Robot elevator taking control method and elevator control method

Abstract

The invention discloses a robot elevator taking control method. The method comprises the steps that 1, a departure layer and a first target layer of a robot are determined; step 2, predicting a second target floor of a user in the elevator car when the elevator arrives at the departure floor; 3, for each elevator, the first number of second target floors located between the departure floor and the first target floor is determined; step 4, determining a first elevator corresponding to the minimum first number; and 5, part or all of the first elevators serve as response elevators of the robot. According to the invention, the adverse effect of the robot on the elevator taking experience of the passengers is minimized by minimizing the number of times of transposition or staggering between the robot and the passengers.

Description

Technical Field

[0001] The present invention relates to the field of elevators, and particularly to a control method when a robot and passengers ride an elevator simultaneously. Background Art

[0002] With the continuous development of robot technology and elevator technology, robots can provide cross-floor services by taking elevators, making the application scope of robots more and more extensive. As proposed in Chinese Patent Document CN202510117950.0: Different strategies are adopted in three stages, namely when the robot has a need to take the elevator, on the way to the elevator, and at the queuing point of the elevator, to optimize the allocation of elevator resources from a global perspective, so as to reduce the waiting time of the robot for taking the elevator and improve the overall operating efficiency of the elevator. When the robot is at the target task node of the cross-floor task and has a need to take the elevator, it can send relevant instructions to the server, so that the server can determine the initial elevator for the robot based on the elevator-taking needs of the robot and the relevant information of all elevators; in the stage when the robot goes to the initial elevator, monitor the second state information of the initial elevator to determine whether to update the initial elevator; in the stage when the robot arrives at the target elevator, update the first waiting queue of the target elevator through various factors that may affect the queuing order to ensure the execution efficiency of the robot tasks that are urgent and important.

[0003] Robot taking the elevator will have an adverse impact on the elevator-riding experience of the passengers taking the elevator. Existing technologies usually reduce the interference of the robot to the passengers by minimizing the co-riding distance or co-riding time between the passengers and the robot, so as to reduce the adverse impact of the robot on the elevator-riding experience of the passengers. However, this method only improves the elevator-riding experience of the passengers from the perspective of co-riding time or co-riding distance.

[0004] Although the co-riding time or co-riding distance of the passengers and the robot taking the elevator simultaneously is related to the adverse impact on the elevator-riding experience of the passengers, actually, when the passengers and the robot take the elevator simultaneously, for getting off the elevator, the robot and the passengers need to change positions (that is, when the robot or the passenger at the rear position of the car gets off the elevator, they need to stagger with the passenger or the robot near the elevator door), and this kind of position change or staggering also has an important impact on the adverse impact on the elevator-riding experience of the passengers.

[0005] Therefore, how to reduce the adverse impact of the robot on the elevator-riding experience of the passengers from the perspective of reducing position change or staggering becomes a technical problem to be solved. Summary of the Invention

[0006] The technical problem to be solved by the present invention is how to minimize the number of position changes or staggers between the robot and the passengers when getting off the elevator, so as to eliminate the adverse impact of the robot on the elevator-riding experience of the passengers.

[0007] To solve the above technical problem, the present invention discloses a robot elevator control method, and the method includes:

[0008] Step 1: Determine the departure floor and the first destination floor of the robot.

[0009] Step 2: Predict the second destination floor of the users in the elevator car when the elevator arrives at the departure floor, where the users include passengers and the robot.

[0010] Step 3: For each elevator, respectively determine the first quantity of the second destination floors located between the departure floor and the first destination floor.

[0011] Step 4: Determine the first elevator corresponding to the minimum first quantity.

[0012] Step 5: Use some or all of the first elevators as the response elevators for the robot.

[0013] Preferably, in Step 2, the second destination floor is predicted according to the destination floor registration signal in the elevator car and the floor registration signal already assigned to the elevator.

