KR20240036859A - Robot linked elevator system in which robot boarding parameters are set - Google Patents

Abstract

Robots that move autonomously within buildings; and a plurality of elevators installed in the building and including units set to enable service to robots, and when setting the occupancy rate for each unit of the plurality of elevators, the occupancy rate for robots and the occupancy rate for humans are different. A robot-linked elevator system in which robot boarding parameters are set is disclosed.

Description

Robot linked elevator system in which robot boarding parameters are set}

The present invention relates to a robot-linked elevator system operated in conjunction with a robot that moves between floors within a building. More specifically, the robot is designed to minimize the inconvenience to general passengers caused by using a robot elevator and to enable efficient operation. It relates to a robot-linked elevator system that specifically presents a method of setting parameters related to robot boarding of an elevator that is set to enable use.

Various buildings constructed for residential, office, or commercial purposes are equipped with elevators to ensure smooth movement between floors of passengers entering and exiting the building. Typically, an elevator includes an elevator car that moves along a vertical hoistway inside a building, a mechanical unit consisting of a motor and traction machine that generates power to raise and lower the elevator car, and a control unit that performs control related to the operation of the elevator. It is composed by:

Recently, as services provided by robots in buildings have become more active, the need to use elevators to move robots between floors in buildings is increasing. For example, many service robots that move around buildings and perform tasks such as transporting goods, cleaning, and guiding customers have been developed and put into practical use.

At this time, when work must be performed on multiple floors, it is necessary to move the robot between floors in the building. Currently, elevators are considered the most desirable means of moving robots between floors, and robots are used to effectively move robots to the target floor. Various interlocking control technologies between and elevator systems are being developed.

Recently, as the robot market has grown rapidly, many service areas are being replaced by robots. In particular, unmanned use of robots is rapidly progressing in buildings that provide customer service, such as hotels or residences. In order to expand unmanned service functions using robots, vertical movement (movement between floors) within the building must be possible, and thus interconnection between the robot and the elevator system within the building has emerged as essential.

The robot-linked elevator system divides the operation modes of multiple elevators installed in a building into robot-only mode, general passenger-only mode, and shared riding mode that allows simultaneous use of robots and general passengers, depending on the operation purpose or operation characteristics of each unit. It can be operated. Elevators set to robot-only mode provide call service only to robots, elevators set to general passenger-only mode provide call service only to general passengers (humans), and elevators set to passenger mode provide call service only to robots. A call service can be provided to both passengers and general passengers.

However, using such a robot in an elevator may cause inconvenience to ordinary passengers (humans). This is because robots take longer to board and disembark than regular passengers due to safety reasons or technical limitations. For example, general passengers whose departure floor is the same as the robot waiting for elevator service on the platform may experience boarding delays due to the robot, and general passengers who are boarding the same elevator and whose destination floor is the same as the robot may experience delays in getting off due to the robot. You can experience it.

In addition, as it takes a long time to board and disembark the robot, the running of the elevator may be delayed, which may lengthen the waiting time for general passengers waiting for the corresponding elevator at a different floor platform. For the same reason, the robot riding on the same elevator and the destination floor may be delayed. The arrival time of other general passengers at their destination may be delayed.

In particular, if multiple robots board one elevator that is set up to allow the use of robots, safety accidents such as collisions between general passengers and robots or between robots on the platform or inside the elevator may result, and general passengers Due to the robot's relatively late boarding and disembarking time, the waiting time at the platform and the elevator boarding time for general passengers may increase, which may make the problem of service delay more serious. As a result, the efficiency of handling elevator traffic in the building decreases. The discomfort felt by passengers may increase further.

In order to prevent the above problems, the present invention proposes a specific method of setting the parameters (full occupancy rate, maximum number of serviceable robots, etc.) related to robot boarding of the elevator in which the robot can be used, so that general passengers can Of course, the goal is to provide more convenient and comfortable services to customers who use the robot service provided within the building, and ultimately to improve the overall operating efficiency of the elevator system that operates in conjunction with the robot.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to one aspect of the present invention for achieving the above object, a robot that moves autonomously within a building; and a plurality of elevators installed in the building and including units configured to provide service to the robot, wherein when setting the occupancy rate for each unit of the plurality of elevators, the occupancy rate for robots and the occupancy rate for humans are 10,000 won. A robot-linked elevator system in which robot boarding parameters are set, characterized in that the rate is set differently, may be provided.

