Elevator linkage method and AGV dispatching system

Abstract

The invention discloses an elevator linkage method and an AGV dispatching system. The elevator linkage method is applied to the AGV dispatching system. The method comprises the steps that the dispatching state of an AGV device for an elevator is obtained; acquiring a detection signal for the target object in and / or outside the elevator car; and according to the detection signal and the scheduling state of the elevator, controlling the task execution state of the AGV equipment and controlling the elevator to run. According to the elevator linkage method, the task execution state of the AGV equipment and elevator operation can be controlled according to the detection signal and the scheduling state of the AGV equipment for the elevator, the situation that the AGV equipment and people coexist in the elevator car can be avoided, and safety accidents or risks possibly caused by coexistence of the AGV equipment and people in the elevator car are avoided.

Description

Technical Field

[0001] The present application relates to the field of logistics and transportation technology, and in particular to an elevator linkage method and an AGV dispatching system. Background Art

[0002] With the rapid development of the economy and the gradual maturity of artificial intelligence technology, most purely manual factories are gradually transforming to semi-automation or automation, and automated guided vehicles (AGVs) have become an indispensable part of factory logistics and distribution systems.

[0003] When the smart AGV is transporting goods through an elevator, people and goods may coexist in the elevator, which poses certain safety risks. For example, if the battery of the AGV has a safety hazard and catches fire, if there are people in the elevator car at this time, the AGV car catching fire will pose a safety risk to the people in the elevator car. Summary of the invention

[0004] In view of this, the present application aims to solve one of the problems in the related art at least to a certain extent. To this end, the purpose of the present application is to provide an elevator linkage method and an AGV scheduling system.

[0005] The present application provides an elevator linkage method, which is applied to an AGV dispatching system. The AGV dispatching system includes an AGV device and an elevator, the AGV device is in communication connection with the elevator, and the elevator includes a car. The method includes: obtaining the dispatching status of the elevator by the AGV device; obtaining detection signals for a target object inside and / or outside the elevator car; and controlling the execution status of the AGV device and the operation of the elevator according to the detection signal and the dispatching status of the elevator.

[0006] In certain embodiments, the dispatching status of the elevator by the AGV device includes a dispatching status, the task execution status includes a paused status and a running status, and controlling the task execution status of the AGV device and controlling the elevator operation according to the detection signal and the dispatching status of the elevator includes: in response to the first detection signal that the AGV device is in a dispatching status for the elevator and there are people in the car and / or outside the car, controlling the task execution status of the AGV device to a paused status, and controlling the elevator call response status to a paused response status; in response to the disappearance of the first detection signal, controlling the task execution status of the AGV device to switch from the paused status to the running status.

[0007] In certain embodiments, the dispatching state of the AGV device for the elevator includes an unscheduled state, the task execution state includes a paused state and a running state, and controlling the task execution state of the AGV device and controlling the elevator operation according to the detection signal and the dispatching state of the elevator includes: in response to the AGV device being in an unscheduled state for the elevator and a first detection signal that there are people in the car and / or outside the car, controlling the task execution state of the AGV device to be a paused state, and controlling the elevator call response state to be a responsive state; after the elevator runs until the first detection signal disappears, controlling the task execution state of the AGV device to switch from the paused state to the running state, and controlling the elevator call response state to switch from the responsive state to the paused response state.

[0008] In certain embodiments, the dispatching status of the AGV device for the elevator includes a task docking dispatching status, the task execution status includes an operating status of simultaneously entering the car or entering the car in a first order, and the control of the task execution status of the AGV device and the control of the elevator operation according to the detection signal and the dispatching status of the elevator includes: in response to the dispatching status of the AGV device for the elevator being a task docking dispatching status, and the task docking dispatching status includes a second detection signal that multiple AGV devices perform the same task, and multiple AGV devices carrying objects can simultaneously enter a preset placement area in the car, controlling the task execution status of the multiple AGV devices to be an operating status of simultaneously entering the car or entering the car in a first order, and controlling the elevator call response status of the elevator to a pause response state.

[0009] In certain embodiments, the method includes: after multiple AGV devices reach the destination floor, controlling the multiple AGV devices to exit the car simultaneously or in a second order; when at least one AGV device has exited the car, controlling at least one AGV device to send a feedback signal to the elevator indicating that it has exited the car; and after controlling the elevator to determine that all multiple AGV devices have exited the car based on the feedback signal, executing a new transport task based on the dispatch instruction issued by the new AGV device.

[0010] In some embodiments, the control of the execution task state of the AGV device and the control of the elevator operation according to the detection signal and the dispatching state of the elevator includes: in response to the execution task state of the AGV device being a paused state and the elevator call response state of the elevator being a responsive state, controlling the AGV device to pause operation, controlling the elevator to respond to the elevator call signal and perform a response action; in response to the execution task state of the AGV device being a running state and the elevator call response state being the paused response state, controlling the AGV device to run, and controlling the elevator to pause responding to the elevator call signal and responding to the dispatching instruction of the AGV device and perform the response action; in response to the execution task state of the AGV device being a paused forward, continued forward or retracted state and the elevator call response state being the paused response state, controlling the AGV device to pause forward, continued forward or retracted and controlling the elevator to pause responding to the elevator call signal and responding to the dispatching instruction of the AGV device and perform the response action. In some embodiments, the method further includes: when the elevator responds to the dispatching instruction of the AGV device and performs the response action, controlling the elevator to display a preset state mark on the outbound call.

[0011] In some embodiments, the method also includes: detecting whether there are people in the car and in the waiting area outside the car through a camera and / or a preset sensor; sending a first signal when the camera and / or the preset sensor detects that there are people in the car; sending a second signal when the camera and / or the preset sensor detects that there are no people in the car; sending a third signal when the camera and / or the preset sensor detects that there are people in the waiting area outside the car; sending a fourth signal when the camera and / or the preset sensor detects that there are no people in the waiting area outside the car.

[0012] The present application also provides an AGV dispatching system. The AGV dispatching system is used to execute the elevator linkage method described in any one of the above embodiments, and the AGV dispatching system also includes an AGV device and an elevator, and the AGV device is communicatively connected to the elevator.

[0013] In some embodiments, the AGV scheduling system also includes an interface platform and a data platform. The AGV scheduling system receives the task order through the interface platform and sends the task order to the AGV device through the data platform. If the AGV device determines that the elevator needs to be used based on the task order, the task execution signal is sent to the data platform, and the elevator operates according to the control signal sent by the data platform.

