A method for determining which robot will ride the elevator.

Abstract

This invention discloses a method for determining which robot will ride an elevator, comprising: Step 1, acquiring at least one of the following: a robot calling the elevator, passenger destination floor information within the elevator car, and passenger calling signals at a floor, as well as the elevator's direction of travel and the elevator car's position; Step 2, identifying a robot whose desired direction of travel is consistent with the elevator's direction of travel and whose departure floor is located ahead of the elevator car's position relative to the elevator's direction of travel, and designating it as the first robot; Step 3, for each first robot, determining the co-riding distance between the first robot and a passenger when the first robot rides the elevator simultaneously; Step 4, selecting no more than a first number of robots from the first robots as the robots to ride the elevator, based on the principle of minimizing the co-riding distance. This invention minimizes the negative impact of robots on passengers' elevator experience when robots and passengers ride the elevator simultaneously by minimizing the co-riding distance between them.

Description

Technical Field

[0001] This invention relates to the field of elevators, and more specifically to a method for determining which robot will take the elevator from a waiting robot pool. Background Technology

[0002] When robots ride elevators alongside passengers, their presence may negatively impact the passenger experience. Therefore, efforts should be made to minimize this negative impact. Existing technologies offer different solutions to this problem:

[0003] Chinese patent document 1 (CN202111062142.7) proposes a method that, upon receiving a robot's elevator call signal, will hold the signal and wait until there are no more passengers waiting in the elevator after the current moment before controlling the elevator to respond to the robot's call signal. While this method achieves separation of the robot and passengers, it reduces the robot's elevator access time.

[0004] Chinese Patent Document 2 (CN202310226253.X) calculates a proximity chance index value, representing the probability of a user approaching the mobile body within the movement interval between the departure floor and the target floor, and determines which elevator car to assign the mobile body's call to based on the proximity chance index value of each car. Essentially, this scheme selects the responding elevator for the robot's call by minimizing the proximity chance index value. Once the responding elevator for the robot is determined, further optimization cannot be made based on the actual situation when the elevator car arrives at the robot's waiting floor (i.e., its departure floor) (such as passengers in the car and / or passengers already assigned to that elevator).

[0005] Analysis revealed that the longer the distance between the robot and passengers when riding the elevator together, the greater the negative impact the robot has on the passenger's elevator experience.

[0006] Therefore, how to appropriately select the robot to ride the elevator from among the robots already assigned to the elevator when the elevator car arrives at the robot's departure floor, so as to minimize the distance between the robot and the passenger and thus minimize the adverse effects of the robot on the passenger's elevator experience when the robot and the passenger ride the elevator at the same time, has become a technical problem that needs to be solved. Summary of the Invention

[0007] The technical problem to be solved by the present invention is how to select the robot to take the elevator from among the robots already assigned to the elevator when the elevator car arrives at the robot's departure floor, so as to minimize the distance between the robot and the passenger, thereby minimizing the adverse effects of the robot on the passenger's elevator experience when the robot and the passenger take the elevator at the same time.

[0008] To address the aforementioned technical problems, this invention discloses a method for determining a robot that will be taking an elevator, the method comprising:

[0009] Step 1: Obtain at least one of the following: robot call signal responding to the elevator, passenger destination floor information in the car, and passenger call signal at the landing, as well as the elevator's running direction and car position.

[0010] Step 2: Identify the robot whose desired elevator direction is the same as the elevator's direction of travel and whose departure floor is located in front of the elevator car relative to the elevator's direction of travel, and designate it as the first robot;

[0011] Step 3: For each first robot, determine the riding distance when the first robot and the passenger ride the elevator at the same time. The riding distance refers to the length of the riding section when the first robot and the passenger ride the elevator at the same time.

[0012] Step 4: Select robots from the first robot group according to the principle of shortest travel distance. The first number is the number of robots whose total resources required to ride the elevator do not exceed the available resources in the elevator car that can be used to transport the robots.

[0013] Preferably, step 3 determines the robot's elevator riding section and the passenger's elevator riding section, and determines the overlapping part of the robot's elevator riding section and the passenger's elevator riding section as the co-riding section where the robot and the passenger ride the elevator at the same time. The passenger's elevator riding section includes the passenger's elevator riding section inside the elevator car and the passenger's elevator riding section at the landing.

