Elevator calling signal distribution method

Abstract

The invention discloses an elevator calling signal distribution method. The method comprises the following steps: S1, receiving a calling signal from a passenger or a robot; s2, elevator operation information is obtained; s3, selecting one of the unselected elevators as a selected elevator; s4, according to the elevator calling signal and the elevator operation information, whether the phenomenon that a passenger and a robot take the elevator at the same time can occur or not if the elevator calling signal is distributed to the selected elevator is judged, if yes, the next step is directly executed, and if not, the selected elevator is marked as a selectable elevator, and the next step is executed; s5, judging whether unselected elevators still exist or not, if yes, returning to the step S3, and if not, entering the next step; and S6, one elevator is selected from the selectable elevators to serve as a response elevator of the elevator calling signal. According to the invention, the phenomenon that the passengers and the robot take the elevator at the same time can be avoided or reduced, so that the adverse effect of the robot on the elevator taking experience of the passengers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to a method for distributing elevator call signals. Background Art

[0002] With the development of robot technology and elevator control technology, it is becoming increasingly popular to use robots to move between different floors in a building to achieve robot cleaning, delivery and other functions. Since robots need to take the elevator to move between different floors, this raises a question: robots taking the elevator may affect the riding experience of passengers riding the same elevator at the same time.

[0003] Chinese Patent Document 1 (CN202111660179.X) achieves the goal of ensuring the robot's smooth descent while reducing the robot's interference with passengers by appropriately controlling the robot's descent process; Chinese Patent Document 2 (CN202111332391.3) provides an elevator system that can efficiently transport robots while giving priority to passengers: an elevator gateway server is configured between the robot and the elevator control device, and the elevator gateway server has: an operation status information acquisition function, which acquires the operation status information of a predetermined single elevator for the robot to select an elevator; a linkage function, when a single elevator that the robot can take is obtained based on the operation status information, the single elevator is assigned to the robot for linkage; a registration control function, when the single elevator that the robot can take is obtained, the elevator control device is registered for the landing call and the destination floor of the selected single elevator; a door control function, when the car of the selected single elevator arrives at the floor where the landing call is registered, in order to allow the robot to board the arrived car, the elevator control device is requested to open the car door.

[0004] Although the prior art points out the problem that the robot may have an adverse effect on the passengers' elevator experience when the robot and passengers are riding in the same elevator at the same time, it does not provide a method for reducing the adverse effect of the robot on the passengers' elevator experience by appropriately allocating a response elevator to the elevator call signal when receiving an elevator call signal from the robot or the passenger. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to provide a technical solution for allocating elevator call signals so as to reduce the adverse effects of robots on passengers' elevator riding experience when humans and robots are riding together.

[0006] In order to solve the above technical problems, the present invention provides an elevator call signal distribution method, comprising:

[0007] Step S1, receiving an elevator call signal from a passenger or a robot;

[0008] Step S2, obtaining elevator operation information;

[0009] Step S3, selecting one of the elevators that have not been selected as the selected elevator;

[0010] Step S4, judging whether the passenger and the robot will ride in the elevator at the same time if the elevator call signal is assigned to the selected elevator according to the elevator call signal and the elevator operation information, if so, directly proceeding to the next step, otherwise marking the selected elevator as an optional elevator and proceeding to the next step;

[0011] Step S5, determine whether there is still an elevator that has not been selected, if so, return to step S3, otherwise go to the next step;

[0012] Step S6, selecting an elevator from the optional elevators as a response elevator to the elevator call signal.

[0013] Preferably, when there is an overlapping section between the robot's elevator riding section and the passenger's elevator riding section, step S4 determines that the passenger and the robot will take the elevator at the same time, and the elevator riding section refers to the area between the departure floor and the destination floor of the robot or the passenger.

[0014] Preferably, when there is at least one common floor between the robot riding section and the passenger riding section, step S4 determines whether there is an overlapping section between the robot riding section and the passenger riding section, otherwise it is determined that there is no overlapping section.

[0015] Preferably, when the number of floors between the smaller of the robot's departure floor and the passenger's departure floor and the larger of the robot's destination floor and the passenger's destination floor is less than the sum of the number of floors in the robot's riding interval and the number of floors in the passenger's riding interval, step S4 determines that there is an overlapping section between the robot's riding interval and the passenger's riding interval.