[0014] The elevator linkage method of the present application can control the execution status of the AGV device and control the elevator operation according to the detection signal and the dispatching status of the AGV device to the elevator. When it is determined that the AGV device and a person will coexist in the car according to the detection signal and the dispatching status of the AGV device to the elevator, the execution status of the AGV device can be controlled to be a paused state, and the elevator can be controlled to respond to the elevator call signal to perform a response action to avoid the coexistence of the AGV device and people or other objects in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and people or other objects in the elevator car.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0017] Figure 1 is a flow chart of an elevator linkage method in certain implementation modes of the present application;

[0018] Figure 2 is a schematic diagram of the structure of an elevator linkage device in certain embodiments of the present application;

[0019] Figure 3 is a schematic diagram of the structure of an AGV dispatching system of certain embodiments of the present application;

[0020] Figure 4 is a flow chart of an elevator linkage method in certain implementation modes of the present application;

[0021] Figure 5 is a flow chart of an elevator linkage method in certain implementation modes of the present application;

[0022] Figure 6 is a top view of an AGV device in an elevator car in an elevator linkage method of certain embodiments of the present application;

[0023] Figure 7 is a top view of an AGV device in an elevator car in an elevator linkage method of certain embodiments of the present application;

[0024] Figure 8 is a flow chart of an elevator linkage method in certain implementation modes of the present application;

[0025] Fig. 9 is a flow chart of an elevator linkage method in certain implementation modes of the present application;

[0026] Fig.10is a flow chart of an elevator linkage method in certain implementation modes of the present application;

[0027] Fig.11 It is a schematic diagram of the structure of the elevator linkage device of certain embodiments of the present application. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0029] In the description of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, and may refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection, or mutual communication; direct connection, indirect connection through an intermediate medium, internal connection between two elements, or interaction between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0032] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0033] See also Figure 1The present application provides an elevator linkage method, which is applied to an AGV dispatching system. The AGV dispatching system includes an AGV device and an elevator, the AGV device is communicatively connected with the elevator, and the elevator includes a car. The method includes:

[0034] 01: Get the dispatching status of the elevator by the AGV device;

[0035] 02: Obtain detection signals for the target object inside and / or outside the elevator car;

[0036] 03: Control the execution status of the AGV equipment and the operation of the elevator according to the detection signal and the dispatching status of the elevator.

[0037] See also Figure 2 The present application also provides an elevator linkage device 10, which is applied to an AGV dispatching system. The elevator linkage device 10 includes: a first acquisition module 11, a second acquisition module 12 and an operation control module 13.

[0038] Step 01 can be implemented by the first acquisition module 11, step 02 can be implemented by the second acquisition module 12, and step 03 can be implemented by the operation control module 13. That is to say, the first acquisition module 11 is used to obtain the dispatching status of the AGV device for the elevator; the second acquisition module 12 is used to obtain the detection signal for the target object inside and / or outside the elevator car; the operation control module 13 is used to control the execution status of the AGV device and control the operation of the elevator according to the detection signal and the dispatching status of the elevator. Among them, the first acquisition module 11 and the second acquisition module 12 can refer to the same module or different modules, which is not limited here.

[0039] Specifically, the workflow of the AGV dispatching system of the present application is as follows: Figure 3 As shown in the figure, the working principle of the AGV dispatching system is to connect different systems in the factory through the interface platform to obtain different system information and dispatch tasks. Then it is sent to the data platform through the interface platform, and the data platform sends it to different AGVs according to different task work orders. After receiving the task, the AGVs will perform the tasks respectively. When the AGVs need to perform cross-layer tasks, the AGVs need to send the task execution signal corresponding to the dispatching task to the data platform. The data platform then dispatches the AGV dispatching task to the elevator terminal according to the task execution signal, and the elevator terminal sends the task information to the elevator, and the elevator performs the action according to the task information.

[0040] Among them, the task execution signal may include the device number of the AGV device, the specific content of the task to be executed by the AGV device, and the dispatching status of the elevator when the AGV device executes the task. The device number of the AGV device can be identified by numbers, letters or other symbols. For example, three AGV devices can be identified by numbers, which can be identified as AGV device 1, AGV device 2 and AGV device 3 respectively. The specific content of the task includes the number of tasks and the destination of the task. For example, the number of tasks of AGV device 1 is 1 task, and the destination of the task is the 2nd floor of the elevator. The number of tasks of AGV device 2 is 1 task, and the destination of the task is the 3rd floor of the elevator. The number of tasks of AGV device 3 is 2 tasks, and the destinations of the tasks are the 1st floor of the elevator and the 5th floor of the elevator respectively.

[0041] The dispatching status of the elevator when the AGV device performs a task includes the undispatched status, the dispatching status, the dispatched and entering the car status, the task docking dispatching status or other status, which is not limited here. The AGV device can be an AGV trolley or other transport equipment, which is not limited here.

[0042] The detection signal may include a person signal and an unmanned signal. The target object may be a person, an animal or other object. Taking the target object as a person as an example, when a person is detected in or outside the elevator car, the detection signal is a person signal, and when no one is detected in or outside the elevator car, the detection signal is an unmanned signal.

[0043] Acquiring detection signals for a target object inside and / or outside the elevator car includes the following situations: (1) only acquiring detection signals for a target object inside the elevator car; (2) only acquiring detection signals for a target object outside the elevator car; (3) simultaneously acquiring detection signals for a target object inside and outside the elevator car.

[0044] The execution status of the AGV device includes a pause state and a running state. Controlling the operation of the elevator includes controlling the elevator call response state, and the elevator call response state includes a responding state and a paused response state.

[0045] In detail, the elevator call response state is a responsive state, which means that the elevator is currently in a state where it can respond to the elevator call signal of an outsider touching the elevator button. The elevator call signal refers to the electrical signal triggered by an outsider pressing the elevator button inside or outside the car. The elevator call response state is a suspended response state, which means that the elevator is currently in a state where it temporarily does not respond to the elevator call signal of an outsider touching the elevator button.

[0046] Controlling the execution task status of the AGV equipment and controlling the elevator operation according to the detection signal and the dispatching status of the elevator may mean that the elevator linkage method of the present application can control the execution task status of the AGV equipment to a paused state or a running state based on detecting whether there is a detection signal for the target object inside and / or outside the elevator car, combined with the current dispatching status of the elevator by the AGV equipment, and can also control the elevator call response status to a responsive state or a paused response state.

[0047] Among them, controlling the execution task status of the AGV device may specifically include controlling the AGV device to be in a state of running, pausing forward, continuing forward or retracting.

[0048] In addition, when the elevator call response state is in the responsive state, the elevator can be controlled to respond to the call signal sent by an outsider to perform a response action. At this time, the elevator can pause to respond to the dispatch instruction of the AGV device to perform a response action. For example, when the call signal sent by an outsider is to call the elevator to run to the second floor, the response action executed by the elevator in response to this call signal is to run to the second floor.

[0049] When the elevator call response state is in the pause response state, the elevator can be controlled to pause responding to the elevator call signal, and the elevator can respond to the dispatch instruction of the AGV device to perform a response action. For example, when the dispatch instruction of the AGV device sent to the elevator by the AGV device is to call the elevator to run to the second floor, the response action of the elevator in response to the dispatch instruction is to run to the second floor.

[0050] That is, the elevator linkage method of the present application can control the transportation process of the AGV equipment according to the execution task status of the AGV equipment and the scheduling status of the elevator, and control the elevator according to which signal to perform the corresponding response action and thus control the operation of the elevator.