[0014] Preferably, step 3 determines the robot's elevator travel interval based on the departure floor and destination floor of the robot's elevator call signal, determines the passenger's elevator travel interval based on the current position of the elevator car and the destination floor of the passengers in the elevator car, and determines the passenger's elevator travel interval based on the departure floor and destination floor of the floor passenger's elevator call signal.

[0015] Preferably, step 3, which determines the passenger travel interval in the elevator car based on the current position of the elevator car and the destination floor of the passengers in the elevator car, is as follows: first, determine the first destination floor from the passengers in the car; then, select the destination floor that the elevator car has not yet reached as the second destination floor; next, determine the second destination floor that is farthest from the current position of the elevator car from the second destination floor and designate it as the third destination floor; finally, determine the interval between the current position of the elevator car and the third destination floor as the passenger travel interval in the car. Step 3, which determines the passenger travel interval in the floor station based on the departure floor and destination floor of the passenger call signal, is as follows: the interval between the departure floor and destination floor of the passenger in the floor station is taken as the passenger travel interval in the floor station; and when the passenger call signal in the floor station is the departure floor and the direction of travel, the farthest floor that can be stopped in the direction of elevator travel is taken as the destination floor of the passenger in the floor station.

[0016] Preferably, when there is at least one common floor between the floors covered by the first elevator section and the floors covered by the second elevator section, step 3 determines that there is an overlap between the first elevator section and the second elevator section; otherwise, it is determined that there is no overlap. When the first elevator section is a robot elevator section, the second elevator section is a passenger elevator section. When the first elevator section is a passenger elevator section, the second elevator section is a robot elevator section.

[0017] Preferably, step 3 determines the common floors between the floors covered by the first elevator interval and the floors covered by the second elevator interval according to the following steps:

[0018] Step A1: Determine the floors covered by the first elevator interval and the two end floors of the second elevator interval respectively;

[0019] Step A2: Select an unselected floor from the floors covered by the first elevator interval as the selected floor;

[0020] Step A3: Determine whether the selected floor is not greater than the larger of the two endpoint floors of the second elevator interval and not less than the smaller of the two endpoint floors of the second elevator interval. If so, mark the selected floor as a common floor; otherwise, proceed directly to the next step.

[0021] Step A4: Determine if there are any unselected floors among the floors covered by the first elevator interval. If yes, return to step A2; otherwise, end.

[0022] Preferably, step 3 determines the common floors between the floors covered by the first elevator interval and the floors covered by the second elevator interval according to the following steps:

[0023] Step A1: Determine the floors covered by the first elevator interval and the floors covered by the second elevator interval respectively;

[0024] Step A2: Select an unselected floor from the floors covered by the first elevator interval as the selected floor;

[0025] Step A3: Determine whether the selected floor is in the floor list consisting of the floors covered by the second elevator section. If so, mark the selected floor as a public floor; otherwise, proceed directly to the next step.

[0026] Step A4: Determine if there are any unselected floors among the floors covered by the first elevator interval. If yes, return to step A2; otherwise, end.

[0027] Preferably, step 3 determines the maximum and minimum floor numbers from each public floor, and uses the difference between the maximum and minimum floor numbers as the shared ride distance.

[0028] Preferably, step 3 determines the overlapping portion between the first and second elevator sections based on the relative positional relationship between the two endpoints of the first elevator section and the two endpoints of the second elevator section; when the first elevator section is a robot elevator section, the second elevator section is a passenger elevator section; when the first elevator section is a passenger elevator section, the second elevator section is a robot elevator section.

[0029] Preferably, when the floor number corresponding to at least one of the two endpoints of the first elevator interval is not greater than the larger of the floor numbers of the two endpoints of the second elevator interval, and is not less than the smaller of the floor numbers of the two endpoints of the second elevator interval, step 3 determines that the first elevator interval and the second elevator interval have an overlapping part; otherwise, it is determined that there is no overlapping part.

[0030] Preferably, when step 3 determines that the first elevator interval and the second elevator interval have an overlapping portion, and the two endpoints of the first elevator interval are not greater than the larger of the two endpoints of the second elevator interval and are not less than the smaller of the two endpoints of the second elevator interval, step 3 uses the difference between the two endpoints of the first elevator interval as the same-ride distance.

