JP2019051999A - Guide system of elevator landing - Google Patents

Abstract

To provide a guide system of an elevator landing capable of improving the service to users by detecting a number of the users capable of boarding the next service elevator, by guiding to distribute the users and by creating a call other than the next service elevator, utilizing a guide robot.SOLUTION: An elevator system comprises an autonomous robot 2 to identify a number of the users waiting at the elevator landing, a control device 105 to calculate the number users capable of getting on the elevator in addition to the current number of the users, from the loading rate of the elevator car or image information of a camera 107 photographing the inside of the elevator car, and a group management control device 109 connected to the control device 105. The autonomous robot 2 receiving the number of the users capable of getting on the elevator from the control device 105 does not guide at the elevator landing when the number of the waiting users is less than the number of the users capable of getting on the elevator, and suppresses the boarding of the users who cannot get on the elevator arriving next when the number of the waiting users is greater than the number of the users capable of getting on the elevator.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an elevator system that detects the number of passengers in a car and provides it to an autonomous robot having a platform guidance function.

  With recent advances in robot control technology, tasks and services previously performed manually have been replaced by robots, and services such as guidance while robots interact with people using artificial intelligence Various initiatives and proposals have been made.

  In the technical field of elevators, various methods have been proposed for notifying a user at a landing of a service providing machine from a large number of elevators. For example, in Patent Document 1, a user at a landing is in a standby position. If you hold the handle of the automatic traveling cart, you will be guided to register the destination floor call, and if the passenger calls and registers according to the guidance, the user will be guided to the vicinity of the service unit, and after the arrival announcement, the user will There has been proposed a customer guidance device that returns to the standby position when the handle is released (see Patent Document 1).

JP 2002-348055 A

  In the thing of patent document 1, the use request | requirement of an elevator is detected by a user grasping the handle of an automatic traveling carriage at a landing, and a user is guided to a corresponding service number machine.

  However, in Patent Document 1, the same guidance is executed regardless of the crowded state of the car, and the guidance in conjunction with the number of people who can get on the car is not considered. In other words, there are cases where the service number guided by the automatic traveling vehicle is full and cannot be boarded.

  An elevator is used by a large number of people, and there are many cases where there are a plurality of passengers in a passenger car and in a passenger car. Especially in buildings with a large number of elevators, when there are many users and multiple users are guided to the service unit, there is a problem that not all of the passengers can get through. As inadequate.

  Therefore, in the present invention, when a plurality of passengers are waiting at the landing using a guidance robot, the number of people who can get into the next service unit is detected, and guidance for distributing the users is provided. The object is to provide a guidance system that can improve the service to users by creating calls for other units.

  In order to solve the above-described problems, an elevator system according to the present invention manages the operation of a plurality of elevator units, and is provided for each elevator unit and an autonomous robot that identifies the number of people waiting for the elevator hall. A control device that calculates the number of passengers that can be boarded in addition to the current number of passengers from the loading rate of the car of the car or the image information of the camera that captures the inside of the car, and a plurality of the control devices, A group management controller connected to the autonomous robot that has received the number of people that can be boarded from the controller, and guides the elevator when the number of people waiting is equal to or less than the number of people that can be boarded If there is more than the number of passengers that can be boarded, the next elevator will be reached. That it takes to suppress behavior ride of passengers that can not ride the elevator Unit, everyone in the elevator Unit next to arrive was assumed to guide the effect that can not ride.

  According to the present invention, when there are a plurality of waiting passengers at the hall, the autonomous robot is notified of the number of passengers that can be boarded in the next service unit, and the service is provided to the passengers by distributing the waiting passengers to the numbering unit. Can be improved.

It is a whole block diagram of the elevator system of one Example. It is a functional block diagram of the elevator system of one Example. It is a flowchart which shows the whole process sequence of one Example. It is a flowchart which shows the autonomous robot guidance availability determination processing procedure of one Example. It is a flowchart which shows the boarding number calculation process procedure of one Example. It is a flowchart which shows the autonomous robot guidance processing procedure of one Example. It is a state diagram which shows the autonomous robot guidance process of one Example. It is a state diagram which shows the autonomous robot guidance process of one Example. It is a state diagram which shows the autonomous robot guidance process of one Example.