[0016] Preferably, when at least one endpoint of the riding interval between the robot and a first party of the passenger is located within the riding interval between the robot and a second party of the passenger, step S4 determines that a phenomenon of the passenger and the robot riding the elevator at the same time will occur.

[0017] Preferably, when the floor number corresponding to at least one of the two endpoints of the first party's riding range is less than or equal to the larger floor number of the two endpoints of the second party's riding range and greater than or equal to the smaller floor number of the two endpoints of the second party's riding range, step S4 determines that the endpoint of the first party's riding range is located within the second party's riding range.

[0018] Preferably, step S4 determines whether the passenger and the robot will ride in the elevator at the same time based on the relative positions of the departure floor and destination floor of the robot and the passenger, and the judgment rule is: when the destination floor of the first party of the robot and the passenger is behind the departure floor of the second party of the robot and the passenger relative to the direction of elevator operation, step S4 determines that the passenger and the robot will not ride in the elevator at the same time.

[0019] Preferably, step S4 determines whether the passenger and the robot will take the elevator at the same time according to the order in which the selected elevator arrives at the departure floor and the destination floor of the robot and the passenger.

[0020] Preferably, when the selected elevator reaches the destination floor of the first party of the robot and the passenger earlier than the selected elevator reaches the departure floor of the second party of the robot and the passenger, step S4 determines that there will be no phenomenon of the passenger and the robot taking the elevator at the same time.

[0021] Preferably, when the elevator call signal comes from a passenger and the elevator call signal does not include the destination floor, if the selected elevator arrives at the destination floor of the robot in the car earlier than the departure floor of the passenger, and arrives at the departure floor of the robot to which the elevator call is assigned later than the departure floor of the passenger, step S4 determines that there will be no phenomenon of passengers and robots riding the elevator at the same time.

[0022] Preferably, when the number of floors between the smaller of the robot's departure floor and the passenger's departure floor and the larger of the robot's destination floor and the passenger's destination floor is greater than the sum of the number of floors in the robot's riding interval and the number of floors in the passenger's riding interval, step S4 determines that there will be no phenomenon of passengers and robots riding the elevator at the same time.

[0023] Preferably, between step S5 and step S6, the method further includes: step B1, determining whether there is at least one optional elevator, if yes, proceeding to the next step, otherwise selecting a robot elevator, converting it into a non-robot elevator, and taking it as an optional elevator, and proceeding to the next step;

[0024] A robot elevator refers to an elevator with a robot in the car or an assigned robot elevator call signal, and a non-robot elevator refers to an elevator with no robot in the car and no robot elevator call signal assigned.

[0025] Preferably, when the selected robot elevator is an elevator without a robot in the car but with a robot call signal assigned, step B1 cancels the assigned robot call signal of the elevator and assigns it to other elevators, making it a non-robot elevator.

[0026] Preferably, the passengers include the in-car passengers who are already in the elevator car when the elevator car arrives at the departure floor corresponding to the elevator call signal received in step S1 and / or the waiting passengers who are waiting at the floor station for the elevator call signal that has been assigned to the selected elevator; the robots include the in-car robots who are already in the elevator car when the elevator car arrives at the departure floor corresponding to the elevator call signal received in step S1 and / or the waiting robots who are waiting at the floor station for the elevator call signal that has been assigned to the selected elevator.

[0027] Preferably, when the elevator waiting signal comes from a passenger, there are at least robots in the car and / or robots waiting for the elevator; when the elevator waiting signal comes from a robot, there are at least passengers in the car and / or passengers waiting for the elevator.

[0028] Preferably, when the elevator call signal comes from a robot, step S6 reserves a preset number of non-robot elevators by appropriately selecting a responding elevator from the optional elevators, wherein the non-robot elevators refer to elevators that have no robot in the car and are not assigned a robot elevator call signal.

[0029] Preferably, step S6 preferentially selects as the robot response elevator an elevator that has a robot in its car and / or an elevator that has been assigned a robot call signal when arriving at the departure floor corresponding to the robot waiting elevator signal.

[0030] Preferably, in step S6, the method of selecting one of the optional elevators as the responding elevator is:

[0031] Step 1, defining the elevator travel section of the robot elevator call signal as the first elevator travel section;

[0032] Step 2: define the elevator travel section of the robot in the car of each optional elevator and the robot that has been assigned to call the elevator as the second elevator travel section;

[0033] Step 3, calculating the length of the overlapping portion of the first elevator travel section and the second elevator travel section;

[0034] Step 4: The optional elevator corresponding to the longest overlapping portion is used as the response elevator of the robot's elevator call signal.