[0051] In detail, in one example, Figure 3 As shown, the AGV dispatching system of the present application may also include a detection device. The detection device can upload a detection signal for detecting whether there are people in and outside the elevator car to the data platform. The data platform determines whether there are people in the car or outside the car based on the detection signal uploaded by the detection device. The data platform determines that the AGV device is currently in a dispatching state based on the task execution signal uploaded by the AGV device corresponding to the dispatching state of the AGV device to the elevator. The data platform can determine that the AGV device and people will coexist in the car. Therefore, at this time, the execution state of the AGV device can be controlled to be a paused state, and the elevator can be controlled to respond to the elevator call signal to perform a response action, thereby avoiding the coexistence of the AGV device and people in the car, thereby avoiding the corresponding safety risks.

[0052] The elevator linkage method of the present application can control the execution status of the AGV device and control the elevator operation according to the detection signal and the dispatching status of the AGV device to the elevator. When it is determined that the AGV device and a person will coexist in the car according to the detection signal and the dispatching status of the AGV device to the elevator, the execution status of the AGV device can be controlled to be a paused state, and the elevator can be controlled to respond to the elevator call signal to perform a response action to avoid the coexistence of the AGV device and a person or other target objects in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and a person or other target objects in the elevator car.

[0053] See also Figure 4 In some embodiments, the dispatching state of the AGV device for the elevator includes the dispatching state, and the task execution state includes the pause state and the running state. Step 03 includes:

[0054] 031: in response to a first detection signal from the AGV device that the elevator is in a dispatching state and there is a person in the car and / or outside the car, controlling the task execution state of the AGV device to be a paused state, and controlling the elevator call response state to be a paused response state;

[0055] 032: In response to the disappearance of the first detection signal, the task execution state of the AGV device is controlled to switch from the pause state to the running state.

[0056] Please combine Figure 2 , step 031 and step 032 can be implemented by the operation control module 13. That is, the operation control module 13 is used to control the execution state of the AGV device to be a pause state and the elevator call response state to be a pause response state in response to the first detection signal of the AGV device that the elevator is in a dispatching state and there are people in the car and / or outside the car; in response to the disappearance of the first detection signal, control the execution state of the AGV device to switch from the pause state to the running state.

[0057] Specifically, the first detection signal in response to the presence of a person in the car and / or outside the car includes the following situations: (1) responding to the first detection signal indicating that there is a person in the car; (2) responding to the first detection signal indicating that there is a person outside the car; (3) responding to the first detection signal indicating that there are people both in the car and outside the car.

[0058] It can be understood that when the first detection signal of someone in or outside the car is obtained, that is, when the car occupancy signal of someone in or outside the car in Table 1 is obtained, the corresponding data bit of the data platform can be triggered. As shown in Table 1 below, when the data platform reads different data contents, it can control the execution status of the AGV device, thereby controlling the task execution process of the AGV device and controlling the operation of the elevator.

[0059] Table 1

[0060]

[0061] The dispatching state of the AGV device for the elevator is in the dispatching state, which means that the AGV device is in the process of interacting with the elevator control system, issuing an elevator request, waiting for the elevator to respond, and preparing to enter the elevator.

[0062] As can be seen from the foregoing, the elevator call response state is a suspended response state, which means that the elevator is currently in a state of temporarily not responding to the elevator call signal of the outside personnel on the touch button of the elevator.

[0063] That is, the dispatching state of the AGV car for the elevator is in the dispatching state, that is, when the AGV car is calling the elevator, after detecting the data bit of the human signal inside or outside the car in the data platform, the execution state of the AGV car is controlled to be suspended, that is, the AGV car is controlled to stop executing the task, so as to control the AGV car not to enter the elevator car temporarily. At the same time, the elevator call response state is controlled to be suspended response state, so as to control the elevator to stop responding to the elevator call signal of the outside personnel and issue a safety prompt. The safety prompt can be a voice prompt, a text prompt or a red light prompt, which is not limited here.

[0064] For example, when the first detection signal shows that there is someone in the car, the safety prompt may be a voice prompt issued by the elevator control to remind the people in the car to exit the car. The voice prompt may be "Since the AGV needs to call the elevator, please exit the car as soon as possible." When the first detection signal shows that there is someone outside the car, the safety prompt may be a voice prompt issued by the elevator control to remind the people outside the car to stop using the elevator and leave the elevator waiting area. The voice prompt may be "Since the AGV needs to call the elevator, please do not stay in the elevator waiting area."

[0065] Afterwards, after the first detection signal disappears, the execution state of the AGV equipment is controlled to switch from the pause state to the running state. That is, since the elevator pauses to respond to the elevator call signal from outsiders, when there are people in the car, the people in the car can continue to run according to the elevator call signal they previously sent and run the people in the car to the destination floor. After the people in the car arrive at the destination floor and exit the car, that is, after the first detection signal disappears, the AGV car can be controlled again to call the elevator again to continue to complete the task, avoiding the coexistence of AGV equipment and people in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of AGV equipment and people in the elevator car.

[0066] In this way, when the AGV device is in the scheduling state of the elevator and obtains the first detection signal that there is someone in or outside the elevator car, the elevator linkage method of the present application can first control the execution state of the AGV device to be a paused state and control the elevator to pause responding to the elevator call signal, and after the first detection signal disappears, re-control the execution state of the AGV device from the paused state to the running state, and control the AGV device to call the elevator again to continue to complete the task, avoiding the coexistence of the AGV device and people in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and people in the elevator car.

[0067] See also Figure 5 In some implementations, the dispatching state of the AGV device for the elevator includes an unscheduled state, and the task execution state includes a paused state and a running state. Step 03 also includes:

[0068] 033: In response to a first detection signal from the AGV device that the elevator is in an unscheduled state and there are people in the car and / or outside the car, the task execution state of the AGV device is controlled to be a paused state, and the elevator call response state of the elevator is controlled to be a respondable state;

[0069] 034: After the elevator runs until the first detection signal disappears, the execution state of the AGV device is controlled to switch from the pause state to the running state, and the elevator call response state is controlled to switch from the respondable state to the paused response state.

[0070] Please combine Figure 2 , step 033 and step 034 can be implemented by the operation control module 13. That is to say, the operation control module 13 is used to control the execution state of the AGV device to be a paused state, and control the elevator call response state to be a responsive state in response to the first detection signal of the AGV device that the elevator is in an unscheduled state and there are people in the car and / or outside the car; after the elevator runs until the first detection signal disappears, the execution state of the AGV device is controlled to switch from a paused state to a running state, and the elevator call response state is controlled to switch from a responsive state to a paused response state.

[0071] Specifically, the unscheduled state of the AGV device for the elevator refers to a state in which the AGV device has not yet issued a calling signal for the elevator.