The 10,000 won rate for the robot may be set lower than the 10,000 won rate for the human.

Among the plurality of elevators, the occupancy rate for the robots is applied to the elevators set to the robot-only mode that can service only robot calls, and among the plurality of elevators, they are set to the general passenger-only mode that can service only human calls. The occupancy rate for humans is applied to the elevators, and among the plurality of elevators, the occupancy rate for robots and the occupancy rate for humans are applied to elevators set to ride-along mode that can service both robot and human calls. Can be applied simultaneously.

In the case of an elevator set to the shared riding mode, for calls by the robot, it is subject to allocation based on the occupancy rate for the robot, and for calls by the human, it is subject to allocation based on the occupancy rate for the human. This can be.

When the plurality of elevators exceeds the occupancy rate set for each unit, they are converted to a full state and at the same time, allocation is suppressed or allocation is excluded for newly occurring calls, and the allocation suppression is performed when an allocation algorithm is performed for new calls. This means lowering the priority by imposing an allocation suppression penalty on the corresponding unit, and the allocation exclusion may mean completely excluding the relevant unit from allocation for new calls.

The occupancy rate includes a load occupancy rate based on the load of the object riding in the elevator car and a space occupancy rate based on the space occupancy rate of the object riding in the elevator car, and each unit of the plurality of elevators The load KRW rate and the space KRW rate may be applied selectively or together.

The maximum number of robots that can be serviced for each elevator unit set to the robot-only mode and the shared riding mode can be set.

The maximum number of serviceable robots of the elevator unit set to the robot-only mode may be set to be greater than the maximum serviceable number of robots of the elevator unit set to the shared riding mode.

It further includes a group management unit that performs a function of selecting and assigning an optimal elevator among the plurality of elevators for an elevator call that occurs within the building, wherein the group management unit includes the rated capacity and internal area of the elevator. Specification information of the elevator, full capacity set for each unit of the plurality of elevators, call request information registered for each unit of the plurality of elevators, and information on the number of objects being boarded or scheduled to be boarded for each unit of the plurality of elevators By collecting and analyzing in real time, the service robot indicates the boarding capacity, which means the load that can be additionally loaded, for each unit of the plurality of elevators, the available boarding space, which means the space area that can be additionally occupied, and the number of robots that the unit is servicing. Information about numbers can be derived.

When a call by a robot occurs within the building, the military management unit selects an elevator whose boarding capacity and boarding space meet the specifications of the robot requesting the call, and configures a candidate group that can be assigned primarily, 1 From the secondary candidate group, units in which the number of service robots does not exceed the maximum number of serviceable robots are selected and reorganized into an assignable candidate group, and an allocation algorithm is performed on the reconfigured candidate group to select the optimal unit.

If the number of robots currently in service in any of the plurality of elevators is greater than the maximum number of serviceable robots set for the corresponding elevator, the corresponding elevator may be excluded from allocation for newly occurring robot calls.

When the same call floor or the same destination floor is input as a call from two or more robots, the number of robots assigned to the same elevator unit can be limited to a predetermined value or less and distributed across multiple elevator units.

The present invention relates to an elevator system operated in a robot-only mode, a general passenger-only mode, and a passenger mode, where the occupancy rate for the robot and the occupancy rate for general passengers are set differently, and the elevator is set to allow the use of the robot. It specifically presents a method of setting parameters related to robot riding in an elevator, such as limiting the maximum number of robots that can be serviced by each machine.

According to the present invention as described above, service delays due to collisions between robots and general passengers or between robots are suppressed as much as possible, thereby providing more convenient and comfortable service to general passengers as well as customers who use robot services within the building. This has the effect of significantly improving the overall operating efficiency of the elevator system controlled in conjunction with the robot.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a schematic diagram of a robot-operated elevator system according to the present invention.

Details regarding the purpose and technical configuration of the present invention and its operations and effects will be more clearly understood by the detailed description based on the drawings attached to the specification of the present invention.