[0035] Preferably, when there is no optional elevator in which the destination floors of all robots are earlier than the departure floor of the passenger's elevator call signal, step S6 uses the optional elevator with the largest distance between the departure floor of the passenger's elevator call signal and the departure floor of the robot to which the call has been assigned as the response elevator to the passenger's elevator call signal.

[0036] Compared with the prior art, the present invention can avoid or reduce the phenomenon of passengers and robots riding in an elevator at the same time, so as to reduce the adverse effects of the robots on the passengers' elevator experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0038] Figure 1 This is a schematic diagram of the steps of the elevator call signal distribution method of Example 1;

[0039] Figure 2 The operation information of each elevator in the elevator system illustrated in Embodiments 2 and 3;

[0040] Figure 3 The operation information of each elevator in the elevator system illustrated in Example 7; DETAILED DESCRIPTION

[0041] The following describes the implementation methods of the present invention through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through different specific implementation methods, and the details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without deviating from the overall design concept of the invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other in the absence of conflict. The following exemplary embodiments of the present invention can be implemented in a variety of different forms and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0042] Example 1

[0043] like Figure 1 As shown, this embodiment provides an elevator call signal distribution method, comprising:

[0044] Step S1, receiving an elevator call signal from a passenger or a robot;

[0045] Step S2, obtaining elevator operation information;

[0046] Step S3, selecting one of the elevators that have not been selected as the selected elevator;

[0047] Step S4, judging whether the passenger and the robot will ride in the elevator at the same time if the elevator call signal is assigned to the selected elevator according to the elevator call signal and the elevator operation information, if so, directly proceeding to the next step, otherwise marking the selected elevator as an optional elevator and proceeding to the next step;

[0048] Step S5, determine whether there is still an elevator that has not been selected, if so, return to step S3, otherwise go to the next step;

[0049] Step S6, selecting an elevator from the optional elevators as a response elevator to the elevator call signal.

[0050] The elevator operation information includes the current position of the car, the direction of the car operation, the destination floor of the robot in the car, the destination floor of the passengers in the car, or further includes the departure floor and destination floor of the elevator call signal of the elevator waiting robot assigned to the elevator, and the departure floor, destination floor or direction of the elevator call signal of the elevator waiting passengers assigned to the elevator.

[0051] The passengers referred to in this embodiment include the in-car passengers who are already in the elevator car when the elevator car arrives at the departure floor corresponding to the elevator call signal received in step S1 and / or the waiting passengers who have been assigned to the elevator call signal of the selected elevator and are waiting to take the elevator at the landing. The robots referred to in this embodiment include the in-car robots who are already in the elevator car when the elevator car arrives at the departure floor corresponding to the elevator call signal received in step S1 and / or the waiting robots who have been assigned to the elevator call signal of the selected elevator and are waiting to take the elevator at the landing.

[0052] The elevator system usually applies the elevator call signal distribution method of this embodiment when the following conditions are met: when the waiting signal comes from a passenger, there are at least robots in the car and / or waiting robots; when the waiting signal comes from a robot, there are at least passengers in the car and / or waiting passengers. If the above conditions are not met, the phenomenon of robots and passengers riding in the same car will not occur.

[0053] Example 2

[0054] Based on the first embodiment, this embodiment further specifically describes how to determine whether allocating the elevator call signal to the selected elevator will result in a passenger and a robot riding in the elevator at the same time.

[0055] Specifically, when there is an overlapping section between the robot's elevator riding section and the passenger's elevator riding section, step S4 determines that the passenger and the robot will take the elevator at the same time. The elevator riding section refers to the area between the departure floor and the destination floor of the robot or the passenger.

[0056] There are several ways to determine whether there is an overlapping section between the robot's elevator riding section and the passenger's elevator riding section.