[0031] Preferably, when step 3 determines that the first elevator interval and the second elevator interval overlap, and only one of the two endpoints of the first elevator interval is not greater than the larger of the floor numbers of the two endpoints of the second elevator interval, and not less than the smaller of the floor numbers of the two endpoints of the second elevator interval, step 3 determines the same-passenger distance according to the following rule:

[0032] When the smaller of the two endpoints of the first elevator interval is not greater than the larger of the two endpoints of the second elevator interval floor number, and is not less than the smaller of the two endpoints of the second elevator interval floor number, the difference between the smaller of the two endpoints of the first elevator interval and the larger of the two endpoints of the second elevator interval floor number shall be used to determine the same-ride distance.

[0033] When the larger of the two endpoints of the first elevator interval is not greater than the larger of the two endpoints of the second elevator interval floor number, and is not less than the smaller of the two endpoints of the second elevator interval floor number, the difference between the larger of the two endpoints of the first elevator interval and the smaller of the two endpoints of the second elevator interval floor number is used to determine the shared ride distance.

[0034] Preferably, step 4 first determines the available resources in the elevator car that can be used to transport the robot when the elevator car arrives at the departure floor of the first robot. Then, based on the available resources, it determines the first number of robots that the elevator car can carry. Next, it sorts the first robots in ascending order according to the various travel distances corresponding to the first robot to obtain the first robot queue. Finally, from the first robot queue, the first robots, whose number does not exceed the first number, are selected in the order from front to back as the robots that will ride the elevator.

[0035] Beneficial technical effects

[0036] This invention can minimize the adverse effects of the robot on the passenger's elevator experience when the elevator car arrives at the robot's departure floor by appropriately selecting the robot to ride the elevator from among the robots already assigned to the elevator. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the method for determining which robot will take the elevator, as described in Example 1. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0039] Example 1

[0040] like Figure 1 As shown, this embodiment provides a method for determining which robot will take an elevator, including:

[0041] Step 1: Obtain at least one of the following: robot call signal responding to the elevator, passenger destination floor information in the car, and passenger call signal at the landing, as well as the elevator's running direction and car position.

[0042] Step 2: Identify the robot whose desired elevator direction is the same as the elevator's direction of travel and whose departure floor is located in front of the elevator car relative to the elevator's direction of travel, and designate it as the first robot;

[0043] Step 3: For each first robot, determine the riding distance when the first robot and the passenger ride the elevator at the same time. The riding distance refers to the length of the riding section when the first robot and the passenger ride the elevator at the same time.

[0044] Step 4: Select robots from the first robot group according to the principle of shortest travel distance. The first number is the number of robots whose total resources required to ride the elevator do not exceed the available resources in the elevator car that can be used to transport the robots.

[0045] Step 3: Determine the robot's elevator riding section and the passenger's elevator riding section, and determine the overlapping part of the robot's elevator riding section and the passenger's elevator riding section as the co-riding section where the robot and the passenger ride the elevator at the same time. The passenger's elevator riding section includes the passenger's elevator riding section inside the elevator car and the passenger's elevator riding section at the landing.

[0046] Step 3: Determine the robot's elevator travel range based on the departure and destination floors of the robot's elevator call signal; determine the passenger's elevator travel range in the elevator car based on the current position of the elevator car and the destination floors of the passengers in the elevator car; and determine the passenger's elevator travel range at each floor based on the departure and destination floors of the passengers' elevator call signals at each floor.

[0047] Specifically, step 3, which determines the passenger travel area within the elevator car based on the current position of the elevator car and the destination floor of the passengers inside the elevator car, is as follows:

[0048] First, determine the first destination floor for passengers in the elevator car. Then, select the destination floor that the elevator car has not yet reached as the second destination floor. Next, determine the second destination floor that is farthest from the current position of the elevator car and use it as the third destination floor. Finally, determine the interval between the current position of the elevator car and the third destination floor as the passenger riding interval in the elevator car.

[0049] Specifically, step 3, which determines the passenger elevator travel section based on the departure and destination floors of the passenger elevator call signal, is as follows:

[0050] The interval between the departure floor and the destination floor of the floor station is defined as the elevator travel interval for floor station passengers. When the elevator call signal of the floor station passenger is the departure floor and the direction of travel, the farthest floor that can be stopped in the direction of elevator travel is defined as the destination floor of the floor station passenger.