The terminology used herein is merely used to describe specific embodiments and is not intended to limit the invention. For example, terms such as “consists of” or “comprises” used in the present specification should not necessarily be construed as including all of the various components or steps described in the invention, and only some of the components or steps may be included. It should be construed as not including them or as being able to further include additional components or steps. Additionally, as used herein, singular expressions include plural expressions unless the context clearly dictates otherwise.

Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings. The embodiments described below are provided so that those skilled in the art can easily understand the technical idea of the present invention, and should not be construed as limiting the present invention. The embodiments of the present invention are provided to those skilled in the art. It is natural that it can have various applications.

1 is a schematic diagram of a robot-operated elevator system according to the present invention. Referring to Figure 1, the robot-linked elevator system according to the present invention includes a robot system unit 10 that controls and manages the operation of a robot that moves autonomously within a building; And it may be configured to include an elevator system unit 20 that controls and manages the operation of the elevator installed in the building and communicates with the robot.

The robot system unit 10 and the elevator system unit 20 operate independently of each other, and can communicate with each other so that the robot can use the elevator when it is necessary to move between floors in the building.

The robot system unit 10 can control all robots that move autonomously within the building, and can communicate with each robot for this purpose. Additionally, the robot system unit 10 may receive a robot service request occurring within a building and designate a specific robot to provide the service in response to the received request. Here, ‘robot service’ is a service performed by a robot and may mean a service provided by the robot by directly visiting the customer.

In the present invention, a robot can collectively refer to all autonomous moving objects that can move autonomously within a building without human intervention. For example, the robot may be a service robot that carries and delivers goods such as parcels within a building, or performs specific tasks such as cleaning or customer guidance, and is controlled by the robot system unit 10 to provide necessary services to customers in the building. Services can be provided.

The robot can recognize the space within the building and move autonomously through Simultaneous Localization And Mapping (SLAM), which is based on information collected using Lidar, short-range sensors, ultrasonic sensors, or cameras. there is.

In addition, the robot can store information about the building's internal/external structure and the location of the elevator within the building through its own database, and uses a self-position estimation technique to calculate the optimal distance and movement path from the current location to the elevator in real time. It can be obtained using an internal algorithm.

The robot can remotely request an elevator call. When a customer's robot service request is received within the building, the robot system unit 10 designates a specific robot to provide the service among the multiple robots operating within the building, and the designated robot has the floor and service it is currently located on. If the requested floor is different, a 'boarding request' signal calling the elevator can be transmitted to the elevator system unit 20 to move to the service floor.

The information included in the 'boarding request' includes information on the departure floor where the robot is currently located and information on the destination floor to which the robot will ultimately move, as well as information on the travel time required for the robot to arrive at the platform, the robot's weight, and Additional information such as volume and purpose of using the elevator may be included. The travel time required for the robot to arrive at the platform can be calculated based on the robot's current location.

When a robot's remote call is received, the group management unit 21 of the elevator system unit 20, which will be described later, determines and assigns the optimal elevator number to provide boarding service to the robot.

The elevator system unit 20 includes a group management unit 21 that performs group management of a plurality of elevators installed in the building; and a control unit 22 that performs control related to the operation of the elevator.

The military management department (21) performs group control to operate the multiple elevators installed in the building more efficiently. Basically, the call button installed on the platform of each floor in the building or the destination button installed in the elevator car The optimal elevator number is determined and assigned for calls entered through floor entry buttons, calls entered remotely through other systems or terminals such as a destination selection system (DSS), and remote calls made by robots. performs its function.

For reference, a call that instructs the assigned elevator number to move to the floor where the passenger or robot is waiting in response to a call requested by a passenger or robot on the platform to go to the destination floor (destination floor) is called a hall call. And, a call that instructs the elevator unit that arrived by hall call to move to the floor where the passenger or robot wants to go is called a car call.

In addition, the military management unit 21 can determine and allocate the most efficient elevator unit in response to a robot call request through correlation analysis of the traffic volume in the building, a plurality of available elevator units, and the robot's location information. More specifically, the military management unit 21 detects status information regarding the occupancy rate or remaining capacity of a plurality of elevators operating in the building, and information such as the weight and volume of the robot included in the boarding request information received from the robot. Based on this, the available elevator cars that the robot can ride on can be extracted, and the optimal elevator car can be assigned considering the positions of the extracted available elevator cars and the position of the robot. Here, when considering the location of the robot, not only the floor location of the call floor (departure floor) where the robot requested boarding, but also information about the time it takes for the robot to move from the current location to the platform can also be considered.

