Elevator control method, control device and elevator system based on human-machine co-conformity

Abstract

The application aims to provide an elevator control method, a control device and an elevator system based on human-robot coexistence, wherein the elevator control method comprises: continuously photographing an elevator to obtain an elevator image group; sampling each image in the elevator image group to obtain position information of passengers and objects in each image; generating an elevator space according to the elevator image group; calculating a passenger influence factor according to the elevator space and the position information of each passenger in two adjacent images; calculating an elevator operation influence factor according to the elevator space, elevator operation parameters, the position information of each passenger and object in the last image of the elevator image group, and a standard anchor point parameter; calculating a human-robot coexistence evaluation index according to the passenger influence factor, the elevator operation influence factor and state information of a robot; and generating an elevator stop instruction and a robot elevator instruction when the human-robot coexistence evaluation index is greater than a preset threshold. The method can organically integrate the information of the elevator operation state, the passenger state and the robot state in the elevator control scene, and determine whether the current situation can quantitatively meet the demand of the passengers and the robot for the use of the elevator.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevator control, in particular to the technical field of an elevator control method based on human-machine symbiosis, a control device and an elevator system. BACKGROUND

[0002] Human-machine symbiosis technology is a technology aimed at achieving natural and harmonious interaction between humans and machines. Its core goal is to enable machines to understand and adapt to human behavior and needs through intelligent algorithms, sensor technology and human-machine interface design, thereby maximizing human-machine collaboration.

[0003] In a human-machine symbiosis system, machines can dynamically adjust their behavior to coordinate human activities by sensing human actions, emotions and intentions. This technology has wide applications in robots, smart homes, medical auxiliary devices and other fields.

[0004] Although human-machine symbiosis technology has made significant progress in many fields, its application in elevator control is still relatively lagging. Current elevator systems mainly rely on traditional weight sensors and simple logic control, lacking intelligent and humanized interaction capabilities. This limitation is particularly prominent in modern society where robots and intelligent devices are increasingly popular.

[0005] With the popularity of intelligent buildings and automated devices, robots are playing an increasingly important role in public places. As an important means of transportation within buildings, elevators need to be upgraded to adapt to this trend. SUMMARY

[0006] Therefore, the purpose of the present application is to provide an elevator control method based on human-machine symbiosis, a control device and an elevator system, which comprises:

[0007] Obtaining a group of elevator images by continuously photographing the inside of the elevator;

[0008] Generating an elevator space according to the group of elevator images; and sampling each image in the group of elevator images to obtain the position information of each passenger and the position information of each object in each image;

[0009] Calculating a passenger influence factor S according to the elevator space and the position information of each passenger in at least two adjacent images in the group of elevator images;

[0010] Calculating an elevator operation influence factor F according to the elevator space, the position information of each passenger and the position information of each object in the last image of the group of elevator images, and elevator operation parameters and a standard anchor point parameter; wherein the elevator operation parameters include the rated load of the elevator and the current load of the elevator;

[0011] According to the passenger influence factor S, the elevator operation influence factor F and the operation state R of the robot to be taken, a human-machine integration evaluation index L is calculated;

[0012] When the human-machine integration evaluation index L is greater than a preset threshold, an elevator stop instruction and a robot taking elevator instruction are generated, otherwise a robot waiting in place instruction is generated.

[0013] The control method can organically integrate the information of the elevator operation state, the passenger state and the robot state in the elevator control scene, determine whether the current situation can satisfy the quantified result of the demand of the passenger and the robot for the use of the elevator, and realize the pre-determination of the elevator stop through the method, avoid the process of repeatedly trying to enter the elevator to determine whether the robot can take the elevator, improve the human-machine integration of the elevator scheduling, and be beneficial to improving the intelligentization and high efficiency of the elevator control. Meanwhile, in the case that there is a passenger in the elevator, the control method of the application is beneficial to protecting the safety of the passenger in the elevator, and is also beneficial to improving the working efficiency of the robot.

