Elevator group control method

Abstract

The invention discloses an elevator group control method. The method comprises the following steps: step 1, receiving an elevator calling signal from a first party in passengers and robots; step 2, selecting one of unselected elevators as a selected elevator; 3, judging whether the elevator calling signal is distributed to the selected elevator or not, if yes, marking the selected elevator as a second elevator, and if not, marking the selected elevator as a first elevator; 4, judging whether the elevator which is not selected still exists or not; 5, whether at least one first elevator exists or not is judged, and if yes, one first elevator is selected from the first elevators to serve as a response elevator of the elevator calling signal; step 6, aiming at each second elevator, determining a co-riding distance or co-riding time when the elevator calling signal is distributed to the second elevator; and 7, the second elevator corresponding to the minimum co-riding distance or co-riding time serves as a response elevator of the elevator calling signal. According to the invention, the co-riding time or co-riding distance of the robot and the elevator can be effectively reduced, and the adverse effect of the robot on the elevator riding experience of passengers can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to an elevator group control method capable of reducing the adverse effects that a robot may have on passengers when the robot and passengers take the elevator at the same time. Background Art

[0002] There are many elevator group control technology solutions in the prior art. However, most of the existing elevator group control technologies are aimed at improving the transportation efficiency of elevators and shortening the waiting time of passengers, and are mostly targeted at human passengers.

[0003] On the other hand, with the continuous development of robot technology, especially robot elevator technology, the application scenarios of robots taking elevators to complete cross-floor tasks are expanding. When robots take elevators, they may have an adverse effect on the elevator experience of (human) passengers. Therefore, many technologies have emerged in the industry to reduce the adverse effects that robots may have on passengers when taking elevators with passengers at the same time. For example, Chinese Patent Document 1 (CN201811215500.1) proposes to determine whether the robot has exclusive elevator access or human-machine shared elevator access based on whether the cargo carried by the robot is flammable and explosive, and to determine the robot's response elevator accordingly; Chinese Patent Document 2 (CN201680087906.9) proposes that when there are calls from users (human passengers here) and autonomous moving bodies in the elevator, the elevator is controlled in a manner that gives priority to the user's call over the autonomous moving body's call, and when a floor call from the autonomous moving body is received, the elevator car corresponding to the elevator interval that does not overlap with the elevator intervals of other autonomous moving bodies responds to the floor call, and the elevator interval refers to the interval from the departure floor to the destination floor; Chinese Patent Document 3 (CN202111062142.7) puts the sending of the elevator request for the moving body on hold when a robot call is received, and responds to the robot call only when the elevator has completed the transportation of all passengers and there are no passengers in the car.

[0004] Obviously, the prior art (mainly document 3) considers the possible adverse effects of robots on passengers when the robot and passengers are riding in the elevator at the same time, and eliminates the adverse effects of robots on passengers when humans and robots are riding together by suspending the sending of elevator requests for the moving body until the elevator has completed the transportation of all passengers and there are no passengers in the car before responding to the robot's call. However, this method essentially achieves the isolation of passengers and robots by forcing passengers and robots to ride in different elevators, so there are disadvantages: by forcing the isolation of passengers and robots by suspending the robot's call, it will obviously greatly reduce the overall operating efficiency of the elevator, especially in many cases, there is no need to completely isolate passengers and robots, but only to limit the distance and time of passengers and robots riding together within a preset range.

[0005] Therefore, how to reduce the possible adverse effects of robots on passengers while taking into account the efficiency of elevator operation has become a technical problem to be solved. Summary of the invention

[0006] The technical problem to be solved by the present invention is how to reduce the adverse effects that the robot may have on passengers while taking into account the elevator operation efficiency.