The military management unit 21 may provide the assigned elevator number and corresponding platform information to the robot and robot system unit 10 that has requested the call service.

The control unit 22 controls the overall operation and operation of the elevator, and can perform control to move the elevator number assigned by the group management unit 21 to the floor where the call was input.

The control unit 22 may include a travel control unit that controls the traveling motion of the elevator car and a door control unit that controls the opening and closing of an elevator door stopped at a specific floor for boarding and disembarkation of passengers and robots.

The travel control unit can control the operation of raising and lowering the elevator car within the hoistway formed vertically inside the building, and performs drive control of the traction machine motor and brakes to start or stop the elevator car's travel by a specific command signal. can do.

The door control unit controls the overall opening and closing operation of the elevator doors, including the hall door installed on the platform side and the car door installed on the elevator car side, and can control the operation of the door motor for this purpose. there is.

Meanwhile, the robot-linked elevator system according to the present invention has three operation modes for the elevator installed in the building: 'robot-only mode', 'general passenger-only mode', and 'robot/general passenger riding mode' (hereinafter referred to as 'sharing mode'). ) can be divided and operated.

The robot-only mode is a mode in which only robots can board the elevator, and an elevator set in the robot-only mode can perform a call service only for robots.

The general passenger only mode is a mode set to perform a call service only for general passengers. At this time, it goes without saying that items, objects, animals, etc. belonging to general passengers can be loaded together in the elevator.

Shared riding mode is a mode that allows robots and general passengers (humans) to ride together in an elevator. In the case of an elevator set to shared riding mode, a call service can be performed for both general passengers and robots.

Multiple elevators installed in a building can have an operation mode set for each unit, and the operation mode of each unit can be set automatically or manually as needed. For example, the operating mode of an elevator unit is set to reflect the traffic characteristics in the building, but if the operating mode needs to be switched through traffic monitoring, the operating mode of the specific unit is changed automatically by the system's own judgment or manually by the manager. can be converted.

In addition, the operating mode settings of the elevator unit can be planned in advance according to the time schedule, reflecting the characteristics of traffic volume by time zone within the building.

Meanwhile, as described above, elevators operated in robot-only mode, general passenger-only mode, and passenger mode are preferably operated differently because the users of each operation mode are different.

However, to date, consistent standards have been applied regardless of the elevator's operation mode, and therefore, the different operation characteristics depending on the operation mode are not reflected at all in the control and operation of the elevator, resulting in disruptions to elevator operation in various situations. It is becoming a factor that hinders the efficient operation of elevators.

In particular, if multiple robots board one elevator that is set up to allow the use of robots, safety accidents such as collisions between general passengers and robots or between robots on the platform or inside the elevator may result, and general passengers Due to the robot's relatively late boarding and disembarking time, the waiting time at the platform and boarding the elevator for general passengers may increase, causing discomfort to general passengers, and may lead to a decrease in the efficiency of handling elevator traffic in the building and service delays.

In order to prevent this problem, the present invention operates a plurality of elevators installed in a building by setting the operation mode for each unit to one of the robot-only mode, general passenger-only mode, and passenger mode. In order to ensure that the different characteristics of passengers (humans) are well reflected in the operation of the elevator, we present a specific method of setting parameters related to robot riding in the elevator as follows, thereby minimizing the inconvenience to general passengers caused by using the robot elevator as much as possible. and to enable efficient operation of the elevator.

1. Setting the 10,000 won rate

First, the robot-linked elevator system according to the present invention is The crowding rate for robots and the crowding rate for general passengers (humans) can be set differently. This takes into account the fact that the space occupied by a robot is generally larger than the space occupied by individual ordinary passengers, and the weight of the robot is heavier than that of an ordinary passenger. By setting the robot's 10,000 won detection standard lower than the 10,000 won detection standard for general passengers, passengers This means that there will be a differentiation between the space that can be occupied and the space that robots can occupy.