[0014] Further, the passenger influence factor is obtained by the following steps:

[0015] According to the position information of each passenger of at least two adjacent images, the three-dimensional space position coordinates of each passenger of each image in the elevator space are determined;

[0016] According to the three-dimensional space position coordinates of each passenger of each image, the passenger influence factor S is calculated according to the following formula:

[0017]

[0018] In the formula, m represents the total number of passengers in the current elevator, i represents the serial number of the passenger in the current elevator, j represents the serial number of the sampling point on the body of the passenger in the current elevator, n represents the total number of sampling points on the body of the passenger in the current elevator, t1 represents the starting time of the preset sampling time, t2 represents the end time of the preset sampling time, is the coordinate corresponding to the horizontal axis of the jth sampling point on the body of the ith passenger in the current elevator corresponding to the time t1, is the coordinate corresponding to the vertical axis of the jth sampling point on the body of the ith passenger in the current elevator corresponding to the time t2, is the coordinate corresponding to the depth axis of the jth sampling point on the body of the ith passenger in the current elevator corresponding to the time t2.

[0019] Further, the elevator operation influence factor F is obtained by the following steps:

[0020] According to the position information of each passenger and object in the elevator space, the center of gravity coordinate information of each passenger and object in the elevator is calculated.

[0021] calculating diagonal coordinate information of each passenger and object in the elevator according to the elevator space and the position information of each passenger and object;

[0022] calculating an elevator operation impact factor F according to the rated load of the elevator, the current load of the elevator, the gravity center coordinate information of each passenger and object in the elevator, the diagonal coordinate information of each passenger and object, and the standard anchor point parameters according to the following formula:

[0023]

[0024] In the formula, G is the current load of the elevator, G max is the rated load of the elevator, b represents the total number of sampling points of the gravity center of the object and / or human body in the elevator, a represents the serial number of the sampling point of the gravity center of the object and / or human body in the elevator, x a , y a , and z a respectively represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis corresponding to the a-th sampling point of the object and / or human body in the elevator; x c , y c , and z c respectively represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis corresponding to the anchor point c in the elevator; h represents the total number of samples of the diagonal of the object and / or human body in the elevator, g represents the sample serial number of the sample of the diagonal of the object and / or human body in the elevator, x g1 , y g1 , and z g1 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of one end point g1 of the diagonal of the object and / or human body in the elevator corresponding to the g-th sample, x g2 , y g2 , and z g2 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of the other end point g2 of the diagonal of the object and / or human body in the elevator corresponding to the g-th sample, x f1 , y f1 , and z f1 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of one end point f1 of the diagonal f1f2 in the elevator, x f2 , y f2 , and z f2 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of the other end point f2 of the diagonal f1f2 in the elevator.

[0025] Further, the human-robot coexistence evaluation index L is obtained by the following formula:

[0026]

[0027] In the formula, M represents a mapping value of a Boolean value about a digital value of whether the elevator has a fault, F is an elevator operation impact factor, B is a mapping value of a Boolean value about a digital value of a passenger age binary classification, S is a passenger impact factor, and R represents a mapping value of a Boolean value about a digital value of the state of the robot.

[0028] Further, the state of the robot R is specifically:

[0029] R=r1·r2·r3

[0030] wherein r1 represents a mapping value of a Boolean value about a digital value of whether the robot is in an empty state, r2 represents a mapping value of a Boolean value about a digital value of whether the current task of the robot is in an emergency state, and r3 represents whether the robot needs to perform a disinfection task.

[0031] Further, the threshold range of the human-robot coexistence evaluation index is [0, 1].

[0032] In a second aspect, the present application provides an elevator control device based on human-robot coexistence, which comprises:

[0033] an image acquisition device for continuously photographing the inside of the elevator to obtain a group of elevator images;

[0034] an elevator space information acquisition unit for generating an elevator space according to the group of elevator images, and sampling each image in the group of elevator images to obtain position information of each passenger and position information of each object in each image;

[0035] a passenger impact factor calculation unit for calculating a passenger impact factor S according to the elevator space and the position information of each passenger of at least two adjacent images;

[0036] an elevator operation impact factor calculation unit for calculating an elevator operation impact factor F according to the elevator space, an elevator operation parameter, the position information of each passenger and the position information of each object of the last image in the group of elevator images, and a standard anchor point parameter;

[0037] a human-robot coexistence evaluation index calculation unit for calculating a human-robot coexistence evaluation index L according to the passenger impact factor S, the elevator operation impact factor F, and the state information R of a robot;

[0038] The control unit is configured to generate an elevator stop instruction and a robot boarding instruction when the human-robot coexistence evaluation index is greater than a preset threshold, and generate a robot waiting-in-place instruction otherwise.

