CN109867180B - Elevator system - Google Patents
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- CN109867180B CN109867180B CN201811316762.7A CN201811316762A CN109867180B CN 109867180 B CN109867180 B CN 109867180B CN 201811316762 A CN201811316762 A CN 201811316762A CN 109867180 B CN109867180 B CN 109867180B
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Abstract
The invention provides an elevator system which improves the conveying capacity and shortens the waiting time of users by simultaneously achieving high efficiency of elevator riding efficiency and smooth riding. The elevator system includes: an elevator control device; a robot control device for controlling the mobile guide robot; and an integrated management device that integrally manages the elevator control device and the robot control device, wherein the elevator control device includes an in-car passenger detection unit that detects a space in which the elevator can be loaded, the robot control device includes a robot control unit that receives a command from the integrated management device and controls the mobile guidance robot, and the mobile guidance robot includes a guidance information output unit that outputs guidance information, and when the in-car passenger detection unit detects the space in which the elevator can be loaded, the mobile guidance robot is moved to a position of an elevator user and is guided to be loaded by the guidance information output unit.
Description
Technical Field
The present invention relates to an elevator system.
Background
An elevator system is a vertical transportation facility in a building, and particularly in a large building, the elevator system is configured by a system in which a plurality of elevators and an elevator group management that collectively manages the elevators as a group are operated. The purpose of this elevator system is to transport as many users as possible to their destination floors per a predetermined time, and particularly when the elevator system is used in a crowded state such as at work or at lunch, the waiting time of the users tends to be long, which increases the discomfort of the users.
To solve this problem, for example, patent document 1 proposes a device that detects a user for a large number of users waiting for an elevator at a landing according to a destination floor and guides the user to the landing or the car by an arbitrary guidance method using a car guide device provided in an elevator hall. The guidance method includes presenting audio or illumination changes or video through a speaker, a light, a display, or the like, or performing guidance by communicating with a mobile terminal held by the user.
As another example, patent document 2 proposes that, for a user waiting for an elevator at a landing, the number of passengers riding in an assigned elevator car is detected by a camera or the like provided in the car, and the number of persons that can ride in the car is calculated from the detected number of passengers and the maximum load of the elevator car, and the result is notified to the user waiting at the landing.
Documents of the prior art
Patent document
Patent document 1: WO2016/194231
Patent document 2: japanese patent laid-open No. 6-80332 publication
Disclosure of Invention
Technical problem to be solved by the invention
However, the technique disclosed in patent document 1 has the following problems: although the car guide device provided at the landing on each floor transmits information to the user, the user is talking while waiting at the landing and does not notice guidance from the car guide device, for example. In addition, when the user is not used to the system on which the car guide device is mounted, the user may be confused because the user cannot understand the meaning of the display. Since the elevator system cannot recognize these, there is a problem that the same service is provided to the same user a plurality of times.
In addition, in the technique disclosed in patent document 2, since the car in response and the number of persons that can be boarding are notified by the boarding notifier provided in each floor landing, it is difficult to guide users who are next ranked to the landing when there is a user who stays in front of the landing entrance and does not board the car, regarding the user who is currently boarding the car at the landing. The number of persons that can be used for riding is calculated from the maximum load of the car and the number of persons already riding, but the empty space that can be used is determined to be different depending on the user, and therefore it is not always possible to determine whether or not the user can ride from the maximum load.
The present invention has been made to solve the above problems, and an object of the present invention is to provide an elevator system that improves the transport capacity and shortens the waiting time of users by achieving both high efficiency of elevator boarding efficiency and smooth riding.