In the present invention, the occupancy rate for robots can be set lower than for general passengers by taking into account the weight, volume, radius of action, safety distance, etc. of the robot. Here, the occupancy rate can be based on load or space occupancy, which will be covered in more detail later. The occupancy rate standard for robots and the occupancy rate standard for general passengers are values that can be changed depending on the specifications of the robot or the specification information of each elevator unit.

In other words, the present invention can apply the 'robot occupancy rate' or 'general passenger occupancy rate' depending on the mode in which each elevator installed in the building is operated. Below, we look at the standards for applying the 10,000 won rate for each elevator operation mode.

First, elevator units set to robot-only mode can be operated by applying the 'robot occupancy rate' because the users are limited to robots. Elevator units set to robot-only mode are assigned to robot calls based on the robot occupancy rate. For example, if the robot occupancy rate is applied at 60%, allocation to newly generated robot calls may be suppressed or excluded for elevator units in which the load or space occupancy by the on-board robot exceeds 60%. In addition, since the unit is being operated in robot-only mode, it is naturally excluded from allocation for general passenger calls.

Please note that 'allocation suppression' above does not mean 100% exclusion of newly occurring calls, but rather lowers the priority by imposing an allocation suppression penalty on the relevant unit when performing the allocation algorithm for new calls. The goal is to avoid allocation if possible.

Elevators set to general passenger-only mode can be operated by applying the 'general passenger occupancy rate' because the users are limited to general passengers (humans). Elevator units set to general passenger-only mode are subject to allocation for general passenger calls based on the general passenger occupancy rate. For example, if the general passenger occupancy rate is applied at 80%, the allocation of new general passenger calls to elevators with load or space occupancy by boarding general passengers exceeding 80% may be suppressed or excluded. Additionally, since the unit is being operated in a general passenger-only mode, robot calls are naturally excluded from allocation.

Lastly, since the elevator set to shared riding mode can service both robots and general passengers (humans), 'robot occupancy rate' and 'general passenger occupancy rate' can be applied and operated together. Elevator units set to ride-along mode may be assigned based on the robot occupancy rate for robot calls, and may be assigned based on the general passenger occupancy rate for general passenger calls.

Additionally, in the present invention, the 'crowd rate' of an elevator may include the concepts of 'load occupancy rate' based on load (weight) and 'space occupancy rate' based on the space area occupied. The load occupancy rate is a value to limit the total load of objects boarded in the elevator unit so that it does not exceed a certain level, and the space occupancy rate is a value to limit the total space occupied by the objects boarded in the elevator unit so that it does not exceed a certain level. This is the value for

Information about the load of objects riding in the elevator can be detected by a load cell installed in the elevator car, and information about the spatial area occupied by the objects riding in the elevator can be detected by cameras or CCTV installed inside the elevator car. It can be detected by a vision device such as .

For example, assuming that the 'load capacity' of the elevator unit is set to 60%, the boarding load (total weight of boarding objects) measured in real time by the load cell is 60% of the rated capacity (maximum design load). If it is detected that the number exceeds the number, the corresponding unit will be converted to a full state, new boarding will be restricted until the boarding load of the relevant unit falls below 60% again, and allocation of new calls may be suppressed or excluded. there is.

Similarly, assuming that the 'space occupancy rate' of an elevator unit is set to 60%, the space occupied area (area occupied by boarding objects) detected by the vision device exceeds 60% of the total internal area of the unit. If it is detected that the unit is full, new boarding may be restricted until the unit's internal space occupancy rate falls below 60%, and allocation of new calls may be suppressed or excluded.

The above-described 'load 100 won rate' and 'space 100 won rate' may either be selectively applied, or both may be applied together. If the two are applied together, the unit will be converted to a full state even if either the load full rate or the space full rate exceeds either.

Hereinafter, we will look at a more specific example of 'setting the occupancy rate' of the robot-linked elevator system according to the present invention.

First, assume an elevator system environment that performs group management including five elevator units installed in a building. At this time, it is assumed that among units 1 to 5, units 2 and 4 are set to ride-sharing mode that can service both robot calls and general passenger calls. And the robot occupancy rate is set at 60%, and the general passenger occupancy rate is set at 80%.