[0007] In order to solve the above technical problems, the present invention discloses an elevator group control method, comprising:

[0008] Step 1: receiving an elevator call signal from a first party of a passenger and a robot;

[0009] Step 2, selecting one of the elevators that have not been selected as the selected elevator;

[0010] Step 3: determine whether the allocation of the elevator call signal to the selected elevator will result in a passenger and the robot riding in the elevator at the same time. If so, mark the selected elevator as the second elevator; otherwise, mark the selected elevator as the first elevator.

[0011] Step 4: Determine whether there is still an elevator that has not been selected. If so, return to step 2, otherwise proceed to the next step;

[0012] Step 5: determine whether there is at least one first elevator. If so, select one of the first elevators as the response elevator of the elevator call signal using a conventional elevator group control strategy and end the process. Otherwise, proceed to the next step.

[0013] Step 6: for each second elevator, determine the distance or time that a passenger and the robot will ride the elevator at the same time when the elevator call signal is assigned to the second elevator;

[0014] Step 7: The second elevator corresponding to the minimum shared ride distance or shared ride time is used as the response elevator to the elevator call signal.

[0015] Preferably, between step 2 and step 3, it also includes: step A1, judging whether there is a second party among passengers and robots in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, or at least one of the elevator call signals assigned to the selected elevator comes from the second party among passengers and robots, if so, directly proceed to the next step, otherwise mark the selected elevator as the first elevator and proceed to step 4.

[0016] Preferably, when the elevator call signal comes from a passenger, the robot includes at least a first robot in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, a second robot corresponding to the elevator call signal that has been assigned to the selected elevator, and at least one of a third robot waiting for the elevator at the departure floor of the elevator call signal; when the elevator call signal comes from a robot, the passenger includes at least a first passenger in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, a second passenger corresponding to the elevator call signal that has been assigned to the selected elevator, and at least one of the third passenger waiting for the elevator at the departure floor of the elevator call signal.

[0017] Preferably, step 3 further comprises:

[0018] Step 31, determining a first number of floors covered by a first riding interval of the first party;

[0019] Step 32: Determine a second number of floors covered by a second riding section of a second party among the passenger and the robot;

[0020] Step 33, determining the lowest endpoint and the highest endpoint among all endpoints of the first riding interval and the second riding interval, and taking the portion between the lowest endpoint and the highest endpoint as the third riding interval;

[0021] Step 34: Determine the third number of floors covered by the third riding interval;

[0022] Step 35: When the sum of the first number and the second number is greater than the third number, the judgment result is yes, otherwise the judgment result is no.

[0023] Preferably, when the elevator call signal includes the departure floor and the destination floor, step 31 will take the interval with the departure floor and the destination floor as endpoints as the first elevator riding interval; when the elevator call signal includes the departure floor and the desired elevator riding direction, step 31 will take the interval with the departure floor and the farthest stoppable floor of the elevator in the desired elevator riding direction as endpoints as the first elevator riding interval.

[0024] Preferably, when there are multiple second parties in step 32, the riding interval of each second party and the floors it covers are determined separately, the set of floors covered by the riding interval of each second party is determined, and the number of floors in the set is taken as the second number.

[0025] Preferably, step 6 determines the ride-along time according to the following steps:

[0026] Step C1, determining the riding interval and riding distance of the passenger and the robot when the elevator call signal is assigned to the second elevator, wherein the riding interval is the result of merging the riding sections of the selected elevator;

[0027] Step C2, determining the floor to be stopped by the selected elevator;

[0028] Step C3, determining a first number of floors to be stopped that are located in the shared passenger interval among the floors to be stopped of the selected elevator;

[0029] Step C4, calculating the first time required for the elevator to complete the travel distance at the rated speed according to the travel distance and the rated operating speed of the elevator;

[0030] Step C5, determining the time required for the elevator to complete the deceleration stop and acceleration start to complete the stop at the to-be-stopped floor, compared with the second time spent passing the to-be-stopped floor at the rated speed;

[0031] Step C6, calculate the sum of the first time and the second time, and use it as the shared ride time of the selected elevator.