  Hereinafter, an elevator system according to an embodiment of the present invention will be described in detail with reference to the drawings. 1 is an overall configuration diagram of an elevator system according to an embodiment, FIG. 2 is a functional block diagram of the elevator system according to the embodiment, FIG. 3 is a flowchart showing an overall processing procedure of the embodiment, and FIG. 4 is an embodiment. 5 is a flowchart showing a procedure for determining whether or not an autonomous robot can be guided, FIG. 5 is a flowchart showing a procedure for calculating the number of passengers according to one embodiment, and FIG. 6 is a flowchart showing a procedure for processing an autonomous robot guidance according to one embodiment. These are the state diagrams which show the autonomous robot guidance process of one Example.

  First, the outline of the overall configuration of an elevator system according to an embodiment will be described with reference to FIG.

  FIG. 1 shows an overall configuration diagram of an elevator system that performs group management of three elevators having the same configuration. In the figure, a, b, and c are added to the end of the code to distinguish between left, center, and right elevator units, but each is an equivalent configuration. Unless otherwise required, the following description will be made by omitting the addition of symbols a, b, and c.

  Each elevator machine includes a car 101, a counterweight 103 connected via a main rope 102, a hoisting machine 104, and a control device 105 for driving the hoisting machine 104.

  Each car 101 includes a load sensor 106 for detecting a load in the car, a camera 107 for photographing the car, and a destination floor button 108 for passengers in the car to register the destination floor. These pieces of information are transmitted to the control device 105 via a communication line (not shown).

  The group management control device 109 controls the operation of each elevator machine via a plurality of control devices 105, and issues a command to each control device 105a to 105c so that the operation efficiency of the elevator in the entire building is optimized. ing. As a result, for example, the control is performed so that the machine waiting on the floor registered for the landing button performs service, and the other car is moved to wait on the appropriate floor in preparation for the next hall call. . When the user presses the landing button 110 at the landing, the group management control device 109 determines the number of machines that responds to the landing call. When the answering machine is determined, the corresponding guide light 111 is turned on.

  Next, the functional block diagram of the elevator system of a present Example is demonstrated using FIG. The elevator system shown here connects the autonomous robot 2 and the first control device 105a via the public line 3, and also connects the control devices 105a to 105c to each other via the group management control device 109. . Further, the autonomous robot 2 is arranged at the elevator hall, and announces information necessary for a waiting customer at the hall, or guides the waiting customer to an appropriate machine. Although not shown, the control device 105b and the control device 105c may also be configured to be able to communicate directly with the autonomous robot 2 via the public line 3.

  As shown here, a communication device 112a and an operation control unit 113a are provided inside the control device 105a of the first elevator. The operation control unit 113a causes the first elevator to travel in accordance with the hall call registration information input from the hall button 110a and the car call registration information input from the destination floor button 108a. The passenger number detection device 114a provided inside the operation control unit 113a detects the number of passengers in the car based on the loading ratio of the car transmitted from the load sensor 106a and the image information of the camera 107a. . The communication device 112 a transmits information from the passenger number detection device 114 a to the autonomous robot 2 through the public line 3.

  On the other hand, the autonomous robot 2 includes a communication device 21 that communicates with the public line 3, a robot control unit 22 that will be described later, and a self-propelled device 206 that is used for autonomous movement.

  The robot control unit 22 includes an announcement unit 23 that performs voice notification to the user, a standby number identification device 24 that detects the number of standby people at the elevator hall using a camera and sensor (not shown), and a camera and sensor (not shown). The position detection device 25 for detecting the position of the autonomous robot 2, the landing call registration device 26 for generating landing call registration information different from the landing call registration information for the landing button 110, and the information received from the control device 105 are recorded. And the customer information and the position information of the autonomous robot 2 are transmitted to the group management control device 109 via the communication device 21.

  Next, the processing procedure of the present embodiment will be described with reference to FIG.