If the total load in the car due to the boarding objects (including both robots and general passengers) of Unit 2 is detected to be 70% during operation of the elevator, the capacity of the unit for general passengers still has 10% margin. The 10,000 won rate for robots has been exceeded. In this case, the military management department 21 may allow allocation to general passenger calls for Unit 2, but exclude allocation to robot calls. Since Unit 2 is still capable of servicing calls from general passengers, the 10,000 won bypass is not applied. And for newly occurring robot calls, the unit with the highest service efficiency is selected and assigned among units 1, 3, 4, and 5, excluding unit 2.

In other words, if it corresponds to 10,000 won based on the robot occupancy rate, but does not correspond to 10,000 won based on the general passenger occupancy rate, the corresponding elevator number is no longer assigned to the robot call, but the 10,000 won bypass is not applied.

Meanwhile, if the total load (boarding load) in the car of Unit 4 is detected as 81%, the unit has exceeded both the occupancy rate for robots and the occupancy rate for general passengers, so Bypass the assigned hall call (platform call). In this situation, when a new call occurs, among the remaining units excluding unit 4, the unit that can provide the most efficient service is selected, targeting units that do not exceed the occupancy rate for the subject (robot or general passenger) who entered the call. Allocate. In addition, the whole call bypassed by unit 4 can be reassigned to another unit depending on the option.

In other words, if the elevator is 10,000 won based on the general passenger occupancy rate (in this case, it is also 10,000 won based on the robot occupancy rate), a 10,000 won bypass is applied to the relevant elevator unit. When applying the 10,000-won bypass, allocation suppression or exclusion for the relevant elevator unit can also be performed.

As described above, the main technical point of the present invention is to alleviate full-capacity bypass for general passengers and prevent a decrease in service efficiency by differentially applying full-capacity detection criteria for robots and general passengers.

2. Limit the number of serviceable robots

In addition, the present invention limits the number of robots that can be serviced per elevator, thereby suppressing collisions between general passengers using the elevator and robots or between robots as much as possible, and reducing the efficiency of handling elevator traffic in the building and delaying service. It has the characteristic of preventing.

Specifically, the present invention can set the maximum number of robots that can be serviced per elevator by considering passively or automatically detected traffic patterns. This maximum value can be set by request from the robot system unit 10 to the military management unit 21, or the military management unit 21 can set it on its own. At this time, depending on the operation mode of the aforementioned elevator, the maximum number of serviceable robots for each mode may be set differently.

In addition, the robot-linked elevator system according to the present invention proposes 'robot-only mode' and 'co-riding mode' as operation modes that enable the use of robots. In this case, the limit on the number of robots in robot-only mode is set to the limit on co-riding mode. It can be set larger than the number of robots. In other words, the elevator unit set to the robot-only mode can be set to accommodate (board) a greater number of robots than the elevator unit set to the shared riding mode.

With the maximum number of serviceable robots set for each of the plurality of elevators in the building as described above, the military management department 21 provides elevator specification information such as rated capacity and internal area, and general information for each manually or automatically detected traffic pattern. Load occupancy rate and/or space occupancy rate for passengers, load occupancy rate and/or space occupancy rate for robots according to passively or automatically detected traffic patterns, whole call/car call information already registered in each elevator unit, each elevator unit Information on the number of robots and/or general passenger objects on board, information on the number of robots and/or general passenger objects scheduled to be boarded along the traveling direction of each elevator, specification information (volume, weight) of robots on or scheduled to board each elevator. etc.), etc.) can be collected and analyzed in real time to calculate the 'capacity available for boarding', 'space available for boarding', and 'number of service robots' for each floor on the travel path of the relevant elevator.

Here, ‘capacity to ride’ refers to the load that can be additionally loaded within the elevator unit, and ‘capable space to ride’ refers to the area of space that can be additionally occupied within the elevator unit. In addition, the 'number of service robots' refers to the number of robots in full-call/car-call service for an elevator unit, and can be calculated by including the number of robots waiting on the platform as well as the robots boarding the elevator unit.

In addition, the meaning of 'by traffic volume pattern' in the above means that even in the same operation mode, the occupancy rate of elevator units may be set differently depending on the traffic pattern. For example, the characteristics of different traffic patterns within a building depending on the time of day can be reflected in setting the occupancy rate of the elevator.