[0039] Further, the passenger influence factor calculation unit comprises:

[0040] The spatial position matching sub-unit is configured to determine three-dimensional spatial position coordinates of each passenger in each image of the elevator space according to position information of each passenger in at least two adjacent images.

[0041] The passenger influence factor calculation sub-unit is configured to calculate a passenger influence factor S according to the following formula according to the three-dimensional spatial position coordinates of each passenger:

[0042]

[0043] In the formula, m represents the total number of passengers in the current elevator, i represents the serial number of a passenger in the current elevator, j represents the serial number of a sampling point on the passenger, n represents the total number of sampling points on the passenger, t1 represents the starting time of a preset sampling time, t2 represents the ending time of the preset sampling time, is a coordinate corresponding to the horizontal axis of the jth sampling point on the ith passenger in the current elevator at the time t1, is a coordinate corresponding to the vertical axis of the jth sampling point on the ith passenger in the current elevator at the time t2, is a coordinate corresponding to the depth axis of the jth sampling point on the ith passenger in the current elevator at the time t2.

[0044] In a third aspect, the present application further provides a human-robot coexistence-based elevator system, which comprises

[0045] The robot, the human-robot coexistence-based elevator control device and the elevator.

[0046] The human-robot coexistence-based elevator control device is configured to generate a human-robot coexistence evaluation index according to the acquired boarding image group in the elevator and the state information of the robot after receiving a boarding demand instruction of the robot, and control the robot to move and the elevator to stop according to the human-robot coexistence evaluation index.

[0047] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is configured to implement the steps of the human-robot coexistence-based elevator control method of any one of the above aspects when executed by a processor.

[0048] In order to better understand and implement the present application, the present application will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 a structural block diagram of an elevator system based on human-robot symbiosis according to the present application;

[0050] Figure 2 a structural block diagram of an elevator control device based on human-robot symbiosis according to the present application;

[0051] Figure 3 a flowchart of a control method of the elevator control device shown in Figure 2

[0052] Figure 4 a structural block diagram of a subunit of a passenger influence factor calculation unit according to the present application;

[0053] Figure 5 an execution flowchart of the subunit of the passenger influence factor calculation unit shown in Figure 4

[0054] The technical solutions of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. DETAILED DESCRIPTION

[0055] In the existing elevator system, the fusion of human-robot symbiosis technology is relatively superficial. Usually, a robot sends elevator stop information, a control unit or a control center controls the elevator stop based on the elevator stop information, and then the robot enters the elevator to scan or take pictures of the space in the elevator based on the sensors and image acquisition devices carried by the robot, and then calculates and determines whether the robot can meet the demand for taking the elevator. Alternatively, a robot stop space is preset in the elevator, and a warning information is sent when a person or an object is scanned in the robot stop space, prompting the passenger to move or move the object away. Although this control method can realize the intelligent control of the elevator and the robot to some extent, the scanning process and adjustment process of the robot greatly affect the operation efficiency of the elevator and the passenger's experience of taking the elevator.

[0056] Based on the above problems, the present application provides an elevator control method based on human-robot symbiosis, a control device to control the existing robot-elevator system, and a human-robot symbiosis-based elevator system as shown in Figure 1 In the elevator running process, the elevator running state, passenger state and robot state in the elevator scene are organically integrated, and a quantitative result indicating whether the conditions (including the elevator, passenger and robot) can meet the demand of the passenger and the robot for the use of the elevator is output. Finally, the pre-determination of the elevator stop is realized, which avoids the process of repeatedly trying to enter the elevator to determine whether the robot can take the elevator, improves the human-robot symbiosis elevator scheduling, and is conducive to improving the intelligent and efficient control of the elevator. Please refer to Figure 2 ​​The elevator control device based on human-machine collaboration of the present invention includes: an image acquisition device 10, an image sampling unit 20, an elevator space generation unit 22, a passenger impact factor calculation unit 31, an elevator operation impact factor calculation unit 32, a human-machine collaboration evaluation index calculation unit 40, and a control unit 50. The elevator control process based on human-machine collaboration is completed through the above components. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 for Figure 2 The flowchart of the control method of the elevator control device shown is as follows: The execution flow of each component of the elevator control device is as follows:

[0057] Acquire a set of elevator images obtained by taking continuous photos of the elevator interior;

[0058] An elevator space is generated based on the elevator image group; and each image in the elevator image group is sampled to obtain the position information of each passenger and the position information of each object in each image.