Technical scheme for solving technical problem
In order to achieve the object, the invention is characterized in that the elevator system comprises: an elevator control device that controls an elevator; a robot control device that controls the mobile guidance robot; and a comprehensive management device that comprehensively manages the elevator control device and the robot control device, the elevator control device including: an elevator control unit that controls the lifting of the elevator; a door opening/closing command unit that opens and closes a door of the elevator; and an in-car passenger detection unit that detects whether or not there is a space in which the elevator can be loaded in the car, the robot control device including: a robot control unit that receives a command from the integrated management device and controls the mobile guidance robot; and a transmission/reception unit that transmits/receives a signal to/from the mobile guidance robot, the mobile guidance robot including: an information processing unit that receives an instruction from the robot control unit and processes the received instruction; a guidance information output unit that outputs guidance information corresponding to an elevator user based on the information of the information processing unit; and a movement control unit that moves the mobile guidance robot to the position of the elevator user, and causes the mobile guidance robot to move to the position of the elevator user when the in-car passenger detection unit detects the space that can be taken in the elevator car, and the guidance information output unit to guide the user to take the car.
Effects of the invention
According to the present invention, it is possible to provide an elevator system capable of improving the transport capacity and shortening the waiting time of the user by achieving both high efficiency of elevator boarding efficiency and smooth riding.
Drawings
Fig. 1 is a control block diagram of an elevator system according to embodiment 1 of the present invention.
Fig. 2 is an overall configuration diagram of an elevator system according to embodiment 1 of the present invention.
Fig. 3A is a diagram illustrating the operation of the robot before the embodiment of the present invention is applied.
Fig. 3B is a diagram illustrating the operation of the robot according to embodiment 1 of the present invention.
Fig. 4 is a flowchart of an elevator system according to embodiment 1 of the present invention.
Fig. 5 is a diagram for explaining the operation of the robot according to embodiment 2 of the present invention.
Fig. 6 is a flowchart of an elevator system according to embodiment 2 of the present invention.
Fig. 7 is a diagram for explaining the operation of the robot according to embodiment 3 of the present invention.
Fig. 8 is a flowchart of an elevator system according to embodiment 3 of the present invention.
Fig. 9 is a diagram for explaining the operation of the robot according to embodiment 4 of the present invention.
Fig. 10 is a flowchart of an elevator system according to embodiment 4 of the present invention.
Detailed Description
Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
Example 1
Embodiment 1 of the present invention will be described with reference to fig. 1 to 4. Fig. 1 is a control block diagram of an elevator system according to embodiment 1 of the present invention.
In fig. 1, the system is composed of an elevator control device 100 that controls an elevator, a robot control device 200 that controls a mobile guidance robot, a mobile guidance robot 210, an elevator control device 100, and an integrated management device 300 that comprehensively manages the robot control device 200 and the mobile guidance robot 210.
The elevator control device 100 is composed of an elevator control unit 101, an elevator group management control unit 102, a door switch command unit 103, and an in-car passenger detection unit 104.
The elevator control unit 101 controls an elevator installed in an elevator shaft or a machine room of the elevator, and controls the ascending and descending of the elevator. The elevator group management control unit 102 controls a plurality of installed elevators so as to operate with good balance in consideration of the waiting time of the user. The door opening/closing command unit 103 provides a command for opening/closing control of the elevator door, and when a user on the landing side is prompted to get on the car, the elevator door is kept open by continuing the operation of the elevator door. The in-car passenger detection unit 104 is provided in the car and detects whether or not there is a space in the car in which passengers can ride.
The robot controller 200 includes a robot control unit 201 and a transmission/reception unit 202. The mobile guidance robot 210 is composed of a transmission/reception unit 211, an information processing unit 212, a guidance information output unit 213, a user information input unit 214, and a movement control unit 215.
The robot control unit 201 receives a command from the integrated management device 300 and controls the operation of the mobile guidance robot 210. The transceiver 202 transmits and receives signals to and from the mobile guidance robot 210.
The transmission/reception unit 211 of the mobile guidance robot 210 transmits and receives signals to and from the robot controller 200. The information processing unit 212 processes commands from the robot controller 200 and information from the user information input unit 214. The guidance information output unit 213 outputs guidance information corresponding to the user based on the information from the information processing unit 212, and urges the user to get on the car. The user information input unit 214 detects a user at a landing and detects an attribute of the user. The movement control unit 215 performs movement control so that the mobile guidance robot 210 moves (travels) to the position of the elevator user.