[0014] Preferably, the method for predicting the second destination floor in Step 2 includes: selecting, from the destination floor registration signals in the elevator car, the destination floor registration signals located between the departure floor and the first destination floor, and using them as the first destination floor registration signals; selecting, from the floor registration signals already assigned to the elevator, the floor registration signals whose destination floors are located between the departure floor and the first destination floor, and using them as the first floor registration signals; using the set of the destination floors in the first destination floor registration signals and the first floor registration signals as the second destination floor.

[0015] Preferably, when there is only one first elevator, in Step 5, this first elevator is used as the response elevator for the robot; when there are multiple first elevators, in Step 5, one of the first elevators is selected as the response elevator for the robot according to a preset method.

[0016] Preferably, when the first quantity is greater than 0 and there are multiple first elevators, in Step 5, the first elevator with the minimum quantity of the second destination floors corresponding to the passengers among the second destination floors located between the departure floor and the first destination floor is used as the response elevator for the robot.

[0017] To solve the above technical problem, the present invention discloses another robot elevator control method, and the method includes:

[0018] Step S1: Determine the first destination floors of the respective robots waiting for the elevator on the waiting floor.

[0019] Step S2: Predict the second destination floor of the users in the elevator car when the elevator arrives at the waiting floor of the robot, where the users include passengers and the robot.

[0020] Step S3: For each robot, respectively determine the first quantity of the second destination floors located between the waiting floor and the first destination floor;

[0021] Step S4: Sort the first robots in ascending order according to the first quantity to obtain a robot queue, where the first robots refer to the robots whose second destination floors are located between the waiting floor and the first destination floor;

[0022] Step S5: Select, in the order from the front to the back, the first robots whose quantity does not exceed the remaining available capacity of the elevator car in the robot queue as the boarding robots to board the elevator.

[0023] Preferably, when there are multiple first robots corresponding to the first quantity, among the second destination floors of the passengers located between the waiting floor and the first destination floor, in Step S4, sort each of the first robots corresponding to each first quantity in ascending order according to the quantity of the second destination floors corresponding to the passengers.

[0024] Preferably, between Step S3 and Step S4, it further includes: Step A1: Conduct a clustering analysis on each of the first quantities to obtain a first group and a second group, where the metric value of the first group is less than that of the second group, and the metric value of a certain group is a quantitative index representing the overall size of all the first quantities within the group; Step A2: Delete the first quantities in the second group and only retain the first quantities in the first group.

[0025] To solve the above technical problems, the present invention discloses an elevator control method, and the method includes:

[0026] Step T1: Determine the waiting floor and the destination floor of the waiting passengers;

[0027] Step T2: Select one elevator from the elevators that have not been selected as the selected elevator;

[0028] Step T3: Determine whether there is a first robot, where the first robot refers to a robot that is in the car when the selected elevator arrives at the waiting floor and does not get off at the waiting floor. If so, proceed to the next step; otherwise, use the selected elevator as the target elevator and transfer to Step T6;

[0029] Step T4: Determine whether the destination floor of the first robot is in front of the destination floor of the passengers with respect to the running direction of the selected elevator. If so, use the selected elevator as the target elevator and transfer to Step T6; otherwise, use the robot as the specific robot of the selected elevator and proceed to the next step;

[0030] Step T5: Count the number of specific robots of the selected elevator;

[0031] Step T6: Determine whether there are still elevators that have not been selected. If so, return to Step T2; otherwise, proceed to the next step.

[0032] Step T7: Determine whether there is at least one target elevator. If so, use the target elevator as the selectable elevator and select one of the selectable elevators as the responding elevator for the passenger; otherwise, use the elevator with the smallest number of specific robots as the responding elevator for the passenger.

[0033] To solve the above technical problems, the present invention discloses another elevator control method, which includes:

[0034] Step V1: Determine the waiting floor and destination floor of the waiting passengers.