[0059] Based on the elevator space and the location information of each passenger in at least two adjacent images in the elevator image group, calculate the passenger influence factor S;

[0060] Based on the elevator space, the location information of each passenger and each object in the last image of the elevator image group, as well as the elevator operating parameters and a standard anchor point parameter, the elevator operating influence factor F is calculated; wherein, the elevator operating parameters include the elevator rated load capacity and the elevator current load capacity.

[0061] The human-machine integration evaluation index L is calculated based on the passenger impact factor S, the elevator operation impact factor F, and the operating status R of the robot waiting to ride the elevator.

[0062] When the human-machine integration evaluation index L is greater than a preset threshold, an elevator stop instruction and a robot elevator ride instruction are generated; otherwise, a robot wait instruction is generated.

[0063] Image acquisition device 10 is used to perform step S10: acquire a group of elevator images obtained by continuously taking pictures inside the elevator;

[0064] In an embodiment of the present invention, the image acquisition device is a camera installed inside the elevator. When the robot requests to ride the elevator, the camera of the elevator control device begins to take pictures to obtain real-time images inside the elevator, resulting in a passenger image group composed of a series of continuous images.

[0065] Image sampling unit 20 is used to perform step S20: generate elevator space according to the elevator image group; and sample each image in the elevator image group to obtain the position information of each passenger and the position information of each object in each image;

[0066] The image acquisition unit performs image analysis on each image of the passenger image group, and samples key points of different passengers and objects to obtain position information of each passenger and position information of each object in each image for subsequent analysis and processing.

[0067] For different elevators, the internal structure sizes are inconsistent, in order to realize the automatic matching of different elevator scenes, the elevator space generation unit is used to realize the reorganization of the elevator space, a three-dimensional elevator space coordinate system is established with a vertex in the elevator as the coordinate origin of the elevator space according to the images of the boarding image group, and thus the elevator space is generated.

[0068] The passenger influence factor calculation unit 31 is used to perform step S31: calculating a passenger influence factor S according to the elevator space and the position information of each passenger in at least two adjacent images in the boarding image group; please refer to Figure 4 and Figure 5 Specifically, the passenger influence factor calculation unit 31 comprises:

[0069] The spatial position matching sub-unit 311 is used to perform step S311: determining the three-dimensional spatial position coordinates of each passenger in each image of the elevator space according to the position information of each passenger in at least two adjacent images;

[0070] After establishing the three-dimensional spatial coordinate system with the boundary point in the elevator as the coordinate origin, the spatial coordinates (x, y, z) of each point in the elevator are all positive numbers, the position information of each passenger is converted into the three-dimensional space with the elevator space as the reference, and the three-dimensional spatial position coordinate information of each passenger in the elevator space is obtained.

[0071] The passenger influence factor calculation sub-unit 312 is used to perform step S312: calculating the passenger influence factor S according to the three-dimensional spatial position coordinate information of each passenger according to the following formula:

[0072]

[0073] In the formula, m represents the total number of passengers in the current elevator, i represents the serial number of the passenger in the current elevator, j represents the serial number of the sampling point on the body of the passenger in the current elevator, n represents the total number of sampling points on the body of the passenger in the current elevator, t1 represents the starting time of the preset sampling time, t2 represents the termination time of the preset sampling time, is the coordinate corresponding to the horizontal axis of the jth sampling point on the body of the ith passenger in the current elevator at t1, is the coordinate corresponding to the vertical axis of the jth sampling point on the body of the ith passenger in the current elevator at t2, The coordinate corresponding to the depth axis of the jth sampling point on the body of the ith passenger in the current elevator at the t2 moment.

[0074] The above-mentioned coordinate can be a coordinate in a three-dimensional space corresponding to a real space constructed based on an image captured by a camera arranged in the elevator. The passenger influence factor obtained through the above calculation can dynamically represent the current passenger action situation of the elevator. Not only can the current passenger position condition be reflected, but also the passenger position transformation tendency can be reflected. This is beneficial to further analysis of the subsequent passenger condition.

