalance is detected by the position reference gravity imbalance detection device.

7. The robot entering and exiting an elevator motion control system as claimed in claim 6, characterized in that: The personnel gravity detection device is arranged in the elevator car, and the personnel feature extraction unit transforms the gravity sensing information of the personnel gravity detection device into the overhead gravity sensing when looking down from the infinitely far virtual viewpoint vertically above the car, and extracts the position of the personnel in the car from the overhead gravity sensing; The personnel gravity detection device is a high gravity sensing gravity detection device, and the gravity sensing information obtained by the device includes information on the height of an object within the gravity sensing range; The personnel gravity detection device is a gravity sensor, and the personnel feature extraction unit detects the outline of the personnel's feet measured by the gravity sensor through pattern recognition, and represents the height position of the feet as an average height to extract the position of the personnel in the car.

8. The robot entering and exiting elevator motion control system as claimed in claim 6, characterized in that: The position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car using the position of a person in the elevator car and an occupied area set around the position of the person; The position reference gravity imbalance detection device adjusts the occupied area around the position of the person in accordance with at least one of the installation location, time period, and date of the elevator car; When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, it detects whether there is gravity imbalance in all areas in the car, or detects whether there is gravity imbalance in a local area near a door set in the elevator car.

9. The robot entering and exiting an elevator motion control system as claimed in claim 6, characterized in that: A second gravity detection device is provided which can infer whether the elevator has gravity imbalance. When the position reference gravity imbalance detection device detects whether there is gravity imbalance in the elevator car, whether there is final gravity imbalance is detected based on the gravity imbalance detection in the elevator car obtained using the information of the position of the person and the gravity imbalance detection performed by the second gravity detection device; The information about the items carried by the person is extracted from the gravity sensing information detected by the person gravity detection device, and the information about the items carried by the person is considered based on the information about the position of the person to detect whether the gravity is unbalanced.

10. The robot entering and exiting elevator motion control system according to any one of claims 1 to 9, characterized in that: The control robot controls the entry and exit actions in stages, and performs at least one of full-load straight driving, door opening time adjustment, and door opening and closing speed adjustment for the operation of the elevator car using the information on whether the gravity is unbalanced; The second gravity detection device is a load cell capable of obtaining the weight of a person in the elevator car; The step of controlling the robot to perform phased control of the in-and-out action according to whether the gravity imbalance detected by the position reference gravity imbalance detection device is balanced comprises: The control robot is located at the bottom and top of the elevator car. The robots at the bottom and top obtain the gravity distribution position inside the person, and control the robot to perform gravity adsorption and gravity pressure at the position distribution where the gravity position of the person is unbalanced and missing. Then, based on the entry and exit of the person, the robot adjusts the gravity adsorption and pressure position.

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