JP2022170021A - Elevator system and elevator control method - Google Patents

Abstract

To provide an elevator system and an elevator control method capable of shortening a conveyance time of an autonomous robot to a destination floor when a person does not get on an elevator car and the elevator car is only used by the autonomous robot.SOLUTION: In an elevator system including an elevator capable of conveying both a person and an autonomous robot by the same elevator car 13, an elevator control device 11 performs the control such that the start speed, the operation speed, and the stop speed of the elevator car 13 are made faster than the speed at the time when a person gets on the elevator car when it is confirmed that only a building management robot 3 gets on the elevator car 13 based on a photographing result of an in-car camera 16.SELECTED DRAWING: Figure 1

Description

The present invention relates to an elevator system and an elevator control method.

In a building (building) in which an elevator is installed, an elevator system has been proposed that is capable of transporting both people and autonomous robots in the same elevator car (see, for example, Patent Literature 1). In Patent Document 1 (especially paragraph [0021]), it is possible to smoothly shift from user-dedicated operation control to robot-dedicated operation control, and to allow an autonomous mobile work robot to reliably perform a predetermined work. Therefore, it is possible to achieve both transportation of the user and transportation of the autonomous mobile work robot."

JP 2009-51617 A

By the way, in the elevator system, the speed of the elevator is controlled so that the elevator can be stopped at the destination floor with high accuracy while giving top priority to the safety and security of the user and taking into account the ride comfort of the user. On the other hand, in the case of autonomous robots such as building management robots, there is little need to consider ride comfort. It is preferable that it can be transported to

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an elevator system and an elevator control method capable of shortening the time required for the autonomous robot to move to the destination floor when only the autonomous robot is used without a person on board. and

In order to solve the above problems, for example, the configurations described in the claims are adopted.
The present application includes a plurality of means for solving the above problems.
In an elevator system including an elevator that can carry both people and autonomous robots in the same elevator car, when only the autonomous robot is on board in the elevator car, the speed related to the operation of the elevator is Make it faster than the speed at which you are riding.

According to the present invention, when only the autonomous robot is in the elevator car, the time required for the autonomous robot to move to the destination floor can be shortened, so that the work efficiency of the autonomous robot can be improved. can. In addition, since it is possible to shorten the boarding time when only the autonomous robot is used, it is possible to improve the operating efficiency of the elevator as an elevator system.

It is a block diagram showing composition of an elevator system concerning one embodiment of the present invention. 1 is a schematic perspective view schematically showing the outline of the configuration of an elevator floor in which a plurality of elevators are arranged side by side in a building; FIG. 1 is a flow chart (part 1) showing an example of a processing procedure of an elevator control method in an elevator system according to an embodiment of the present invention; 2 is a flowchart (part 2) showing an example of a processing procedure of an elevator control method in an elevator system according to an embodiment of the present invention;

<<Elevator system of the present invention>>
The elevator system of the present invention is an elevator system including an elevator capable of carrying both people and autonomous robots in the same elevator car. Examples of autonomous robots include building management robots that patrol and patrol buildings, building cleaning robots that collect and clean garbage in buildings, and cargo transport robots that deliver and deliver packages. be able to.

When only an autonomous robot rides in an elevator car, it should be faster than when a person is on board. Regarding the speed related to the operation of the elevator, the operating speed, starting speed, and stopping speed of the elevator car shall all be set. is preferable, but not necessarily all of them, and may be at least one of the operating speed, starting speed, and stopping speed of the elevator car.

In the elevator system of the present invention, when the elevator control device controls the elevator, the autonomous robot sends information to the elevator control device, including the boarding floor of the autonomous robot, the car number, the destination floor, and the boarding/alighting speed of the autonomous robot. Boarding information will be sent. Then, in the elevator control device, when only the autonomous robot gets on/off in the situation where no person is on the elevator car, the door opening/closing speed of the elevator door is adjusted according to the getting on/off speed of the autonomous robot. Control is performed to make it faster than when boarding/disembarking.

[Elevator system according to one embodiment of the present invention]
FIG. 1 is a block diagram showing the configuration of an elevator system according to one embodiment of the present invention. FIG. 2 is a schematic perspective view schematically showing the outline of the configuration of an elevator floor (plating floor) in which a plurality of elevators are arranged side by side in a building (building). In the following description, the case where the autonomous robot is a building management robot will be described as an example.

Here, for example, as shown in FIG. 2, an elevator system is illustrated in which a plurality of elevators 1_1 to 1_n, numbered 1 to n, are arranged side by side in a building. FIG. 2 also shows a state in which one person 2 and one building management robot 3 are waiting to board the elevator 1_n, for example, in front of the n-th elevator 1_n.