[0075] The elevator operation influence factor calculation unit 32 is configured to perform step S32: calculating an elevator operation influence factor F according to the elevator space, elevator operation parameters, position information of each passenger and position information of each object of the last image of the group of elevator images, and a standard anchor point parameter, wherein the elevator operation parameters include elevator rated load and current elevator load; wherein step S32 comprises:

[0076] S321: calculating the barycentric coordinate information of each passenger and object in the elevator according to the elevator space and the position information of each passenger and object;

[0077] Although the weight has a certain influence on the elevator ride, in the human-robot symbiotic environment, the floor area of the robot and the weight ratio thereof are relatively small compared with the human body. Therefore, the influence of the barycentric position of the robot on the barycentric position of the entire elevator is much greater than the influence of the passenger on the barycentric position of the elevator. The shift of the barycentric position will directly affect the loss of the traction rope of the elevator. Therefore, the barycenter of the passenger is calculated according to the position information of the passenger. If the passenger and the object are regarded as uniformly distributed masses, the geometric barycenter is the position of the barycenter. Finally, the barycentric coordinate information of each passenger and object is obtained.

[0078] S322: calculating the diagonal coordinate information of each passenger and object in the elevator according to the elevator space and the position information of each passenger and object;

[0079] The diagonal coordinate information is combined to further accurately represent the space occupied by the object. The position of the object in the elevator space is represented by a diagonal line. In combination with the sampled three-dimensional space coordinates, even a small number of sampling points can be used as data sources to accurately represent the position and space of the passenger or object.

[0080] S323: calculating the elevator operation influence factor F according to the rated load of the elevator, the current load of the elevator, the barycentric coordinate information of each passenger and object in the elevator, the diagonal coordinate information of each passenger and object, and the standard anchor point parameter according to the following formula:

[0081]

[0082] In the formula, G is the current load of the elevator, G max is the rated load of the elevator, b represents the total number of sampling points of the center of gravity of the objects and / or human bodies in the elevator, a represents the serial number of the sampling points of the center of gravity of the objects and / or human bodies in the elevator, x a , y a , z a respectively represent the coordinates of the horizontal axis, the coordinates of the vertical axis and the coordinates of the depth axis of the a-th sampling point of the objects and / or human bodies in the elevator; x c , y c and z c respectively represent the coordinates of the horizontal axis, the coordinates of the vertical axis and the coordinates of the depth axis of the anchor point c in the elevator; h represents the total number of samples of the diagonal lines of the objects and / or human bodies in the elevator, g represents the serial number of the samples of the diagonal lines of the objects and / or human bodies in the elevator, x g1 , y g1 and z g1 represent the coordinates of the horizontal axis, the coordinates of the vertical axis and the coordinates of the depth axis of one end point g1 of the diagonal line of the objects and / or human bodies in the elevator corresponding to the g-th sample, x g2 , y g2 and z g2 represent the coordinates of the horizontal axis, the coordinates of the vertical axis and the coordinates of the depth axis of the other end point g2 of the diagonal line of the objects and / or human bodies in the elevator corresponding to the g-th sample, x f1 , y f1 and z f1 represent the coordinates of the horizontal axis, the coordinates of the vertical axis and the coordinates of the depth axis of one end point f1 of the diagonal line f1f2 in the elevator, x f2 , y f2 and z f2 represent the coordinates of the horizontal axis, the coordinates of the vertical axis and the coordinates of the depth axis of the other end point f2 of the diagonal line f1f2 in the elevator.

[0083] Through the above calculation, the influence of the load and the center of gravity distribution in the elevator on the running state of the elevator is determined.

[0084] The human-robot coexistence evaluation index calculation unit 40 is configured to perform step S40: calculating a human-robot coexistence evaluation index L according to the passenger influence factor S, the elevator running influence factor F and the state information R of a robot.

[0085] The human-robot coexistence evaluation index L is obtained by the following formula:

[0086]

[0087] In the formula, M represents a mapping value of a Boolean value about a digital quantity indicating whether the elevator has a fault, F is an elevator operation influence factor, B is a mapping value of a Boolean value about a digital quantity indicating a passenger age binary classification, and S represents a mapping value of a Boolean value about a digital quantity indicating a state of the robot.