  First, the control device 105 detects whether a hall call from the hall button 110 is registered (S31). When the hall call is not registered (No in S31), the normal driving process is continued. When the hall call is registered (Yes in S31), it is detected whether the destination floor registration (car call) from the destination floor button 108 is registered in the elevator number assigned by the group management control device 109 (S32). . When the destination floor is not registered (No in S32), the normal driving process is continued.

  On the other hand, when there is destination floor registration (Yes in S32), since passengers are in the car 101, there is a possibility that the waiting passengers cannot get through when the car 101 is full. Therefore, it is determined whether the autonomous robot 2 can guide the passengers at the hall (S33). Details of S33 will be described with reference to FIG.

  As a result of the determination in S33, when the guidance by the autonomous robot 2 is impossible (No in S34), the normal operation is continued without performing the guidance by the autonomous robot 2. If guidance by the autonomous robot 2 is possible (Yes in S34), the control device 105 calculates the number of people that can be boarded (S35). Details of S35 will be described with reference to FIG.

  Thereafter, the control device 105 transmits the number of people who can board the vehicle to the autonomous robot 2 (S36), and performs guidance processing by the autonomous robot 2 according to the relationship between the number of people who can board the vehicle and the number of people waiting (S37). Details of S37 will be described with reference to FIGS. 6 and 7A to 7C.

  Next, the autonomous robot guidance availability determination process in S33 will be described in detail with reference to FIG.

  First, in S41, the control device 105 compares the time required for the assigned car to arrive at the landing call floor with the time required for the autonomous robot 2 to guide. When the time until arrival of the assigned car is less than the time required for the guidance (No in S41), the car 101 arrives during the guidance and the passenger 72 starts to enter, so the autonomous robot 2 Guidance by cannot be performed. Therefore, the control device 105 determines prohibition of autonomous robot guidance (S46). On the other hand, if the time until arrival of the assigned car is longer than the time required for guidance (Yes in S41), a request for confirming the position and status of the autonomous robot 2 is transmitted to the autonomous robot 2 (S42).

  In S42, when a status confirmation request is transmitted from the control device 105 to the autonomous robot 2, the autonomous robot 2 returns to the control device 105 whether the position and other guidance are being handled. Here, if there is no response from the autonomous robot 2 to the control device 105 (No in S43), the control device 105 waits until there is a response, and if it is time for guidance not possible (No in S41), it is autonomous. Robot guidance is determined (S46).

  On the other hand, when the control device 105 receives an answer from the autonomous robot 2 (Yes in S43), the control device 105 determines whether the autonomous robot 2 is on the landing call registration floor based on the transmitted information. (S44). When the autonomous robot 2 is on the landing call registration floor and is in a guideable state (Yes in S44), the control device 105 determines autonomous robot guidance permission (S45).

  On the other hand, if the autonomous robot 2 is not on the hall call registration floor or if it is on the hall call registration floor but other guidance is available and new guidance cannot be handled (No in S44), the control device 105 is Guidance is prohibited (S46).

  Next, with reference to FIG. 5, the process for calculating the number of people that can be boarded in S35 will be described in detail.

  First, the control device 105 acquires information on the load sensor 106 (S51). The load sensor 106 detects a loading rate in the car 101. For example, when a 300 kg load is loaded in the car 101 by an elevator having a rated load of 600 kg, the load sensor 106 outputs 50%.

  Next, the number-of-passengers detecting device 114 of the control device 105 calculates how many more passengers can ride with respect to the rated load based on the loading rate acquired from the load sensor 106 (S52). For example, when the load sensor 106 outputs a loading rate of 70% in an elevator with a rated load of 600 kg, if the weight per person is 60 kg, the number of passengers detection device 114 is rated load 600 kg × (100% −loading rate 70 %) ÷ From the calculation of the weight per person 60kg, it is determined that three more passengers can be boarded.

  However, since the weight of a person is not constant, it is not sufficient to judge only by loading. Therefore, the number of people that can be boarded is detected by using the camera 107 installed in the car 101 (S53 to S55). First, the control device 105 acquires image information from the camera 107 installed in the car 101 (S53). Next, image analysis is performed by the passenger number detection device 114 to detect how many passengers are in the car 101 (S54). Subsequently, the number of passengers that can be boarded with respect to the rated number of people is calculated (S55). For example, if the rated number of people is 11 and the number of passengers by image analysis is 7, it can be determined that 4 more people can ride. Note that when a stereo camera is used as the camera 107, the passenger can be detected more accurately even if the monocular camera cannot detect the passenger because of overlapping.