[0035] Step V2: Determine the first elevator that arrives at the waiting floor first.

[0036] Step V3: Determine whether there is at least one first robot in the first elevator. The first robot refers to a robot that is in the car when the selected elevator arrives at the waiting floor and does not get off at the waiting floor. If so, proceed to the next step; otherwise, select no more than the number of passengers that the elevator can carry from the waiting passengers as the passengers to be carried by the elevator and end.

[0037] Step V4: Determine the first passenger among the waiting passengers. The first passenger refers to a passenger whose destination floor of the first robot is in front of the destination floor of the passenger relative to the running direction of the selected elevator.

[0038] Step V5: Select no more than the number of passengers that the elevator can carry from the first passengers as the passengers to be carried by the elevator.

[0039] Preferably, between Step V4 and Step V5, it further includes:

[0040] Step B1: Determine whether the first difference obtained by subtracting the number of first passengers from the number of passengers that the elevator can carry is greater than the threshold. If so, proceed to the next step; otherwise, transfer to Step V5.

[0041] Step B2: For each passenger, determine the co-riding distance between the passenger and the robot. The co-riding distance is the distance between the destination floor of the passenger and the destination floor of the robot.

[0042] Step B3: Select the n passengers with the shortest co-riding distance from the waiting passengers and, together with the first passengers, as the passengers to be carried by the elevator, where n is a non-negative integer less than or equal to the threshold.

[0043] Beneficial technical effects

[0044] 1. To avoid the exchange of positions between the robot and passengers when entering and exiting the car as much as possible, in accordance with the principle of "first in, last out; last in, first out", select a responding elevator for the robot or passengers.

[0045] 2. To avoid the exchange of positions between the robot and passengers when entering and exiting the car as much as possible, in accordance with the principle of "first in, last out; last in, first out", select the robot or passengers who are about to board the elevator for the robot or passengers arriving at the waiting floor.

[0046] 3. By appropriately changing the conditions, select a responding elevator with the least impact on co-riding for the robot or passengers, or select the robot or passengers who are about to board the elevator with the least impact on co-riding for the robot or passengers arriving at the waiting floor. Description of the Drawings

[0047] None Detailed Embodiments

[0048] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence.

[0049] Embodiment 1

[0050] The scenario of this embodiment is that at a certain moment, a certain robot registers a call signal including the destination floor information, and then the elevator needs to allocate a responding elevator for the robot, and minimize the adverse impact on passengers caused by the robot as much as possible.

[0051] For this scenario, the robot elevator control method of this embodiment includes:

[0052] Step 1: Determine the departure floor and the first destination floor of the robot.

[0053] Step 2: Predict the second destination floor of the users (including passengers and robots) in the elevator car when the elevator arrives at the departure floor.

[0054] Step 3: For each elevator, respectively determine the first quantity of the second destination floors located between the departure floor and the first destination floor.

[0055] Step 4: Determine the first elevator corresponding to the minimum first quantity.

[0056] Step 5: Use some or all of the first elevators as the response elevators for the robot.

[0057] Among them, in Step 2, the second destination floor is predicted based on the destination floor registration signal inside the elevator car and the landing registration signal already assigned to the elevator. Specifically, the method for predicting the second destination floor in Step 2 includes: selecting the destination floor registration signals located between the departure floor and the first destination floor from the destination floor registration signals inside the elevator car, and using them as the first destination floor registration signals; selecting the landing registration signals whose destination floors are located between the departure floor and the first destination floor from the landing registration signals already assigned to the elevator, and using them as the first landing registration signals; taking the set of destination floors in the first destination floor registration signals and the first landing registration signals as the second destination floor.

[0058] When there is only one first elevator, Step 5 uses this first elevator as the response elevator for the robot; when there are multiple first elevators, Step 5 selects one of the first elevators as the response elevator for the robot according to a preset method (such as taking each first elevator as an object elevator to be selected, and then using the traditional group control method to select a response elevator for the robot from the object elevators).