[0072] The first detection signal in response to the presence of a person in the car and / or outside the car includes the following situations: (1) responding to the first detection signal indicating that there is a person in the car; (2) responding to the first detection signal indicating that there is a person outside the car; (3) responding to the first detection signal indicating that there are people both in the car and outside the car.

[0073] That is, when the AGV device has not yet dispatched the elevator, after the first detection signal of someone in the elevator car is triggered, the execution state of the AGV device is controlled to be suspended, that is, the AGV device is controlled not to enter the dispatching state, and the elevator can respond to the elevator call signal manually operated by outsiders. After the elevator operation is completed, the people in the elevator car go out, and the first detection signal of someone in the elevator car disappears, the execution state of the AGV device is controlled to switch from the suspended state to the running state, that is, the AGV device can be controlled to enter the dispatching state again, and the elevator call response state is controlled to the suspended response state, so that in the subsequent process of the AGV device calling the elevator, there will be no people and AGV devices coexisting in the car.

[0074] When the AGV device has not yet dispatched the elevator, after the first detection signal of someone outside the elevator car is triggered, the execution state of the AGV device can also be controlled to be suspended, that is, the AGV device is controlled not to enter the dispatch state, and the elevator can respond to the elevator call signal manually operated by outsiders. After the elevator operation is completed, after the people in the elevator car go out, and the first detection signal of someone in the elevator car disappears, the execution state of the AGV device is controlled to switch from the suspended state to the running state, that is, the AGV device can be controlled to enter the dispatch state again, and the elevator call response state is controlled to switch from the responsive state to the suspended response state, so that in the subsequent process of the AGV device calling the elevator, there will be no coexistence of people and AGV devices in the car.

[0075] It should be noted that when the AGV device has not yet dispatched the elevator, although the first detection signal of someone outside the elevator car is triggered, after a period of time, the first detection signal of someone outside the elevator car disappears, and the elevator does not receive the elevator call signal manually operated by outsiders. The execution state of the AGV device can also be controlled from the paused state to the running state, and the elevator call response state can be controlled from the responsive state to the paused response state, so that people and AGV devices will not coexist in the car during the subsequent AGV device calling the elevator.

[0076] In this way, when the AGV device's scheduling state for the elevator is in an unscheduled state and a first detection signal of someone in or outside the elevator car is detected, the elevator linkage method of the present application can first control the AGV device's task execution state to a paused state and the elevator call response state to a responsive state, so as to control the elevator to respond to the elevator call signal to operate, and after the first detection signal disappears, control the AGV device's task execution state to switch from a paused state to a running state and control the elevator call response state to a paused response state, control the AGV device to enter a scheduling state to continue to complete the task, avoid the AGV device and people coexisting in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of AGV equipment and people in the elevator car.

[0077] In some embodiments, the dispatching state of the AGV device for the elevator includes a task docking dispatching state, and the task execution state includes a running state of entering the car at the same time or entering the car in the first order. Step 03 includes:

[0078] 035: In response to the AGV device's dispatching status of the elevator being a task docking dispatching status, and the task docking dispatching status includes multiple AGV devices executing the same task, and multiple AGV devices carrying objects can enter the preset placement area in the car at the same time. The second detection signal controls the execution status of the multiple AGV devices to be an operating status of entering the car at the same time or entering the car in a first order, and controls the elevator call response status to be a paused response status.

[0079] Please combine Figure 2 , step 035 can be implemented by the operation control module 13. That is, the operation control module 13 is used to control the execution status of multiple AGV devices to be the operation status of entering the car at the same time or entering the car in the first order, and control the elevator call response status to be the pause response status in response to the dispatch status of the AGV device to the elevator being the task docking dispatch status, and the task docking dispatch status includes a second detection signal that multiple AGV devices execute the same task, and multiple AGV devices carry objects that can enter the preset placement area in the car at the same time.

[0080] Specifically, the dispatching state of the AGV device for the elevator is a task docking dispatching state, which means that the AGV device enters the dispatching state of calling the elevator and is in the task docking process of sending the carrying task to the elevator control system.

[0081] The dispatching status of the AGV device for the elevator is obtained as the task docking dispatching status, and the task docking dispatching status shows that multiple AGV devices perform the same task, which means that when the carrying task is that multiple AGV devices need to carry goods to the same destination floor.

[0082] Obtaining the second detection signal that objects carried by multiple AGV devices can enter the preset placement area in the car at the same time means that by detecting the size of the preset placement area in the car and combining the sizes of multiple AGV devices, it can be analyzed whether objects carried by multiple AGV devices can enter the preset placement area in the car at the same time.

[0083] If multiple AGV devices carrying objects can enter the preset placement area in the car at the same time, it indicates that the sum of the volumes of the multiple AGV devices is less than or equal to the volume of the preset placement area, thereby issuing a second detection signal that multiple AGV devices carrying objects can enter the preset placement area in the car at the same time.

[0084] If objects carried by multiple AGV devices cannot enter the preset placement area in the car at the same time, indicating that the sum of the volumes of the multiple AGV devices is greater than the volume of the preset placement area, the second detection signal that objects carried by multiple AGV devices can enter the preset placement area in the car at the same time will not be issued.

[0085] Afterwards, according to the task docking scheduling status and the second detection signal, the execution status of multiple AGV devices is controlled to enter the car at the same time or enter the car in a first order, and the elevator call response status is controlled to be a pause response state.

[0086] Among them, the elevator linkage method of the present application can control multiple AGV devices to enter the elevator car at the same time to perform transportation tasks, which can save the running time of multiple AGV devices entering the elevator car.

[0087] It can be understood that when there are multiple AGV devices, in order to avoid safety accidents such as collisions when multiple AGV devices enter the car, the priority order of multiple AGV devices entering the car can be set. For example, the first order can be a priority order set according to the size of the device number. In detail, for example, the first order can be to first control the AGV device with device number 1 to enter the preset placement area of ​​the car, then control the AGV device with device number 2 to enter the preset placement area of ​​the car, and then control the AGV device with device number 3 to enter the preset placement area of ​​the car, and so on. That is, the preset order can be device number 1→device number 2→device number 3→device number 4→device number 5→device number 6......

[0088] That is, when the data platform receives requests from different AGV devices to call the elevator, it will send the data received from the AGV request to call the elevator to the elevator terminal one by one. The data of the AGV request to call the elevator includes the device number of the AGV device, the specific carrying task and the preset order of entering the car. When the elevator terminal performs the task according to the device number of the AGV device sent by the data platform, it can enter the car in the preset order according to the size of the device number of the AGV device.

[0089] like Figure 6 As shown, the first sequence can be to control multiple AGV devices to enter the designated position of the car in sequence according to the sequence of device numbers, that is, device 1, device 2 and device 3 can be controlled to enter the car in sequence.

[0090] like Figure 7As shown, the first order can also be to control multiple AGV devices in groups from front to back according to the order of arrangement of their positions close to the car door to enter the designated positions of the car one after another, that is, device 1 and device 2 are grouped as a group, and device 3 and device 4 are grouped as a group. Device 1 and device 2 can be controlled to enter the car together first, and then device 3 and device 4 can be controlled to enter the car together.