[0051] This embodiment selects no more than a first number of robots from the first robot group as the robots to ride the elevator, based on the principle of minimizing the co-riding distance. This achieves the shortest co-riding distance when the robot and the passenger ride the elevator at the same time, thereby minimizing the adverse effects of the robot on the passenger's elevator experience when the robot and the passenger ride the elevator at the same time.

[0052] Example 2

[0053] In the methods of this embodiment and subsequent embodiments, the terms "first elevator section" and "second elevator section" are used to replace "robot elevator section" and "passenger elevator section". Since the two elevator sections can be interchanged in the subsequent methods, when the first elevator section is the robot elevator section, the second elevator section is the passenger elevator section; when the first elevator section is the passenger elevator section, the second elevator section is the robot elevator section.

[0054] This embodiment further defines and explains step 3 based on embodiment 1.

[0055] When there is at least one common floor between the floors covered by the first elevator interval and the floors covered by the second elevator interval, step 3 determines that there is an overlap between the first elevator interval and the second elevator interval; otherwise, it is determined that there is no overlap.

[0056] Step 3 uses any of the following methods to determine the common floors between the floors covered by the first elevator interval and the floors covered by the second elevator interval:

[0057] Method 1 includes the following steps:

[0058] Step A1: Determine the floors covered by the first elevator interval and the two end floors of the second elevator interval respectively;

[0059] Step A2: Select an unselected floor from the floors covered by the first elevator interval as the selected floor;

[0060] Step A3: Determine whether the selected floor is not greater than the larger of the two endpoint floors of the second elevator interval and not less than the smaller of the two endpoint floors of the second elevator interval. If so, mark the selected floor as a common floor; otherwise, proceed directly to the next step.

[0061] Step A4: Determine if there are any unselected floors among the floors covered by the first elevator interval. If yes, return to step A2; otherwise, end.

[0062] Method 2 includes the following steps:

[0063] Step A1: Determine the floors covered by the first elevator interval and the floors covered by the second elevator interval respectively;

[0064] Step A2: Select an unselected floor from the floors covered by the first elevator interval as the selected floor;

[0065] Step A3: Determine whether the selected floor is in the floor list consisting of the floors covered by the second elevator section. If so, mark the selected floor as a public floor; otherwise, proceed directly to the next step.

[0066] Step A4: Determine if there are any unselected floors among the floors covered by the first elevator interval. If yes, return to step A2; otherwise, end.

[0067] Step 3: Determine the maximum and minimum floor numbers from each public floor, and use the difference between the maximum and minimum floor numbers as the shared ride distance.

[0068] Example 3

[0069] This embodiment further defines and explains step 3 based on embodiment 1.

[0070] Step 3: Determine the overlapping portion between the first and second elevator intervals based on the relative positional relationship between the two endpoints of the first and second elevator intervals.

[0071] When the floor number corresponding to at least one of the two endpoints of the first elevator interval is not greater than the larger of the floor numbers of the two endpoints of the second elevator interval, and is not less than the smaller of the floor numbers of the two endpoints of the second elevator interval, step 3 determines that the first elevator interval and the second elevator interval have an overlapping part; otherwise, it is determined that there is no overlapping part.

[0072] When step 3 determines that the first elevator interval and the second elevator interval have an overlapping portion, and the two endpoints of the first elevator interval are neither greater than the larger of the two endpoints of the second elevator interval floor number, nor less than the smaller of the two endpoints of the second elevator interval floor number, step 3 uses the difference between the two endpoints of the first elevator interval as the same-ride distance.

[0073] When step 3 determines that the first elevator interval and the second elevator interval overlap, and only one of the two endpoints of the first elevator interval is not greater than the larger of the floor numbers of the two endpoints of the second elevator interval, and not less than the smaller of the floor numbers of the two endpoints of the second elevator interval, step 3 determines the same-passenger distance according to the following rule:

[0074] When the smaller of the two endpoints of the first elevator interval is not greater than the larger of the two endpoints of the second elevator interval floor number, and is not less than the smaller of the two endpoints of the second elevator interval floor number, the difference between the smaller of the two endpoints of the first elevator interval and the larger of the two endpoints of the second elevator interval floor number shall be used to determine the same-ride distance.