[0057] Mode 1: When there is at least one common floor between the robot riding section and the passenger riding section, step S4 determines whether there is an overlapping section between the robot riding section and the passenger riding section, otherwise it is determined that there is no overlapping section;

[0058] Step S4 determines the common floor of the first riding section and the second riding section according to the following steps (the first riding section here can be a robot riding section or a passenger riding section. When the first riding section is defined as a robot riding section, the second riding section is a passenger riding section; when the second riding section is defined as a robot riding section, the first riding section is a passenger riding section.):

[0059] Step A1, respectively determining the floors covered by the first elevator section and the floors covered by the second elevator section;

[0060] Step A2: Select an unselected floor from the floors covered by the first riding section as the selected floor;

[0061] Step A3: determine whether the selected floor is in the floor list consisting of floors covered by the second elevator section. If so, mark the selected floor as a public floor; otherwise, directly proceed to the next step;

[0062] Step A4, determine whether there are still unselected floors among the floors covered by the first elevator section. If so, return to step A2, otherwise end.

[0063] Method 2: When the number of floors between the smaller of the robot's departure floor and the passenger's departure floor and the larger of the robot's destination floor and the passenger's destination floor is less than the sum of the number of floors in the robot's riding interval and the number of floors in the passenger's riding interval, step S4 determines that there is an overlapping section between the robot's riding interval and the passenger's riding interval.

[0064] The following is a specific example. There is an elevator system consisting of 4 elevators. The operation information of each elevator is as follows: Figure 2 shown.

[0065] For example, at time k, a passenger registers an elevator call on the 5th floor, and the destination floor is the 15th floor. At this time, the passenger's elevator riding interval is floors 5-15. For elevator #1, the robot's elevator riding interval is floors 1-4, and for elevator #2, the robot's elevator riding interval is floors 4-2. Elevator #3 has no robot elevator riding interval, and for elevator #4, the robot's elevator riding interval is floors 3-1 and 1-6.

[0066] When adopting method 1, we define the first elevator section as the robot elevator section, and the second elevator section as the passenger elevator section. For elevator #1, there are no common floors between the robot elevator section and the passenger elevator section; for elevator #2, there are no common floors between the robot elevator section and the passenger elevator section; for elevator #3, there are no common floors between the robot elevator section and the passenger elevator section; for elevator #4, there are common floors between the robot elevator section and the passenger elevator section. Therefore, it is determined that there is an overlapping section between the robot elevator section of elevator #4 and the passenger elevator section, and there is no overlapping section between the robot elevator section of elevators #1, #2, and #3 and the passenger elevator section, and #1, #2, and #3 are marked as optional elevators. Considering that the running direction of elevators #1 and #3 is the same as the travel direction of passengers, they can be marked as optional elevators with priority. The subsequent step S6 selects one of the optional elevators as the response elevator to the passenger's elevator call signal.

[0067] When using method 2, for elevator #1, the robot's departure floor is relatively small, i.e., the 1st floor, while the passenger's destination floor is relatively large, i.e., the 15th floor, and the number of floors between the two is 14; the number of floors in the robot's elevator section is 3, while the number of floors in the passenger's elevator section is 10, and the sum of the two is 13; 14 is greater than 13, so step S4 determines that there is no overlapping section between the robot's elevator section and the passenger's elevator section; for elevator #4, the robot's departure floor is relatively small, i.e., the 1st floor, while the passenger's destination floor is relatively large, i.e., the 15th floor, and the number of floors between the two is 14; the number of floors in the robot's elevator section is 5, while the number of floors in the passenger's elevator section is 10, and the sum of the two is 15; 14 is less than , so step S4 determines that there is an overlapping section between the robot's elevator section and the passenger's elevator section. Elevators #2 and #3 can also determine that there is no overlapping section between the robot's elevator section and the passenger's elevator section according to the above judgment method.

[0068] Example 3

[0069] Based on the first embodiment, this embodiment further specifically describes how to determine whether allocating the elevator call signal to the selected elevator will result in a passenger and a robot riding in the elevator at the same time.

[0070] Specifically, when at least one endpoint of the riding interval between the robot and a first party of the passenger is located within the riding interval between the robot and a second party of the passenger, step S4 determines that a phenomenon of the passenger and the robot riding the elevator at the same time will occur.

[0071] When the floor number corresponding to at least one of the two endpoints of the first party's riding interval is less than or equal to the larger floor number of the two endpoints of the second party's riding interval and is greater than or equal to the smaller floor number of the two endpoints of the second party's riding interval, step S4 determines that the endpoint of the first party's riding interval is located within the second party's riding interval.