[0091] Therefore, the elevator linkage method of the present application can control multiple AGV devices to enter the elevator car in a first order to perform transportation tasks, thereby avoiding collisions between multiple AGV devices, optimizing the transportation process, and improving the overall transportation efficiency of the AGV equipment.

[0092] That is, the elevator linkage method of the present application can control multiple AGV devices to enter the elevator car simultaneously or in order to perform the same transportation task, and control the response state of the elevator to calls from outsiders to a suspended response state, so as to avoid the coexistence of AGV devices and people in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of AGV devices and people in the elevator car.

[0093] See also Figure 8 In some embodiments, the elevator linkage method includes:

[0094] 036: After multiple AGV devices reach the destination floor, control the multiple AGV devices to exit the car at the same time or in the second order;

[0095] 037: When at least one AGV device has left the car, control at least one AGV device to send a feedback signal of leaving the car to the elevator;

[0096] 038: After the elevator is controlled to determine that all the multiple AGV devices have left the car based on the feedback signal, a new transport task is executed based on the dispatching instructions issued by the new AGV device.

[0097] Please combine Figure 2 , step 036, step 037 and step 038 can be implemented by the operation control module 13. That is, the operation control module 13 is used to control the multiple AGV devices to leave the car at the same time or in the second order after the multiple AGV devices reach the destination floor; when at least one AGV device has left the car, control at least one AGV device to send a feedback signal to the elevator indicating that it has left the car; after the elevator determines that all the multiple AGV devices have left the car according to the feedback signal, it controls the elevator to execute a new transport task according to the dispatch instruction issued by the new AGV device.

[0098] Specifically, after multiple AGVs performing the same task reach the destination floor, the multiple AGVs are controlled to exit the elevator at the same time or in a second order. The elevator linkage method of the present application can control multiple AGVs to exit the elevator at the same time to perform the transport task, which can save the running time of multiple AGVs exiting the elevator.

[0099] The second order can also be the priority order set according to the size of the device number as described above. For example, there are a total of 6 AGV devices, and the device numbers are 1, 2, 3, 4, 5 and 6. The second order can be to first control the AGV device with device number 6 to leave the car, then control the AGV device with device number 5 to leave the car, and then control the AGV device with device number 4 to leave the car, and so on. That is, the second order can be device number 6→device number 5→device number 4→device number 3→device number 2→device number 1.

[0100] That is, when the elevator terminal performs the same task according to the device number of the AGV device sent by the data platform, it can exit the elevator car in a preset order according to the size of the device number of the AGV device, thereby avoiding collisions between multiple AGV devices, optimizing the transportation process, and improving the overall transportation efficiency of the AGV equipment.

[0101] When at least one AGV device has left the car, control at least one AGV device to send a feedback signal to the elevator indicating that it has left the car. The feedback signal may be an electrical signal sent by the AGV device to feedback that the AGV device has left the car. That is, when only one AGV device is controlled to leave the car at a time, the AGV device leaving the car can be controlled to send a feedback signal to the elevator indicating that it has left the car. That is, when multiple AGV devices are controlled to leave the car at the same time, the multiple AGV devices leaving the car can be controlled to send multiple feedback signals to the elevator indicating that they have left the car at the same time.

[0102] After the elevator control system determines that all the multiple AGV devices have left the car according to the feedback signal, it executes a new transport task according to the dispatch instruction issued by the new AGV device. That is, after the elevator control system determines that all the multiple AGV devices that perform the same task have left the car according to the feedback signal, it can continue to receive the dispatch instruction issued by the new AGV device, and then execute the new transport task according to the dispatch instruction. The dispatch instruction can be an instruction that indicates that a certain AGV device needs to carry goods or other objects to a certain destination floor and needs to call the elevator to run.

[0103] The second sequence may be to control at least one AGV device to exit the car in sequence according to the sequence of device numbers, such as Figure 6 As shown, the device 3, the device 2 and the device 1 can be controlled to exit the car in sequence.

[0104] The second sequence may also be that at least one AGV device is arranged in the order of position close to the car door body, and the AGV devices are controlled to exit the car in groups from front to back, such as Figure 7 As shown, the device 3 and the device 4 can be controlled to exit the car together first, and then the device 1 and the device 2 can be controlled to exit the car together.

[0105] In this way, the elevator linkage method of the present application can control multiple AGV devices performing the same task to exit the elevator car simultaneously or in an orderly manner, avoid collisions between multiple AGV devices, optimize the transportation process, and improve the overall transportation efficiency of the AGV equipment. In addition, when the feedback signal determines that multiple AGV devices have exited the car, the elevator can receive scheduling instructions from a new AGV device to execute a new transportation task, and the task execution accuracy of the AGV equipment is higher.

[0106] It should be noted that the elevator linkage method of the present application can also control the elevator to compare the device number corresponding to at least one AGV device that sends the task execution instruction with the device number of the AGV device exiting the car obtained in real time to determine whether the carrying task corresponding to at least one AGV device is completed. Specifically, since the elevator is equipped with a camera that can obtain the device number of the AGV device currently exiting the car, the elevator can determine whether the current task has been completed by the correct AGV device by simply checking whether the device number in the received task execution instruction is the same as the AGV device number corresponding to the AGV device exiting the car. If the device number in the received task execution instruction is the same as the AGV device number corresponding to the AGV device exiting the car, it is determined that the current task has been completed by the correct AGV device. This judgment mechanism can ensure that the elevator can execute the task requests of multiple AGV devices in an orderly and accurate manner.

[0107] When the elevator determines that at least one AGV device has completed its carrying task, it controls the elevator to continue carrying the remaining AGV devices, thus ensuring that multiple AGV devices can carry out multiple tasks in an orderly manner and ensuring the efficiency of task execution.

[0108] For example, the elevator enters two AGVs from the 1st floor. The destination floor of one AGV is 5, and the device number of the AGV is 1. The destination floor of the other AGV is 6, and the device number of the AGV is 2. When registering the execution command at the elevator terminal, the AGV will send the device number, the target floor commands of AGV 1 and AGV 2 to the elevator, so that AGV 1 and AGV 2 can both command the elevator to open or close the door or control the elevator to go up or down. After the elevator reaches the 5th floor, the elevator door is always open, and AGV 1 will transport the goods out.

[0109] During this process, AGV 1 will send information about transporting goods out of the warehouse to the elevator, and the elevator will determine whether AGV 1 executes the current command based on the device number of the sent command and the received information. At this time, even if AGV 2 sends other commands such as closing the door or other AGVs 3 or AGV 4 send other instructions, the elevator will not execute them, but only the command of AGV 1. After AGV 1 completes the action of leaving the elevator, it will feedback the task completion signal to the elevator. At this time, the elevator will automatically switch to identify the device number of AGV 2 and the corresponding transportation task, and continue to run to the 6th floor to execute the transportation task of AGV 2.