[0088] The evaluation is completed in combination with the passenger influence factor, the elevator operation influence factor F, and the state information R of the robot.

[0089] In the present application, M represents a mapping value of a Boolean value about a digital quantity indicating whether the elevator has a fault. For example, when the elevator has a fault, the corresponding Boolean value is 0, and when the elevator does not have a fault (normal operation), the corresponding Boolean value is 1; further, when the elevator has a fault, the corresponding mapping value of the Boolean value about the digital quantity is 0, and when the elevator does not have a fault, the corresponding mapping value of the Boolean value about the digital quantity is 1.

[0090] B represents a mapping value of a Boolean value about a digital quantity indicating a passenger age binary classification. For example, when the age of the passenger in the elevator is within the range of 14 to 50 years old, the corresponding Boolean value is 0, and when the age of the passenger in the elevator is outside the range of 14 to 50 years old, the corresponding Boolean value is 1; further, when the age of the passenger in the elevator is within the range of 14 to 50 years old, the corresponding mapping value of the Boolean value about the digital quantity is 0, and when the age of the passenger in the elevator is outside the range of 14 to 50 years old, the corresponding mapping value of the Boolean value about the digital quantity is 1.

[0091] R represents a mapping value of a Boolean value about a digital quantity indicating a state of the robot. The state of the robot can include a state of whether the robot is empty, whether the current task of the robot is an emergency state, and / or whether the robot needs to perform a disinfection task, etc. Optionally, R = r1·r2·r3, where r1 represents a mapping value of a Boolean value about a digital quantity indicating whether the robot is in an empty state, r2 represents a mapping value of a Boolean value about a digital quantity indicating whether the current task of the robot is an emergency state, and r3 represents a mapping value of a Boolean value about a digital quantity indicating whether the robot needs to perform a disinfection task (such as a task requiring disinfection processing in the elevator). When the robot is in an empty state, the corresponding mapping value of the Boolean value about the digital quantity is 1, and when the robot is in a non-empty state, the corresponding mapping value of the Boolean value about the digital quantity is 0; when the current task of the robot is an emergency state, the corresponding mapping value of the Boolean value about the digital quantity is 1, and when the current task of the robot is a non-emergency state, the corresponding mapping value of the Boolean value about the digital quantity is 0; when the robot needs to perform a disinfection task, the corresponding mapping value of the Boolean value about the digital quantity is 0, and when the robot does not need to perform a disinfection task, the corresponding mapping value of the Boolean value about the digital quantity is 1.

[0092] The control unit 50 is configured to execute step S50: generating an elevator stop instruction and a robot boarding instruction when the human-robot symbiosis evaluation index is greater than a preset threshold; otherwise, generating a robot waiting-in-place instruction.

[0093] The control unit determines the human-robot symbiosis evaluation index based on the current elevator operation state information, the passenger state information in the elevator, and the robot state information, and determines whether the human-robot symbiosis evaluation index is greater than or equal to a predetermined threshold. If yes, it is determined to generate a stop instruction based on the demand of the robot to take the elevator. The range of the predetermined human-robot symbiosis evaluation index threshold can be [0, 1]. Or the condition of the elevator is not sufficient to meet the robot to take the elevator, and the elevator control device sends a waiting-in-place instruction to the robot. The stop instruction indicates that the elevator needs to stop at a certain floor. Optionally, the priority of the stop instruction can be consistent with the stop instruction triggered by the passenger; or it can be adjusted according to the actual application scenario, so as to improve the efficiency of the elevator. For example, in the office building scenario, during the work / school period, the priority of the stop instruction sent by the robot is lower than that of the stop instruction triggered by the user through the elevator button, and the stop instruction sent by the robot can even be shielded. For example, in the office building scenario, after the end of the evening peak until the beginning of the next morning peak, the stop instruction sent by the robot and the stop instruction triggered by the user through the elevator button belong to the same priority.