The integrated management device 300 includes a user information database 301, an elevator command transmitting/receiving unit 302, and a robot command transmitting/receiving unit 303.
The user information database 301 stores the user information obtained by the user information input unit 214. The elevator command transmitting/receiving unit 302 and the elevator side transmit/receive a command in conjunction with the control of the robot control unit 201. The robot command transmitting/receiving unit 303 and the robot side transmit/receive a command in conjunction with the elevator control unit 101.
The elevator control device 100, the robot control device 200, and the integrated management device 300 bidirectionally transmit and receive data via the network unit 350.
Fig. 2 is an overall configuration diagram of an elevator system according to embodiment 1 of the present invention. As described above, the elevator control device 100 is composed of the elevator control unit 101, the elevator group management control unit 102, the door switch command unit 103, and the in-car passenger detection unit 104, and the elevator group management control unit 102 performs control so that a plurality of elevators such as the car a and the car D are optimally allocated to passengers.
The door switch command unit 103 provides a command for controlling the opening and closing of the door, and may directly activate the door switch button by a contact input or output a switch signal from the elevator control unit 101.
The in-car passenger detecting unit 104 is a device that is provided in the car and detects whether or not there is a space in the car in which passengers can ride. As a detection method, image recognition by a camera or the like may be used, or car load data obtained by a load sensor or the like may be used.
The user information input unit 214 in the robot control device 200 detects users in the hall, and detects the attributes, the number of people, and the like of the users. The user information input unit 214 may be image recognition, ID authentication, or the like obtained by the camera. The guidance information output unit 213 may output guidance information corresponding to the attribute of the user, or may output audio data obtained from audio data or image data obtained from a display or the like. The movement control unit 215 is a control unit for moving the robot, and may be wheels or the robot may directly walk.
Next, the operation of the present embodiment will be described with reference to fig. 3. Fig. 3A is a diagram illustrating the operation of the robot before the embodiment of the present invention is applied. Fig. 3B is a diagram illustrating the operation of the robot according to embodiment 1 of the present invention.
The state of elevator users a402 aligned in a row in an elevator landing 401 is shown. In this example, 6 elevators (a to F elevators) are group-controlled, and 3 elevators are arranged in a hall layout structure facing each other. In addition, the boarding determiners of the cars of these elevators are 6 persons.
First, before the application of fig. 3A, when the a-th elevator arrives and 4 users get on the floor, the a-th elevator is the one farthest from the elevator user a402 waiting in the elevator landing 401, and therefore, the a-th elevator is located in a blind spot with respect to the elevator user a402, and there is a possibility that whether or not the user can get on the floor cannot be confirmed. Therefore, the empty space a410 in the car is detected by the above-described in-car passenger detecting unit 104, and information of the empty space a410 in the car is transmitted to the robot controller 200 via the network unit 350. The robot controller 200 transmits information of the empty space a410 in the car to the mobile guidance robot 210.
The mobile guidance robot 210 outputs audio data such as "can take 2 persons on the elevator a" from the guidance information output unit 213 at a position away from the elevator user a402, and guides the user. At this time, there is no problem if the elevator user a402 can act in compliance with the guidance, but there is a possibility that a problem occurs in which guidance intention cannot be read, for example, when the user is not aware of the guidance by making a conversation with a fellow passenger or when the user is in an unfamiliar place.
In response to this problem, as shown in fig. 3B, when the present embodiment is applied, the mobile guidance robot 210 moves to the user position and transmits information on how many people can be riding to the elevator user a 402. The guidance method in this case may be audio data generated by voice or the like, or video data generated by a display or the like.
Then, a message such as "please passenger take the next elevator" is transmitted to the waiting elevator user B403 so that the user uses the next elevator. By moving the mobile guidance robot 210 to the position of the user and guiding the user, the user can notice the content of the guidance and know the information about how many people can ride the car, and thus smooth riding guidance can be performed.