[0110] In addition, when an AGV device communication anomaly causes the AGV device to send an erroneous instruction to the elevator, the elevator can additionally determine whether at least one AGV device has completed the task by determining whether the device number in the received task execution instruction is the same as the AGV device number corresponding to the AGV device exiting the car. It can determine whether the task is completed without relying on the task completion instruction issued by the AGV device, and can more accurately determine whether the current AGV device has completed the task. It can also avoid the disorder of the AGV device repeatedly entering or exiting the elevator car due to its own program problems, and avoid the situation where the AGV device cannot transport goods out of the elevator car normally, ensuring that the elevator can execute the task requests of multiple AGV devices in an orderly, safe and accurate manner.

[0111] That is, the elevator of the AGV dispatching system in the elevator linkage method of the present application can determine whether the current AGV device has completed the task solely through device number identification. When the current AGV device communication is abnormal and causes the current AGV device to send an erroneous instruction to the elevator, it can accurately identify whether the task of the current AGV device is completed, thereby playing a secondary safety protection role.

[0112] See also Fig. 9 In some embodiments, step 03 includes:

[0113] 0391: In response to the AGV device's task execution state being in the paused state and the elevator's call response state being in the responsive state, the AGV device is controlled to pause operation, and the elevator is controlled to respond to the elevator call signal and perform a response action;

[0114] 0392: In response to the AGV device's execution task status being the running status and the elevator's call response status being the pause response status, control the AGV device to run, and control the elevator to pause responding to the call signal and responding to the AGV device's dispatch instruction and executing a response action;

[0115] 0393: In response to the AGV device's task execution status being pause forward, continue forward or retract and the elevator's elevator call response status being pause response, control the AGV device to pause forward, continue forward or retract and control the elevator to pause responding to the elevator call signal and responding to the AGV device's dispatch instruction and executing a response action.

[0116] Please combine Figure 2 , step 0391, step 0392 and step 0393 can be implemented by the operation control module 13. That is, the operation control module 13 is used to control the AGV device to suspend operation, control the elevator to respond to the elevator call signal and perform a response action in response to the execution task state of the AGV device being the pause state and the elevator call response state being the responsive state; control the AGV device to run, and control the elevator to suspend response to the elevator call signal and respond to the dispatching instruction of the AGV device and perform a response action in response to the execution task state of the AGV device being the running state and the elevator's response state to the elevator call by an outsider being the pause response state; control the AGV device to suspend forward movement, continue forward movement or retract movement in response to the execution task state of the AGV device being the pause forward movement, continue forward movement or retract movement and control the elevator to suspend response to the elevator call signal and respond to the dispatching instruction of the AGV device and perform a response action.

[0117] Specifically, when the AGV device is in the paused state and the elevator call response state is in the responsive state, the AGV device is controlled to pause, and the elevator is controlled to respond to the elevator call signal and perform a response action, so that when the AGV device pauses the task execution, the elevator can be controlled to respond to the elevator call signal to transport the people in the car to the destination floor, thereby realizing the effective use of the elevator. For example, when the elevator call signal is to make the elevator run to the second floor, the corresponding response action is to control the elevator to run to the second floor.

[0118] When the AGV device's task execution status is the running status and the elevator's call response status is the paused response status, the AGV device is controlled to run, and the elevator is controlled to pause responding to the elevator call signal and responding to the dispatching instruction of the AGV device and executing the response action. This means that when the AGV device is executing a task, the elevator can be controlled not to respond to the elevator call signal but only to respond to the dispatching instruction of the AGV device and execute the response action, so that during the task execution process of the AGV device, the AGV device and people can be avoided from coexisting in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and people in the elevator car.

[0119] When the AGV device's task execution state is pause forward, continue forward or retract and the elevator's elevator call response state is pause response state, control the AGV device to pause forward, continue forward or retract and control the elevator to pause responding to the elevator call signal and respond to the AGV device's dispatch instruction and perform a response action, which means that during the AGV device's task execution process of pause forward, continue forward or retract, the elevator is controlled not to respond to the elevator call signal but only to respond to the AGV device's dispatch instruction and perform a response action. For example, when the response to the AGV device's dispatch instruction is to make the elevator run to the 4th floor, the corresponding response action is to control the elevator to run to the 4th floor. In this way, during the AGV device's task execution process, the AGV device can be prevented from coexisting with people in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and people in the elevator car.

[0120] In some embodiments, the elevator linkage method further includes:

[0121] 04: When the elevator responds to the dispatch instruction of the AGV device and executes the response action, the elevator call is controlled to display the preset status mark.

[0122] Please combine Figure 2 , step 04 can be implemented by the operation control module 13. That is, the operation control module 13 is used to control the elevator to display a preset state mark when the elevator responds to the dispatch instruction of the AGV device and executes the response action.

[0123] Specifically, the preset status identifier may be a specific AGV identifier set by default, or may be a personalized identifier set by a user.

[0124] When the AGV device of the present application calls the elevator, the elevator call will display a preset status logo to remind personnel of the current status of the elevator, which is beneficial for avoiding human operation affecting the task execution of the AGV device when people and AGV devices use the elevator together.

[0125] See also Fig.10 , the elevator linkage method also includes:

[0126] 05: Detect whether there are people in the car and the waiting area outside the car through cameras and / or preset sensors;

[0127] 06: When the camera and / or the preset sensor detects that there is someone in the car, a first signal is sent;

[0128] 07: When the camera and / or the preset sensor detects that there is no one in the car, a second signal is sent;

[0129] 08: When the camera and / or preset sensor detects someone in the waiting area outside the car, a third signal is issued;

[0130] 09: When the camera and / or preset sensor detects that there is no one in the waiting area outside the car, the fourth signal is issued.

[0131] See also Fig.11 , the elevator linkage device 10 also includes a detection module 14. Step 05, step 06, step 07, step 08 and step 09 can all be implemented by the detection module 14. That is, the detection module 14 is used to detect whether there are people in the car and the waiting area outside the car through a camera and / or a preset sensor; when the camera and / or the preset sensor detects that there are people in the car, a first signal is issued; when the camera and / or the preset sensor detects that there are no people in the car, a second signal is issued; when the camera and / or the preset sensor detects that there are people in the waiting area outside the car, a third signal is issued; when the camera and / or the preset sensor detects that there are no people in the waiting area outside the car, a third signal is issued.

[0132] Specifically, detecting whether there are people in the car and the waiting area outside the car by using a camera and / or a preset sensor can include the following situations: (1) detecting whether there are people in the car and the waiting area outside the car only by using a camera; (2) detecting whether there are people in the car and the waiting area outside the car only by using a preset sensor; (3) detecting whether there are people in the car and the waiting area outside the car by using a camera and a preset sensor.

[0133] Correspondingly, when only the camera is used to detect whether there are people in the car and in the waiting area outside the car, the camera sends out a first electrical signal when it detects that there are people in the car, and sends out a second electrical signal when it detects that there are no people in the car; the camera sends out a third electrical signal when it detects that there are people in the waiting area outside the car, and sends out a fourth electrical signal when it detects that there are no people in the waiting area outside the car.