  When the number of people that can be boarded based on the load sensor 106 (S52) and the number of people that can board the vehicle (S55) based on the camera 107 are obtained, the number of people that can be boarded to be transmitted to the autonomous robot 2 is determined (S56). As in the previous example, if the number of people that can be boarded is calculated as “3 people” in S52 and “4 people” in S55, the smaller number of people who can ride “3 people” is compared. Adopt as. As a result, for example, when the number of passengers is small but a heavy object is on board, it is possible to prevent a situation where the passengers get into the rated number of people and become overloaded.

  Next, the autonomous robot guidance process of S37 will be described in detail using FIG. 6 and FIGS. 7A to 7C.

  As shown in FIG. 7A, in general, in a building having a large number of elevators, when a hall call is registered from the hall button 110, the elevator guide light 111 assigned by the group management control device 109 is turned on, Inform the customer of the service number (second number in FIG. 7A). For this reason, a large number of users 72 stand by in the vicinity of the landing door 71 of the service machine (second machine).

  Details of the guidance processing (S37) of the autonomous robot 2 for the customer 72 in FIG. 7A will be described with reference to FIG. In FIG. 6, the left side processing indicates the processing content of the autonomous robot 2, and the right processing indicates the processing content of the control device 105.

  First, when the elevator control device 105 transmits information indicating the number of people that can be boarded to the autonomous robot 2 (S36), the autonomous robot 2 receives it as the number of people that can board (S601). Here, A is the number of people that can be boarded received by the autonomous robot 2. Then, the autonomous robot 2 stores the received number of people (A) that can be boarded in the recording device 27 (S602).

  Next, the autonomous robot 2 detects the number of people waiting for an elevator ride at the landing (S603). At this time, the autonomous robot 2 detects only a user using a camera, a sensor, and artificial intelligence (not shown). At this time, let B be the number of people waiting for the elevator boarding detected by the autonomous robot 2.

  Next, the number of people that can be boarded (A) received from the control device 105 is compared with the number of waiting people (B) detected by the autonomous robot 2 (S604).

  When the number of waiting persons (B) is equal to or less than the number of passengers (A) (A ≧ B), all passengers waiting for boarding can get on the next service machine, so guidance by the autonomous robot 2 is unnecessary (in S604). No). At this time, the autonomous robot 2 may announce that all can get on.

  On the other hand, when the number of waiting persons is larger than the number of passengers that can be boarded (A <B), some of the passengers waiting to board may not be able to board. Therefore, the autonomous robot 2 registers the hall call to the elevators other than the current service unit (No. 1 or No. 3 in the example of FIG. 7A) and performs guidance for distributing the passengers at the platform. .

  Specifically, in order to get a person who cannot get on the next service No. 2 (No. 2) to another No. 1 (No. 3 or No. 3), the autonomous robot 2 passes the next service No. Request for additional hall call registration to other control devices 105. Since the additional hall call registration from the autonomous robot 2 is registered in the control device 105 in parallel with the call registration from the hall button 110, the group management control device 109 that receives the call registration via the control device 105 is It is possible to determine that two independent hall call registrations are requested from the same floor.

  Then, when the control device 105 receives the additional hall call registration from the autonomous robot 2 (Yes in S621), the group management control device 109 transmits the additional hall call registration to the control device 105 other than the service number (S622). . In this way, the group management control device 109 can select a serviceable machine and make it respond to a hall call from the autonomous robot 2 (S623). Next, the control device 105 knows through the group management control device 109 the number of the car additionally registered at S624 in S624, and transmits it to the autonomous robot 2.

  Thereafter, when the autonomous robot 2 receives the machine information that responds to the additional hall call from the control device 105 (S605), the autonomous robot 2 starts guidance to the customer 72 waiting at the hall.