The operation flow of fig. 3B will be described with reference to fig. 4. Fig. 4 is a flowchart of an elevator system according to embodiment 1 of the present invention.
In fig. 4, the elevator control unit 101 allocates an a-number elevator to the elevator hall 401 (S501).
When the car of the a-th elevator arrives, the elevator user starts boarding (S502).
The in-car passenger detecting section 104 detects whether there is a free space in the car of the a-th elevator (S503).
In S503, if yes, the elevator control unit 101 transmits the empty state in the car to the integrated management device 300 via the network unit 350. The elevator command transmission/reception unit 302 receives information from the elevator control unit 101, and based on the received information, the robot command transmission/reception unit 303 transmits a movement command to the robot control device 200 (S504).
The robot controller 200 sends a command to the mobile guidance robot 210 to move to the position of the elevator user a402 and guide the movement (S505).
The mobile guidance robot 210 receives a command from the robot controller 200 and moves to the position of the elevator user a402 (S506).
When the user arrives at the position of the elevator user a402, the mobile guidance robot 210 outputs audio data of "the elevator a can also take the elevator 2" from the guidance information output unit 213, and guides the elevator user a402 to take the elevator (S507).
The mobile guidance robot 210 outputs audio data of "please passenger take the next elevator" to the elevator user B403 from the guidance information output unit 213, and guides the next elevator to arrive (S508). After the boarding of the elevator user a402 is completed, the elevator control unit 101 starts the elevator a (S509).
In S503, even when there is no empty space in the car of the a-th elevator, the elevator control unit 101 starts the a-th elevator (S509).
As described above, according to embodiment 1 of the present invention, since the mobile guidance robot 210 is moved to the positions of the elevator users a402 and B403 to perform guidance, it is possible to improve the transportation capacity and reduce the waiting time of the users by achieving both the efficiency of elevator boarding and a smooth ride.
Example 2
Next, embodiment 2 of the present invention will be described with reference to fig. 5 and 6. Fig. 5 is a diagram for explaining the operation of the robot according to embodiment 2 of the present invention. The same components as those in embodiment 1 are denoted by the same reference numerals and their description is omitted.
Consider the following: although the mobile guidance robot 210 guides the elevator user, the space that can be used is determined to be different depending on the situation of the user (for example, luggage is held by both hands, the user wants to ride together because the user is a group of multiple persons, or the like), and therefore the elevator user does not ride even if there is a free space. Therefore, in embodiment 2, whether or not the user is determined to be in use is determined by the timeout period (predetermined period), and when the user of the elevator is guided but does not move within the timeout period (predetermined period), the mobile guidance robot 210 transmits the elevator door closing command 430 to the elevator side and forcibly closes the elevator door to continue the operation of the elevator.
At this time, the mobile guidance robot 210 detects information of the elevator user C404 that has not moved within the timeout period by the user information input unit 214, and transmits the detected information to the user information database 301 existing in the integrated management device 300. The user information database 301 stores information of the elevator user C404 received from the mobile guidance robot 210. The stored information of the elevator user is stored by, for example, recognizing the face of the elevator user from an image. The passenger detection unit 104 in the car detects the empty space B411 in the car and stores the space in the user information database 301. When the elevator user C404 uses the elevator again, the information of the elevator user C404 and the information of the empty space B411 in the car stored in the user information database 301 are extracted, and when the information of the elevator user C404 and the information of the empty space B411 in the car match each other and the situation of the elevator user is the same as that of the previous use, the boarding guidance is not provided to the elevator user C404. This makes it possible for the user to determine in advance whether boarding is possible, and thus, smooth boarding guidance can be performed.
The operation flow of fig. 5 will be described with reference to fig. 6. Fig. 6 is a flowchart of an elevator system according to embodiment 2 of the present invention.
In fig. 6, the elevator control unit 101 allocates an a-number elevator in the elevator hall 401 (S601).
When the car of the a-th elevator arrives, the elevator user starts boarding (S602).