[0032] Preferably, step 6 calculates the difference obtained by subtracting the third quantity from the sum of the first quantity and the second quantity, and uses the difference as the multiplied distance.

[0033] Preferably, step 6 determines the co-passenger distance according to the following steps:

[0034] Step B1, determining the departure floor and destination floor of the first party, and when the elevator call signal does not include the destination floor but only includes the desired elevator direction, the destination floor is the farthest floor that the elevator can stop in the desired elevator direction;

[0035] Step B2, determining the departure floors and destination floors of each component included in the second party of the passenger and the robot, when the second party is a passenger in the car, the farthest destination floor among the destination floors registered in the car except the destination floor of the robot in the car is used as the destination floor of the passenger in the car;

[0036] Step B3, selecting one of the unselected components as the selected component;

[0037] Step B4, determining the first departure floor and the first destination floor; when the elevator is going up, the first departure floor refers to the departure floor of the first party and the departure floors of the selected composition, whichever the elevator arrives at later, and the first destination floor refers to the departure floor of the first party and the departure floors of the selected composition, whichever the elevator arrives at earlier;

[0038] Step B5, taking the floor between the first departure floor and the first destination floor as the specific floor of the selected composition;

[0039] Step B6, determine whether there are still unselected components, if so, return to step B3, otherwise proceed to the next step;

[0040] Step B7: Calculate the set of each specific floor, and use the number of floors in the set as the multiplied distance.

[0041] Preferably, when the elevator goes up, the first departure floor is the higher of the departure floor of the first party and the departure floor of the selected composition, and the first destination floor is the lower of the departure floor of the first party and the departure floor of the selected composition; when the elevator goes down, the first departure floor is the lower of the departure floor of the first party and the departure floor of the selected composition, and the first destination floor is the higher of the departure floor of the first party and the departure floor of the selected composition.

[0042] Preferably, the formula for calculating the second time in step C5 is: second time = (n-2)*t1+t2+t3, wherein n is the first number of the selected elevator's waiting-to-stop floors located in the passenger interval; t1 is the sum of the car deceleration time, door opening and closing time, and acceleration time, minus the time required for the car to move from the deceleration point to the acceleration end point at the rated speed; t2 is the car deceleration time minus the time required for the car to move from the deceleration point to the floor leveling point at the rated speed; t3 is the car acceleration time minus the time required for the car to move from the floor leveling point to the acceleration end point at the rated speed.

[0043] Preferably, when there are multiple second elevators with the shortest ride distance or ride time, in step 7, the second elevator with the shortest number of elevator stops during the ride is used as the response elevator to the elevator call signal.

[0044] Preferably, between step C3 and step C4, the method further includes:

[0045] Step D1, determine whether there is a shared ride section with the same shared ride distance, if not, directly proceed to step C4, if yes, proceed to the next step;

[0046] Step D2, comparing the first number of ride-sharing intervals with the same ride-sharing distance. For the ride-sharing intervals with the same ride-sharing distance, the subsequent steps C4 to C6 determine the ride-sharing time only for the ride-sharing intervals corresponding to the minimum first number.

[0047] Beneficial technical effects

[0048] The elevator group control method of the present invention can effectively reduce the time or distance that the robot and the elevator travel together by reasonably selecting a response elevator for an elevator call signal, thereby reducing the adverse effects of the robot on passengers' elevator riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the steps of the elevator group control method of Example 1. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0051] Example 1

[0052] like Figure 1 As shown, this embodiment provides an elevator group control method, including:

[0053] Step 1: receiving an elevator call signal from a first party of a passenger and a robot;

[0054] Step 2, selecting one of the elevators that have not been selected as the selected elevator;

[0055] Step 3: determine whether the allocation of the elevator call signal to the selected elevator will result in a passenger and the robot riding in the elevator at the same time. If so, mark the selected elevator as the second elevator; otherwise, mark the selected elevator as the first elevator.