[0072] We continue with Figure 2 Take the elevator system composed of 4 elevators as an example. At time k, the passenger registered an elevator call signal on the 5th floor, and the destination floor is the 15th floor. For example, the passenger is regarded as the first party. For the #4 elevator, the floor number 5 of the first party's elevator section is less than the larger floor number 6 of the second party's elevator section, and is greater than the smaller floor number 1 of the second party's elevator section. Step S4 determines that the endpoint of the first party's elevator section is located within the second party's elevator section. That is, it is determined that there will be a phenomenon of passengers and robots riding in the elevator at the same time. For the #1 elevator, the floor number 5 of the first party's elevator section is greater than the larger floor number 4 of the second party's elevator section, so there will be no phenomenon of passengers and robots riding in the elevator at the same time. Similarly, there will be no phenomenon of passengers and robots riding in the elevator at the same time for the #2 elevator.

[0073] Example 4

[0074] Based on the first embodiment, this embodiment further specifically describes how to determine whether allocating the elevator call signal to the selected elevator will result in a passenger and a robot riding in the elevator at the same time.

[0075] Specifically, step S4 determines whether the passenger and the robot will ride in the elevator at the same time based on the relative positions of the departure floor and destination floor of the robot and the passenger, and the judgment rule is: when the destination floor of the first party of the robot and the passenger is behind the departure floor of the second party of the robot and the passenger relative to the direction of elevator operation, step S4 determines that the passenger and the robot will not ride in the elevator at the same time.

[0076] Example 5

[0077] Based on the first embodiment, this embodiment further specifically describes how to determine whether allocating the elevator call signal to the selected elevator will result in a passenger and a robot riding in the elevator at the same time.

[0078] Specifically, step S4 determines whether the passenger and the robot will take the elevator at the same time according to the arrival order of the selected elevator to the departure floor and the destination floor of the robot and the passenger.

[0079] When the selected elevator reaches the destination floor of the first party of the robot and the passenger earlier than the selected elevator reaches the departure floor of the second party of the robot and the passenger, step S4 determines that there will be no phenomenon of the passenger and the robot riding the elevator at the same time.

[0080] Alternatively, when the elevator call signal comes from a passenger and the elevator call signal does not include a destination floor, if the selected elevator arrives at the destination floor of the robot in the car earlier than the departure floor of the passenger, and arrives at the departure floor of the robot assigned to the elevator call later than the departure floor of the passenger, step S4 determines that there will be no passenger and robot riding the elevator at the same time. When there is no optional elevator in which the destination floor of all robots is earlier than the departure floor of the passenger's elevator call signal, step S6 selects the optional elevator with the largest distance between the departure floor of the passenger's elevator call signal and the departure floor of the robot assigned to the elevator call as the response elevator to the passenger's elevator call signal.

[0081] Example 6

[0082] Based on the first embodiment, this embodiment further specifically describes how to determine whether allocating the elevator call signal to the selected elevator will result in a passenger and a robot riding in the elevator at the same time.

[0083] Specifically, when the number of floors between the smaller of the robot's departure floor and the passenger's departure floor and the larger of the robot's destination floor and the passenger's destination floor is greater than the sum of the number of floors in the robot's riding interval and the number of floors in the passenger's riding interval, step S4 determines that there will be no phenomenon of passengers and robots riding the elevator at the same time.

[0084] Example 7

[0085] Based on Embodiment 1, this embodiment further includes between step S5 and step S6:

[0086] Step B1: Determine whether there is at least one optional elevator. If yes, proceed to the next step. Otherwise, select a robot elevator, convert it into a non-robot elevator, and use it as an optional elevator to proceed to the next step.

[0087] A robot elevator refers to an elevator with a robot in the car or an assigned robot elevator call signal, and a non-robot elevator refers to an elevator with no robot in the car and no robot elevator call signal assigned.

[0088] When the selected robot elevator is an elevator without a robot in the car but with a robot call signal assigned, step B1 cancels the assigned robot call signal of the elevator and assigns it to other elevators, making it a non-robot elevator. When the selected robot elevator has a robot in the car, it is necessary to control the robot in the car to leave the car before passengers get in.