When the in-car passenger detection unit 104 detects an empty space in which a car can ride, the elevator control unit 101 transmits an empty state in the car to the integrated management device 300 via the network unit 350. The elevator command transmitting/receiving unit 302 receives information from the elevator control unit 101. The central control device 300 determines whether or not information of the waiting elevator user C404 is stored in the user information database 301 (S603).
If "yes" in S603, the integrated management device 300 determines whether or not the free space B411 in the car of the elevator a detected by the in-car passenger detecting section 104 is larger than the user information data stored in the user information database 301 (S604). In S603, if "no", S606 is executed.
If "yes" in S604, the integrated management device 300 transmits a movement command from the robot command transmitting/receiving unit 303 to the robot controller 200 (S605). In S604, if "no", S610 is executed.
The robot controller 200 sends a command to the mobile guidance robot 210 to move to the position of the elevator user C404 and provide guidance (S606).
The mobile guidance robot 210 receives the command from the robot controller 200 and moves to the position of the elevator user C404 (S607).
When the user arrives at the position of the elevator user C404, the mobile guidance robot 210 outputs "the a number elevator can also be used for boarding 2 persons" from the guidance information output unit 213. The audio data of "guide elevator user C404 (S608).
The mobile guidance robot 210 determines whether or not the elevator user C404 has moved within the timeout period (S609).
If yes in S609, the mobile guidance robot 210 transmits a closing command for closing the elevator door to the elevator control unit 101 via the integrated management device 300 (S610).
The elevator control unit 101 sends a command to close the door to the door opening/closing command unit 103 of the a-th elevator. The door opening and closing command unit 103 forcibly closes the door (S611).
After the door is closed, the elevator control unit 101 starts the a-th elevator (S612).
If "no" in S609, the mobile guidance robot 210 transmits information to the integrated management device 300, and the integrated management device 300 determines whether or not information of the elevator user C404 who has not moved within the timeout period is stored in the user information database 301 (S613).
In S613, if yes, the integrated management device 300 transmits a command to the mobile guidance robot 210 to execute S610. If "no" in S613, the central managing apparatus 300 stores the user information in the user information database 301 (S614).
After storing the user information in the user information database 301 in S614, the integrated management device 300 transmits a command to execute S610 to the mobile guidance robot 210.
According to embodiment 2 of the present invention, since whether or not the elevator needs to be used is determined based on the timeout time, it is possible to suppress the elevator from staying longer than necessary.
Further, according to embodiment 2 of the present invention, since the information of the user is stored in the user information database so that the elevator user is referred to the stored data, it is possible to suppress the elevator from staying for more than the necessary time.
As described above, according to embodiment 2 of the present invention, it is possible to improve the transport capacity and shorten the waiting time of the user by achieving both the efficiency of the elevator boarding efficiency and the smooth riding.
Example 3
Next, embodiment 3 of the present invention will be described with reference to fig. 7 and 8. Fig. 7 is a diagram for explaining the operation of the robot according to embodiment 3 of the present invention. The same components as those in embodiment 1 and embodiment 2 are denoted by the same reference numerals, and descriptions thereof are omitted.
In embodiment 3, a user who cannot physically board the elevator waits for boarding of the elevator, and is preferentially guided to the next user. The in-car passenger detection unit 104 of the elevator control device 100 detects the empty space C412 in the car, and the user information input unit 214 of the mobile guidance robot 210 detects the user on the landing side. When the in-car empty space C412 detected by the in-car passenger detection unit 104 is smaller than the size of the elevator user D405 detected by the user information input unit 214, guidance for the elevator user D405 is stopped, and guidance for the waiting elevator user E406 is started. The elevator user D405 is, for example, a wheelchair user.
The mobile guidance robot 210 is guided by the guidance information output unit 213 to get on the next elevator for the elevator user D405. Thus, by using the free space suitable for the user, the free space can be effectively used, and smooth boarding guidance can be performed.
The operation flow of fig. 7 will be described with reference to fig. 8. Fig. 8 is a flowchart of an elevator system according to embodiment 3 of the present invention.