[0059] When the first quantity is greater than 0 and there are multiple first elevators, Step 5 uses the first elevator with the smallest number corresponding to the second destination floor of the passenger among the second destination floors between the departure floor and the first destination floor as the response elevator for the robot.

[0060] In the above description, it is default that the running direction of the elevator after restarting at the waiting floor is the same as the expected elevator riding direction of the passenger, and the same below.

[0061] Embodiment 2

[0062] The scenario of this embodiment is that at a certain moment, there is at least one waiting robot on a certain floor, and at this time, a certain elevator is about to arrive at the waiting floor of the robot. Now it is necessary to select an appropriate robot from the waiting robots for this elevator so that the number of times of transposition between passengers and the robot is minimized.

[0063] For this scenario, the robot elevator riding control method of this embodiment includes:

[0064] Step S1: Determine the first destination floor of each robot waiting on the waiting floor;

[0065] Step S2: Predict the second destination floor of the users (including passengers and robots) inside the elevator car when the elevator arrives at the waiting floor of the robot;

[0066] Step S3: For each robot, respectively determine the first quantity of the second destination floors located between the waiting floor and the first destination floor;

[0067] Step S4: Sort the first robots in ascending order according to the first quantity to obtain a robot queue. The first robots refer to the robots whose second destination floors are between the waiting floor and the first destination floor.

[0068] Step S5: Select, in the order from front to back, the first robots whose quantity does not exceed the remaining available capacity of the elevator car as the boarding robots to board the elevator.

[0069] When there are multiple first robots corresponding to the first quantity, among the second destination floors corresponding to the passengers between the waiting floor and the first destination floor, in step S4, each first robot corresponding to each first quantity is sorted in ascending order according to the quantity corresponding to the second destination floor of the passenger.

[0070] Between step S3 and step S4, the following steps are further included: Step A1: Perform cluster analysis on each first quantity to obtain a first group and a second group, where the metric value of the first group is less than that of the second group. The metric value of a certain group is a quantitative index representing the overall size of all first quantities within the group; Step A2: Delete the first quantities in the second group and only retain the first quantities in the first group. The cluster analysis may adopt, for example, the k-means clustering algorithm. Here, the metric value can be any quantitative index that can represent the overall size of all first quantities within the group, such as the maximum value, minimum value, average value, median value, etc. of all first quantities within the group.

[0071] Embodiment 3

[0072] The scenario of this embodiment is that at a certain moment, a certain passenger registers a hall call signal including destination floor information, and then the elevator needs to allocate a responding elevator for this passenger and minimize the adverse impact on the passenger by the robots in the car as much as possible.

[0073] For this scenario, the elevator control method of this embodiment includes:

[0074] Step T1: Determine the waiting floor and destination floor of the waiting passengers.

[0075] Step T2: Select one elevator from the unselected elevators as the selected elevator.

[0076] Step T3: Determine whether there are first robots. The first robots refer to the robots that are in the car when the selected elevator arrives at the waiting floor and do not get off at the waiting floor. If so, proceed to the next step; otherwise, use this selected elevator as the target elevator and go to step T6.

[0077] Step T4: Determine whether the destination floor of the first robot is in front of the destination floor of the passenger with respect to the running direction of the selected elevator. If so, use the selected elevator as the target elevator and go to step T6; otherwise, use the robot as the specific robot for the selected elevator and proceed to the next step.

[0078] Step T5: Count the number of specific robots for the selected elevator.

[0079] Step T6: Determine whether there is still an elevator that has not been selected. If so, return to step T2; otherwise, proceed to the next step.

[0080] Step T7: Determine whether there is at least one target elevator. If so, use the target elevator as the optional elevator and select one of the optional elevators as the responding elevator for the passenger (for example, select one of the optional elevators as the responding elevator using the traditional elevator group control method); otherwise, use the elevator with the smallest number of specific robots as the responding elevator for the passenger.