As a more specific example, there is a difference in the amount of passenger traffic using the elevator at different times during special situations such as commuting time, leaving time, and lunch time, and while there is a lot of upward traffic during commuting time, there is a lot of downward traffic during leaving time. Differences in traffic volume occur depending on the direction of travel, such as when there is a lot of traffic. The present invention identifies and retains information in advance on traffic patterns according to such time zones and driving directions, and as described above, not only sets the occupancy rate differently for robots and general passengers, but also sets the occupancy rate differently for each traffic pattern. By setting this, flexible operation of multiple elevators installed in the building is possible.

As described above, the group management unit 21 of the present invention determines 'capacity available for boarding', 'space available for boarding', and 'number of service robots' for each floor on the travel path of each elevator operating in the building based on the various information described above. can be calculated and understood in real time.

In this state, when a robot call request occurs, the military management department (21) is set to robot-only mode or ride-along mode, and among the elevators that can service the departure and destination floors of the robot, the available boarding capacity and available boarding space are selected for the call request. Units that meet all the specifications of the robot can be selected to form a candidate group that can be assigned primarily. In other words, considering the specifications of the robot, a candidate group of elevators that can accommodate the boarding of the robot that requested the call is extracted from a plurality of elevators installed in the building.

In addition, the military management department 21 determines that among the primarily derived group of elevator unit candidates, the expected number of service robots on the floor immediately preceding the departure floor along the driving direction to the destination floor where the robot currently requesting the call wants to go is determined by the number of service robots set for each unit. The assignable elevator candidate group can be reconstructed by selecting units that do not exceed the maximum number of robots. Here, unlike ordinary passengers, robot calls are made only remotely through the system, so there is no fear of unexpected calls occurring in the middle, and therefore, the number of robots in service on the floor immediately preceding the departure floor of the robot that requested the call can be predicted. possible.

Finally, the military management unit 21 determines the most efficient elevator among the reconfigured assignable elevator candidates by performing its own allocation algorithm and assigns it to the robot that requested the call.

The military management department (21) calculates the number of boardable robots for each floor and direction on the driving route based on the current status information, and on floors where the number of boardable robots is '0', the corresponding unit can be excluded from allocating new robot calls. there is.

As described above, the robot-linked elevator system according to the present invention sets the maximum number of serviceable robots for each of the plurality of elevators installed in the building, and the boarding capacity and boarding capacity of each elevator operating in the building. By determining the space and number of service robots and referring to this information to allocate elevators for robot calls, we effectively provide robot-linked elevator service while flexibly responding to traffic patterns within the building without causing inconvenience to general passengers. can be provided.

In addition, the present invention primarily extracts a candidate group of elevator units that meet the specifications of the robot, and then performs an allocation algorithm on units where the number of robots in service does not exceed the maximum number of serviceable robots set for each unit. It has the advantage of being able to provide elevator service without disruption to a variety of robots with different specifications.

On the other hand, if the total number of robots currently in service in the robot unit for which the robot is set to be available (i.e., the elevator unit set in robot-only mode and ride-along mode) is greater than the preset standard, the corresponding elevator unit is a newly generated elevator unit. Allocation exclusion for robot calls can be processed. Here, the meaning of 'currently in service' includes all cases of servicing a whole call/car call by robot call, that is, not only when the robot is boarding the relevant elevator unit, but also when the robot is waiting for the assigned elevator unit on the platform. It should be interpreted to include also.

In addition, when the relevant elevator unit completes car call service for one or more floors by robot call or when the whole call service request for one or more floors is canceled, it can be set to allow allocation to a newly entered robot call again.

In other words, it detects how many robots are currently receiving service in one elevator unit, and if the number of robots receiving whole-call/car-call service is detected to exceed the preset value, the corresponding elevator unit is no longer assigned to new robot calls. It may not be possible.

Additionally, when the same call floor and/or destination floor is input as a call from two or more robots, the number of robots assigned to the same elevator unit can be limited to a predetermined value or less and distributed across multiple elevator units. At this time, considering the robot occupancy rate of each of the plurality of elevators that can be assigned to the robot call, the assignment can be made by giving priority to the elevator with the lowest occupancy rate.