[0094] The elevator control method based on human-robot symbiosis proposed in the present application first integrates the elevator operation state, passenger state and robot state in the elevator scene, outputs a quantitative result for indicating whether the conditions (including elevator, passenger and robot) can meet the demand of the passenger and robot for the use of the elevator, and finally realizes the pre-determination of the elevator stop, avoids the repeated process of the robot trying to enter the elevator to determine whether it can take the elevator, improves the human-robot symbiotic elevator scheduling, and is beneficial to improve the intelligentization and efficiency of the elevator control, and in the case of the existing passengers in the elevator, the safety of the passengers in the elevator is guaranteed. In the determination process, the influence of the gravity center factor on the robot boarding is taken into account, which avoids the wear and tear of the elevator traction rope caused by the deviation of the gravity center of the full-load robot from the overall gravity center of the elevator, and improves the harmony of human-robot symbiosis.

[0095] The present application also provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the human-robot symbiosis elevator control method according to any one of the above embodiments.

[0096] The application can take the form of a computer program product implemented on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so on) having computer readable program code embodied thereon. The computer readable storage medium includes permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device

[0097] The above-described embodiments only express several embodiments of the present application, which are described in detail and specifically, but cannot be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A method of elevator control based on human cohabitation, characterized by, The method comprises the following steps: obtaining a group of elevator images obtained by continuously photographing the inside of an elevator; generating an elevator space according to the group of elevator images; sampling each image in the group of elevator images to obtain position information of each passenger and position information of each object in each image; calculating a passenger influence factor S according to the elevator space and the position information of each passenger in at least two adjacent images in the group of elevator images; calculating an elevator operation influence factor F according to the elevator space, the position information of each passenger and the position information of each object in the last image in the group of elevator images, elevator operation parameters and a standard anchor point parameter, wherein the elevator operation parameters include elevator rated load and current elevator load; calculating a human-robot coexistence evaluation index L according to the passenger influence factor S, the elevator operation influence factor F and the running state R of a robot to be taken in the elevator; generating an elevator stop instruction and a robot elevator taking instruction when the human-robot coexistence evaluation index L is greater than a preset threshold, otherwise generating a robot stay-waiting instruction.

2. The co-robotic elevator control method according to claim 1, characterized in that, The passenger influence factor S is obtained by the following steps: determining the three-dimensional space position coordinates of each passenger in each image of the elevator space according to the position information of each passenger in at least two adjacent images; calculating the passenger influence factor S according to the three-dimensional space position coordinates of each passenger in each image according to the following formula: In the formula, m represents the total number of passengers in the current elevator, i represents the serial number of the passenger in the current elevator, j represents the serial number of the sampling point on the body of a passenger in the current elevator, n represents the total number of sampling points on the body of a passenger in the current elevator, t1 represents the starting time of the preset sampling time, t2 represents the end time of the preset sampling time, is the coordinate corresponding to the horizontal axis of the jth sampling point on the ith passenger in the current elevator corresponding to the t1 moment, is the coordinate corresponding to the vertical axis of the jth sampling point on the ith passenger in the current elevator corresponding to the t2 moment, is the coordinate corresponding to the depth axis of the jth sampling point on the ith passenger in the current elevator corresponding to the t2 moment.

3. The co-creative elevator control method according to claim 2, characterized in that, The elevator operation influence factor F is obtained by the following steps: calculating the center of gravity coordinate information of each passenger and the center of gravity coordinate information of each object in the elevator according to the elevator space and the position information of each passenger and the position information of each object; calculating the diagonal line coordinate information of each passenger and the diagonal line coordinate information of each object in the elevator according to the elevator space and the position information of each passenger and the position information of each object; calculating the elevator operation influence factor F according to the following formula according to the rated load of the elevator, the current load of the elevator, the center of gravity coordinate information of each passenger and the center of gravity coordinate information of each object in the elevator, the diagonal line coordinate information of each passenger and the diagonal line coordinate information of each object, and the standard anchor point parameter: In the formula, G is the current load of the elevator, G max is the rated load of the elevator, b represents the total number of sampling points of the center of gravity of the objects and / or human bodies in the elevator, a represents the serial number of the sampling points of the center of gravity of the objects and / or human bodies in the elevator, x a , y a , and z a respectively represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of the a-th sampling point of the objects and / or human bodies in the elevator; x c , y c , and z c respectively represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of the anchor point c in the elevator; h represents the total number of samples of the diagonal lines of the objects and / or human bodies in the elevator, g represents the serial number of the samples of the diagonal lines of the objects and / or human bodies in the elevator, x g1 , y g1 , and z g1 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of one end point g1 of the diagonal line of the objects and / or human bodies in the elevator corresponding to the g-th sample, x g2 , y g2 , and z g2 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of the other end point g2 of the diagonal line of the objects and / or human bodies in the elevator corresponding to the g-th sample, x f1 , y f1 , and z f1 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of one end point f1 of the diagonal line f1f2 in the elevator, x f2 , y f2 , and z f2 represent the coordinates of the horizontal axis, the coordinates of the vertical axis, and the coordinates of the depth axis of the other end point f2 of the diagonal line f1f2 in the elevator.