[0075] When the larger of the two endpoints of the first elevator interval is not greater than the larger of the two endpoints of the second elevator interval floor number, and is not less than the smaller of the two endpoints of the second elevator interval floor number, the difference between the larger of the two endpoints of the first elevator interval and the smaller of the two endpoints of the second elevator interval floor number is used to determine the shared ride distance.

[0076] Example 4

[0077] This embodiment further defines and explains step 4 based on embodiment 1.

[0078] Step 4: First, determine the available resources in the elevator car that can be used to transport the robot when the elevator car arrives at the departure floor of the first robot. Then, determine the first number of robots that the elevator car can carry based on the available resources. Next, sort the first robots in ascending order according to the various travel distances corresponding to the first robot to obtain the first robot queue. Finally, select the first robots from the first robot queue in order from front to back, with the number not exceeding the first number, as the robots that will ride the elevator.

Claims

1. A method for determining which robot will ride an elevator, characterized in that, The method includes: Step 1: Obtain at least one of the following: robot call signal responding to the elevator, passenger destination floor information in the car, and passenger call signal at the landing, as well as the elevator's running direction and car position. Step 2: Identify the robot whose desired elevator direction is the same as the elevator's direction of travel and whose departure floor is located in front of the elevator car relative to the elevator's direction of travel, and designate it as the first robot; Step 3: For each first robot, determine the riding distance when the first robot and the passenger ride the elevator at the same time. The riding distance refers to the length of the riding section when the first robot and the passenger ride the elevator at the same time. Step 4: Select robots from the first robot group according to the principle of shortest travel distance. The first number is the number of robots whose total resources required to ride the elevator do not exceed the available resources in the elevator car that can be used to transport the robots.

2. The method for determining which robot will take an elevator according to claim 1, characterized in that, Step 3 determines the robot's elevator riding section and the passenger's elevator riding section, and determines the overlapping part of the robot's elevator riding section and the passenger's elevator riding section as the co-riding section where the robot and the passenger ride the elevator at the same time. The passenger's elevator riding section includes the passenger's elevator riding section inside the elevator car and the passenger's elevator riding section at the landing.

3. The method for determining which robot will take an elevator according to claim 2, characterized in that, Step 3 determines the robot's elevator travel range based on the departure floor and destination floor of the robot's elevator call signal, determines the passenger's elevator travel range in the elevator car based on the current position of the elevator car and the destination floor of the passengers in the elevator car, and determines the passenger's elevator travel range at the floor based on the departure floor and destination floor of the passenger's elevator call signal at the floor.

4. The method for determining which robot will take an elevator according to claim 3, characterized in that, The method for determining the passenger travel area in step 3 based on the current position of the elevator car and the destination floor of the passengers in the elevator car is as follows: First, determine the first destination floor for passengers in the elevator car. Then, select the destination floor that the elevator car has not yet reached as the second destination floor. Next, determine the second destination floor that is farthest from the current position of the elevator car and use it as the third destination floor. Finally, determine the interval between the current position of the elevator car and the third destination floor as the passenger riding interval in the elevator car. The method for determining the passenger elevator travel section in step 3 based on the departure and destination floors of the passenger elevator call signals is as follows: The interval between the departure floor and the destination floor of the floor station is defined as the elevator travel interval for floor station passengers. When the elevator call signal of the floor station passenger is the departure floor and the direction of travel, the farthest floor that can be stopped in the direction of elevator travel is defined as the destination floor of the floor station passenger.

5. The method for determining which robot will take an elevator according to claim 2, characterized in that, When there is at least one common floor between the floors covered by the first elevator interval and the floors covered by the second elevator interval, step 3 determines that there is an overlap between the first elevator interval and the second elevator interval; otherwise, it is determined that there is no overlap. When the first elevator section is a robot elevator section, the second elevator section is a passenger elevator section; when the first elevator section is a passenger elevator section, the second elevator section is a robot elevator section.