[0056] Step 4: Determine whether there is still an elevator that has not been selected. If so, return to step 2, otherwise proceed to the next step;

[0057] Step 5: determine whether there is at least one first elevator. If so, select one of the first elevators as the response elevator of the elevator call signal using a conventional elevator group control strategy and end the process. Otherwise, proceed to the next step.

[0058] Step 6: for each second elevator, determine the distance or time that a passenger and the robot will ride the elevator at the same time when the elevator call signal is assigned to the second elevator;

[0059] Step 7: The second elevator corresponding to the minimum shared ride distance or shared ride time is used as the response elevator to the elevator call signal.

[0060] When the elevator call signal comes from a passenger, the passenger serves as the first party and the robot serves as the second party. The robots include at least one of a first robot in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, a second robot corresponding to the elevator call signal assigned to the selected elevator, and a third robot waiting for the elevator at the departure floor of the elevator call signal.

[0061] When the elevator call signal comes from the robot, the robot serves as the first party and the passenger serves as the second party. The passenger includes at least one of a first passenger in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, a second passenger corresponding to the elevator call signal assigned to the selected elevator, and a third passenger waiting for the elevator at the departure floor of the elevator call signal.

[0062] Example 2

[0063] This embodiment is further described on the basis of the embodiment 1.

[0064] Between step 2 and step 3, it also includes:

[0065] Step A1: Determine whether there is a second party among passengers and robots in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, or at least one of the elevator call signals assigned to the selected elevator comes from the second party among passengers and robots. If so, proceed directly to the next step; otherwise, mark the selected elevator as the first elevator and proceed to step 4.

[0066] Example 3

[0067] This embodiment further defines and explains the above-mentioned embodiment 1.

[0068] Step 3 further includes:

[0069] Step 31, determining a first number of floors covered by a first riding interval of the first party;

[0070] Step 32: Determine a second number of floors covered by a second riding section of a second party among the passenger and the robot;

[0071] Step 33, determining the lowest endpoint and the highest endpoint among all endpoints of the first riding interval and the second riding interval, and taking the portion between the lowest endpoint and the highest endpoint as the third riding interval;

[0072] Step 34: Determine the third number of floors covered by the third riding interval;

[0073] Step 35: When the sum of the first number and the second number is greater than the third number, the judgment result is yes, otherwise the judgment result is no.

[0074] Specifically, when the elevator call signal includes the departure floor and the destination floor, step 31 will take the interval with the departure floor and the destination floor as endpoints as the first elevator riding interval; when the elevator call signal includes the departure floor and the desired elevator riding direction, step 31 will take the interval with the departure floor and the farthest stoppable floor of the elevator in the desired elevator riding direction as endpoints as the first elevator riding interval.

[0075] Specifically, when there are multiple second parties in step 32, the riding interval of each second party and the floors it covers are determined separately, the set of floors covered by the riding interval of each second party is determined (i.e., deduplicated), and the number of floors in the set is taken as the second number.

[0076] Step 6 calculates the difference obtained by subtracting the third quantity from the sum of the first quantity and the second quantity, and uses the difference as the multiplication distance.

[0077] Example 4

[0078] This embodiment further defines and explains the above-mentioned embodiment 1.

[0079] In this embodiment, step 6 determines the co-passenger distance according to the following steps:

[0080] Step B1, determining the departure floor and destination floor of the first party, and when the elevator call signal does not include the destination floor but only includes the desired elevator direction, the destination floor is the farthest floor that the elevator can stop in the desired elevator direction;

[0081] Step B2, determining the departure floors and destination floors of each component included in the second party of the passenger and the robot, when the second party is a passenger in the car, the farthest destination floor among the destination floors registered in the car except the destination floor of the robot in the car is used as the destination floor of the passenger in the car;

[0082] Step B3, selecting one of the unselected components as the selected component;

[0083] Step B4, determining the first departure floor and the first destination floor; when the elevator is going up, the first departure floor refers to the departure floor of the first party and the departure floors of the selected composition, whichever the elevator arrives at later, and the first destination floor refers to the departure floor of the first party and the departure floors of the selected composition, whichever the elevator arrives at earlier;

[0084] Step B5, taking the floor between the first departure floor and the first destination floor as the specific floor of the selected composition;

[0085] Step B6, determine whether there are still unselected components, if so, return to step B3, otherwise proceed to the next step;

[0086] Step B7: Calculate the set of each specific floor, and use the number of floors in the set as the multiplied distance.