[0081] Embodiment 4

[0082] The scenario of this embodiment is that at a certain moment, there is at least one waiting passenger on a certain floor. At this time, a certain elevator is about to arrive at the waiting floor of the passenger, and there may be robots in the elevator that do not get off at the waiting floor when it arrives at the waiting floor. Now it is necessary to select appropriate boarding passengers from the waiting passengers for this elevator to minimize the number of times of transposition between passengers and robots.

[0083] For this scenario, the elevator control method of this embodiment includes:

[0084] Step V1: Determine the waiting floor and destination floor of the waiting passengers.

[0085] Step V2: Determine the first elevator that arrives at the waiting floor first.

[0086] Step V3: Determine whether there is at least one first robot in the first elevator. The first robot refers to a robot that is in the car when the selected elevator arrives at the waiting floor and does not get off at the waiting floor. If so, proceed to the next step; otherwise, select no more than the number of passengers that the elevator can carry from the waiting passengers as the boarding passengers to be carried by this elevator and end.

[0087] Step V4: Determine the first passenger among the waiting passengers. The first passenger refers to a passenger whose destination floor of the first robot is in front of the destination floor of the passenger with respect to the running direction of the selected elevator.

[0088] Step V5: Select no more than the number of first passengers that the elevator can carry from the first passengers as the boarding passengers to be carried by this elevator.

[0089] Between step V4 and step V5, there is also included:

[0090] Step B1: Determine whether the first difference obtained by subtracting the number of the first passengers from the number of passengers that the elevator can carry is greater than the threshold value. If it is greater, proceed to the next step; otherwise, transfer to step V5.

[0091] Step B2: For each passenger, determine the co-riding distance between the passenger and the robot (i.e., the distance between the destination floor of the passenger and the destination floor of the robot).

[0092] Step B3: Select n passengers with the shortest co-riding distance from the waiting passengers and, together with the first passenger, serve as the passengers to be carried by the elevator, where n is a non-negative integer less than or equal to the threshold value.

Claims

1. A robot elevator control method, characterized in that, The method includes: Step 1, determine the departure floor and the first destination floor of the robot; Step 2, predict the second destination floor of the users in the elevator car when the elevator arrives at the departure floor, where the users include passengers and the robot; Step 3, for each elevator, respectively determine the first quantity of the second destination floors located between the departure floor and the first destination floor; Step 4, determine the first elevator corresponding to the minimum first quantity; Step 5, use part or all of the first elevators as the response elevators for the robot.

2. The robot elevator control method according to claim 1, wherein, In step 2, the second destination floor is predicted according to the in-car destination floor registration signal of the elevator and the landing registration signal already assigned to the elevator.

3. The robot elevator control method according to claim 2, characterized in that, The method for predicting the second destination floor in step 2 includes: Select the destination floor registration signals located between the departure floor and the first destination floor from the in-car destination floor registration signals of the elevator, and use them as the first destination floor registration signals; Select the landing registration signals whose destinations are located between the departure floor and the first destination floor from the landing registration signals already assigned to the elevator, and use them as the first landing registration signals; Use the set of destinations in the first destination floor registration signals and the first landing registration signals as the second destination floor.

4. The robot elevator control method according to claim 1, wherein When there is only one first elevator, step 5 uses this first elevator as the response elevator for the robot; when there are multiple first elevators, step 5 selects one of the first elevators as the response elevator for the robot according to a preset method.

5. The robot elevator control method according to claim 4, wherein, When the first quantity is greater than 0 and there are multiple first elevators, step 5 uses the first elevator with the minimum quantity of the second destination floors corresponding to the passengers among the second destination floors located between the departure floor and the first destination floor as the response elevator for the robot.