The robot-operated elevator system according to the present invention described above may include at least one processor implemented to execute computer-readable instructions. Additionally, the present invention can be implemented as computer-readable code on a computer-readable recording medium. Computer-readable recording media include all types of recording devices that store data that can be read by a computer system, such as ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. .

The present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and changes can be made without departing from the spirit and scope of the present invention. Accordingly, such modifications or variations should be considered to fall within the scope of the patent claims of the present invention.

10: Robot system department
20: Elevator system section
21: Military Management Department
22: control unit

Claims (12)

Robots that move autonomously within buildings; and
It is installed in the building and includes a plurality of elevators including an elevator configured to enable service for the robot,
When setting the occupancy rate for each unit of the plurality of elevators, the occupancy rate for robots and the occupancy rate for humans are set differently,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 1,
Characterized in that the 10,000 won rate for the robot is set lower than the 10,000 won rate for the human,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 1,
Among the plurality of elevators, the occupancy rate for the robot is applied to the elevator set to the robot-only mode that can provide service only for robot calls,
Among the plurality of elevators, the occupancy rate for humans is applied to the elevators set to general passenger mode, which can provide service only for human calls,
Characterized in that among the plurality of elevators, the occupancy rate for the robot and the occupancy rate for the humans are simultaneously applied to the elevator set to the shared ride mode capable of servicing both robot and human calls,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 3,
In the case of an elevator set to the shared riding mode, for calls by the robot, it is subject to allocation based on the occupancy rate for the robot, and for calls by the human, it is subject to allocation based on the occupancy rate for the human. Characterized by being,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 1,
When the plurality of elevators exceed the occupancy rate set for each unit, they are converted to a occupancy state and at the same time, allocation is suppressed or allocation is excluded for newly occurring calls,
The allocation suppression means lowering the priority by imposing an allocation suppression penalty on the corresponding call when performing an allocation algorithm for a new call,
Characterized in that the allocation exclusion means completely excluding the corresponding unit from allocation for a new call.
A robot-linked elevator system in which robot boarding parameters are set.
In claim 3,
The occupancy rate includes a load occupancy rate based on the load of the object riding in the elevator car and a space occupancy rate based on the space occupancy rate of the object riding in the elevator car,
Characterized in that the load occupancy rate and the space occupancy rate are applied selectively or together for each unit of the plurality of elevators,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 6,
The elevator units set to the robot-only mode and the shared riding mode are characterized in that the maximum number of serviceable robots is set for each unit,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 7,
Characterized in that the maximum number of serviceable robots of the elevator unit set to the robot-only mode is set larger than the maximum serviceable number of robots of the elevator unit set to the shared riding mode,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 7,
It further comprises a group management unit that performs the function of selecting and allocating an optimal elevator among the plurality of elevators for elevator calls occurring within the building,
The military management unit includes specification information of the elevator including the rated capacity and internal area of the elevator, a occupancy rate set for each unit of the plurality of elevators, call request information registered for each unit of the plurality of elevators, and the By collecting and analyzing in real time information on the number of objects boarding or scheduled to board each unit of the plurality of elevators, the boarding capacity, which means the additional load that can be loaded on each unit of the plurality of elevators, and the space area that can be additionally occupied Characterized by deriving information about the available space for boarding and the number of service robots, which indicates the number of robots in service for the corresponding unit.
A robot-linked elevator system in which robot boarding parameters are set.
In claim 9,
When a call by a robot occurs within the building, the military management unit selects an elevator whose boarding capacity and boarding space meet the specifications of the robot requesting the call, and configures a candidate group that can be assigned primarily, 1 Characterized in that, from the secondary candidate group, units in which the number of service robots does not exceed the maximum number of serviceable robots are selected and reorganized into an assignable candidate group, and an allocation algorithm is performed on the reconfigured candidate group to select the optimal unit,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 7,
If the number of robots currently in service in any of the plurality of elevators is greater than the maximum number of serviceable robots set for the corresponding elevator, the corresponding elevator is allocated and excluded from newly occurring robot calls,
A robot-linked elevator system in which robot boarding parameters are set.
In claim 11,
When the same call floor or the same destination floor is input as a call from two or more robots, the number of robots assigned to the same elevator unit is limited to a predetermined value or less and the allocation is distributed to a plurality of elevator units.
A robot-linked elevator system in which robot boarding parameters are set.

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