In fig. 8, the elevator control unit 101 allocates an a-number elevator to the elevator hall 401 (S701).
When the car of the a-th elevator arrives, the elevator user starts boarding (S702).
The integrated management device 300 determines whether or not the information of the elevator user D405 is stored in the user information database 301 (S703).
If "yes" in S703, the integrated management device 300 transmits a movement command from the robot command transmitting/receiving unit 303 to the robot controller 200 (S704). In S703, if "no", S707 is executed.
The robot controller 200 sends a command to the mobile guidance robot 210 to move to the position of the elevator user D405 and provide guidance (S705).
The mobile guidance robot 210 receives a command from the robot controller 200 and moves to the position of the elevator user D405 (S706).
The integrated management apparatus 300 determines whether or not the free space C412 in the car of the elevator a detected by the in-car passenger detecting section 104 is larger than the user information data stored in the user information database 301 (S707).
In S707, if yes, the mobile guidance robot 210 outputs "No. a can also take 2 persons" from the guidance information output unit 213. Audio data of "and guides the elevator user D405 (S708).
After the boarding of the elevator user D405 is completed, the elevator control unit 101 starts the elevator a (S709).
In S707, if no, the mobile guidance robot 210 outputs "the elevator cannot be taken" from the guidance information output unit 213 to the elevator user D405. The passenger is asked to use the next elevator. "the next elevator user E406 is guided by the audio data of the stop of boarding" (S710).
According to embodiment 3 of the present invention, for a user who cannot physically board, the user is made to wait for boarding of the elevator number so that the next user is guided with priority, and therefore boarding efficiency of the elevator can be improved.
As described above, according to embodiment 3 of the present invention, it is possible to improve the transport capacity and shorten the waiting time of the user by achieving both the efficiency of the elevator boarding efficiency and the smooth riding.
Example 4
Next, embodiment 4 of the present invention will be described with reference to fig. 9 and 10. Fig. 9 is a diagram for explaining the operation of the robot according to embodiment 4 of the present invention. In addition, the same components as those in embodiments 1 to 3 are denoted by the same reference numerals and their descriptions are omitted.
Embodiment 4 describes a processing method when there are many elevator users and the elevator is congested. In the case of congestion, a plurality of mobile guidance robots 210 are provided, and the mobile guidance robots 210 (the 1 st mobile guidance robot 210a and the 2 nd mobile guidance robot 210b) cooperate with each other. The 1 st and 2 nd mobile guidance robots 210a and 210b each include: an information guidance output unit 213, a user information input unit 214, and a movement control unit 215.
The robot control device includes: a robot control unit 201, the robot control unit 201 receiving a command from the integrated management device 300 and controlling the 1 st mobile guidance robot 210a and the 2 nd mobile guidance robot 210 b; and a transmission/reception unit 202 that transmits and receives signals to and from the 1 st mobile guidance robot 210a and the 2 nd mobile guidance robot 210b through the transmission/reception unit 202.
When the elevator user gets on the elevator a and arrives next to the elevator E (another elevator), the elevator group management control unit 102 transmits information to the 2 nd mobile guidance robot 210b that the elevator user arrives next to the elevator E. The 2 nd mobile guidance robot 210b transmits information to the elevator user F407 to wait before the E-th elevator. Therefore, the elevator user can know that the E-number elevator arrives next in advance, so that the boarding time for boarding the elevator car can be shortened, and smooth boarding guidance can be implemented.
The operation flow of fig. 9 will be described with reference to fig. 10. Fig. 10 is a flowchart of an elevator system according to embodiment 4 of the present invention.
In fig. 10, the elevator control unit 101 allocates an a-number elevator to the elevator landing 401 (S801).
When the car of the a-th elevator arrives, the elevator user starts boarding (S802).
The in-car passenger detecting section 104 detects whether there is a free space in the car of the a-th elevator (S803).