[0134] When only the preset sensor is used to detect whether there are people in the car and in the waiting area outside the car, the preset sensor sends out a first electrical signal when it detects that there are people in the car, and sends out a second electrical signal when it detects that there are no people in the car; the preset sensor sends out a third electrical signal when it detects that there are people in the waiting area outside the car, and sends out a fourth electrical signal when it detects that there are no people in the waiting area outside the car.

[0135] When the camera and the preset sensor are used to detect whether there is someone in the car, the camera and the preset sensor both detect that there is someone in the car, and a first electrical signal is issued; when the camera and the preset sensor both detect that there is no one in the car, a second electrical signal is issued. When the camera and the preset sensor are used to detect whether there is someone in the waiting area outside the car, the camera and the preset sensor both detect that there is someone in the waiting area outside the car, and a third electrical signal is issued; when the camera and the preset sensor both detect that there is no one in the waiting area outside the car, a fourth electrical signal is issued.

[0136] Specifically, the camera of the present application can be installed inside or outside the elevator car, as long as it can clearly capture whether there are people inside or outside the elevator car. The number of cameras installed can be one or more, and there is no limit here. For example, Figure 5 As shown, when there is one camera, the camera can be installed above a corner of the elevator car. When there are two cameras, two cameras can be installed above diagonal corners of the elevator car. When there are three cameras, three cameras can be installed above any three corners in the elevator car. When there are four cameras, four cameras can be installed above the four corners in the elevator car. In addition, the camera can also be installed above the elevator door, or other areas, which are not limited here. It should be noted that the camera's illumination range can cover the waiting area inside and outside the elevator car.

[0137] The first signal, the second signal, the third signal and the fourth signal can be digital signals, letter signals or signals represented by other symbols, and are not limited here. It is understandable that the detection signal described above includes the first signal, the second signal, the third signal and the fourth signal. For example, in one embodiment, the first signal is "1", the second signal is "2", the third signal is "3", and the fourth signal is "4". It is understandable that when the camera detects that there is someone in the car, and the AGV device is about to enter the car to perform a transportation task, it means that the AGV device and the person will coexist in the car. When the camera detects that there is no one in the car, and the AGV device is about to enter the car to perform a transportation task, it also means that the AGV device and the person will coexist in the car.

[0138] The elevator linkage method of the present application detects whether there is someone in the car through a camera. When the camera detects that there is someone in the car, it sends a first signal. When the camera detects that there is no one in the car, it sends a second signal. When the camera detects that there is someone in the waiting area outside the car, it sends a third signal. When the camera detects that there is no one in the waiting area outside the car, it sends a fourth signal. This lays the foundation for subsequent analysis of whether AGV equipment and people will coexist in the car, and facilitates the judgment of whether AGV equipment and people will coexist in the car.

[0139] The preset sensor can be an infrared sensor, a weight sensor or a radar sensor, and there is no limitation here. The preset sensor can be installed inside or outside the elevator car, as long as it can detect whether there is someone inside or outside the elevator car. Figure 5 As shown, the preset sensors can be installed on the elevator, and the number can be 2, 3, 4, 5, 6, 7, 8 or 9, without limitation. When there are 2 preset sensors, they can be installed at diagonal positions or other positions in the elevator car, and the detection area of ​​the preset sensors can cover the detection area of ​​the entire car, without limitation.

[0140] Infrared sensors detect the presence of objects by emitting and receiving infrared rays. Infrared sensors can be installed on the side or top of the car door. When someone enters the car, the infrared rays are blocked and the sensor sends a signal. However, infrared sensors may be affected by environmental factors such as light and temperature, so in some cases they may need to be used in conjunction with other sensors to improve accuracy.

[0141] The weight sensor detects the entry and exit of people by measuring the change in weight in the car. This sensor is usually installed at the bottom of the car or on the suspension system, and can accurately reflect the change in the load in the car.

[0142] Radar sensors detect the distance, speed, direction, and other information of objects by emitting microwaves and receiving the reflected signals. Radar sensors can also be installed on the door or top of the car. Radar sensors can accurately locate and track people.

[0143] The first signal, the second signal, the third signal and the fourth signal can be digital signals, letter signals or signals represented by other symbols, which are not limited here. For example, in one embodiment, the first signal is "1", the second signal is "2", the third signal is "3", and the fourth signal is "4". It can be understood that when the preset sensor detects that there is someone in the car, and the AGV device is about to enter the car to perform a transportation task, it means that the AGV device and the person will coexist in the car. When the preset sensor detects that there is no one in the car, and the AGV device is about to enter the car to perform a transportation task, it also means that the AGV device and the person will coexist in the car.

[0144] The elevator linkage method of the present application can also detect whether there is someone in the car through a preset sensor. When the preset sensor detects that there is someone in the car, it sends a first signal. When the preset sensor detects that there is no one in the car, it sends a second signal. When the preset sensor detects that there is someone in the waiting area outside the car, it sends a third signal. When the preset sensor detects that there is no one in the waiting area outside the car, it sends a fourth signal, laying the foundation for subsequent analysis of whether AGV equipment and people will coexist in the car, making it easier to judge whether AGV equipment and people will coexist in the car.

[0145] The present application also provides an AGV dispatching system. The AGV dispatching system is used to execute any of the elevator linkage methods in any of the above embodiments, or the AGV dispatching system includes the elevator linkage device 10 described in any of the above embodiments, the AGV dispatching system also includes an AGV device and an elevator, the AGV device is communicatively connected to the elevator, and the elevator linkage device 10 is communicatively connected to both the AGV device and the elevator.

[0146] See also Figure 3AGV dispatching system also includes an interface platform and a data platform. The AGV dispatching system receives the task order through the interface platform and sends the task order to the AGV device through the data platform. If the AGV device determines that the elevator needs to be used according to the task order, it sends a task execution signal to the data platform, and the elevator runs according to the control signal sent by the data platform.

[0147] Specifically, the steps and control principle of the elevator linkage method are as described above, and the structure of the elevator linkage device 10 is as described above, which will not be repeated here.

[0148] The AGV dispatching system of the present application applies the above-mentioned elevator linkage method to control the execution status of the AGV equipment and the operation of the elevator according to the detection signal and the dispatching status of the AGV equipment to the elevator. When it is determined that the AGV equipment and people will coexist in the car according to the detection signal and the dispatching status of the AGV equipment to the elevator, the execution status of the AGV equipment can be controlled to be a paused state, and the elevator can be controlled to respond to the elevator call signal to perform a response action to avoid the coexistence of the AGV equipment and people or other objects in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV equipment and people or other objects in the elevator car.