[0087] When the elevator goes up, the first departure floor is the higher of the first party's departure floor and the selected departure floor, and the first destination floor is the lower of the first party's departure floor and the selected departure floor; when the elevator goes down, the first departure floor is the lower of the first party's departure floor and the selected departure floor, and the first destination floor is the higher of the first party's departure floor and the selected departure floor.

[0088] Example 5

[0089] This embodiment further defines and explains the above-mentioned embodiment 1.

[0090] In this embodiment, step 6 determines the ride-along time according to the following steps:

[0091] Step C1, determining the riding interval and riding distance of the passenger and the robot when the elevator call signal is assigned to the second elevator, wherein the riding interval is the result of merging the riding sections of the selected elevator; the riding distance can be determined by the method in Example 4;

[0092] Step C2, determining the floor to be stopped by the selected elevator;

[0093] Step C3, determining a first number of floors to be stopped that are located in the shared passenger interval among the floors to be stopped of the selected elevator;

[0094] Step C4, calculating the first time required for the elevator to complete the travel distance at the rated speed according to the travel distance and the rated operating speed of the elevator;

[0095] Step C5, determining the time required for the elevator to complete the deceleration stop and acceleration start to complete the stop at the to-be-stopped floor, compared with the second time spent passing the to-be-stopped floor at the rated speed;

[0096] Step C6, calculate the sum of the first time and the second time, and use it as the shared ride time of the selected elevator.

[0097] The formula for calculating the second time in step C5 is: second time = (n-2)*t1+t2+t3, wherein n is the first number of the waiting-to-stop floors of the selected elevator that are located in the passenger interval; t1 is the sum of the car deceleration time, the door opening and closing time, and the acceleration time, minus the time required for the car to move from the deceleration point to the acceleration end point at the rated speed; t2 is the car deceleration time minus the time required for the car to move from the deceleration point to the floor leveling point at the rated speed; t3 is the car acceleration time minus the time required for the car to move from the floor leveling point to the acceleration end point at the rated speed.

[0098] The car deceleration time is the time from the deceleration point to the floor when the elevator is decelerating, and then the time from the door opening to the door closing is the door opening and closing time, and the door opening and closing time can be a preset value; the acceleration time refers to the time taken to accelerate from the floor to the rated speed, and the position of the car when the acceleration is completed is the acceleration end point. The two endpoints closest to the two ends of the shared interval: Among them, the endpoint at the far end of the running direction only involves the deceleration time, and t2 is set to correspond to it; the endpoint at the near end of the running direction only involves the acceleration time, and t3 is set to correspond to it.

[0099] When there are multiple second elevators with the shortest ride distance or ride time, in step 7, the second elevator with the shortest number of stops during the ride is used as the response elevator to the elevator call signal. When the robot enters and exits the car, it will obviously affect the passengers in the car and the passengers who enter the car after the robot; when passengers enter and exit the car, they need to pay attention to and avoid the robots in the car, which will also have a negative impact on the passengers' elevator experience.

[0100] Between step C3 and step C4, the method further includes:

[0101] Step D1, determine whether there is a shared ride section with the same shared ride distance, if not, directly proceed to step C4, if yes, proceed to the next step;

[0102] Step D2, comparing the first number of ride-sharing intervals with the same ride-sharing distance. For the ride-sharing intervals with the same ride-sharing distance, the subsequent steps C4 to C6 determine the ride-sharing time only for the ride-sharing intervals corresponding to the minimum first number.