In S803, if yes, the elevator control unit 101 transmits the empty state in the car to the integrated management device 300 via the network unit 350. The elevator command transmission/reception unit 302 receives information from the elevator control unit 101, and based on the received information, the robot command transmission/reception unit 303 transmits a movement command to the robot control device 200 (S804).
The robot controller 200 sends a command to the 1 st mobile guidance robot 210a to move to the position of the elevator user a402 and provide guidance (S805).
The 1 st mobile guidance robot 210a receives a command from the robot controller 200 and moves to the position of the elevator user a402 (S806).
After reaching the position of the elevator user a402, the 1 st mobile guidance robot 210a outputs "the a number elevator can also be taken by 2 persons" from the guidance information output unit 213 of the 1 st mobile guidance robot 210 a. "and guides the elevator user a402 (S807).
The elevator group management control unit 102 transmits information to arrive next to the E-th elevator (another elevator) to the integrated management device 300. When receiving the information that the elevator E arrives from the elevator group management control unit 102 (S808), the integrated management device 300 instructs the 2 nd mobile guidance robot 210b to guide the elevator user F407.
The 2 nd mobile citing robot 210b guides the elevator user F407 (other elevator user) to the E-th elevator (S809).
After the elevator user a402 finishes boarding the elevator No. a, the elevator No. a is started (S810). After the elevator user F407 finishes boarding the elevator car E, the elevator car E is started.
According to embodiment 4 of the present invention, since the elevator user can know the number of the next arrival in advance, the boarding time for boarding the elevator car can be shortened, and smooth boarding guidance can be performed.
As described above, according to embodiment 4 of the present invention, it is possible to improve the transport capacity and shorten the waiting time of the user by achieving both the efficiency of the elevator boarding efficiency and the smooth riding.
The present invention is not limited to the above-described embodiments, and various modifications are also included. The embodiments described above are for convenience of understanding the present invention and are not necessarily limited to all configurations described.
Description of the reference symbols
100 elevator control device
101 elevator control part
102 elevator group management control part
103 door opening/closing command unit
104 passenger detecting part in car
200 robot control device
201 robot control part
202 transceiver unit
210 mobile type guide robot
210a 1 st mobile guide robot
210a 2 nd mobile guide robot
211 transceiver unit
212 information processing unit
213 guide information output unit
214 user information input unit
215 movement control unit
300 comprehensive management device
301 user information database
302 elevator instruction transmitting/receiving part
303 robot command transmitting/receiving unit
350 network part
401 Elevator landing
402 elevator user a
403 elevator user B
404 Elevator user C
405 Elevator user D
406 elevator user E
407 Elevator user F
410 free space a in the car
411 empty space B in car
412 empty space C in car
430 elevator door close command
Claims (10)
1. An elevator system comprising: an elevator control device that controls an elevator; a robot control device that controls the mobile guidance robot; and a comprehensive management device for comprehensively managing the elevator control device and the robot control device,
the elevator control device comprises: an elevator control unit that controls the lifting of the elevator; a door opening/closing command unit that opens and closes a door of the elevator; and an in-car passenger detecting section that detects whether or not there is a space in which the elevator can be loaded in the car of the elevator,
the robot control device includes: a robot control unit that receives a command from the integrated management device and controls the mobile guidance robot; and a transmission/reception unit that transmits/receives signals to/from the mobile guidance robot,
the mobile guide robot includes: an information processing unit that receives an instruction from the robot control unit and processes the received instruction; a guidance information output unit that outputs guidance information corresponding to an elevator user based on the information of the information processing unit; and a movement control unit that moves the mobile guidance robot to a position of the elevator user,
the passenger detection portion detects in the car under the condition of the space that can take in the car of elevator, makes removal type guide robot moves to elevator user's position, by the guidance information output portion takes the guidance, with to elevator user's transmission can also take many people's information.
2. Elevator system according to claim 1,
the mobile guidance robot transmits a command for closing a door to the door opening/closing command unit via the integrated management device when the elevator user does not move within a predetermined time after boarding guidance.