6. The method for determining which robot will take an elevator according to claim 5, characterized in that, Step 3 determines the common floors among the floors covered by the first elevator interval and the floors covered by the second elevator interval according to the following steps: Step A1: Determine the floors covered by the first elevator interval and the two end floors of the second elevator interval respectively; Step A2: Select an unselected floor from the floors covered by the first elevator interval as the selected floor; Step A3: Determine whether the selected floor is not greater than the larger of the two endpoint floors of the second elevator interval and not less than the smaller of the two endpoint floors of the second elevator interval. If so, mark the selected floor as a common floor; otherwise, proceed directly to the next step. Step A4: Determine if there are any unselected floors among the floors covered by the first elevator interval. If yes, return to step A2; otherwise, end.

7. The method for determining which robot will take an elevator according to claim 5, characterized in that, Step 3 determines the common floors among the floors covered by the first elevator interval and the floors covered by the second elevator interval according to the following steps: Step A1: Determine the floors covered by the first elevator interval and the floors covered by the second elevator interval respectively; Step A2: Select an unselected floor from the floors covered by the first elevator interval as the selected floor; Step A3: Determine whether the selected floor is in the floor list consisting of the floors covered by the second elevator section. If so, mark the selected floor as a public floor; otherwise, proceed directly to the next step. Step A4: Determine if there are any unselected floors among the floors covered by the first elevator interval. If yes, return to step A2; otherwise, end.

8. The method for determining a robot to take an elevator according to claim 6 or 7, characterized in that, Step 3 determines the maximum and minimum floor numbers among the various public floors, and uses the difference between the maximum and minimum floor numbers as the shared ride distance.

9. The method for determining which robot will take an elevator according to claim 2, characterized in that, Step 3 determines the overlapping portion between the first and second elevator intervals based on the relative positional relationship between the two endpoints of the first elevator interval and the two endpoints of the second elevator interval; When the first elevator section is a robot elevator section, the second elevator section is a passenger elevator section; when the first elevator section is a passenger elevator section, the second elevator section is a robot elevator section.

10. The method for determining a robot to take an elevator according to claim 9, characterized in that, When the floor number corresponding to at least one of the two endpoints of the first elevator interval is not greater than the larger of the floor numbers of the two endpoints of the second elevator interval, and is not less than the smaller of the floor numbers of the two endpoints of the second elevator interval, step 3 determines that the first elevator interval and the second elevator interval have an overlapping part; otherwise, it is determined that there is no overlapping part.

11. The method for determining a robot to take an elevator according to claim 10, characterized in that, When step 3 determines that the first elevator interval and the second elevator interval have an overlapping portion, and the two endpoints of the first elevator interval are neither greater than the larger of the two endpoints of the second elevator interval floor number, nor less than the smaller of the two endpoints of the second elevator interval floor number, step 3 uses the difference between the two endpoints of the first elevator interval as the same-ride distance.

12. The method for determining a robot to take an elevator according to claim 10, characterized in that, When step 3 determines that the first elevator interval and the second elevator interval overlap, and only one of the two endpoints of the first elevator interval is not greater than the larger of the floor numbers of the two endpoints of the second elevator interval, and not less than the smaller of the floor numbers of the two endpoints of the second elevator interval, step 3 determines the same-passenger distance according to the following rule: When the smaller of the two endpoints of the first elevator interval is not greater than the larger of the two endpoints of the second elevator interval floor number, and is not less than the smaller of the two endpoints of the second elevator interval floor number, the difference between the smaller of the two endpoints of the first elevator interval and the larger of the two endpoints of the second elevator interval floor number shall be used to determine the same-ride distance. When the larger of the two endpoints of the first elevator interval is not greater than the larger of the two endpoints of the second elevator interval floor number, and is not less than the smaller of the two endpoints of the second elevator interval floor number, the difference between the larger of the two endpoints of the first elevator interval and the smaller of the two endpoints of the second elevator interval floor number is used to determine the shared ride distance.

13. The method for determining which robot will ride an elevator according to claim 1, characterized in that, Step 4 first determines the available resources in the elevator car that can be used to transport the robot when the elevator car arrives at the departure floor of the first robot. Then, based on the available resources, it determines the first number of robots that the elevator car can carry. Next, it sorts the first robots in ascending order according to the various travel distances corresponding to the first robot to obtain the first robot queue. Finally, from the first robot queue, it selects the first robots, in order from front to back, with a number not exceeding the first number, as the robots that will ride the elevator.

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