[0103] Because for the second elevators with the same riding distance, the riding time of the second elevator with the smallest first number must be the smallest, so the riding time of other second elevators with the same riding distance except the second elevator corresponding to the smallest first number must be greater than the second elevator corresponding to the smallest first number, and therefore it is impossible for them to become responding elevators. Therefore, they can be excluded in advance, which is conducive to reducing the amount of calculation.

Claims

1. An elevator group control method, characterized in that: include: Step 1: receiving an elevator call signal from a first party of a passenger and a robot; Step 2, selecting one of the elevators that have not been selected as the selected elevator; Step 3: determine whether the allocation of the elevator call signal to the selected elevator will result in a passenger and the robot riding in the elevator at the same time. If so, mark the selected elevator as the second elevator; otherwise, mark the selected elevator as the first elevator. Step 4: Determine whether there is still an elevator that has not been selected. If so, return to step 2, otherwise proceed to the next step; Step 5: determine whether there is at least one first elevator. If so, select one of the first elevators as the response elevator of the elevator call signal using a conventional elevator group control strategy and end the process. Otherwise, proceed to the next step. Step 6: for each second elevator, determine the distance or time that a passenger and the robot will ride the elevator at the same time when the elevator call signal is assigned to the second elevator; Step 7: Use the second elevator corresponding to the minimum shared ride distance or shared ride time as the response elevator to the elevator call signal.

2. The elevator group control method according to claim 1, characterized in that: Between step 2 and step 3, it also includes: Step A1: Determine whether there is a second party among passengers and robots in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, or at least one of the elevator call signals assigned to the selected elevator comes from the second party among passengers and robots. If so, proceed directly to the next step; otherwise, mark the selected elevator as the first elevator and proceed to step 4.

3. The elevator group control method according to claim 1, characterized in that: When the elevator call signal comes from a passenger, the robots include at least a first robot in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, a second robot corresponding to the elevator call signal that has been assigned to the selected elevator, and at least one of a third robot waiting for the elevator at the departure floor of the elevator call signal; when the elevator call signal comes from a robot, the passengers include at least a first passenger in the selected elevator car when the selected elevator arrives at the departure floor of the elevator call signal, a second passenger corresponding to the elevator call signal that has been assigned to the selected elevator, and at least one of the third passenger waiting for the elevator at the departure floor of the elevator call signal.

4. The elevator group control method according to claim 1, characterized in that: Step 3 further includes: Step 31, determining a first number of floors covered by a first riding interval of the first party; Step 32: Determine a second number of floors covered by a second riding section of a second party among the passenger and the robot; Step 33, determining the lowest endpoint and the highest endpoint among all endpoints of the first riding interval and the second riding interval, and taking the portion between the lowest endpoint and the highest endpoint as the third riding interval; Step 34: Determine the third number of floors covered by the third riding interval; Step 35: When the sum of the first number and the second number is greater than the third number, the judgment result is yes, otherwise the judgment result is no.

5. The elevator group control method according to claim 4, characterized in that: When the elevator call signal includes the departure floor and the destination floor, step 31 will take the interval with the departure floor and the destination floor as endpoints as the first elevator riding interval; when the elevator call signal includes the departure floor and the desired elevator riding direction, step 31 will take the interval with the departure floor and the farthest stoppable floor of the elevator in the desired elevator riding direction as endpoints as the first elevator riding interval.

6. The elevator group control method according to claim 4, characterized in that: When there are multiple second parties in step 32, determine the riding interval of each second party and the floors it covers respectively, determine the set of floors covered by the riding interval of each second party, and take the number of floors in the set as the second number.