  As shown in FIG. 7A, an example will be described in which seven people are waiting at the landing and the number of people who can board is three. In this case, as shown in FIG. 7B, the autonomous robot 2 moves to a distribution position between the waiting customer who can get on the next service unit and the waiting customer who guides to the additional service unit (S607). Take action to prevent waiting passengers to guide to the service unit from entering the next service unit. During this transition, the autonomous robot 2 may announce that all of the customers 72 cannot board the next service number.

  When arriving at the distribution position illustrated in FIG. 7C (Yes in S608), an announcement is made to the waiting customer that the passenger cannot be reached (S609). For example, an announcement such as “You can have three more passengers in the next elevator. Please use this elevator (No. 3 elevator) for the rear passengers” is guided to the additional service unit (S610). .

  In addition, if the floors of the destination floor registration information and the hall call registration information do not coincide with each other, only boarding from the boarding area occurs, so that there may be an announcement in the car 101 that there is boarding and that it is packed in the back. .

  In addition, when guidance by the autonomous robot 2 is required at the halls on a plurality of floors, if the service number is the same, on the floor to be stopped later, when comparing the number of people that can be boarded and the number of waiting persons at S604, The comparison may be made after adding the number of people from other floors to the number of people who can board.

  In addition, by sending destination floor registration information to the autonomous robot 2, when the autonomous robot 2 provides guidance, the person on the same destination floor is guided to the next service unit, and a floor other than the floor registered for the destination floor is used. You may guide people to the additional service number.

  As explained above, when multiple passengers are waiting at the landing, it detects the number of people who can board the next service unit, provides guidance to distribute the users, and creates calls other than the next service unit By doing so, the service to the user can be improved.

2 autonomous robots,
21 communication device,
22 Robot controller,
23 Announcement device,
24 standby person identification device,
25 position detection device,
26 hall call registration device,
27 recording device,
28 Self-propelled device,
3 Public line,
100 elevator system 101 car,
102 Main rope,
103 counterweight,
104 hoisting machine,
105 control device,
106 load sensor,
107 cameras,
108 Destination floor button,
109 group management control device,
110 hall button,
111 Guide light,
112 communication device,
113 Operation control unit,
114 passenger number detection device,
71 landing door,
72 passengers

Claims (5)

An elevator system for managing the operation of multiple elevator units,
An autonomous robot that identifies the number of people waiting at the elevator hall,
A control device that is provided for each elevator and calculates the number of passengers that can be boarded in addition to the current number of passengers from the loading rate of the elevator car of the elevator or image information of a camera that captures the inside of the car When,
A group management control device connected to a plurality of the control devices;
With
The autonomous robot that has received the number of people that can be boarded from the control device,
If the number of people waiting is less than or equal to the number of people who can board, do not guide at the elevator hall, or guide that everyone can get on the elevator machine that arrives next,
If the number of people waiting is greater than the number of passengers that can be boarded, take action to prevent passengers who cannot ride in the next elevator arriving, or inform that all people cannot ride in the next elevator Elevator system characterized by In the elevator system according to claim 1,
The autonomous robot registers an elevator call request to a control device of another elevator machine via the group management control device when the number of waiting persons is larger than the number of people that can be boarded. In the elevator system according to claim 1,
The number of people that can be boarded transmitted from the control device to the autonomous robot is the lesser of the number of people that can be boarded obtained from the loading rate or the number of people that can be boarded obtained from the image information. system. An elevator system for managing the operation of multiple elevator units,
A control device that is provided for each elevator and calculates the number of passengers that can be boarded in addition to the current number of passengers from the loading rate of the elevator car of the elevator or image information of a camera that captures the inside of the car When,
A group management control device connected to a plurality of the control devices;
With
An elevator system that transmits the number of persons that can be boarded to an autonomous robot disposed at an elevator hall. In the elevator system according to claim 4,
The autonomous robot that has received the number of people that can be boarded from the control device,
If the number of passengers waiting at the elevator hall is less than or equal to the number of passengers that can be boarded, do not provide guidance at the elevator hall, or inform all passengers that they can board the next elevator.
If the number of people waiting is greater than the number of passengers that can be boarded, take action to prevent passengers who cannot ride in the next elevator arriving, or inform that all people cannot ride in the next elevator Elevator system characterized by

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