As shown in FIG. 1, an elevator system 10 according to the present embodiment includes an elevator control device 11, a car control device 12, an elevator car 13, a door control device 14, an elevator door 15, an in-car camera 16, a hall camera 17, and , a communication device 18 . The elevator system 10 according to this embodiment further includes a robot control device 20 and communication devices 21 and 22 . The elevator system 10 is provided, for example, for each of a plurality of elevators 1_1 to 1_n.

In the elevator system 10 configured as described above, the elevator control device 11 is configured by a CPU (Central Processing Unit) or the like, and controls the elevator system 10 as a whole. Specifically, the elevator control device 11 performs elevation control of the elevator car 13 via the car control device 12 . The elevator control device 11 also controls the opening and closing of the elevator doors 15 via the door control device 14 .

The in-car camera 16 is installed, for example, on the ceiling of the elevator car 13 . The platform camera 17 is composed of a plurality of platform cameras 17_1 to 17_n installed corresponding to each of the plurality of elevators 1_1 to 1_n, for example, on the ceiling of the elevator floor. A photograph is taken, and the photographed result is supplied to the elevator control device 11. - 特許庁As the in-car camera 16 and the hall camera 17, for example, a monitoring camera equipped with a CMOS image sensor can be used.

The elevator control device 11 confirms that only the building management robot 3 is in the elevator car 13 based on the photographed result of the car camera 16 . Specifically, when the building management robot 3 is on the elevator car 13 , the elevator control device 11 allows the elevator car 13 to get on the elevator car 13 based on the photographing result of the inside of the elevator car 1 given by the in-car camera 16 . Check the number of people in the car. In this case, the number of passengers to be confirmed is the actual number of people excluding the building management robot 3 riding in the elevator car 13 . Thus, when the confirmed number of people in the car is 0, the elevator control device 11 can grasp that only the building management robot 3 is riding in the elevator car 13, and the confirmed number of people in the car is other than 0. When (1 or more), it can be grasped that at least one user other than the building management robot 3 is riding in the elevator car 13 .

In addition, the elevator control device 11 confirms the number of passengers waiting at the corresponding elevator hall based on the imaging result of the corresponding elevator hall given from the hall cameras 17 (17_1 to 17_n). Then, the elevator control device 11 controls the opening/closing time of the elevator door 15 according to the number of passengers waiting at the hall. Incidentally, as for the building management robot 3 waiting at the platform, the building management robot 3 gives the elevator boarding information to the elevator control device 11 as described later.

The robot control device 20 is configured by a CPU or the like, and controls the building management robot 3 and relays elevator boarding information transmitted from the building management robot 3 to the elevator control device 11 . Specifically, the building management robot 3 is composed of a robot main body 3A and a communication device 3B. Elevator boarding information such as boarding floor, boarding car number, destination floor, boarding/alighting speed, starting speed, traveling speed, stopping speed of the elevator car 13, door opening/closing speed of the elevator door 15, etc. is transmitted.

The communication device 3B of the building management robot 3 and the communication device 21 of the robot control device 20 can communicate via a wireless communication network 23 such as Wi-Fi (registered trademark) or wireless LAN. On the other hand, the communication device 18 on the side of the elevator control device 11 and the communication device 22 on the side of the robot control device 20 can communicate via a network 24 such as the Internet or a local area network. The connection method of the network 24 may be wireless connection or wired connection.

As described above, the elevator system 10 according to the present embodiment includes an elevator capable of both transporting people and transporting an autonomous robot (in this example, the building management robot 3) in the same elevator car 13. Elevator system. In the elevator system 10 configured as described above, when the elevator control device 11 confirms that only the building management robot 3 is in the elevator car 13 based on the photographing result of the in-car camera 16, the elevator car 13 is controlled to be faster than the speed when a person gets on.

By performing the above-described control under the control of the elevator control device 11, when only the building management robot 3 is in the elevator car 13, the movement time (transportation time) of the building management robot 3 to the destination floor is reduced. can be shortened. Therefore, the working efficiency of the building management robot 3 can be improved. In addition, since the boarding time when only the building management robot 3 is used can be shortened, the elevator system 10 can improve the operation efficiency of the elevator 1 .

Further, when only the building management robot 3 gets on/off in a situation where no person is on the elevator car 13, the elevator control device 11 determines the boarding/alighting speed of the building management robot 3 from the elevator boarding information given from the building management robot 3. is acquired, and the opening/closing speed of the elevator door 15 is controlled so as to be faster than when a person gets on/off according to the boarding/alighting speed. By controlling the opening/closing speed of the elevator door 15 in accordance with the boarding/alighting speed of the building management robot 3 in this way, the boarding/alighting time of the building management robot 3 can be shortened, so that the building management robot 3 can reach the destination floor. Travel time can be shortened.