3. Elevator system according to claim 2,
the integrated management device includes a user information database that stores user information data of the elevator user who has not moved within a predetermined time.
4. Elevator system according to claim 3,
the mobile guidance robot includes a user information input unit, and transmits information of the elevator user who has not moved within a predetermined time to the integrated management device.
5. Elevator system according to claim 3,
the passenger detection portion detects in the car when the space that can take in the car, the integrated management device is detecting the space that can take in the car is than keeping in the user information database under the condition that user information data is big, makes to move to elevator user's position, by the guidance information output portion guides that takes.
6. Elevator system according to claim 3,
when passenger detection portion detects the space that can take in the car, the space that detects that can take in the car than keep in the user information database under the condition that user information data is littleer, the integrated management device to the instruction of closing the door is sent to door switch command division.
7. Elevator system according to claim 3,
when passenger detection portion detected the space that can take in the car, the space that detects that can take in the car than keep in the user information database under the condition that user information data is littleer, removal type guide robot is right the elevator user carries out the guide that the taking stopped.
8. Elevator system according to claim 7,
the mobile guidance robot guides the next elevator user to take a ride.
9. An elevator system comprising: an elevator control device that controls an elevator; a robot control device for controlling the 1 st mobile guidance robot and the 2 nd mobile guidance robot; and a comprehensive management device for comprehensively managing the elevator control device and the robot control device,
the elevator control device comprises: an elevator control unit that controls the lifting of the elevator; a door opening/closing command unit that opens and closes a door of the elevator; and an in-car passenger detecting section that detects whether or not there is a space in which the elevator can be loaded in the car of the elevator,
the robot control device includes: a robot control unit that receives a command from the integrated management device and controls the 1 st mobile guidance robot and the 2 nd mobile guidance robot; and a transmission/reception unit that transmits/receives signals to/from the 1 st mobile guidance robot and the 2 nd mobile guidance robot,
the 1 st mobile guidance robot and the 2 nd mobile guidance robot each include: an information processing unit that receives an instruction from the robot control unit and processes the received instruction; a guidance information output unit that outputs guidance information corresponding to an elevator user based on the information of the information processing unit; and a movement control unit that moves the 1 st mobile guidance robot or the 2 nd mobile guidance robot to the position of the elevator user,
when the passenger detection part in the elevator detects the space capable of being ridden in the elevator car, the 1 st mobile guiding robot is moved to the position of the elevator user, the riding guidance is performed by the guidance information output part of the 1 st mobile guiding robot,
the 2 nd mobile guidance robot, upon receiving a guidance instruction to another elevator, moves to a position of another elevator user so that a guidance information output unit of the 2 nd mobile guidance robot performs boarding guidance to the other elevator.
10. The elevator system of claim 9,
the elevator control device comprises an elevator group management control part,
the elevator group management control unit transmits the arrival information of the other elevator car to the integrated management device.
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| CN110276302B (en) * | 2019-06-24 | 2022-11-25 | 上海木木机器人技术有限公司 | Method and system for taking elevator by robot |
| JP6958711B2 (en) * | 2019-08-09 | 2021-11-02 | フジテック株式会社 | Self-propelled equipment and systems |
| CN110526049B (en) * | 2019-09-03 | 2021-11-30 | 北京洛必德科技有限公司 | Elevator system suitable for robot riding and control method thereof |
| CN112520517B (en) * | 2019-09-18 | 2024-04-26 | 奥的斯电梯公司 | Elevator control system, elevator system and control method for elevator system |
| CN110937480B (en) * | 2019-12-12 | 2022-01-04 | 广州赛特智能科技有限公司 | Method and system for robot to take elevator autonomously |
| US11932512B2 (en) * | 2020-03-16 | 2024-03-19 | Otis Elevator Company | Methods and architectures for end-to-end robot integration with elevators and building systems |
| US20210362978A1 (en) * | 2020-05-20 | 2021-11-25 | Otis Elevator Company | Passenger waiting assessment system |
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