[0149] The present application also provides a non-volatile computer-readable storage medium containing a computer program. When the computer program is executed by one or more processors, the elevator linkage method described in any of the above embodiments is implemented. For example, when the computer program is executed by the processor, the steps of the elevator linkage method are implemented as follows:

[0150] 01: Get the dispatching status of the elevator by the AGV device;

[0151] 02: Obtain detection signals for the target object inside and / or outside the elevator car;

[0152] 03: Control the execution status of the AGV equipment and the operation of the elevator according to the detection signal and the dispatching status of the elevator.

[0153] The non-volatile computer-readable storage medium of the present application applies the above-mentioned elevator linkage method to control the execution status of the AGV device and control the operation of the elevator according to the detection signal and the dispatching status of the AGV device to the elevator. When it is determined that the AGV device and a person will coexist in the car according to the detection signal and the dispatching status of the AGV device to the elevator, the execution status of the AGV device can be controlled to be a paused state, and the elevator can be controlled to respond to the elevator call signal to perform a response action to avoid the coexistence of the AGV device and people or other objects in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and people or other objects in the elevator car.

[0154] The present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by one or more processors, the elevator linkage method described in any one of the embodiments is implemented. For example, when the computer program is executed by the processor, the steps of the elevator linkage method are implemented as follows:

[0155] 01: Get the dispatching status of the elevator by the AGV device;

[0156] 02: Obtain detection signals for the target object inside and / or outside the elevator car;

[0157] 03: Control the execution status of the AGV equipment and the operation of the elevator according to the detection signal and the dispatching status of the elevator.

[0158] The computer program product of the present application applies the above-mentioned elevator linkage method to control the execution status of the AGV device and the operation of the elevator according to the detection signal and the dispatching status of the AGV device to the elevator. When it is determined that the AGV device and a person will coexist in the car according to the detection signal and the dispatching status of the AGV device to the elevator, the execution status of the AGV device can be controlled to be a paused state, and the elevator can be controlled to respond to the elevator call signal to perform a response action to avoid the coexistence of the AGV device and people or other objects in the car, thereby avoiding safety accidents or risks that may be caused by the coexistence of the AGV device and people or other objects in the elevator car.

[0159] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An elevator linkage method, applied to an AGV dispatching system, the AGV dispatching system comprising an AGV device and an elevator, the AGV device being communicatively connected to the elevator, the elevator comprising a car, characterized in that: The method comprises: Obtaining the dispatching status of the elevator by the AGV device; Acquire detection signals for a target object inside and / or outside the elevator car; The task execution status of the AGV device and the operation of the elevator are controlled according to the detection signal and the dispatching status of the elevator.

2. The method according to claim 1, characterized in that The dispatching state of the AGV device for the elevator includes a dispatching state, the task execution state includes a pause state and a running state, and the control of the task execution state of the AGV device and the control of the elevator operation according to the detection signal and the dispatching state of the elevator includes: In response to a first detection signal from the AGV device that the elevator is in a dispatching state and there is a person in the car and / or outside the car, controlling the task execution state of the AGV device to be a paused state, and controlling the elevator call response state to be a paused response state; In response to the disappearance of the first detection signal, the task execution state of the AGV device is controlled to switch from the pause state to the running state.

3. The method according to claim 1, characterized in that The dispatching state of the AGV device for the elevator includes an unscheduled state, the task execution state includes a paused state and a running state, and the controlling the task execution state of the AGV device and the elevator operation according to the detection signal and the dispatching state of the elevator includes: In response to a first detection signal from the AGV device that the elevator is in an unscheduled state and that there is a person in the car and / or outside the car, controlling the task execution state of the AGV device to be a paused state, and controlling the elevator call response state to be a responsive state; After the elevator runs until the first detection signal disappears, the execution state of the AGV device is controlled to switch from the pause state to the running state, and the elevator call response state of the elevator is controlled to switch from the responsive state to the pause response state.

4. The method according to claim 1, characterized in that: The dispatching state of the AGV device for the elevator includes a task docking dispatching state, the task execution state includes an operation state of entering the car at the same time or entering the car in a first order, and the control of the task execution state of the AGV device and the control of the elevator operation according to the detection signal and the dispatching state of the elevator includes: In response to the AGV device's scheduling status for the elevator being a task docking scheduling status, and the task docking scheduling status includes a second detection signal that multiple AGV devices perform the same task, and multiple AGV devices carrying objects can enter the preset placement area in the car at the same time, the task execution status of the multiple AGV devices is controlled to be an operating state of entering the car at the same time or entering the car in a first order, and the elevator call response state of the elevator is controlled to be a pause response state.

5. The method according to claim 4, characterized in that The method comprises: After the multiple AGV devices reach the destination floor, control the multiple AGV devices to exit the car at the same time or in a second order; When at least one of the AGV devices has left the car, controlling at least one of the AGV devices to send a feedback signal to the elevator indicating that the device has left the car; After the elevator is controlled to determine that all of the multiple AGV devices have left the car according to the feedback signal, a new transport task is executed according to the dispatching instruction issued by the new AGV device.

6. The method according to claim 1, characterized in that The step of controlling the execution task state of the AGV device and the operation of the elevator according to the detection signal and the dispatching state of the elevator includes: In response to the AGV device being in a paused state and the elevator call response state being in a responsive state, controlling the AGV device to pause operation, and controlling the elevator to respond to the elevator call signal and perform a response action; In response to the AGV device's task execution state being the running state and the elevator's call response state being the pause response state, controlling the AGV device to run, and controlling the elevator to pause responding to the call signal and responding to the AGV device's dispatch instruction and executing the response action; In response to the AGV device's task execution status being a pause forward, continue forward or retract state and the elevator's elevator call response status being the pause response state, the AGV device is controlled to pause forward, continue forward or retract and the elevator is controlled to pause responding to the elevator call signal and responding to the AGV device's dispatch instruction and executing the response action.

7. The method according to claim 1, characterized in that The method further comprises: When the elevator responds to the dispatch instruction of the AGV device and executes the response action, the elevator outbound call is controlled to display a preset state mark.

8. The method according to claim 1, characterized in that The method further comprises: Detecting whether there are people in the car and in the waiting area outside the car by using a camera and / or a preset sensor; When the camera and / or the preset sensor detects that there is someone in the car, a first signal is sent; When the camera and / or the preset sensor detects that there is no one in the car, sending a second signal; When the camera and / or the preset sensor detects that there is someone in the waiting area outside the car, a third signal is sent; When the camera and / or the preset sensor detects that there is no one in the waiting area outside the car, a fourth signal is sent.

9. An AGV dispatching system, characterized in that: The AGV dispatching system is used to execute the elevator linkage method described in any one of claims 1 to 8 above, and the AGV dispatching system also includes an AGV device and an elevator, and the AGV device is communicatively connected to the elevator.

10. The AGV dispatching system according to claim 9, characterized in that: The AGV scheduling system also includes an interface platform and a data platform. The AGV scheduling system receives the task order through the interface platform and sends the task order to the AGV device through the data platform. If the AGV device determines that the elevator needs to be used based on the task order, the task execution signal is sent to the data platform, and the elevator operates according to the control signal sent by the data platform.

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