[0089] For example, let's continue with the elevator system consisting of 4 elevators. The operation information of each elevator is as follows: Figure 3As shown. For example, at time k, the passenger registered an elevator call signal on the 5th floor, and the destination floor is the 15th floor. According to the judgment method of step S4 of the above-mentioned embodiments 2 to 5, it is determined that there is no optional elevator. If the passenger's elevator call signal is assigned to any elevator from #1 to #4, there will be a phenomenon of passengers and robots riding in the elevator at the same time. In order to avoid the occurrence of the same ride phenomenon. The assigned robot elevator call signal of one of the elevators from #1 to #4 can be canceled and assigned to other elevators, making it a non-robot elevator. For example, the assigned robot elevator call signal of elevator #3 for floors 5-7 can be canceled and assigned to elevator #1, making elevator #3 a non-robot elevator.

[0090] Example 8

[0091] Based on Example 1, in order to avoid the situation where there is no optional elevator, when the elevator call signal comes from a robot, step S6 reserves a preset number of non-robot elevators by appropriately selecting a responding elevator from the optional elevators. The non-robot elevator refers to an elevator that has no robot in the car and is not assigned a robot elevator call signal.

[0092] Step S6 preferentially selects, when arriving at the departure floor corresponding to the robot waiting elevator signal, an elevator with a robot in the car and / or an elevator to which a robot calling elevator signal has been allocated as a robot responding elevator.

[0093] In step S6, the method of selecting one of the optional elevators as the responding elevator is:

[0094] Step 1, defining the elevator travel section of the robot elevator call signal as the first elevator travel section;

[0095] Step 2: define the elevator travel section of the robot in the car of each optional elevator and the robot that has been assigned to call the elevator as the second elevator travel section;

[0096] Step 3, calculating the length of the overlapping portion of the first elevator travel section and the second elevator travel section;

[0097] Step 4: The optional elevator corresponding to the longest overlapping portion is used as the response elevator of the robot's elevator call signal.

[0098] 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. A method for distributing elevator call signals, characterized in that: include: Step S1, receiving an elevator call signal from a passenger or a robot; Step S2, obtaining elevator operation information; Step S3, selecting one of the elevators that have not been selected as the selected elevator; Step S4, judging whether the passenger and the robot will ride in the elevator at the same time if the elevator call signal is assigned to the selected elevator according to the elevator call signal and the elevator operation information, if so, directly proceeding to the next step, otherwise marking the selected elevator as an optional elevator and proceeding to the next step; Step S5, determine whether there is still an elevator that has not been selected, if so, return to step S3, otherwise go to the next step; Step S6, selecting an elevator from the optional elevators as a response elevator to the elevator call signal.

2. The elevator call signal distribution method according to claim 1, characterized in that: When there is an overlapping section between the robot's elevator riding section and the passenger's elevator riding section, step S4 determines that the passenger and the robot will take the elevator at the same time. The elevator riding section refers to the area between the departure floor and the destination floor of the robot or the passenger.

3. The elevator call signal distribution method according to claim 2, characterized in that: When there is at least one common floor between the robot riding section and the passenger riding section, step S4 determines whether there is an overlapping section between the robot riding section and the passenger riding section, otherwise it is determined that there is no overlapping section.

4. The elevator call signal distribution method according to claim 2, characterized in that: When the number of floors between the smaller of the robot's departure floor and the passenger's departure floor and the larger of the robot's destination floor and the passenger's destination floor is less than the sum of the number of floors in the robot's riding interval and the number of floors in the passenger's riding interval, step S4 determines that there is an overlapping section between the robot's riding interval and the passenger's riding interval.

5. The elevator call signal distribution method according to claim 1, characterized in that: When at least one end point of the riding interval between the robot and a first party of the passenger is located within the riding interval between the robot and a second party of the passenger, step S4 determines that a phenomenon of the passenger and the robot riding the elevator at the same time will occur.

6. The elevator call signal distribution method according to claim 5, characterized in that: When the floor number corresponding to at least one of the two endpoints of the first party's riding interval is less than or equal to the larger floor number of the two endpoints of the second party's riding interval and is greater than or equal to the smaller floor number of the two endpoints of the second party's riding interval, step S4 determines that the endpoint of the first party's riding interval is located within the second party's riding interval.

7. The elevator call signal distribution method according to claim 1, characterized in that: Step S4 determines whether the passenger and the robot will ride in the elevator at the same time based on the relative positions of the departure floor and destination floor of the robot and the passenger, and the judgment rule is: when the destination floor of the first party of the robot and the passenger is behind the departure floor of the second party of the robot and the passenger relative to the direction of elevator operation, step S4 determines that the passenger and the robot will not ride in the elevator at the same time.