[Elevator control method according to one embodiment of the present invention]
Next, an elevator control method in the elevator system 10 having the above configuration will be described with reference to FIGS. 3 and 4. FIG. FIGS. 3 and 4 are flowcharts (parts 1 and 2) showing an example of the processing procedure of the elevator control method in the elevator system according to the embodiment of the present invention.

A series of processes of the elevator control method according to the present embodiment are processes executed under the control of the elevator control device 11 . The elevator control device 11 receives information from the building management robot 3 such as the boarding floor, boarding car number, destination floor, boarding/alighting speed, starting speed, operating speed, and stopping speed of the elevator car 13, door opening/closing speed of the elevator door 15, and the like. By receiving elevator boarding information, the following series of processes are executed.

The elevator control device 11 receives the elevator boarding information transmitted by the building management robot 3 (step S11), and then performs data analysis of the received elevator boarding information (step S12). The elevator control device 11 analyzes the data to determine the robot boarding floor, boarding car number, destination floor, boarding/alighting speed, starting speed, operating speed, stopping speed of the elevator car 13, door opening/closing speed of the elevator door 15, and the like. You can get boarding information.

Next, the elevator control device 11 activates the hall camera 17, confirms the number of passengers waiting at the hall based on the photographed result of the hall camera 17 (step S13), and then detects the arrival of the elevator car 13. Then (step S14), it is determined whether only the building management robot 3 is waiting at the platform (step S15).

In the determination process of step S15, if the number of passengers waiting at the hall is 0 from the photographed result of the hall camera 17, the elevator control device 11 determines that only the building management robot 3 is waiting at the hall. If the number of passengers waiting at the platform is one or more, it is determined that the building management robot 3 is not the only one waiting at the platform.

When the elevator control device 11 determines that only the building management robot 3 is waiting at the landing (YES in S15), it changes the door opening/closing speed of the elevator door 15, and the elevator is operated at the changed door opening/closing speed. The door 15 is opened/closed (step S16). Regarding the change of the door opening/closing speed, the door opening/closing speed is set to a speed higher than the door opening/closing speed when a person gets on/off the elevator according to the boarding/alighting speed given in advance as one of the elevator boarding information from the building management robot 3. change to

If the elevator control device 11 determines that it is not only the building management robot 3 that is waiting at the platform (NO in S15), the elevator control device 11 automatically opens and closes the door at the same speed as when people get on/off. The opening/closing process of the elevator door 15 is performed at the opening/closing speed, that is, the door opening/closing speed previously given as one of the elevator boarding information from the building management robot 3 (step S17).

After opening and closing the elevator door 15, the elevator control device 11 checks the number of people in the elevator car 13 based on the photographed result of the car camera 16 (step S18). It is determined whether or not only the building management robot 3 is on board (step S19).

In the determination process of step S19, the elevator control device 11 determines that only the building management robot 3 is in the elevator car 13 when the number of people in the elevator car 13 riding in the elevator car 13 is 0 from the imaging result of the in-car camera 16. When it is other than 0 (that is, when it is 1 or more), it is determined that at least one person other than the building management robot 3 is riding in the elevator car 13 .

When the elevator control device 11 determines that only the building management robot 3 is on board the elevator car 13 (YES in S19), the elevator control device 11 changes the start speed, operation speed, and stop speed of the elevator car 13, and changes them. The elevator car 13 is started at the starting speed and operating speed (step S20).

Here, the starting speed, operating speed, and stopping speed of the elevator car 13 are set with top priority given to the safety and security of the user, and in consideration of the user's ride comfort and the like. On the other hand, in the process of changing the starting speed, operating speed, and stopping speed in step S20, a speed higher than the starting speed, operating speed, and stopping speed is selected in consideration of the safety and security of the user and the ride comfort. change to

Further, when the elevator control device 11 determines that at least one user other than the building management robot 3 is on board the elevator car 13 (NO in S19), the elevator control device 11 determines the normal starting speed and operation when people get on and off. The elevator car 13 is started at the speed (step S21).

Next, the elevator control device 11 determines whether or not there is a passenger or building management robot 3 boarding the floor at the halfway stop (step S22). . If it is determined that there is no boarding (NO in S22), the elevator control device 11 determines whether or not a person or the building management robot 3 will get off at the halfway stop floor (step S23). (YES in S23), the process returns to step S18.

When the elevator control device 11 determines that there is no person or building management robot 3 getting off at the halfway stop floor (NO in S23), the elevator control device 11 operates the elevator 1 to the destination floor (step S24), and then in step S16. The elevator car 13 is stopped at the destination floor at the changed stopping speed (step S25).