4. The co-creative elevator control method according to claim 3, characterized in that, The human-robot coexistence evaluation index L is obtained by the following formula: wherein M represents a mapping value of a Boolean value about a digital value indicating whether the elevator has a fault, F is an elevator operation influence factor, B is a mapping value of a Boolean value about a digital value indicating passenger age classification, S is a passenger influence factor, and R represents a mapping value of a Boolean value about a digital value indicating the running state of the robot.

5. The co-creative elevator control method according to claim 4, characterized in that, The running state R of the robot is specifically: R＝r1·r2·r3 wherein r1 represents a mapping value of a Boolean value about a digital value indicating whether the robot is in an empty state, r2 represents a mapping value of a Boolean value about a digital value indicating whether the current task of the robot is in an emergency state, and r3 represents whether the robot needs to perform a disinfection task.

6. The human-robot coexistence elevator control method according to any one of claims 1-5, characterized in that: the threshold value range of the human-robot coexistence evaluation index is [0, 1].

7. An elevator control device based on human cohabitation, characterized by The method comprises the following steps: an image acquisition device for continuously photographing the inside of an elevator to obtain a group of elevator images; image sampling unit: for sampling each image in the group of images to obtain position information of each passenger and position information of each object in each image; elevator space generating unit: for generating an elevator space according to the group of images; passenger influence factor calculating unit: for calculating a passenger influence factor S according to the elevator space and position information of each passenger in at least two adjacent images; elevator operation influence factor calculating unit: for calculating an elevator operation influence factor F according to the elevator space, elevator operation parameters, position information of each passenger and position information of each object in the last image in the group of images, and a standard anchor point parameter; human-robot coexistence evaluation index calculating unit: for calculating a human-robot coexistence evaluation index L according to the passenger influence factor S, the elevator operation influence factor F, and state information R of a robot; control unit: for generating an elevator stop instruction and a robot boarding instruction when the human-robot coexistence evaluation index is greater than a preset threshold value; otherwise, generating a robot stay instruction.

8. The human-robot cohabitation based elevator control device according to claim 7, characterized by, The passenger influence factor calculating unit comprises: space position matching subunit: for determining three-dimensional space position coordinates of each passenger in each image in the elevator space according to position information of each passenger in at least two adjacent images; passenger influence factor calculating subunit: for calculating a passenger influence factor S according to three-dimensional space position coordinate information of each passenger according to the following formula: In the formula, m represents the total number of passengers in the elevator, i represents the passenger's sequence number, j represents the sampling point number on a specific passenger, n represents the total number of sampling points on a specific passenger, t1 represents the start time of the preset sampling time, and t2 represents the end time of the preset sampling time. For t k The horizontal coordinates of the j-th sampling point on the i-th passenger in the elevator at the given time. For t k The vertical coordinates of the j-th sampling point on the i-th passenger in the elevator at the given time. For t k The coordinates of the depth axis of the j-th sampling point on the i-th passenger in the elevator at the given time, k = 1, 2.

9. Elevator system based on human cohabitation, characterized by comprising: an elevator, the human-robot coexistence based elevator control device and the robot according to any one of claims 7-8; The human-robot coexistence based elevator control device is used to generate a human-robot coexistence evaluation index according to the obtained group of images in the elevator and state information of the robot after receiving a robot boarding demand instruction; and control the robot to move and the elevator to stop according to the human-robot coexistence evaluation index. 10.A computer readable storage medium, the computer readable storage medium storing a computer program, characterized in that, the computer program is executed by a processor to implement the steps of the human-robot coexistence based elevator control method according to any one of claims 1-6.

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