6. A robot elevator control method, characterized in that, The method includes: Step S1, determine the first destination floors of the respective robots waiting for the elevator on the waiting floor; Step S2, predict the second destination floors of the users in the elevator car when the elevator arrives at the waiting floor of the robot, where the users include passengers and the robot; Step S3, for each robot, respectively determine the first quantity of the second destination floors located between the waiting floor and the first destination floor; Step S4, sort the first robots in ascending order of the first quantity to obtain a robot queue, where the first robot refers to the robot whose second destination floor is located between the waiting floor and the first destination floor; Step S5, in the order from front to back, select the first robots whose quantity does not exceed the remaining available capacity of the elevator car for the robots to be the boarding robots taking this elevator.

7. The robot elevator control method according to claim 6, wherein When there are multiple first robots corresponding to the first quantity, for those located between the waiting floor and the first destination floor and corresponding to the second destination floors of the passengers, in step S4, sort each of the first robots corresponding to each first quantity in ascending order of the quantity of the second destination floors corresponding to the passengers.

8. The robot elevator control method according to claim 6 or 7, characterized in that, Between step S3 and step S4, it further includes: Step A1: Perform cluster analysis on each of the first quantities to obtain a first group and a second group, where the metric value of the first group is less than that of the second group, and the metric value of a certain group is a quantitative index representing the overall size of all the first quantities within that group; Step A2: Delete the first quantities in the second group and only retain the first quantities in the first group.

9. An elevator control method, characterized in that, The method includes: Step T1: Determine the waiting floor and destination floor of the waiting passengers; Step T2: Select one elevator from the elevators that have not been selected as the selected elevator; Step T3: Determine whether there is a first robot. The first robot refers to a robot that is in the car when the selected elevator arrives at the waiting floor and does not get off at the waiting floor. If so, proceed to the next step; otherwise, use the selected elevator as the target elevator and transfer to Step T6; Step T4: Determine whether the destination floor of the first robot is in front of the destination floor of the passengers relative to the running direction of the selected elevator. If so, use the selected elevator as the target elevator and transfer to Step T6; otherwise, use the robot as the specific robot of the selected elevator and proceed to the next step; Step T5: Count the number of specific robots of the selected elevator; Step T6: Determine whether there are still elevators that have not been selected. If so, return to Step T2; otherwise, proceed to the next step; Step T7: Determine whether there is at least one target elevator. If so, use the target elevator as the optional elevator and select one of the optional elevators as the responding elevator for the passengers; otherwise, use the elevator with the smallest number of specific robots as the responding elevator for the passengers.

10. An elevator control method, characterized in that, The method includes: Step V1: Determine the waiting floor and destination floor of the waiting passengers; Step V2: Determine the first elevator that arrives at the waiting floor first; Step V3: Determine whether there is at least one first robot in the first elevator. The first robot refers to a robot that is in the car when the selected elevator arrives at the waiting floor and does not get off at the waiting floor. If there is, proceed to the next step; otherwise, select no more than the number of passengers that the elevator can carry from the waiting passengers as the boarding passengers who will take the elevator and end; Step V4: Determine the first passengers among the waiting passengers. The first passengers refer to the passengers whose destination floors of the first robots are in front of their destination floors relative to the running direction of the selected elevator; Step V5: Select no more than the number of passengers that the elevator can carry from the first passengers as the boarding passengers who will take the elevator.

11. The elevator control method according to claim 10, characterized in that, Between Step V4 and Step V5, there also includes: Step B1: Determine whether the first difference obtained by subtracting the number of first passengers from the number of passengers that the elevator can carry is greater than the threshold. If it is greater, proceed to the next step; otherwise, transfer to Step V5; Step B2: For each passenger, determine the co-riding distance between the passenger and the robot. The co-riding distance is the distance between the destination floor of the passenger and the destination floor of the robot; Step B3: Select the n passengers with the shortest co-riding distance from the waiting passengers and, together with the first passengers, as the boarding passengers who will take the elevator, where n is a non-negative integer less than or equal to the threshold.