Next, the elevator control device 11 determines whether or not only the building management robot 3 is in the elevator car 13, as in step S19 (step S26). When the elevator control device 11 determines that only the building management robot 3 is on the elevator car 13 (YES in S26), the elevator door 15 opens and closes at the door opening/closing speed changed in step S16. Processing is performed (step S27), and if it is determined that a person is in the vehicle (NO in S26), the opening/closing processing is performed at the normal door opening/closing speed (step S28).

When the opening/closing process of the elevator door 15 at the destination floor is completed, the building management robot 3 has arrived at the destination floor (step S29), and the elevator control device 11 performs the above-described elevator control method according to the present embodiment. end the series of processes.

By the series of processes of the elevator control method according to the present embodiment described above, in the elevator system 10 having the above configuration, when only the building management robot 3 is on board the elevator car 13, the starting speed and operation of the elevator car 13 are reduced. The speed and stop speed can be controlled to be faster than the speed when a person gets on.

By performing the above control, when only the building management robot 3 is in the elevator car 13, the movement time of the building management robot 3 to the destination floor can be shortened. Therefore, the working efficiency of the building management robot 3 can be improved. Moreover, since the boarding time (transportation time) when only the building management robot 3 is used can be shortened, the elevator system 10 can improve the operation efficiency of the elevator 1 .

Furthermore, when only the building management robot 3 gets on/off the elevator car 13 without a person getting on/off, the opening/closing speed of the elevator door 15 is adjusted according to the getting on/off speed of the building management robot 3. Control to make it faster than when getting off. This control can shorten the boarding and alighting time of the building management robot 3, so that the moving time of the building management robot 3 to the destination floor can be shortened.

[Modification]
The present invention is not limited to the above-described embodiments, and includes various modifications. That is, the above-described embodiments are described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations.

For example, in the above-described embodiment, the autonomous robot is a building management robot that performs security (patrolling/patrolling) of a building. However, the present invention is limited to application to a building management robot. It can be applied to general autonomous robots, such as building cleaning robots that collect and clean garbage in buildings, and cargo transport robots that deliver and deliver packages.

Further, in the above-described embodiment, an elevator system in which a plurality of elevators are arranged side by side in a building (building) has been described as an example of an elevator system. The application is not limited to the system, and can be similarly applied to an elevator system having only one elevator.

Furthermore, in the above-described embodiment, the operating speed, starting speed, and stopping speed of the elevator car are exemplified as speeds related to the operation of the elevator 1, and when only the building management robot is in the elevator car, the elevator Although all of the operating speed, starting speed, and stopping speed of the car are changed, it is not necessary to change all of them. That is, even when at least one of the operating speed, starting speed, and stopping speed of the elevator car is changed, the effect of shortening the travel time of the autonomous robot to the destination floor can be obtained.

1 (1_1 to 1_n) Elevator 2 Person (user) 3 Management robot 10 Elevator system 11 Elevator control device 12 Car control device 13 Elevator car 14 Door control device 15... Elevator door, 16... In-car camera, 17... Landing camera, 20... Robot controller

Claims (7)

An elevator system including an elevator capable of transporting both people and autonomous robots in the same elevator car,
an in-car camera for photographing the inside of the elevator car;
an elevator control device that controls operation of the elevator car;
with
When the elevator control device confirms that only the autonomous robot is in the elevator car based on the photographed result of the in-car camera, the elevator control device determines the speed related to the operation of the elevator when a person gets in. faster than the speed of the elevator system. The elevator system according to claim 1, wherein the speed related to the operation of the elevator is at least one of the operation speed, start speed, and stop speed of the elevator car. The autonomous robot transmits, to the elevator control device, elevator boarding information including a boarding floor of the autonomous robot, a boarding car number, a destination floor, and a boarding/alighting speed of the autonomous robot.
An elevator system according to claim 2. When only the autonomous robot gets on/off in a situation where no person is on the elevator car, the elevator control device adjusts the door opening/closing speed of the elevator door according to the getting on/off speed of the autonomous robot to: 4. The elevator system according to claim 3, wherein the elevator system is faster than when people enter/exit. A control method for an elevator capable of transporting both a person and an autonomous robot in the same elevator car,
A control method for an elevator, wherein when only the autonomous robot rides in the elevator car, the speed related to the operation of the elevator is made higher than the speed when a person gets on. 6. The elevator control method according to claim 5, wherein the operating speed of the elevator is at least one of operating speed, starting speed, and stopping speed of the elevator car. When only the autonomous robot gets on/off in a situation where no person is on the elevator car, the door opening/closing speed of the elevator door is controlled by the person getting on/off according to the getting on/off speed of the autonomous robot. 6. The method of controlling an elevator according to claim 5, wherein the elevator is faster than the case.

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