7. The elevator group control method according to claim 3, characterized in that: Step 6: Determine the ride-along time according to the following steps: Step C1, determining the riding interval and riding distance of the passenger and the robot when the elevator call signal is assigned to the second elevator, wherein the riding interval is the result of merging the riding sections of the selected elevator; Step C2, determining the floor to be stopped by the selected elevator; Step C3, determining a first number of floors to be stopped that are located in the shared passenger interval among the floors to be stopped of the selected elevator; Step C4, calculating the first time required for the elevator to complete the travel distance at the rated speed according to the travel distance and the rated operating speed of the elevator; Step C5, determining the time required for the elevator to complete the deceleration stop and acceleration start to complete the stop at the to-be-stopped floor, compared with the second time spent passing the to-be-stopped floor at the rated speed; Step C6, calculate the sum of the first time and the second time, and use it as the shared ride time of the selected elevator.

8. The elevator group control method according to claim 4, characterized in that: Step 6 calculates the difference obtained by subtracting the third quantity from the sum of the first quantity and the second quantity, and uses the difference as the multiplication distance.

9. The elevator group control method according to claim 1 or 7, characterized in that: Step 6: Determine the co-passenger distance according to the following steps: Step B1, determining the departure floor and destination floor of the first party, and when the elevator call signal does not include the destination floor but only includes the desired elevator direction, the destination floor is the farthest floor that the elevator can stop in the desired elevator direction; Step B2, determining the departure floors and destination floors of each component included in the second party of the passenger and the robot, when the second party is a passenger in the car, the farthest destination floor among the destination floors registered in the car except the destination floor of the robot in the car is used as the destination floor of the passenger in the car; Step B3, selecting one of the unselected components as the selected component; Step B4, determining the first departure floor and the first destination floor; When the elevator is going up, the first departure floor refers to the departure floor of the first party and the departure floor of the selected composition, whichever the elevator arrives at later, and the first destination floor refers to the departure floor of the first party and the departure floor of the selected composition, whichever the elevator arrives at earlier; Step B5, taking the floor between the first departure floor and the first destination floor as the specific floor of the selected composition; Step B6, determine whether there are still unselected components, if so, return to step B3, otherwise proceed to the next step; Step B7: Calculate the set of each specific floor, and use the number of floors in the set as the multiplied distance.

10. The elevator group control method according to claim 9, characterized in that: When the elevator goes up, the first departure floor is the higher of the first party's departure floor and the selected departure floor, and the first destination floor is the lower of the first party's departure floor and the selected departure floor; when the elevator goes down, the first departure floor is the lower of the first party's departure floor and the selected departure floor, and the first destination floor is the higher of the first party's departure floor and the selected departure floor.

11. The elevator group control method according to claim 7, characterized in that: The formula for calculating the second time in step C5 is: second time = (n-2)*t1+t2+t3, wherein n is the first number of the waiting-to-stop floors of the selected elevator that are located in the passenger interval; t1 is the sum of the car deceleration time, the door opening and closing time, and the acceleration time, minus the time required for the car to move from the deceleration point to the acceleration end point at the rated speed; t2 is the car deceleration time minus the time required for the car to move from the deceleration point to the floor leveling point at the rated speed; t3 is the car acceleration time minus the time required for the car to move from the floor leveling point to the acceleration end point at the rated speed.

12. The elevator group control method according to claim 7, characterized in that: When there are multiple second elevators with the shortest ride distance or ride time, in step 7, the second elevator with the shortest number of stops during the ride is used as the response elevator to the elevator call signal.

13. The elevator group control method according to claim 12, characterized in that: Between step C3 and step C4, the method further includes: Step D1, determine whether there is a shared ride section with the same shared ride distance, if not, directly proceed to step C4, if yes, proceed to the next step; Step D2, comparing the first number of ride-sharing intervals with the same ride-sharing distance. For the ride-sharing intervals with the same ride-sharing distance, the subsequent steps C4 to C6 determine the ride-sharing time only for the ride-sharing intervals corresponding to the minimum first number.

Images