8. The elevator call signal distribution method according to claim 1, characterized in that: Step S4 determines whether the passenger and the robot will take the elevator at the same time according to the arrival order of the selected elevator to the departure floor and the destination floor of the robot and the passenger.

9. The elevator call signal distribution method according to claim 8, characterized in that: When the selected elevator reaches the destination floor of the first party of the robot and the passenger earlier than the selected elevator reaches the departure floor of the second party of the robot and the passenger, step S4 determines that there will be no phenomenon of the passenger and the robot riding the elevator at the same time.

10. The elevator call signal distribution method according to claim 8, characterized in that: When the elevator call signal comes from a passenger and the elevator call signal does not include the destination floor, if the selected elevator arrives at the destination floor of the robot in the car earlier than the departure floor of the passenger, and arrives at the departure floor of the robot to which the elevator call has been assigned later than the departure floor of the passenger, step S4 determines that there will be no phenomenon of passengers and robots riding the elevator at the same time.

11. The elevator call signal distribution method according to claim 1, characterized in that: When the number of floors between the smaller of the robot's departure floor and the passenger's departure floor and the larger of the robot's destination floor and the passenger's destination floor is greater than the sum of the number of floors in the robot's riding interval and the number of floors in the passenger's riding interval, step S4 determines that there will be no phenomenon of passengers and robots riding the elevator at the same time.

12. The elevator call signal distribution method according to claim 1, characterized in that: Between step S5 and step S6, the method further includes: Step B1: Determine whether there is at least one optional elevator. If yes, proceed to the next step. Otherwise, select a robot elevator, convert it into a non-robot elevator, and use it as an optional elevator to proceed to the next step. A robot elevator refers to an elevator with a robot in the car or an assigned robot elevator call signal, and a non-robot elevator refers to an elevator with no robot in the car and no robot elevator call signal assigned.

13. The elevator call signal distribution method according to claim 12, characterized in that: When the selected robot elevator is an elevator without a robot in the car but with a robot call signal assigned, step B1 cancels the assigned robot call signal of the elevator and assigns it to another elevator, making it a non-robot elevator.

14. The elevator call signal distribution method according to claim 1, characterized in that: The passengers include the in-car passengers who are already in the elevator car when the elevator car arrives at the departure floor corresponding to the elevator call signal received in step S1 and / or the waiting passengers who are waiting at the floor station for the elevator call signal that has been assigned to the selected elevator; the robots include the in-car robots who are already in the elevator car when the elevator car arrives at the departure floor corresponding to the elevator call signal received in step S1 and / or the waiting robots who are waiting at the floor station for the elevator call signal that has been assigned to the selected elevator.

15. The elevator call signal distribution method according to claim 14, characterized in that: When the elevator waiting signal comes from a passenger, there are at least robots in the car and / or robots waiting for the elevator; when the elevator waiting signal comes from a robot, there are at least passengers in the car and / or passengers waiting for the elevator.

16. The elevator call signal distribution method according to claim 1, characterized in that: When the elevator call signal comes from a robot, step S6 reserves a preset number of non-robot elevators by appropriately selecting a responding elevator from the optional elevators, wherein the non-robot elevators refer to elevators that have no robot in the car and are not assigned a robot elevator call signal.

17. The elevator call signal distribution method according to claim 16, characterized in that: Step S6 preferentially selects, when arriving at the departure floor corresponding to the robot waiting elevator signal, an elevator with a robot in the car and / or an elevator to which a robot calling elevator signal has been allocated as a robot responding elevator.

18. The elevator call signal distribution method according to claim 16, characterized in that: In step S6, the method of selecting one of the optional elevators as the responding elevator is: Step 1, defining the elevator travel section of the robot elevator call signal as the first elevator travel section; Step 2: define the elevator travel section of the robot in the car of each optional elevator and the robot that has been assigned to call the elevator as the second elevator travel section; Step 3, calculating the length of the overlapping portion of the first elevator travel section and the second elevator travel section; Step 4: The optional elevator corresponding to the longest overlapping portion is used as the response elevator of the robot's elevator call signal.

19. The elevator call signal distribution method according to claim 10, characterized in that: When there is no optional elevator whose destination floor of all robots is earlier than the departure floor of the passenger's elevator call signal, step S6 takes the optional elevator with the largest distance between the departure floor of the passenger's elevator call signal and the departure floor of the robot to which the call has been assigned as the response elevator to the passenger's elevator call signal.

Images